Hand-Eye Calibration of Robonaut

NASA's Human Space Flight program depends heavily on Extra-Vehicular Activities (EVA's) performed by human astronauts. EVA is a high risk environment that requires extensive training and ground support. In collaboration with the Defense Advanced Research Projects Agency (DARPA), NASA is conducting a ground development project to produce a robotic astronaut's assistant, called Robonaut, that could help reduce human EVA time and workload. The project described in this paper designed and implemented a hand-eye calibration scheme for Robonaut, Unit A. The intent of this calibration scheme is to improve hand-eye coordination of the robot. The basic approach is to use kinematic and stereo vision measurements, namely the joint angles self-reported by the right arm and 3-D positions of a calibration fixture as measured by vision, to estimate the transformation from Robonaut's base coordinate system to its hand coordinate system and to its vision coordinate system. Two methods of gathering data sets have been developed, along with software to support each. In the first, the system observes the robotic arm and neck angles as the robot is operated under external control, and measures the 3-D position of a calibration fixture using Robonaut's stereo cameras, and logs these data. In the second, the system drives the arm and neck through a set of pre-recorded configurations, and data are again logged. Two variants of the calibration scheme have been developed. The full calibration scheme is a batch procedure that estimates all relevant kinematic parameters of the arm and neck of the robot The daily calibration scheme estimates only joint offsets for each rotational joint on the arm and neck, which are assumed to change from day to day. The schemes have been designed to be automatic and easy to use so that the robot can be fully recalibrated when needed such as after repair, upgrade, etc, and can be partially recalibrated after each power cycle. The scheme has been implemented on Robonaut Unit A and has been shown to reduce mismatch between kinematically derived positions and visually derived positions from a mean of 13.75cm using the previous calibration to means of 1.85cm using a full calibration and 2.02cm using a suboptimal but faster daily calibration. This improved calibration has already enabled the robot to more accurately reach for and grasp objects that it sees within its workspace. The system has been used to support an autonomous wrench-grasping experiment and significantly improved the workspace positioning of the hand based on visually derived wrench position. estimates

Effective Exploration Behavior for Chemical-Sensing Robots

Mobile robots that can effectively detect chemical effluents could be useful in a variety of situations, such as disaster relief or drug sniffing. Such a robot might mimic biological systems that exhibit chemotaxis, which is movement towards or away from a chemical stimulant in the environment. Some existing robotic exploration algorithms that mimic chemotaxis suffer from the problems of getting stuck in local maxima and becoming “lost”, or unable to find the chemical if there is no initial detection. We introduce the use of the RapidCell algorithm for mobile robots exploring regions with potentially detectable chemical concentrations. The RapidCell algorithm mimics the biology behind the biased random walk of Escherichia coli (E. coli) bacteria more closely than traditional chemotaxis algorithms by simulating the chemical signaling pathways interior to the cell. For comparison, we implemented a classical chemotaxis controller and a controller based on RapidCell, then tested them in a variety of simulated and real environments (using phototaxis as a surrogate for chemotaxis). We also added simple obstacle avoidance behavior to explore how it affects the success of the algorithms. Both simulations and experiments showed that the RapidCell controller more fully explored the entire region of detectable chemical when compared with the classical controller. If there is no detectable chemical present, the RapidCell controller performs random walk in a much wider range, hence increasing the chance of encountering the chemical. We also simulated an environment with triple effluent to show that the RapidCell controller avoided being captured by the first encountered peak, which is a common issue for the classical controller. Our study demonstrates that mimicking the adapting sensory system of E. coli chemotaxis can help mobile robots to efficiently explore the environment while retaining their sensitivity to the chemical gradient

Vapor Distribution above an Evaporating Sessile Drop

An experimental technique was developed that uses infrared tomography to measure the three-dimensional vapor distribution above an evaporating sessile drop. The technique was applied to measure the vapor distributions above evaporating drops of hexane and 3-methylpentane (3MP) at room temperature and pressure. The molecular masses of these two species are heavier than air and the vapor from the evaporating drop forms a flat, disk-shaped cloud. A Fourier transform infrared spectrometer (FTIR) was used to measure the spectral absorbance along a set of paths passing through the vapor cloud. From a set of path-averaged absorbance measurements, a two-dimensional spatial concentration distribution was determined using a computed tomography routine. A three-dimensional concentration distribution was obtained from multiple two-dimensional distributions obtained at different elevations above the drop. The vapor distributions for both hexane and 3MP differ significantly from the values predicted by the solutions for diffusion-limited evaporation and indicate the effect of buoyancy-induced convection of the vapor. These measurements are the first quantitative measurements of the vapor distribution above a sessile drop and are important for advancing the understanding of the vapor phase transport mechanisms, and thus sessile drop evaporation

Assessment of variation in immunosuppressive pathway genes reveals TGFBR2 to be associated with risk of clear cell ovarian cancer.

BACKGROUND: Regulatory T (Treg) cells, a subset of CD4+ T lymphocytes, are mediators of immunosuppression in cancer, and, thus, variants in genes encoding Treg cell immune molecules could be associated with ovarian cancer. METHODS: In a population of 15,596 epithelial ovarian cancer (EOC) cases and 23,236 controls, we measured genetic associations of 1,351 SNPs in Treg cell pathway genes with odds of ovarian cancer and tested pathway and gene-level associations, overall and by histotype, for the 25 genes, using the admixture likelihood (AML) method. The most significant single SNP associations were tested for correlation with expression levels in 44 ovarian cancer patients. RESULTS: The most significant global associations for all genes in the pathway were seen in endometrioid ( p = 0.082) and clear cell ( p = 0.083), with the most significant gene level association seen with TGFBR2 ( p = 0.001) and clear cell EOC. Gene associations with histotypes at p < 0.05 included: IL12 ( p = 0.005 and p = 0.008, serous and high-grade serous, respectively), IL8RA ( p = 0.035, endometrioid and mucinous), LGALS1 ( p = 0.03, mucinous), STAT5B ( p = 0.022, clear cell), TGFBR1 ( p = 0.021 endometrioid) and TGFBR2 ( p = 0.017 and p = 0.025, endometrioid and mucinous, respectively). CONCLUSIONS: Common inherited gene variation in Treg cell pathways shows some evidence of germline genetic contribution to odds of EOC that varies by histologic subtype and may be associated with mRNA expression of immune-complex receptor in EOC patients

Robust estimation of bacterial cell count from optical density

Optical density (OD) is widely used to estimate the density of cells in liquid culture, but cannot be compared between instruments without a standardized calibration protocol and is challenging to relate to actual cell count. We address this with an interlaboratory study comparing three simple, low-cost, and highly accessible OD calibration protocols across 244 laboratories, applied to eight strains of constitutive GFP-expressing E. coli. Based on our results, we recommend calibrating OD to estimated cell count using serial dilution of silica microspheres, which produces highly precise calibration (95.5% of residuals &lt;1.2-fold), is easily assessed for quality control, also assesses instrument effective linear range, and can be combined with fluorescence calibration to obtain units of Molecules of Equivalent Fluorescein (MEFL) per cell, allowing direct comparison and data fusion with flow cytometry measurements: in our study, fluorescence per cell measurements showed only a 1.07-fold mean difference between plate reader and flow cytometry data

Proceedings, 6th World Multiconference on Systemics, Cybernetics and Informatics, July 14-18, 2002, Orlando, Florida, USA Path following for a poorly controlled mobile robot

This paper describes the hardware and software architecture used for a car-like mobile robot designed and implemented by an undergraduate design group. This project is built from a radio controlled truck and is designed to be a low-cost modular odometric path follower. The environment model is assumed to be known. The controlling algorithm makes explicit accommodation for the fact that the robot seldom steers in exactly the direction commanded. The hardware architecture is designed to use commonly available o the shelf parts and to be expandable for use by future design groups. The nal robot plans and follows a nonholonomic path with errors that can be largely attributed to odometry. Therefore, the poor controllability of the platform is mitigated, and this low-cost modular robot can be used in undergraduate research and design settings in the place of a professional research robot