Communication System and Method

A communication system for communicating over high-latency, low bandwidth networks includes a communications processor configured to receive a collection of data from a local system, and a transceiver in communication with the communications processor. The transceiver is configured to transmit and receive data over a network according to a plurality of communication parameters. The communications processor is configured to divide the collection of data into a plurality of data streams; assign a priority level to each of the respective data streams, where the priority level reflects the criticality of the respective data stream; and modify a communication parameter of at least one of the plurality of data streams according to the priority of the at least one data stream

Concurrent Path Planning with One or More Humanoid Robots

A robotic system includes a controller and one or more robots each having a plurality of robotic joints. Each of the robotic joints is independently controllable to thereby execute a cooperative work task having at least one task execution fork, leading to multiple independent subtasks. The controller coordinates motion of the robot(s) during execution of the cooperative work task. The controller groups the robotic joints into task-specific robotic subsystems, and synchronizes motion of different subsystems during execution of the various subtasks of the cooperative work task. A method for executing the cooperative work task using the robotic system includes automatically grouping the robotic joints into task-specific subsystems, and assigning subtasks of the cooperative work task to the subsystems upon reaching a task execution fork. The method further includes coordinating execution of the subtasks after reaching the task execution fork

Embedded diagnostic, prognostic, and health management system and method for a humanoid robot

A robotic system includes a humanoid robot with multiple compliant joints, each moveable using one or more of the actuators, and having sensors for measuring control and feedback data. A distributed controller controls the joints and other integrated system components over multiple high-speed communication networks. Diagnostic, prognostic, and health management (DPHM) modules are embedded within the robot at the various control levels. Each DPHM module measures, controls, and records DPHM data for the respective control level/connected device in a location that is accessible over the networks or via an external device. A method of controlling the robot includes embedding a plurality of the DPHM modules within multiple control levels of the distributed controller, using the DPHM modules to measure DPHM data within each of the control levels, and recording the DPHM data in a location that is accessible over at least one of the high-speed communication networks

Open source arc analyzer: Multi-sensor monitoring of wire arc additive manufacturing

Low-cost high-resolution metal 3-D printing remains elusive for the scientific community. Low-cost gas metal arc wire (GMAW)-based 3-D printing enables wire arc additive manufacturing (WAAM) for near net shape applications, but has limited resolution due to the complexities of the arcing process. To begin to monitor and thus control these complexities, the initial designs of the open source GMAW 3-D printer have evolved to include current and voltage monitoring. Building on this prior work, in this study, the design, fabrication and use of the open source arc analyzer is described. The arc analyzer is a multi-sensor monitoring system for quantifying the processing during WAAM, which includes voltage, current, sound, light intensity, radio frequency, and temperature data outputs. The open source arc analyzer is tested here on aluminum WAAM by varying wire feed rate and measuring the resultant changes in the sensor data. Visual inspection and microstructural analysis of the printed samples looking for the presence of porosity are used as the physical indicators of quality. The value of the sensors was assessed and the most impactful sensors were found to be the light and radio frequency sensors, which showed arc extinction events and a characteristic “good weld” peak frequency

Search for long-lived particles that decay into final states containing two electrons or two muons in proton-proton collisions at s√=8 TeV

A search is performed for long-lived particles that decay into final states that include a pair of electrons or a pair of muons. The experimental signature is a distinctive topology consisting of a pair of charged leptons originating from a displaced secondary vertex. Events corresponding to an integrated luminosity of 19.6 (20.5)  fb−1 in the electron (muon) channel were collected with the CMS detector at the CERN LHC in proton-proton collisions at s√=8  TeV. No significant excess is observed above standard model expectations. Upper limits on the product of the cross section and branching fraction of such a signal are presented as a function of the long-lived particle’s mean proper decay length. The limits are presented in an approximately model-independent way, allowing them to be applied to a wide class of models yielding the above topology. Over much of the investigated parameter space, the limits obtained are the most stringent to date. In the specific case of a model in which a Higgs boson in the mass range 125–1000  GeV/c2 decays into a pair of long-lived neutral bosons in the mass range 20–350  GeV/c2, each of which can then decay to dileptons, the upper limits obtained are typically in the range 0.2–10 fb for mean proper decay lengths of the long-lived particles in the range 0.01–100 cm. In the case of the lowest Higgs mass considered (125  GeV/c2), the limits are in the range 2–50 fb. These limits are sensitive to Higgs boson branching fractions as low as 10−4

The genetic basis for adaptation of model-designed syntrophic co-cultures.

Understanding the fundamental characteristics of microbial communities could have far reaching implications for human health and applied biotechnology. Despite this, much is still unknown regarding the genetic basis and evolutionary strategies underlying the formation of viable synthetic communities. By pairing auxotrophic mutants in co-culture, it has been demonstrated that viable nascent E. coli communities can be established where the mutant strains are metabolically coupled. A novel algorithm, OptAux, was constructed to design 61 unique multi-knockout E. coli auxotrophic strains that require significant metabolite uptake to grow. These predicted knockouts included a diverse set of novel non-specific auxotrophs that result from inhibition of major biosynthetic subsystems. Three OptAux predicted non-specific auxotrophic strains-with diverse metabolic deficiencies-were co-cultured with an L-histidine auxotroph and optimized via adaptive laboratory evolution (ALE). Time-course sequencing revealed the genetic changes employed by each strain to achieve higher community growth rates and provided insight into mechanisms for adapting to the syntrophic niche. A community model of metabolism and gene expression was utilized to predict the relative community composition and fundamental characteristics of the evolved communities. This work presents new insight into the genetic strategies underlying viable nascent community formation and a cutting-edge computational method to elucidate metabolic changes that empower the creation of cooperative communities

Clonal and microclonal mutational heterogeneity in high hyperdiploid acute lymphoblastic leukemia.

High hyperdiploidy (HD), the most common cytogenetic subtype of B-cell acute lymphoblastic leukemia (B-ALL), is largely curable but significant treatment-related morbidity warrants investigating the biology and identifying novel drug targets. Targeted deep-sequencing of 538 cancer-relevant genes was performed in 57 HD-ALL patients lacking overt KRAS and NRAS hotspot mutations and lacking common B-ALL deletions to enrich for discovery of novel driver genes. One-third of patients harbored damaging mutations in epigenetic regulatory genes, including the putative novel driver DOT1L (n=4). Receptor tyrosine kinase (RTK)/Ras/MAPK signaling pathway mutations were found in two-thirds of patients, including novel mutations in ROS1, which mediates phosphorylation of the PTPN11-encoded protein SHP2. Mutations in FLT3 significantly co-occurred with DOT1L (p=0.04), suggesting functional cooperation in leukemogenesis. We detected an extraordinary level of tumor heterogeneity, with microclonal (mutant allele fraction <0.10) KRAS, NRAS, FLT3, and/or PTPN11 hotspot mutations evident in 31/57 (54.4%) patients. Multiple KRAS and NRAS codon 12 and 13 microclonal mutations significantly co-occurred within tumor samples (p=4.8x10-4), suggesting ongoing formation of and selection for Ras-activating mutations. Future work is required to investigate whether tumor microheterogeneity impacts clinical outcome and to elucidate the functional consequences of epigenetic dysregulation in HD-ALL, potentially leading to novel therapeutic approaches

Framework and Method for Controlling a Robotic System Using a Distributed Computer Network

A robotic system for performing an autonomous task includes a humanoid robot having a plurality of compliant robotic joints, actuators, and other integrated system devices that are controllable in response to control data from various control points, and having sensors for measuring feedback data at the control points. The system includes a multi-level distributed control framework (DCF) for controlling the integrated system components over multiple high-speed communication networks. The DCF has a plurality of first controllers each embedded in a respective one of the integrated system components, e.g., the robotic joints, a second controller coordinating the components via the first controllers, and a third controller for transmitting a signal commanding performance of the autonomous task to the second controller. The DCF virtually centralizes all of the control data and the feedback data in a single location to facilitate control of the robot across the multiple communication networks

Interactive robot control system and method of use

A robotic system includes a robot having joints, actuators, and sensors, and a distributed controller. The controller includes command-level controller, embedded joint-level controllers each controlling a respective joint, and a joint coordination-level controller coordinating motion of the joints. A central data library (CDL) centralizes all control and feedback data, and a user interface displays a status of each joint, actuator, and sensor using the CDL. A parameterized action sequence has a hierarchy of linked events, and allows the control data to be modified in real time. A method of controlling the robot includes transmitting control data through the various levels of the controller, routing all control and feedback data to the CDL, and displaying status and operation of the robot using the CDL. The parameterized action sequences are generated for execution by the robot, and a hierarchy of linked events is created within the sequence