Tactile-Sensitive NewtonianVAE for High-Accuracy Industrial Connector Insertion

An industrial connector insertion task requires submillimeter positioning and grasp pose compensation for a plug. Thus, highly accurate estimation of the relative pose between a plug and socket is fundamental for achieving the task. World models are promising technologies for visuomotor control because they obtain appropriate state representation to jointly optimize feature extraction and latent dynamics model. Recent studies show that the NewtonianVAE, a type of the world model, acquires latent space equivalent to mapping from images to physical coordinates. Proportional control can be achieved in the latent space of NewtonianVAE. However, applying NewtonianVAE to high-accuracy industrial tasks in physical environments is an open problem. Moreover, the existing framework does not consider the grasp pose compensation in the obtained latent space. In this work, we proposed tactile-sensitive NewtonianVAE and applied it to a USB connector insertion with grasp pose variation in the physical environments. We adopted a GelSight-type tactile sensor and estimated the insertion position compensated by the grasp pose of the plug. Our method trains the latent space in an end-to-end manner, and no additional engineering and annotation are required. Simple proportional control is available in the obtained latent space. Moreover, we showed that the original NewtonianVAE fails in some situations, and demonstrated that domain knowledge induction improves model accuracy. This domain knowledge can be easily obtained using robot specification and grasp pose error measurement. We demonstrated that our proposed method achieved a 100\% success rate and 0.3 mm positioning accuracy in the USB connector insertion task in the physical environment. It outperformed SOTA CNN-based two-stage goal pose regression with grasp pose compensation using coordinate transformation.Comment: 7 pages, 4 figure

Learning Compliant Stiffness by Impedance Control-Aware Task Segmentation and Multi-objective Bayesian Optimization with Priors

Rather than traditional position control, impedance control is preferred to ensure the safe operation of industrial robots programmed from demonstrations. However, variable stiffness learning studies have focused on task performance rather than safety (or compliance). Thus, this paper proposes a novel stiffness learning method to satisfy both task performance and compliance requirements. The proposed method optimizes the task and compliance objectives (T/C objectives) simultaneously via multi-objective Bayesian optimization. We define the stiffness search space by segmenting a demonstration into task phases, each with constant responsible stiffness. The segmentation is performed by identifying impedance control-aware switching linear dynamics (IC-SLD) from the demonstration. We also utilize the stiffness obtained by proposed IC-SLD as priors for efficient optimization. Experiments on simulated tasks and a real robot demonstrate that IC-SLD-based segmentation and the use of priors improve the optimization efficiency compared to existing baseline methods.Comment: Accepted to IROS202

Development of UPS-SMES as a protection from momentary voltage drop

We have been developing the UPS-SMES as a protection from momentary voltage drop and power failure. The superconducting system is suitable as electric power storage for large energy extraction in a short time. The most important feature of superconducting coil system for the UPS-SMES is easy handling and maintenance-free operation. We have selected low temperature superconducting (LTS) coils instead of high temperature superconducting (HTS) coils from the viewpoint of cost and performance. However, it is difficult for the conventional LTS coils to fulfill maintenance-free operation since the cooling methods are either pool boiling with liquid helium or forced flow of supercritical helium. Thus, a conduction cooled LTS pulse coil has been designed as a key component of the UPS-SMES. The development program of 1 MW, 1 sec UPS-SMES is explained

Ground-state properties of the one-dimensional attractive Hubbard model with confinement: a comparative study

We revisit the one-dimensional attractive Hubbard model by using the Bethe-ansatz based density-functional theory and density-matrix renormalization method. The ground-state properties of this model are discussed in details for different fillings and different confining conditions in weak-to-intermediate coupling regime. We investigate the ground-state energy, energy gap, and pair-binding energy and compare them with those calculated from the canonical Bardeen-Cooper-Schrieffer approximation. We find that the Bethe-ansatz based density-functional theory is computationally easy and yields an accurate description of the ground-state properties for weak-to-intermediate interaction strength, different fillings, and confinements. In order to characterize the quantum phase transition in the presence of a harmonic confinement, we calculate the thermodynamic stiffness, the density-functional fidelity, and fidelity susceptibility, respectively. It is shown that with the increase of the number of particles or attractive interaction strength, the system can be driven from the Luther-Emery-type phase to the composite phase of Luther-Emery-like in the wings and insulating-like in the center.Comment: 13 pages with 10 figures and 2 table

Development of 1 MJ Conduction-Cooled LTS Pulse Coil for UPS-SMES

A 1 MW, 1 s UPS-SMES is being developed for a protection from a momentary voltage drop and an instant power failure. As a key technology of the UPS-SMES, we developed a prototype LTS pulse coil with a stored energy of 100 kJ and conducted cooling and excitation tests in 2005. The operation test of the prototype UPS-SMES using this 100 kJ coil with power converters have been performed in 2006. A 1 MJ coil was designed before the fabrication of the 100 kJ prototype coil. The superconductor, the electric insulation technique, the winding method, and the cooling structure used for the 100 kJ coil were based upon the 1 MJ coil design. The successful performance test results of the prototype 100 kJ coil validated the design concept and fabrication technique of the 1 MJ coil. According to the achievement of the prototype 100 kJ UPS-SMES, the 1 MJ conduction-cooled LTS pulse coil has been fabricated successfully. The successful experimental results of the 100 kJ prototype coil with power converters and the fabrication procedure of the 1 MJ full size coil are described

Inhibition of EP4 Signaling Attenuates Aortic Aneurysm Formation

BACKGROUND: Aortic aneurysm is a common but life-threatening disease among the elderly, for which no effective medical therapy is currently available. Activation of prostaglandin E(2) (PGE(2)) is known to increase the expression of matrix metalloproteinase (MMP) and the release of inflammatory cytokines, and may thus exacerbate abdominal aortic aneurysm (AAA) formation. We hypothesized that selective blocking of PGE(2), in particular, EP4 prostanoid receptor signaling, would attenuate the development of AAA. METHODS AND FINDINGS: Immunohistochemical analysis of human AAA tissues demonstrated that EP4 expression was greater in AAA areas than that in non-diseased areas. Interestingly, EP4 expression was proportional to the degree of elastic fiber degradation. In cultured human aortic smooth muscle cells (ASMCs), PGE(2) stimulation increased EP4 protein expression (1.4 ± 0.08-fold), and EP4 stimulation with ONO-AE1-329 increased MMP-2 activity and interleukin-6 (IL-6) production (1.4 ± 0.03- and 1.7 ± 0.14-fold, respectively, P<0.05). Accordingly, we examined the effect of EP4 inhibition in an ApoE(-/-) mouse model of AAA infused with angiotensin II. Oral administration of ONO-AE3-208 (0.01-0.5 mg/kg/day), an EP4 antagonist, for 4 weeks significantly decreased the formation of AAA (45-87% reduction, P<0.05). Similarly, EP4(+/-)/ApoE(-/-) mice exhibited significantly less AAA formation than EP4(+/+)/ApoE(-/-) mice (76% reduction, P<0.01). AAA formation induced by periaortic CaCl(2) application was also reduced in EP4(+/-) mice compared with wild-type mice (73% reduction, P<0.001). Furthermore, in human AAA tissue organ cultures containing SMCs and macrophages, doses of the EP4 antagonist at 10-100 nM decreased MMP-2 activation and IL-6 production (0.6 ± 0.06- and 0.7 ± 0.06-fold, respectively, P<0.05) without increasing MMP-9 activity or MCP-1 secretion. Thus, either pharmacological or genetic EP4 inhibition attenuated AAA formation in multiple mouse and human models by lowering MMP activity and cytokine release. CONCLUSION: An EP4 antagonist that prevents the activation of MMP and thereby inhibits the degradation of aortic elastic fiber may serve as a new strategy for medical treatment of AAA