Learning Manipulation under Physics Constraints with Visual Perception

Understanding physical phenomena is a key competence that enables humans and animals to act and interact under uncertain perception in previously unseen environments containing novel objects and their configurations. In this work, we consider the problem of autonomous block stacking and explore solutions to learning manipulation under physics constraints with visual perception inherent to the task. Inspired by the intuitive physics in humans, we first present an end-to-end learning-based approach to predict stability directly from appearance, contrasting a more traditional model-based approach with explicit 3D representations and physical simulation. We study the model's behavior together with an accompanied human subject test. It is then integrated into a real-world robotic system to guide the placement of a single wood block into the scene without collapsing existing tower structure. To further automate the process of consecutive blocks stacking, we present an alternative approach where the model learns the physics constraint through the interaction with the environment, bypassing the dedicated physics learning as in the former part of this work. In particular, we are interested in the type of tasks that require the agent to reach a given goal state that may be different for every new trial. Thereby we propose a deep reinforcement learning framework that learns policies for stacking tasks which are parametrized by a target structure

The Threatened Status of Steller Sea Lions, Eumetopias jubatus, under the Endangered Species Act: Effects on Alaska Groundfish Fisheries Management

In April 1990, the Steller sea lion, Eumetopias jubatus, was listed as threatened under the U.S. Endangered Species Act by emergency action. Competitive interactions with the billion-dollar Alaska commercial groundfish fisheries have been suggested as one of the possible contributing factors to the Steller sea lion population decline. Since the listing, fisheries managers have attempted to address the potential impacts of the groundfish fisheries on Steller sea lion recovery. In this paper, we review pertinent Federal legislation, biological information on the Steller sea lion decline, changes in the Alaska trawl fishery for walleye pollock, Theragra chalcogramma, since the late 1970's, andpossible interactions between fisheries and sea lions. Using three cases, we illustrate how the listing of Steller sea lions has affected Alaska groundfish fisheries through: I) actions taken at the time of listing designed to limit the potential for directhuman-related sea lion mortality, 2) actions addressing spatial and temporal separation of fisheries from sea lions, and 3) introduction of risk-adverse stock assessment methodologies and Steller sea lion conservation considerations directly in the annual quota-setting process. This discussion shows some of the ways that North Pacific groundfish resource managers have begun to explicitly consider the conservation ofmarine mammal and other nontarget species

Space telescope observatory management system preliminary test and verification plan

The preliminary plan for the Space Telescope Observatory Management System Test and Verification (TAV) is provided. Methodology, test scenarios, test plans and procedure formats, schedules, and the TAV organization are included. Supporting information is provided

Protons as the prime contributors to the storm time ring current

Following a large magnetic storm (17 June 1972), Explorer 45 measured the equatorial particle populations and magnetic field. Using data obtained during the symmetic recovery phase, it is shown that through a series of self-consistent calculations, the measured protons with energies from 1 to 872 keV, can account for the observed ring current magnetic effects within experimental uncertainities. This enables an upper limit to be set for the heavy ion contribution to the storm time ring current

Satellite detection of vegetative damage and alteration caused by pollutants emitted by a zinc smelter

The author has identified the following significant results. Field observations and data collected by low flying aircraft were used to verify the accuracy of maps produced from the satellite data. Although areas of vegetation as small as six acres can accurately be detected, a white pine stand that was severely damaged by sulfur dioxide could not be differentiated from a healthy white pine stand because spectral differences were not large enough. When winter data were used to eliminate interference from herbaceous and deciduous vegetation, the damage was still undetectable. The analysis was able to produce a character map that accurately delineated areas of vegetative alteration due to high zinc levels accumulating in the soil. The map depicted a distinct gradient of less damage and alteration as the distance from the smelter increased. Although the satellite data will probably not be useful for detecting small acreages of damaged vegetation, it is concluded that the data may be very useful as an inventory tool to detect and delineate large vegetative areas possessing differing spectral signatures

The distribution of silicate strength in Spitzer spectra of AGNs and ULIRGs

A sample of 196 AGNs and ULIRGs observed by the Infrared Spectrograph (IRS) on Spitzer is analyzed to study the distribution of the strength of the 9.7 micron silicate feature. Average spectra are derived for quasars, Seyfert 1 and Seyfert 2 AGNs, and ULIRGs. We find that quasars are characterized by silicate features in emission and Seyfert 1s equally by emission or weak absorption. Seyfert 2s are dominated by weak silicate absorption, and ULIRGs are characterized by strong silicate absorption (mean apparent optical depth about 1.5). Luminosity distributions show that luminosities at rest frame 5.5 micron are similar for the most luminous quasars and ULIRGs and are almost 10^5 times more luminous than the least luminous AGN in the sample. The distributions of spectral characteristics and luminosities are compared to those of optically faint infrared sources at z~2 being discovered by the IRS, which are also characterized by strong silicate absorption. It is found that local ULIRGs are a similar population, although they have lower luminosities and somewhat stronger absorption compared to the high redshift sources.Comment: Accepted for publication on ApJ

Tensile and creep rupture properties of (16) uncoated and (2) coated engineering alloys at elevated temperatures

Sixteen test materials were supplied by NASA-Lewis Research Center as wrought bar or cast remelt stock. The cast remelt stock was cast into test blanks with two such materials being also evaluated after Jocoat coating was applied. Mechanical properties evaluated included tensile, modulus of elasticity, Poisson's Ratio, creep properties and creep rupture strength. Tests were conducted at temperatures applicable to the service temperature of the various alloys. This range extended from room temperature to 1000 C