Increasing robot autonomy via motion planning and an augmented reality interface

Recently, there has been a growing interest in robotic systems that are able to share workspaces and collabo- rate with humans. Such collaborative scenarios require efficient mechanisms to communicate human requests to a robot, as well as to transmit robot interpretations and intents to humans. Recent advances in augmented reality (AR) technologies have provided an alternative for such communication. Nonetheless, most of the existing work in human-robot interaction with AR devices is still limited to robot motion programming or teleoperation. In this paper, we present an alternative approach to command and collaborate with robots. Our approach uses an AR interface that allows a user to specify high-level requests to a robot, to preview, approve or modify the computed robot motions. The proposed approach exploits the robot’s decision- making capabilities instead of requiring low-level motion spec- ifications provided by the user. The latter is achieved by using a motion planner that can deal with high-level goals corresponding to regions in the robot configuration space. We present a proof of concept to validate our approach in different test scenarios, and we present a discussion of its applicability in collaborative environments

MMS observations of storm‐time magnetopause boundary layers in the vicinity of the Southern cusp

80MSFC20C0019 - NASAPublished versio

Adverse Childhood Experiences and Substance Use: The Mediating Role of Perceptions of Harm and Peer and Parental Attitudes

Objectives: Adverse childhood experiences (ACEs) are related to the development of a range of mental health problems and risky behaviors. Generally, adolescents who experienced a greater number of ACEs have been found to be at increased risk of substance use behaviors. This study investigated the association between ACEs and substance use (i.e., cigarette smoking, binge drinking, and cannabis use) as mediated by perceptions of harm and perceived peer and parental attitudes towards each substance.Methods: A survey was completed by 6,304 students aged 12 to 18 (M = 14.75, SD = 1.76) in Wood County, Ohio, assessing ACEs, substance use behaviors, perceptions of harm and perceived peer and parental attitudes towards each substance. Mediation models controlling for age and gender were conducted for each substance use behavior including perceptions of harm and perceived peer and parental attitudes specific to each substance.Results: Controlling for age and gender, perceptions of harm and peer attitudes towards binge drinking partially mediated the relationship between ACEs and past month binge-drinking. For past month cannabis and cigarette smoking, peer and parental attitudes, but not perceptions of harm, partially mediated the relationship between ACEs and past month engagement in these substances.Implications: Greater perceptions of harm and negative attitudes by parents or peers may be protective against substance use behaviors among youth that have experienced ACEs. Early interventions focusing on increasing perceptions of harm along with promoting negative parental and peer attitudes towards substance use could decrease rates of use among those who experienced ACEs

Presentation2_The complexity of the day-side X-line during southward interplanetary magnetic field.ZIP

High-resolution global magnetohydrodynamics (MHD) simulations include both meso- and global-scale processes occurring at the magnetopause, which interact to determine the time-dependent orientation of the day-side x-line (DXL). This study demonstrates that the global orientation of the DXL in GAMERA global MHD simulations varies on a time scale of minutes during steady southward interplanetary magnetic field conditions. This behavior manifests in observational data when reconnection outflows indicate that the direction to the x-line is opposite to the prediction from a steady-state model of the reconnection location. Because steady-state models of the DXL do not capture dynamics that are independent of solar wind variations, particularly surface waves and flux transfer events, they represent a time-averaged state of the system. </p

Presentation1_The complexity of the day-side X-line during southward interplanetary magnetic field.ZIP

High-resolution global magnetohydrodynamics (MHD) simulations include both meso- and global-scale processes occurring at the magnetopause, which interact to determine the time-dependent orientation of the day-side x-line (DXL). This study demonstrates that the global orientation of the DXL in GAMERA global MHD simulations varies on a time scale of minutes during steady southward interplanetary magnetic field conditions. This behavior manifests in observational data when reconnection outflows indicate that the direction to the x-line is opposite to the prediction from a steady-state model of the reconnection location. Because steady-state models of the DXL do not capture dynamics that are independent of solar wind variations, particularly surface waves and flux transfer events, they represent a time-averaged state of the system. </p