Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study

Developing robot agnostic software frameworks involves synthesizing the disparate fields of robotic theory and software engineering while simultaneously accounting for a large variability in hardware designs and control paradigms. As the capabilities of robotic software frameworks increase, the setup difficulty and learning curve for new users also increase. If the entry barriers for configuring and using the software on robots is too high, even the most powerful of frameworks are useless. A growing need exists in robotic software engineering to aid users in getting started with, and customizing, the software framework as necessary for particular robotic applications. In this paper a case study is presented for the best practices found for lowering the barrier of entry in the MoveIt! framework, an open-source tool for mobile manipulation in ROS, that allows users to 1) quickly get basic motion planning functionality with minimal initial setup, 2) automate its configuration and optimization, and 3) easily customize its components. A graphical interface that assists the user in configuring MoveIt! is the cornerstone of our approach, coupled with the use of an existing standardized robot model for input, automatically generated robot-specific configuration files, and a plugin-based architecture for extensibility. These best practices are summarized into a set of barrier to entry design principles applicable to other robotic software. The approaches for lowering the entry barrier are evaluated by usage statistics, a user survey, and compared against our design objectives for their effectiveness to users

Three-coordinate iron(II) expanded ring N-heterocyclic carbene complexes

A sterically demanding seven-membered expanded ring N-heterocyclic carbene (NHC) ligand allows access to rare examples of three-coordinate iron(II)-NHC complexes incorporating only halide coligands of the general formula [Fe(NHC)X 2 ] (NHC = 7-DiPP; X = Br (1) Cl (2)). Reducing the steric influence of the ancillary NHC ligand through modulation of the N-aryl substituents leads to either four- or three-coordinate complexes of the general formula [Fe(NHC)Br 2 (THF)] (3) or [Fe(NHC)Br 2 ] (4) (NHC = 7-Mes), dependent upon the solvent of recrystallization. The further reduction of NHC steric influence results in four-coordinate geometries at iron in the form of the dimeric species [Fe(NHC)Br(μ-Br)] 2 (5) or [Fe(NHC)Br 2 (THF)] (6) (NHC = SDiPP), again dependent upon the solvent of recrystallization. Compounds 1-6 have been analyzed by 1 H NMR spectroscopy, X-ray crystallography, elemental microanalysis, Mössbauer spectroscopy (for 1 and 3-5), and Evans method magnetic susceptibility. In addition to these measurements the three-coordinate species 1 and 4 have been further analyzed by SQUID magnetometry and CASSCF calculations, which show significant magnetic anisotropy that is extremely sensitive to the coordination geometry

Can Gaze Inform Egocentric Action Recognition?

We investigate the hypothesis that gaze-signal can improve egocentric action recognition on the standard benchmark, EGTEA Gaze++ dataset. In contrast to prior work where gaze-signal was only used during training, we formulate a novel neural fusion approach, Cross-modality Attention Blocks (CMA), to leverage gaze-signal for action recognition during inference as well. CMA combines information from different modalities at different levels of abstraction to achieve state-of-the-art performance for egocentric action recognition. Specifically, fusing the video-stream with optical-flow with CMA outperforms the current state-of-the-art by 3%. However, when CMA is employed to fuse gaze-signal with video-stream data, no improvements are observed. Further investigation of this counter-intuitive finding indicates that small spatial overlap between the network's attention-map and gaze ground-truth renders the gaze-signal uninformative for this benchmark. Based on our empirical findings, we recommend improvements to the current benchmark to develop practical systems for egocentric video understanding with gaze-signal.</p

Can Gaze Inform Egocentric Action Recognition?

We investigate the hypothesis that gaze-signal can improve egocentric action recognition on the standard benchmark, EGTEA Gaze++ dataset. In contrast to prior work where gaze-signal was only used during training, we formulate a novel neural fusion approach, Cross-modality Attention Blocks (CMA), to leverage gaze-signal for action recognition during inference as well. CMA combines information from different modalities at different levels of abstraction to achieve state-of-the-art performance for egocentric action recognition. Specifically, fusing the video-stream with optical-flow with CMA outperforms the current state-of-the-art by 3%. However, when CMA is employed to fuse gaze-signal with video-stream data, no improvements are observed. Further investigation of this counter-intuitive finding indicates that small spatial overlap between the network's attention-map and gaze ground-truth renders the gaze-signal uninformative for this benchmark. Based on our empirical findings, we recommend improvements to the current benchmark to develop practical systems for egocentric video understanding with gaze-signal.</p

A New Method for Estimating Effects of Visual Field Loss in a Panoramic Driving Environment

Glaucoma is a key cause of peripheral visual field loss and increases risk of a vehicle crash. Patients may be unaware of their visual loss and of hazards in the driving panorama. Standard clinical automated perimetry, the “gold standard” for monitoring glaucoma progression, lacks external validity to evaluate functional effect of visual field loss in driving environments. We developed and piloted a new technique to study the effects of glaucoma in a panoramic (290 forward FOV) simulated driving environment. Preliminary results in 11 drivers (7 with glaucoma and 4 with suspected glaucoma): (1) demonstrate the relationship between standard clinical perimetry and driving simulator visual fields, (2) replicate clinical evidence of glaucoma-related peripheral visual field loss, and (3) show added visual field loss due to visual occlusion by in-cab geometry

Expressive aphasia in a patient with recent dual-chamber cardioverter-defibrillator implantation: A preventable complication

Transvenous pacemaker and/or defibrillator lead placement into the left heart chambers is rarely done. Approximately a third of such cases reported in the literature presented with signs of thromboembolism, mostly neurological deficits. We describe a patient who presented with a cerebrovascular accident three months after inadvertent and unrecognized lead placement into the left atrium and ventricle through a sinus venosus atrial septal defect. Implant techniques to avoid this complication are discussed. (Cardiol J 2011; 18, 2: 197-199

Myocardial Infarction in a Young Female with Palindromic Rheumatism: A Consequence of Negative Remodeling

Palindromic rheumatism is a rare disease associated with systemic inflammation. Negative or constrictive coronary artery remodeling is typically not seen until the 7th or 8th decade of life. We report a case of a young female with palindromic rheumatism who suffered a non-ST segment elevation myocardial infarction secondary to a flow-limiting lesion that demonstrated negative remodeling by intravascular ultrasound (IVUS)

“Register and Roll”: A Novel Initiative to Improve First Door-to-Balloon Time in ST Elevation Myocardial Infarction

Objective. We examined the cause of transfer delay in patients with an acute ST-segment myocardial infarction (STEMI) from non percutaneous coronary intervention (PCI) capable to PCI capable hospitals. We then implemented a novel, simple, and reliable initiative to improve the transfer process. Background. Guidelines established by the ACC/AHA call for door-to-balloon times of ≤90 minutes for patients with STEMI. When hospital transfer is necessary, this is only met in 8.6% of cases. Methods. All patients presenting with STEMI to a non-PCI capable hospital from April 2006 to February 2009 were analyzed retrospectively. After identifying causes of transfer delay the “Register and Roll” initiative was developed. An analysis of effect was conducted from March 2009 to July 2011. Results. 144 patients were included, 74 pre-initiative and 70 post- initiative. Time to EMS activation was a major delay in patient transfer. After implementation, the EMS activation time has significantly decreased and time to reperfusion approaches recommended goal (Median 114 min versus 90 min, ), with 55% in <90 minutes. Conclusion. “Register and Roll” streamlines the triage process and improves hospital transfer times. This initiative is easily instituted and reliable in a community hospital setting where resources are limited