Challenges and Solutions for Autonomous Robotic Mobile Manipulation for Outdoor Sample Collection

In refinery, petrochemical, and chemical plants, process technicians collect uncontaminated samples to be analyzed in the quality control laboratory all time and all weather. This traditionally manual operation not only exposes the process technicians to hazardous chemicals, but also imposes an economical burden on the management. The recent development in mobile manipulation provides an opportunity to fully automate the operation of sample collection. This paper reviewed the various challenges in sample collection in terms of navigation of the mobile platform and manipulation of the robotic arm from four aspects, namely mobile robot positioning/attitude using global navigation satellite system (GNSS), vision-based navigation and visual servoing, robotic manipulation, mobile robot path planning and control. This paper further proposed solutions to these challenges and pointed the main direction of development in mobile manipulation

IRNSS/NavIC and GPS: a single- and dual-system L5 analysis

The Indian Regional Navigation Satellite System (IRNSS) has recently (May 2016) become fully operational. In this contribution, for the fully operational IRNSS as a stand-alone system and also in combination with GPS, we provide a first assessment of L5 integer ambiguity resolution and positioning performance. While our empirical analyses are based on the data collected by two JAVAD receivers at Curtin University, Perth, Australia, our formal analyses are carried out for various onshore locations within the IRNSS service area. We study the noise characteristics (carrier-to-noise density, measurement precision, time correlation), the integer ambiguity resolution performance (success rates and ambiguity dilution of precision), and the positioning performance (ambiguity float and ambiguity fixed). The results show that our empirical outcomes are consistent with their formal counterparts and that the GPS L5-data have a lower noise level than that of IRNSS L5-data, particularly in case of the code data. The underlying model in our assessments varies from stand-alone IRNSS (L5) to IRNSS (Formula presented.) GPS (L5), from unconstrained to height-constrained and from kinematic to static. Significant improvements in ambiguity resolution and positioning performance are achievable upon integrating L5-data of IRNSS with GPS

BLUE, BLUP and the Kalman filter: some new results

In this contribution, we extend ‘Kalman-filter’ theory by introducing a new BLUE–BLUP recursion of the partitioned measurement and dynamic models. Instead of working with known state-vector means, we relax the model and assume these means to be unknown. The recursive BLUP is derived from first principles, in which a prominent role is played by the model’s misclosures. As a consequence of the mean state-vector relaxing assumption, the recursion does away with the usual need of having to specify the initial state-vector variance matrix. Next to the recursive BLUP, we introduce, for the same model, the recursive BLUE. This extension is another consequence of assuming the state-vector means unknown. In the standard Kalman filter set-up with known state-vector means, such difference between estimation and prediction does not occur. It is shown how the two intertwined recursions can be combined into one general BLUE–BLUP recursion, the outputs of which produce for every epoch, in parallel, the BLUP for the random state-vector and the BLUE for the mean of the state-vector

A comparison of 3D particle, fluid and hybrid simulations for negative streamers

In the high field region at the head of a discharge streamer, the electron energy distribution develops a long tail. In negative streamers, these electrons can run away and contribute to energetic processes such as terrestrial gamma-ray and electron flashes. Moreover, electron density fluctuations can accelerate streamer branching. To track energies and locations of single electrons in relevant regions, we have developed a 3D hybrid model that couples a particle model in the region of high fields and low electron densities with a fluid model in the rest of the domain. Here we validate our 3D hybrid model on a 3D (super-)particle model for negative streamers in overvolted gaps, and we show that it almost reaches the computational efficiency of a 3D fluid model. We also show that the extended fluid model approximates the particle and the hybrid model well until stochastic fluctuations become important, while the classical fluid model underestimates velocities and ionization densities. We compare density fluctuations and the onset of branching between the models, and we compare the front velocities with an analytical approximation

Cerebrospinal fluid anti-myelin antibodies are related to magnetic resonance measures of disease activity in multiple sclerosis

0.001), together constituting 85% of all positive CSF samples. In contrast, elevated anti-myelin IgG antibody reactivity was present in a minority of IND patients (21%), marginally present in controls (5%) and absent in OND patients (0%). Most strikingly, anti-myelin IgG antibody reactivity was related to the number of T2 lesions (r = 0.31, p = 0.041) and gadolinium enhancing T1 lesions (r = 0.37, p = 0.016) on brain MRI in CIS and relapse onset MS patients. Conclusion: CSF anti-myelin IgG antibodies are promising specific biomarkers in CIS and relapse onset MS and correlate with MR measures of disease activit

Isolation and characterization of the full-length cDNA encoding a member of a novel cytochrome p450 family (CYP320A1) from the tropical freshwater snail, Biomphalaria glabrata, intermediate host for Schistosoma mansoni

Cytochrome p450s (cyp450s) are a family of structurally related proteins, with diverse functions, including steroid synthesis and breakdown of toxins. This paper reports the full-length sequence of a novel cyp450 gene, the first to be isolated from the tropical freshwater snail Biomphalaria glabrata, an important intermediate host of Schistosoma mansoni. The nucleotide sequence is 2291 bp with a predicted amino acid sequence of 584aa. The sequence demonstrates conserved cyp450 structural motifs, but is sufficiently different from previously reported cyp450 sequences to be given a new classification, CYP320A1. Initially identified as down-regulated in partially resistant snails in response to S. mansoni infection, amplification of this gene using RT-PCR in both totally resistant or susceptible snail lines when exposed to infection, and all tissues examined, suggests ubiquitous expression. Characterization of the first cyp450 from B. glabrata is significant in understanding the evolution of these metabolically important proteins

Workplace learning from a socio-cultural perspective: creating developmental space during the general practice clerkship

Workplace learning in undergraduate medical education has predominantly been studied from a cognitive perspective, despite its complex contextual characteristics, which influence medical students’ learning experiences in such a way that explanation in terms of knowledge, skills, attitudes and single determinants of instructiveness is unlikely to suffice. There is also a paucity of research which, from a perspective other than the cognitive or descriptive one, investigates student learning in general practice settings, which are often characterised as powerful learning environments. In this study we took a socio-cultural perspective to clarify how students learn during a general practice clerkship and to construct a conceptual framework that captures this type of learning. Our analysis of group interviews with 44 fifth-year undergraduate medical students about their learning experiences in general practice showed that students needed developmental space to be able to learn and develop their professional identity. This space results from the intertwinement of workplace context, personal and professional interactions and emotions such as feeling respected and self-confident. These forces framed students’ participation in patient consultations, conversations with supervisors about consultations and students’ observation of supervisors, thereby determining the opportunities afforded to students to mind their learning. These findings resonate with other conceptual frameworks and learning theories. In order to refine our interpretation, we recommend that further research from a socio-cultural perspective should also explore other aspects of workplace learning in medical education