Translating Universal Scene Descriptions into Knowledge Graphs for Robotic Environment

Robots performing human-scale manipulation tasks require an extensive amount of knowledge about their surroundings in order to perform their actions competently and human-like. In this work, we investigate the use of virtual reality technology as an implementation for robot environment modeling, and present a technique for translating scene graphs into knowledge bases. To this end, we take advantage of the Universal Scene Description (USD) format which is an emerging standard for the authoring, visualization and simulation of complex environments. We investigate the conversion of USD-based environment models into Knowledge Graph (KG) representations that facilitate semantic querying and integration with additional knowledge sources.Comment: 6 pages, 3 figures, ICRA 202

Manipulation Planning and Control for Shelf Replenishment

Manipulation planning and control are relevant building blocks of a robotic system and their tight integration is a key factor to improve robot autonomy and allows robots to perform manipulation tasks of increasing complexity, such as those needed in the in-store logistics domain. Supermarkets contain a large variety of objects to be placed on the shelf layers with specific constraints, doing this with a robot is a challenge and requires a high dexterity. However, an integration of reactive grasping control and motion planning can allow robots to perform such tasks even with grippers with limited dexterity. The main contribution of the paper is a novel method for planning manipulation tasks to be executed using a reactive control layer that provides more control modalities, i.e., slipping avoidance and controlled sliding. Experiments with a new force/tactile sensor equipping the gripper of a mobile manipulator show that the approach allows the robot to successfully perform manipulation tasks unfeasible with a standard fixed grasp.Comment: 8 pages, 12 figures, accepted at RA

Sodium Solid Electrolytes: NaxAlOy Bilayer-System Based on Macroporous Bulk Material and Dense Thin-Film

A new preparation concept of a partially porous solid-state bilayer electrolyte (BE) for high-temperature sodium-ion batteries has been developed. The porous layer provides mechanical strength and is infiltrated with liquid and highly conductive NaAlCl4 salt, while the dense layer prevents short circuits. Both layers consist, at least partially, of Na-β-alumina. The BEs are synthesized by a three-step procedure, including a sol-gel synthesis, the preparation of porous, calcined bulk material, and spin coating to deposit a dense layer. A detailed study is carried out to investigate the effect of polyethylene oxide (PEO) concentration on pore size and crystallization of the bulk material. The microstructure and crystallographic composition are verified for all steps via mercury intrusion, X-ray diffraction, and scanning electron microscopy. The porous bulk material exhibits an unprecedented open porosity for a NaxAlOy bilayer-system of ≤57% with a pore size of ≈200–300 nm and pore volume of ≤0.3 cm3∙g−1. It contains high shares of crystalline α-Al2O3 and Na-β-alumina. The BEs are characterized by impedance spectroscopy, which proved an increase of ionic conductivity with increasing porosity and increasing Na-β-alumina phase content in the bulk material. Ion conductivity of up to 0.10 S∙cm−1 at 300 °C is achieved

Chromosome Duplication in <i>Saccharomyces cerevisiae</i>

The accurate and complete replication of genomic DNA is essential for all life. In eukaryotic cells, the assembly of the multi-enzyme replisomes that perform replication is divided into stages that occur at distinct phases of the cell cycle. Replicative DNA helicases are loaded around origins of DNA replication exclusively during G 1 phase. The loaded helicases are then activated during S phase and associate with the replicative DNA polymerases and other accessory proteins. The function of the resulting replisomes is monitored by checkpoint proteins that protect arrested replisomes and inhibit new initiation when replication is inhibited. The replisome also coordinates nucleosome disassembly, assembly, and the establishment of sister chromatid cohesion. Finally, when two replisomes converge they are disassembled. Studies in Saccharomyces cerevisiae have led the way in our understanding of these processes. Here, we review our increasingly molecular understanding of these events and their regulation. Keywords: DNA replication; cell cycle; chromatin; chromosome duplication; genome stability; YeastBookNational Institutes of Health (U.S.) (Grant GM-052339

Exploiting Reversibility in the Complete Simulation of Reversible Circuits

Abstract—Reversible circuits employ an alternative computation paradigm where all operations are performed in a reversible fashion only. Motivated by the promising applications, researchers started to developed corresponding design methods for this kind of circuits. In most of the resulting solutions, they try to address the restrictions and limitations that come with this alternative computation paradigm. In this work, we are instead showing possible advantages to be exploited. We present an alternative solution for complete simulation of reversible circuits which explicitly utilizes the reversibility of the underlying computation paradigm. By this, improvements of up to three orders of magnitude compared to the standard simulation can be achieved. I

Real-life outgroup exposure, self-reported outgroup contact and the other-race effect.

People are better at recognizing faces from their own racial or ethnic group compared with faces from other racial or ethnic groups, known as the other-'race' effect (ORE). Several theories of the ORE assume that memory for other-race faces is impaired because people have less contact with members of other racial or ethnic groups, resulting in lower visual expertise. The present research investigates contact theories of the ORE, using self-report contact measures and objective measures of potential outgroup exposure (estimated from participants' residential location and from GPS tracking). Across six studies (total N&nbsp;=&nbsp;2660), we observed that White American and White German participants displayed better memory for White faces compared with Black or Middle Eastern faces, whereas Black American participants displayed similarly equal or better memory for White compared with Black faces. We did not observe any relations between the ORE and objective measures of potential outgroup exposure. Only in Studies 2a and 2b, we observed very small correlations (rs&nbsp;=&nbsp;-.08 to .06) between 4 out of 30 contact measures and the ORE. We discuss methodological limitations and implications for theories of the ORE

La correspondencia de Valencia : diario de noticias : eco imparcial de la opinión y de la prensa: Año LIII Número 21318 - 1930 Octubre 14

Copia digital. Madrid : Ministerio de Cultura. Subdirección General de Coordinación Bibliotecaria, 200

Sodium Solid Electrolytes: NaxAlOy Bilayer-System Based on Macroporous Bulk Material and Dense Thin-Film

A new preparation concept of a partially porous solid-state bilayer electrolyte (BE) for high-temperature sodium-ion batteries has been developed. The porous layer provides mechanical strength and is infiltrated with liquid and highly conductive NaAlCl4 salt, while the dense layer prevents short circuits. Both layers consist, at least partially, of Na-β-alumina. The BEs are synthesized by a three-step procedure, including a sol-gel synthesis, the preparation of porous, calcined bulk material, and spin coating to deposit a dense layer. A detailed study is carried out to investigate the effect of polyethylene oxide (PEO) concentration on pore size and crystallization of the bulk material. The microstructure and crystallographic composition are verified for all steps via mercury intrusion, X-ray diffraction, and scanning electron microscopy. The porous bulk material exhibits an unprecedented open porosity for a NaxAlOy bilayer-system of ≤57% with a pore size of ≈200–300 nm and pore volume of ≤0.3 cm3∙g−1. It contains high shares of crystalline α-Al2O3 and Na-β-alumina. The BEs are characterized by impedance spectroscopy, which proved an increase of ionic conductivity with increasing porosity and increasing Na-β-alumina phase content in the bulk material. Ion conductivity of up to 0.10 S∙cm−1 at 300 °C is achieved

Sodium Solid Electrolytes: NaxAlOy Bilayer-System Based on Macroporous Bulk Material and Dense Thin-Film

A new preparation concept of a partially porous solid-state bilayer electrolyte (BE) for high-temperature sodium-ion batteries has been developed. The porous layer provides mechanical strength and is infiltrated with liquid and highly conductive NaAlCl4 salt, while the dense layer prevents short circuits. Both layers consist, at least partially, of Na-β-alumina. The BEs are synthesized by a three-step procedure, including a sol-gel synthesis, the preparation of porous, calcined bulk material, and spin coating to deposit a dense layer. A detailed study is carried out to investigate the effect of polyethylene oxide (PEO) concentration on pore size and crystallization of the bulk material. The microstructure and crystallographic composition are verified for all steps via mercury intrusion, X-ray diffraction, and scanning electron microscopy. The porous bulk material exhibits an unprecedented open porosity for a NaxAlOy bilayer-system of ≤57% with a pore size of ≈200–300 nm and pore volume of ≤0.3 cm3∙g−1. It contains high shares of crystalline α-Al2O3 and Na-β-alumina. The BEs are characterized by impedance spectroscopy, which proved an increase of ionic conductivity with increasing porosity and increasing Na-β-alumina phase content in the bulk material. Ion conductivity of up to 0.10 S∙cm−1 at 300 °C is achieved