Cartan subalgebras and the UCT problem, II

We show that outer approximately represenbtable actions of a finite cyclic group on UCT Kirchberg algebras satisfy a certain quasi-freeness type property if the corresponding crossed products satisfy the UCT and absorb a suitable UHF algebra tensorially. More concretely, we prove that for such an action there exists an inverse semigroup of homogeneous partial isometries that generates the ambient C*-algebra and whose idempotent semilattice generates a Cartan subalgebra. We prove a similar result for actions of finite cyclic groups with the Rokhlin property on UCT Kirchberg algebras absorbing a suitable UHF algebra. These results rely on a new construction of Cartan subalgebras in certain inductive limits of Cartan pairs. We also provide a characterisation of the UCT problem in terms of finite order automorphisms, Cartan subalgebras and inverse semigroups of partial isometries of the Cuntz algebra $\mathcal{O}_2$. This generalizes earlier work of the authors.Comment: minor revisions; final version, accepted for publication in Math. Ann.; 26 page

Multi-Robot Grasp Planning for Sequential Assembly Operations

This paper addresses the problem of finding robot configurations to grasp assembly parts during a sequence of collaborative assembly operations. We formulate the search for such configurations as a constraint satisfaction problem (CSP). Collision constraints in an operation and transfer constraints between operations determine the sets of feasible robot configurations. We show that solving the connected constraint graph with off-the-shelf CSP algorithms can quickly become infeasible even for a few sequential assembly operations. We present an algorithm which, through the assumption of feasible regrasps, divides the CSP into independent smaller problems that can be solved exponentially faster. The algorithm then uses local search techniques to improve this solution by removing a gradually increasing number of regrasps from the plan. The algorithm enables the user to stop the planner anytime and use the current best plan if the cost of removing regrasps from the plan exceeds the cost of executing those regrasps. We present simulation experiments to compare our algorithm's performance to a naive algorithm which directly solves the connected constraint graph. We also present a real robot system which uses the output of our planner to grasp and bring parts together in assembly configurations

Acceptability of HIV self-sampling kits (TINY vial) among people of black African ethnicity in the UK: a qualitative study

Background: Increasing routine HIV testing among key populations is a public health imperative, so improving access to acceptable testing options for those in need is a priority. Despite increasing targeted distribution and uptake of HIV self-sampling kits (SSKs) among men who have sex with men in the UK, little is known about why targeted SSK interventions for black African users are not as wide-spread or well-used. This paper addresses this key gap, offering insight into why some groups may be less likely than others to adopt certain types of SSK interventions in particular contexts. These data were collected during the development phase of a larger study to explore the feasibility and acceptability of targeted distribution of SSKs to black African people. Methods: We undertook 6 focus groups with members of the public who self-identified as black African (n = 48), 6 groups with specialists providing HIV and social services to black African people (n = 53), and interviews with HIV specialist consultants and policy-makers (n = 9). Framework analysis was undertaken, using inductive and deductive analysis to develop and check themes. Results: We found three valuable components of targeted SSK interventions for this population: the use of settings and technologies that increase choice and autonomy; targeted offers of HIV testing that preserve privacy and do not exacerbate HIV stigma; and ensuring that the specific kit being used (in this case, the TINY vial) is perceived as simple and reliable. Conclusions: This unique and rigorous research offers insights into participants’ views on SSK interventions, offering key considerations when targeting this population.. Given the plethora of HIV testing options, our work demonstrates that those commissioning and delivering SSK interventions will need to clarify (for users and providers) how each kit type and intervention design adds value. Most significantly, these findings demonstrate that without a strong locus of control over their own circumstances and personal information, black African people are less likely to feel that they can pursue an HIV test that is safe and secure. Thus, where profound social inequalities persist, so will inequalities in HIV testing uptake – by any means

Wavelets and graph C∗C^*-algebras

Here we give an overview on the connection between wavelet theory and representation theory for graph $C^{\ast}$-algebras, including the higher-rank graph $C^*$-algebras of A. Kumjian and D. Pask. Many authors have studied different aspects of this connection over the last 20 years, and we begin this paper with a survey of the known results. We then discuss several new ways to generalize these results and obtain wavelets associated to representations of higher-rank graphs. In \cite{FGKP}, we introduced the "cubical wavelets" associated to a higher-rank graph. Here, we generalize this construction to build wavelets of arbitrary shapes. We also present a different but related construction of wavelets associated to a higher-rank graph, which we anticipate will have applications to traffic analysis on networks. Finally, we generalize the spectral graph wavelets of \cite{hammond} to higher-rank graphs, giving a third family of wavelets associated to higher-rank graphs

Multi-scale assembly with robot teams

In this paper we present algorithms and experiments for multi-scale assembly of complex structures by multi-robot teams. We also focus on tasks where successful completion requires multiple types of assembly operations with a range of precision requirements. We develop a hierarchical planning approach to multi-scale perception in support of multi-scale manipulation, in which the resolution of the perception operation is matched with the required resolution for the manipulation operation. We demonstrate these techniques in the context of a multi-step task where robots assemble large box-like objects, inspired by the assembly of an airplane wing. The robots begin by transporting a wing panel, a coarse manipulation operation that requires a wide field of view, and gradually shifts to a narrower field of view but with more accurate sensors for part alignment and fastener insertion. Within this framework we also provide for failure detection and recovery: upon losing track of a feature, the robots retract to using wider field of view systems to re-localize. Finally, we contribute collaborative manipulation algorithms for assembling complex large objects. First, the team of robots coordinates to transport large assembly parts which are too heavy for a single robot to carry. Second, the fasteners and parts are co-localized for robust insertion and fastening. We implement these ideas using four KUKA youBot robots and present experiments where our robots successfully complete all 80 of the attempted fastener insertion operations

The NeuroDante Project: Neurometric measurements of participant’s reaction to literary auditory stimuli from dante’s “divina commedia”

Neurodante. Progetto di analisi neurometrica di alcuni brani della Commedi

The Supercooling of a Nematic Liquid Crystal

We investigate the supercooling of a nematic liquid crystal using fluctuating non-linear hydrodynamic equations. The Martin-Siggia-Rose formalism is used to calculate renormalized transport coefficients to one-loop order. Similar theories for isotropic liquids have shown substantial increases of the viscosities as the liquid is supercooled or compressed due to feedback from the density fluctuations which are freezing. We find similar results here for the longitudinal and various shear viscosities of the nematic. However, the two viscosities associated with the nematic director motion do not grow in any dramatic way; i.e.\ there is no apparent freezing of the director modes within this hydrodynamic formalism. Instead a glassy state of the nematic may arise from a ``random anisotropy" coupling of the director to the frozen density.Comment: Late

The Uptake and Accuracy of Oral Kits for HIV Self-Testing in High HIV Prevalence Setting: A Cross-Sectional Feasibility Study in Blantyre, Malawi

Augustine Choko and colleagues assess the uptake and acceptability of home-based supervised oral HIV self-testing in Malawi, demonstrating the feasibility of this approach in a high-prevalence, low-income environment

“Avoiding or approaching eyes”? Introversion/extraversion affects the gaze-cueing effect

We investigated whether the extra-/introversion personality dimension can influence processing of others’ eye gaze direction and emotional facial expression during a target detection task. On the basis of previous evidence showing that self-reported trait anxiety can affect gaze-cueing with emotional faces, we also verified whether trait anxiety can modulate the influence of intro-/extraversion on behavioral performance. Fearful, happy, angry or neutral faces, with either direct or averted gaze, were presented before the target appeared in spatial locations congruent or incongruent with stimuli’s eye gaze direction. Results showed a significant influence of intra-/extraversion dimension on gaze-cueing effect for angry, happy, and neutral faces with averted gaze. Introverts did not show the gaze congruency effect when viewing angry expressions, but did so with happy and neutral faces; extraverts showed the opposite pattern. Importantly, the influence of intro-/extraversion on gaze-cueing was not mediated by trait anxiety. These findings demonstrated that personality differences can shape processing of interactions between relevant social signals