Bagging by Learning to Singulate Layers Using Interactive Perception

Many fabric handling and 2D deformable material tasks in homes and industry require singulating layers of material such as opening a bag or arranging garments for sewing. In contrast to methods requiring specialized sensing or end effectors, we use only visual observations with ordinary parallel jaw grippers. We propose SLIP: Singulating Layers using Interactive Perception, and apply SLIP to the task of autonomous bagging. We develop SLIP-Bagging, a bagging algorithm that manipulates a plastic or fabric bag from an unstructured state, and uses SLIP to grasp the top layer of the bag to open it for object insertion. In physical experiments, a YuMi robot achieves a success rate of 67% to 81% across bags of a variety of materials, shapes, and sizes, significantly improving in success rate and generality over prior work. Experiments also suggest that SLIP can be applied to tasks such as singulating layers of folded cloth and garments. Supplementary material is available at https://sites.google.com/view/slip-bagging/

Open X-Embodiment:Robotic learning datasets and RT-X models

Large, high-capacity models trained on diverse datasets have shown remarkable successes on efficiently tackling downstream applications. In domains from NLP to Computer Vision, this has led to a consolidation of pretrained models, with general pretrained backbones serving as a starting point for many applications. Can such a consolidation happen in robotics? Conventionally, robotic learning methods train a separate model for every application, every robot, and even every environment. Can we instead train "generalist" X-robot policy that can be adapted efficiently to new robots, tasks, and environments? In this paper, we provide datasets in standardized data formats and models to make it possible to explore this possibility in the context of robotic manipulation, alongside experimental results that provide an example of effective X-robot policies. We assemble a dataset from 22 different robots collected through a collaboration between 21 institutions, demonstrating 527 skills (160266 tasks). We show that a high-capacity model trained on this data, which we call RT-X, exhibits positive transfer and improves the capabilities of multiple robots by leveraging experience from other platforms. The project website is robotics-transformer-x.github.io

Dissipation of Impact Stress Waves within the Artificial Blasting Damage Zone in the Surrounding Rocks of Deep Roadway

Artificial explosions are commonly used to prevent rockburst in deep roadways. However, the dissipation of the impact stress wave within the artificial blasting damage zone (ABDZ) of the rocks surrounding a deep roadway has not yet been clarified. The surrounding rocks were divided into the elastic zone, blasting damage zone, plastic zone, and anchorage zone in this research. Meanwhile, the ABDZ was divided into the pulverizing area, fractured area, and cracked area from the inside out. Besides, the model of the normal incidence of the impact stress waves in the ABDZ was established; the attenuation coefficient of the amplitude of the impact stress waves was obtained after it passed through the intact rock mass, and ABDZ, to the anchorage zone. In addition, a numerical simulation was used to study the dynamic response of the vertical stress and impact-induced vibration energy in the surrounding rocks. By doing so, the dissipation of the impact stress waves within the ABDZ of the surrounding rocks was revealed. As demonstrated in the field application, the establishment of the ABDZ in the surrounding rocks reduced the effect of the impact-induced vibration energy on the anchorage support system of the roadway

Hypothermia protects the brain from transient global ischemia/reperfusion by attenuating endoplasmic reticulum response-induced apoptosis through CHOP.

Endoplasmic reticulum (ER) stress has been implicated in the pathology of cerebral ischemia. Apoptotic cell death occurs during prolonged period of stress or when the adaptive response fails. Hypothermia blocked the TNF or Fas-mediated extrinsic apoptosis pathway and the mitochondria pathway of apoptosis, however, whether hypothermia can block endoplasmic reticulum mediated apoptosis is never known. This study aimed to elucidate whether hypothermia attenuates brain cerebral ischemia/reperfusion (I/R) damage by suppressing ER stress-induced apoptosis. A 15 min global cerebral ischemia rat model was used in this study. Terminal deoxynucleotidyl transferase-mediated dUTP nick end labeling (TUNEL) positive cells in hippocampus CA1 were assessed after reperfusion of the brain. The expressions of C/EBP-homologous protein (CHOP) and glucose-regulated protein 78 (GRP78) in ischemic hippocampus CA1 were measured at 6, 12, 24 and 48 h after reperfusion. The results showed that hypothermia significantly attenuated brain I/R injury, as shown by reduction in cell apoptosis, CHOP expression, and increase in GRP78 expression. These results suggest that hypothermia could protect brain from I/R injury by suppressing ER stress-induced apoptosis

The Chip-Level and Package-Level Degradation of Cascode GaN Device Under Repetitive Power Cycling Stress

In this work, the electrical characteristics’ failure due to the chip-level damage and its relationship with the package-level degradation have been investigated for the Cascode GaN device under long-term repetitive power cycling test (PCT). At first, it is found that, the device’s transfer characteristics and threshold voltages have not changed until 8000-cycle PCT, while its on-state current decreases as the increases in cycles number. Meanwhile, the device’s gate-to-source leakage have not changed even after 8000-cycle PCT, but there is a significant increase in drain-to-source leakage. The above phenomenon has been attributed to the structural damage in the gate region of GaN HEMT, which has been verified by TCAD simulation and EMMI analysis. Then, it is found that the device’s thermal resistance is increased after the repetitive power cycling test, which is due to the package-level degradation. The increased thermal resistance will lead to the increase of heat accumulation, which has been verified by TCAD simulation, subsequently leading to the chip-level damage and electrical performance failure for Cascode GaN device. The relevant results may help to improve the long-term reliability of Cascode GaN device

CCN2 (Connective Tissue Growth Factor) Promotes Fibroblast Adhesion to Fibronectin

In vivo, CCN2 (connective tissue growth factor) promotes angiogenesis, osteogenesis, tissue repair, and fibrosis, through largely unknown mechanisms. In vitro, CCN2 promotes cell adhesion in a variety of systems via integrins and heparin sulfate proteoglycans (HSPGs). However, the physiological relevance of CCN2-mediated cell adhesion is unknown. Here, we find that HSPGs and the mitogen-activated protein kinase kinase/extracellular signal-regulated kinase (ERK) mitogen-activated protein kinase cascade are required for adult human dermal fibroblasts to adhere to CCN2. Endogenous CCN2 directly binds fibronectin and the fibronectin receptors integrins α4 β1 and α5 and syndecan 4. Using Ccn2-/- mouse embryonic fibroblasts, we show that loss of endogenous CCN2 results in impaired spreading on fibronectin, delayed α-smooth muscle actin stress fiber formation, and reduced ERK and focal adhesion kinase phosphorylation. These results suggest that a physiological role of CCN2 is to potentiate the ability of fibroblasts to spread on fibronectin, which may be important in modulating fibroblast adhesion to the provisional matrix during tissue development and wound healing. These results are consistent with the notion that a principal function of CCN2 is to modulate receptor/ligand interactions in vivo

Long Noncoding RNA Profiling from Fasciola Gigantica Excretory/Secretory Product-Induced M2 to M1 Macrophage Polarization

Background/Aims: Long noncoding RNAs (lncRNAs) are well known regulators of gene expression that play essential roles in macrophage activation and polarization. However, the role of lncRNA in Fasciola gigantica excretory/secretory products (ESP)-induced M2 polarization into M1 macrophages is unclear. Herein, we performed lncRNA profiling of lncRNAs and mRNAs during the ESP-induced macrophage polarization process. Methods: F. gigantica ESP was used to induce peritoneal cavity M2 macrophages in BALB/c mice (5-6 weeks old) in vivo, and these cells were subsequently isolated and stimulated with IFN-γ + LPS to induce M1 cells in vitro. LncRNA and mRNA profiling was performed via microarray at the end of both polarization stages. Results: In total, 2,844 lncRNAs (1,579 upregulated and 1,265 downregulated) and 1,782 mRNAs (789 upregulated and 993 downregulated) were differentially expressed in M2 macrophages compared to M1 macrophages, and six lncRNAs were identified during polarization. We selected 34 differentially expressed lncRNAs and mRNAs to validate the results of microarray analysis using quantitative real-time PCR (qPCR). Pathway and Gene Ontology (GO) analyses demonstrated that these altered transcripts were involved in multiple biological processes, particularly peptidase activity and carbohydrate metabolism. Furthermore, coding and non-coding gene (CNC) and mRNA-related ceRNA network analyses were conducted to predict lncRNA expression trends and the potential target genes of these lncRNAs and mRNAs. Moreover, we determined that four lncRNAs and four mRNAs might participate in F. gigantica ESP-induced M2 polarization into M1 macrophages. Conclusions: This study illustrates the basic profiling of lncRNAs and mRNAs during F. gigantica ESP-induced M2 polarization into M1 macrophages and deepens our understanding of the mechanism underlying this process