Assembly Planning from Observations under Physical Constraints

This paper addresses the problem of copying an unknown assembly of primitives with known shape and appearance using information extracted from a single photograph by an off-the-shelf procedure for object detection and pose estimation. The proposed algorithm uses a simple combination of physical stability constraints, convex optimization and Monte Carlo tree search to plan assemblies as sequences of pick-and-place operations represented by STRIPS operators. It is efficient and, most importantly, robust to the errors in object detection and pose estimation unavoidable in any real robotic system. The proposed approach is demonstrated with thorough experiments on a UR5 manipulator.Comment: See the project webpage at https://www.di.ens.fr/willow/research/assembly-planning

Vegetable oil hybrid films cross-linked at the air-water interface: formation kinetics and physical characterization

Vegetable oil based hybrid films were developed thanks to a novel solvent- and heating- free method at the air-water interface using silylated castor oil cross-linked via a sol-gel reaction. To understand the mechanism of the hybrid film formation, the reaction kinetics was studied in detail by using complementary techniques: rheology, thermogravimetric analysis, and infrared spectroscopy. The mechanical properties of the final films were investigated by nano-indentation, whereas their structure was studied using a combination of wide-angle X-ray scattering, electron diffraction, and atomic force microscopy. We found that solid and transparent films form in 24 hours and, by changing the silica precursor to castor oil ratio, their mechanical properties are tunable in the MPa-range by about a factor of twenty. In addition to that, a possible optimization of the cross-linking reaction with different catalysts was explored and finally, cytotoxicity tests were performed on fibroblasts proving the absence of film toxicity. The results of this work pave the way to a straightforward synthesis of castor-oil films with tunable mechanical properties: hybrid films cross-linked at the air-water interface combine an easy and cheap spreading protocol with the features of their thermal history optimized for possible future micro/nano drug loading, thus representing excellent candidates for the replacement of non-environment friendly petroleum-based materials

Peroxide grafted PDMS: hydrosilylation reaction study and thiol-ene chemistry as an alternative pathway

International audiencePeroxide containing PDMS were synthesized according to a new pathway. Although hydrosilylation is one of the main reaction carried out in silicone chemistry, the catalysts used are very sensitive to the chemical nature of the reactants and remained inefficient to graft allylic peroxide. Radical catalyzed thiol-ene chemistry was involved for the first time to yield an initiator group containing polymer. Peroxide grafted polysiloxane structure and decomposition were characterized using 1H, 13C and 29Si NMR, FT-IR and RAMAN spectroscopies, SEC and DSC. These macroinitiators can be used to obtain polysiloxane able to undergo cross-linking

Robust Visual Sim-to-Real Transfer for Robotic Manipulation

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One common approach to bridge the visual sim-to-real domain gap is domain randomization (DR). While previous work mainly evaluates DR for disembodied tasks, such as pose estimation and object detection, here we systematically explore visual domain randomization methods and benchmark them on a rich set of challenging robotic manipulation tasks. In particular, we propose an off-line proxy task of cube localization to select DR parameters for texture randomization, lighting randomization, variations of object colors and camera parameters. Notably, we demonstrate that DR parameters have similar impact on our off-line proxy task and on-line policies. We, hence, use off-line optimized DR parameters to train visuomotor policies in simulation and directly apply such policies to a real robot. Our approach achieves 93% success rate on average when tested on a diverse set of challenging manipulation tasks. Moreover, we evaluate the robustness of policies to visual variations in real scenes and show that our simulator-trained policies outperform policies learned using real but limited data. Code, simulation environment, real robot datasets and trained models are available at https://www.di.ens.fr/willow/research/robust_s2r/

Central venous O2 saturation and venous-to-arterial CO2 difference as complementary tools for goal-directed therapy during high-risk surgery

International audienceIntroduction: Central venous oxygen saturation (ScvO 2) is a useful therapeutic target in septic shock and high-risk surgery. We tested the hypothesis that central venous-to-arterial carbon dioxide difference (P(cv-a)CO 2), a global index of tissue perfusion, could be used as a complementary tool to ScvO 2 for goal-directed fluid therapy (GDT) to identify persistent low flow after optimization of preload has been achieved by fluid loading during high-risk surgery. Methods: This is a secondary analysis of results obtained in a study involving 70 adult patients (ASA I to III), undergoing major abdominal surgery, and treated with an individualized goal-directed fluid replacement therapy. All patients were managed to maintain a respiratory variation in peak aortic flow velocity below 13%. Cardiac index (CI), oxygen delivery index (DO 2 i), ScvO 2 , P(cv-a)CO 2 and postoperative complications were recorded blindly for all patients. Results: A total of 34% of patients developed postoperative complications. At baseline, there was no difference in demographic or haemodynamic variables between patients who developed complications and those who did not. In patients with complications, during surgery, both mean ScvO 2 (78 ± 4 versus 81 ± 4%, P = 0.017) and minimal ScvO 2 (minScvO 2) (67 ± 6 versus 72 ± 6%, P = 0.0017) were lower than in patients without complications, despite perfusion of similar volumes of fluids and comparable CI and DO 2 i values. The optimal ScvO 2 cutoff value was 70.6% and minScvO 2 < 70% was independently associated with the development of postoperative complications (OR = 4.2 (95% CI: 1.1 to 14.4), P = 0.025). P(cv-a)CO 2 was larger in patients with complications (7.8 ± 2 versus 5.6 ± 2 mmHg, P < 10-6). In patients with complications and ScvO 2 ≥71%, P(cv-a)CO 2 was also significantly larger (7.7 ± 2 versus 5.5 ± 2 mmHg, P < 10-6) than in patients without complications. The area under the receiver operating characteristic (ROC) curve was 0.785 (95% CI: 0.74 to 0.83) for discrimination of patients with ScvO 2 ≥71% who did and did not develop complications, with 5 mmHg as the most predictive threshold value

Photochemical oxidative addition of germane and diphenylgermane to ruthenium dihydride complexes

Photochemical reactions of germane and diphenylgermane with Ru(PP) 2 H 2 (PP = R 2 PCH 2 CH 2 PR 2 or DuPhos, R = Ph dppe, R = Et depe, R = Me dmpe) are reported. Reaction with GeH 4 generates a mixture of cis and trans isomers of Ru(PP) 2 (GeH 3 )H except for the DuPhos complex which yields the product only in the cis form. In situ laser photolysis (355 nm) demonstrates that the initial product is the cis isomer that undergoes thermal isomerization to the trans isomer. The complex cis-[Ru(dppe) 2 (GeH 3 )H] crystallizes selectively, allowing determination of its X-ray structure as a germyl hydride with a long Ru-H···Ge separation of 2.64(3) Å indicating that no residual interaction between the RuH and Ge is present. DFT calculations are also consistent with full oxidative addition. The structure of cis-[Ru(DuPhos) 2 (GeH 3 )H] reveals significant distortion from an octahedral geometry. The major species in the crystal (95%) exhibits a structure with a Ru-H···Ge distance of 2.42(5) Å suggesting negligible interaction between these centers. DFT calculations of the structure are consistent with the experimental determination. The reactions of Ru(PP) 2 H 2 with diphenylgermane yield cis-[Ru(PP) 2 (GePh 2 H)H] exclusively for PP = dmpe and depe, while the cis isomer is dominant in the case of dppe. A photochemical competition reaction between Ru(dppe) 2 (H) 2 and the two substrates Ph 2 SiH 2 and Ph 2 GeH 2 results in both Si-H and Ge-H oxidative addition activation with a kinetic preference (0.18:1) for the germyl hydride product. Thermal conversion of Ru(dppe) 2 (SiPh 2 H)H to Ru(dppe) 2 (GePh 2 H)H is observed on heating

Diversity and P-solubilizing ability of mycorrhizosphere bacteria associated with Pinus pinaster in the Landes forest ecosystem

Ectomycorrhizal fungi (ECM) and their associated mycorrhizosphere bacteria (MB) play a major role in phosphorous (P) nutrition of maritime pine, particularly in the Landes forest ecosystem considering the low bioavailability of P in its sandy-acidic soils. In order to characterize the MB associated to ECM, three collection campaigns of ECM root tips were performed from autumn 2005 to autumn 2006 throughout three forest stations. Five MB and nine ECM genera were identified overall through sequencing of 16S rDNA and mitochondrial large subunit rDNA fragment respectively. Dramatic seasonal changes were observed in the different MB-ECM associations especially in Burkholderia-Lactarius and Bacillus-Russula that were the most abundant ones. P-solubilizing ability of MB was shown to be taxon-dependent with a large majority of P-solubilizing isolates among Burkholderia, Pseudomonas and Paenibacillus contrary to Bacillus. Relationships between functional diversity of the MB-ECM associations and bioavailability of soil P remain to be investigated. (Résumé d'auteur)

Euclid-Roman joint microlensing survey: early mass measurement, free floating planets and exomoons

Funding: EB gratefully acknowledge support from NASA grant 80NSSC19K0291. The work of DS is funded by a UK Science and Technology Facilities Council (STFC) PhD studentship. EK also acknowledges support from the STFC. EB, JPB and CR’s work was carried out within the framework of the ANR project COLD-WORLDS supported by the French National Agency for Research with the reference ANR-18-CE31-0002. JPB was supported by the University of Tasmania through the UTAS Foundation, ARC grant DP200101909 and the endowed Warren Chair in Astronomy. JR was supported by NASA ROSES grant 12-EUCLID12-0004, the Nancy Grace Roman Telescope, and JPL, which is run by Caltech under a contract for NASA. RP was supported by the Polish National Agency for Academic Exchange via Polish Returns 2019 grant. DM acknowledges support by the European Research Council (ERC) under the European Union’s FP7 Programme, Grant No. 833031.As the Kepler mission has done for hot exoplanets, the ESA Euclid and NASA Roman missions have the potential to create a breakthrough in our understanding of the demographics of cool exoplanets, including unbound, or "free-floating", planets (FFPs). In this study, we demonstrate the complementarity of the two missions and propose two joint-surveys to better constrain the mass and distance of microlensing events. We first demonstrate that an early brief Euclid survey (7 h) of the Roman microlensing fields will allow the measurement of a large fraction of events relative proper motions and lens magnitudes. Then, we study the potential of simultaneous observations by Roman and Euclid to enable the measurement of the microlensing parallax for the shortest microlensing events. Using detailed simulations of the joint detection yield we show that within one year Roman-Euclid observations will be at least an order of magnitude more sensitive than current ground-based measurements. Depending on the exact distribution of FFP, a joint Roman-Euclid campaign should detect around 130 FFP events within a year, including 110 with measured parallax that strongly constrain the FFP mass, and around 30 FFP events with direct mass and distance measurements. The ability of the joint survey to completely break the microlens mass-distance-velocity degeneracy for a significant subset of events provides a unique opportunity to verify unambiguously the FFP hypothesis or else place abundance limits for FFPs between Earth and Jupiter masses that are up to two orders of magnitude stronger than provided by ground-based surveys. Finally, we study the capabilities of the joint survey to enhance the detection and charcterization of exomoons, and found that it could lead to the detection of the first exomoon.PostprintPeer reviewe