Learning to Use Chopsticks in Diverse Gripping Styles

Learning dexterous manipulation skills is a long-standing challenge in computer graphics and robotics, especially when the task involves complex and delicate interactions between the hands, tools and objects. In this paper, we focus on chopsticks-based object relocation tasks, which are common yet demanding. The key to successful chopsticks skills is steady gripping of the sticks that also supports delicate maneuvers. We automatically discover physically valid chopsticks holding poses by Bayesian Optimization (BO) and Deep Reinforcement Learning (DRL), which works for multiple gripping styles and hand morphologies without the need of example data. Given as input the discovered gripping poses and desired objects to be moved, we build physics-based hand controllers to accomplish relocation tasks in two stages. First, kinematic trajectories are synthesized for the chopsticks and hand in a motion planning stage. The key components of our motion planner include a grasping model to select suitable chopsticks configurations for grasping the object, and a trajectory optimization module to generate collision-free chopsticks trajectories. Then we train physics-based hand controllers through DRL again to track the desired kinematic trajectories produced by the motion planner. We demonstrate the capabilities of our framework by relocating objects of various shapes and sizes, in diverse gripping styles and holding positions for multiple hand morphologies. Our system achieves faster learning speed and better control robustness, when compared to vanilla systems that attempt to learn chopstick-based skills without a gripping pose optimization module and/or without a kinematic motion planner

Design and Construction of a Laboratory-Scale Direct-Current Electric Arc Furnace for Metallurgical and High-Titanium Slag Smelting Studies

A novel direct-current electric arc furnace (DC-EAF) was designed and constructed in this study for experimentally investigating high-titanium slag smelting, with an emphasis on addressing the issues of incomplete separation of metal and slag as well as poor insulation effects. The mechanical components (crucible, electrode, furnace lining, etc.) were designed and developed, and an embedded crucible design was adopted to promote metal-slag separation. The lining and bottom thicknesses of the furnace were determined via calculation using the heat balance equations, which improved the thermal insulation. To monitor the DC-EAF electrical parameters, suitable software was developed. For evaluating the performance of the furnace, a series of tests were run to determine the optimal coke addition under the conditions of constant temperature (1607 °C) and melting time (90 min). The results demonstrated that for 12 kg of titanium-containing metallized pellets, 4% coke was the most effective for enrichment of TiO2 in the high-titanium slag, with the TiO2 content reaching 93.34%. Moreover, the DC-EAF met the design requirements pertaining to lining thickness and facilitated metal-slag separation, showing satisfactory performance during experiments

Analysis of Low-Velocity Impact Resistance of Carbon Fiber Reinforced Polymer Composites Based on the Content of Incorporated Graphite Fluoride

As a graphite derivative, graphite fluoride (GrF) has a remarkable fracture toughness improvement effect on epoxy materials. The fracture toughness variation of the epoxy could exert an influence on the low velocity impact resistance of the corresponding carbon fiber reinforced polymer (CFRP) composite. Therefore, the dependence of the low velocity impact resistance of the incorporated CFRP on the GrF content is worth analyzing. Here, different contents of GrF were applied to incorporate CFRP laminates and planned to find the optimal GrF content, in turn leading to the best impact resistance. Using a drop-weight impact test, the load vs. time curves and load vs. displacement curves were obtained. The incipient damage loads and maximum loads of various GrF contents of the samples were compared carefully. The absorbed energies during the impact process were calculated. The trend of absorbed energy decreased up to the 1 wt% sample, then increased significantly with the rise of GrF content. This deflection behavior can be explained by the combination of crack pinning, crack deflection and crack propagation, due to the rise in GrF content. Through the ultrasonic C-scan evaluation, the delamination areas of different GrF content of samples were measured. The trend of delamination area variation was accordant with the trend of absorbed energy variation. This presents a demonstration of the correlation between the absorbed energy and the damage level. The SEM images of the fracture surfaces were analyzed for the deflection behavior of the fracture toughness with various GrF contents. The plot of residual compression strength versus GrF content further indicated the 1 wt% was the optimal content at which the incorporated GrF endowed the most impact-resistant property to the CFRP laminates

Disease burden and antimicrobial resistance of invasive group B streptococcus among infants in China: a protocol for a national prospective observational study

Abstract Background Group B Streptococcus (GBS) is a cause of neonatal sepsis, pneumonia, and meningitis that can lead to neurological sequelae in infants less than 3 months of age. The GBS disease burden is not known in China, therefore it cannot receive major attention. The main objectives of this study are the evaluation of the incidence of neonatal GBS infection, GBS case-fatality ratio, its serotypes and genotypes, bacterial resistance, clinical treatment and outcomes in China. Methods We are conducting a nation-wide, population-based, multi-center, prospective, observational cohort study in China from May 2016 to December 2017. Eighteen large urban tertiary care hospitals from 16 provinces were selected that cover the eastern, southern, western, northern and central regions of China. Meanwhile, we retrospectively collected data and GBS strains from January 2015 to April 2016 from selected hospitals. The incidence rate per 1000 live births will be defined as the total number of confirmed GBS cases born in the selected hospitals divided by the number of live births in the hospitals during the study period. All GBS cases detected in selected hospitals will be used to calculate the case-fatality ratio and for the typing analysis. GBS isolates will be serotyped using the Strep-B-Latex® rapid latex agglutination test for serotyping of Group B streptococci. Multi-locus sequence typing (MLST) will be performed by sequencing the internal fragments of seven house-keeping genes. Antimicrobial susceptibility will be tested per interpretive standards established by the Clinical and Laboratory Standards Institute. The presence of the common resistance genes ermA, ermB, mefA, tetI, tetO and tetM will be tested by PCR. Discussion We are conducting the first national study to estimate the invasive GBS disease burden and antimicrobial resistance of GBS among infants in China. Study findings will provide important evidence for improving clinical practice to ensure timely diagnosis of GBS disease and decisions for preventive measures. Surveillance of antimicrobial resistance will promote the rational use of antimicrobials. Trial registration The study was retrospectively registered at http://clinicaltrials.gov on June 13, 2016. It was granted a registration number of “NCT02812576”