Robot Learning from Demonstration Using Elastic Maps

Learning from Demonstration (LfD) is a popular method of reproducing and generalizing robot skills from human-provided demonstrations. In this paper, we propose a novel optimization-based LfD method that encodes demonstrations as elastic maps. An elastic map is a graph of nodes connected through a mesh of springs. We build a skill model by fitting an elastic map to the set of demonstrations. The formulated optimization problem in our approach includes three objectives with natural and physical interpretations. The main term rewards the mean squared error in the Cartesian coordinate. The second term penalizes the non-equidistant distribution of points resulting in the optimum total length of the trajectory. The third term rewards smoothness while penalizing nonlinearity. These quadratic objectives form a convex problem that can be solved efficiently with local optimizers. We examine nine methods for constructing and weighting the elastic maps and study their performance in robotic tasks. We also evaluate the proposed method in several simulated and real-world experiments using a UR5e manipulator arm, and compare it to other LfD approaches to demonstrate its benefits and flexibility across a variety of metrics.Comment: 7 pages, 9 figures, 3 tables. Accepted to IROS 2022. Code available at: https://github.com/brenhertel/ElMapTrajectories Accompanying video at: https://youtu.be/rZgN9Pkw0t

Concept and benchmark results for Big Data energy forecasting based on Apache Spark

The present article describes a concept for the creation and application of energy forecasting models in a distributed environment. Additionally, a benchmark comparing the time required for the training and application of data-driven forecasting models on a single computer and a computing cluster is presented. This comparison is based on a simulated dataset and both R and Apache Spark are used. Furthermore, the obtained results show certain points in which the utilization of distributed computing based on Spark may be advantageous

Fruit crops: a summary of research, 1998

Pesticide deposition in orchards: effects of pesticide type, tree canopy, timing, cultivar, and leaf type / Franklin R. Hall, Jane A. Cooper, and David C. Ferree -- The influence of a synthetic foraging attractant, Bee-Scent™, on the number of honey bees visiting apple blossoms and on subsequent fruit production / James E. Tew and David C. Ferree -- The reliability of three traps vs. a single trap for determining population levels of codling moth in commercial northern Ohio apple orchards / Ted W. Gastier -- Evaluation of an empirical model for predicting sooty blotch and flyspeck of apples in Ohio / Michael A. Ellis, Laurence V. Madden, and L. Lee Wilson -- Influence of pesticides and water stress on photosynthesis and transpiration of apple / David C. Ferree, Franklin R. Hall, Charles R. Krause, Bruce R. Roberts, and Ross D. Brazee -- Influence of temporary bending and heading on branch development and flowering of vigorous young apple trees / David C. Ferree and John C. Schmid -- The effect of apple fruit bruising on total returns / Richard C. Funt, Ewen A. Cameron, and Nigel H. Banks -- Yield, berry quality, and economics of mechanical berry harvest in Ohio / Richard C. Funt, Thomas E. Wall, and Joseph C. Scheerens -- Monitoring flower thrips activities in strawberry fields at two Ohio locations / Roger N. Williams, M. Sean Ellis, Dan S. Fickle, and Carl M. Pelland -- Cluster thinning effects on fruit weight, juice quality, and fruit skin characteristics in 'Reliance' grapes / Yu Gao and Garth A. Cahoon -- Effects of various fungicide programs on powdery mildew control, percent berry sugar, yield, and vine vigor of 'Concord' grapes in Ohio / Michael A. Ellis, Laurence V. Madden, L. Lee Wilson, and Gregory R. Johns -- Influence of growth regulators, cropping, and number on replacement trunks of winter-injured 'Vidal Blanc' grapes / David C. Ferree, David M. Scurlock, and Rick Evans -- Effect of new herbicides on tissue-cultured black raspberry plants / Richard C. Funt, Thomas E. Wall, and B. Dale Stokes -- Investigating the relationship between vine vigor and berry set of field-grown 'Seyval Blanc' grapevines / Steven J. McArtney and David C. Ferree -- Summary of Ohio Fruit Growers Society apple cider competition, 1993-1997 / Winston Bash and Diane Mille

Dietary Deficiency of Essential Amino Acids Rapidly Induces Cessation of the Rat Estrous Cycle

Reproductive functions are regulated by the sophisticated coordination between the neuronal and endocrine systems and are sustained by a proper nutritional environment. Female reproductive function is vulnerable to effects from dietary restrictions, suggesting a transient adaptation that prioritizes individual survival over reproduction until a possible future opportunity for satiation. This adaptation could also partially explain the existence of amenorrhea in women with anorexia nervosa. Because amino acid nutritional conditions other than caloric restriction uniquely alters amino acid metabolism and affect the hormonal levels of organisms, we hypothesized that the supply of essential amino acids in the diet plays a pivotal role in the maintenance of the female reproductive system. To test this hypothesis, we examined ovulatory cyclicity in female rats under diets that were deficient in threonine, lysine, tryptophan, methionine or valine. Ovulatory cyclicity was monitored by daily cytological evaluations of vaginal smears. After continuous feeding of the deficient diet, a persistent diestrus or anovulatory state was induced most quickly by the valine-deficient diet and most slowly by the lysine-deficient diet. A decline in the systemic insulin-like growth factor 1 level was associated with a dietary amino acid deficiency. Furthermore, a paired group of rats that were fed an isocaloric diet with balanced amino acids maintained normal estrous cyclicity. These disturbances of the estrous cycle by amino acid deficiency were quickly reversed by the consumption of a normal diet. The continuous anovulatory state in this study is not attributable to a decrease in caloric intake but to an imbalance in the dietary amino acid composition. With a shortage of well-balanced amino acid sources, reproduction becomes risky for both the mother and the fetus. It could be viewed as an adaptation to the diet, diverting resources away from reproduction and reallocating them to survival until well-balanced amino acid sources are found

Exercise therapy, manual therapy, or both, for osteoarthritis of the hip or knee: a factorial randomised controlled trial protocol

<p>Abstract</p> <p>Background</p> <p>Non-pharmacological, non-surgical interventions are recommended as the first line of treatment for osteoarthritis (OA) of the hip and knee. There is evidence that exercise therapy is effective for reducing pain and improving function in patients with knee OA, some evidence that exercise therapy is effective for hip OA, and early indications that manual therapy may be efficacious for hip and knee OA. There is little evidence as to which approach is more effective, if benefits endure, or if providing these therapies is cost-effective for the management of this disorder. The MOA Trial (Management of OsteoArthritis) aims to test the effectiveness of two physiotherapy interventions for improving disability and pain in adults with hip or knee OA in New Zealand. Specifically, our primary objectives are to investigate whether:</p> <p>1. Exercise therapy versus no exercise therapy improves disability at 12 months;</p> <p>2. Manual physiotherapy versus no manual therapy improves disability at 12 months;</p> <p>3. Providing physiotherapy programmes in addition to usual care is more cost-effective than usual care alone in the management of osteoarthritis at 24 months.</p> <p>Methods</p> <p>This is a 2 × 2 factorial randomised controlled trial. We plan to recruit 224 participants with hip or knee OA. Eligible participants will be randomly allocated to receive either: (a) a supervised multi-modal exercise therapy programme; (b) an individualised manual therapy programme; (c) both exercise therapy and manual therapy; or, (d) no trial physiotherapy. All participants will continue to receive usual medical care. The outcome assessors, orthopaedic surgeons, general medical practitioners, and statistician will be blind to group allocation until the statistical analysis is completed. The trial is funded by Health Research Council of New Zealand Project Grants (Project numbers 07/199, 07/200).</p> <p>Discussion</p> <p>The MOA Trial will be the first to investigate the effectiveness and cost-effectiveness of providing physiotherapy programmes of this kind, for the management of pain and disability in adults with hip or knee OA.</p> <p>Trial registration</p> <p>Australian New Zealand Clinical Trials Registry ref: ACTRN12608000130369.</p

Evaluation of the Effect of Vitamin D Pharmacokinetics on Bone Health Using a Multi-Scale Systems Pharmacology Model (MSPM)

Objectives: Relationships between Vitamin D dose, 25OHD, and indicators of bone health (serum calcitriol, parathyroid hormone (PTH), and bone mineral density at the lumbar spine (BMDLS)) were explored by considering the combined effects of Vitamin D3 and calcium administration (D3CA) on bone-health endpoints. Methods: Population PK models were developed to predict D and 25OHD, and the final model was integrated with a previously published MSPM, describing calcium, PTH, and bone-remodeling. Public-source D and 25OHD PK data in healthy or osteoporotic populations, including 74 studies, representing 5684 individuals, were selected using PUBMED. Nonlinear-mixed-effects models were developed simultaneously for D and 25OHD PK (NONMEM v7.2). Model development explored 1- and 2-compartment models with linear (CL) or non-linear (CLNL) clearance. Using R\u27s mrgsolve package, a scaling factor for calcitriol production and exponent-gamma term, related to osteoclast bone resorption, were estimated, translating predicted changes in bone-markers to changes in BMDLS (Nelder-Mead method in stats R package). Population-level simulations evaluated changes in BMDLS/PTH, following various 1-year regimens of D3CA administration and quantified the relationship between BMDLS/PTH and 25OHD concentration. Results: D2/D3 parent and metabolite were described by 2-compartment models with numerous shared estimates. D3 CLNL resulted in inverse 25OHD3 relationships with dose and baseline; D2 did not exhibit nonlinearity. A power-model structure described the 25OHD-calcitriol conversion (theta1 = 638.1, gamma= 0.038), reflecting the apparent self-inhibition of calcitriol on its own production.Consistent with known biology, results from population-level simulations indicated that, for fixed D3 doses, BMDLS/PTH increased/decreased with increasing calcium administration (BMDLS PCFB range: 0.1 to 1.7%; PTH PCFB range: -4 to -30% for D3 doses 400-5000 IU/d, calcium doses 0-300 mg/d for 1 year). Also, BMDLS/PTH changed by +2%/-52.7% for 25OHD concentrations 43-102 nmol/L. Conclusions: This is the first model that simultaneously integrates D3/D2 data, describing the system kinetics as a single unit and the first to quantitatively evaluate D3CA administration effect on bone-health endpoints. Future utility of results includes comparing effects of D3 or D3CA administration during clinical trials of other anti-osteoporosis therapeutics and quantifying D3 effects in other disease states like renal osteodystrophy