Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter

Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View Picking (MVP) controller uses an active perception approach to choose informative viewpoints based directly on a distribution of grasp pose estimates in real time, reducing uncertainty in the grasp poses caused by clutter and occlusions. In trials of grasping 20 objects from clutter, our MVP controller achieves 80% grasp success, outperforming a single-viewpoint grasp detector by 12%. We also show that our approach is both more accurate and more efficient than approaches which consider multiple fixed viewpoints.Comment: ICRA 2019 Video: https://youtu.be/Vn3vSPKlaEk Code: https://github.com/dougsm/mvp_gras

Manual for the District Fisheries Analysis System (FAS): A Package for Fisheries Management and Research. Part 1: Fish Population Survey Data (DOC9 Data Base)

Report issued on: issued September, 1987INHS Technical Report prepared for unspecified recipien

Response of Saddled Prominent (Lepidoptera: Notodontidae) Pupae to Desiccation, Cold Treatment, and Post-Cold Treatment Incubation Temperature

Saddled prominent, Heterocampa guttivitta, pupae were placed at 1.5oC for 50 to 200 days, then incubated at one of four post-cold temperatures ranging from 10° to 26.7°C. Adults emerged from pupae exposed to all cold treatment periods. A few adults also emerged from pupae that were not exposed to cold. The time required for adult emergence following cold treatment declined with longer periods of cold treatment and higher post-cold incubation temperature. The interaction between these two main effects was also significant. Adult morphogenesis begins immediately after pupation, and continues until interrupted by cold temperature. When pupae were subjected to desiccating conditions prior to cold treatment, weight loss due to desiccation was accompanied by increased mortality. Desiccation occurred faster at IS.6° than at 18.0°C. Our results identify a physical factor which might contribute to pupal overwintering mortality: prolonged excessive drought conditions between time of pupation and the onset of cold

Effects of Salmon Spawning Activity on Macroinvertebrates in a Small Michigan Stream

Density and composition of macroinvertebrate populations were examined prior to and during the migration and spawning of coho and chinook salmon in a small stream in Michigan. Data gathered from bottom samples indicated that disruption of substrate in the experimental area resulted in a significant decrease in the numbers and species of the macroinvertebrate community. This reduction of invertebrates can create a severe stress on native trout populations

Manual for the Fish Population Surveys (DOC9 Package) for the District Fisheries Analysis System (FAS)

Update of Aquatic Biology Technical Report 87/11; final report of project F-69-R (1-3), Data Base Management and Analysis of Fisheries in ImpoundmentsReport issued on: issued October 1990INHS Technical Report prepared for Illinois Department of Conservatio