Dual Arm Impact-Aware Grasping through Time-Invariant Reference Spreading Control

With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant reference spreading framework, in which partly-overlapping ante- and post-impact reference vector fields are used. These vector fields are coupled via the impact dynamics in proximity of the expected impact area, minimizing the otherwise large velocity errors after the impact and the corresponding large control efforts. A purely spatial task is introduced to strongly encourage the synchronization of impact times of the two arms. An interim-impact control phase provides robustness in the execution against the inevitable lack of exact impact simultaneity and the corresponding unreliable velocity error. In this interim phase, a position feedback signal is derived from the ante-impact velocity reference, which is used to enforce sustained contact in all contact points without using velocity error feedback. With an eye towards real-life implementation, the approach is formulated using a QP control framework, and is validated using numerical simulations on a realistic robot model with flexible joints and low-level torque control.Comment: 8 pages, 4 figures, accepted for publication to IFAC World Congress 202

Dual Arm Impact-Aware Grasping through Time-Invariant Reference Spreading Control

With the goal of increasing the speed and efficiency in robotic dual arm manipulation, a novel control approach is presented that utilizes intentional simultaneous impacts to rapidly grasp objects. This approach uses the time-invariant reference spreading framework, in which partly-overlapping ante- and post-impact reference vector fields are used. These vector fields are coupled via the impact dynamics in proximity of the expected impact area, minimizing the otherwise large velocity errors after the impact and the corresponding large control efforts. A purely spatial task is introduced to strongly encourage the synchronization of impact times of the two arms. An interim-impact control phase provides robustness in the execution against the inevitable lack of exact impact simultaneity and the corresponding unreliable velocity error. In this interim phase, a position feedback signal is derived from the ante-impact velocity reference, which is used to enforce sustained contact in all contact points without using velocity error feedback. With an eye towards real-life implementation, the approach is formulated using a QP control framework, and is validated using numerical simulations on a realistic robot model with flexible joints and low-level torque control

Quadratic Programming-based Reference Spreading Control for Dual-Arm Robotic Manipulation with Planned Simultaneous Impacts

With the aim of further enabling the exploitation of intentional impacts in robotic manipulation, a control framework is presented that directly tackles the challenges posed by tracking control of robotic manipulators that are tasked to perform nominally simultaneous impacts. This framework is an extension of the reference spreading control framework, in which overlapping ante- and post-impact references that are consistent with impact dynamics are defined. In this work, such a reference is constructed starting from a teleoperation-based approach. By using the corresponding ante- and post-impact control modes in the scope of a quadratic programming control approach, peaking of the velocity error and control inputs due to impacts is avoided while maintaining high tracking performance. With the inclusion of a novel interim mode, we aim to also avoid input peaks and steps when uncertainty in the environment causes a series of unplanned single impacts to occur rather than the planned simultaneous impact. This work in particular presents for the first time an experimental evaluation of reference spreading control on a robotic setup, showcasing its robustness against uncertainty in the environment compared to two baseline control approaches

Subsequent Event Risk in Individuals with Established Coronary Heart Disease:Design and Rationale of the GENIUS-CHD Consortium

BACKGROUND: The "GENetIcs of sUbSequent Coronary Heart Disease" (GENIUS-CHD) consortium was established to facilitate discovery and validation of genetic variants and biomarkers for risk of subsequent CHD events, in individuals with established CHD. METHODS: The consortium currently includes 57 studies from 18 countries, recruiting 185,614 participants with either acute coronary syndrome, stable CHD or a mixture of both at baseline. All studies collected biological samples and followed-up study participants prospectively for subsequent events. RESULTS: Enrollment into the individual studies took place between 1985 to present day with duration of follow up ranging from 9 months to 15 years. Within each study, participants with CHD are predominantly of self-reported European descent (38%-100%), mostly male (44%-91%) with mean ages at recruitment ranging from 40 to 75 years. Initial feasibility analyses, using a federated analysis approach, yielded expected associations between age (HR 1.15 95% CI 1.14-1.16) per 5-year increase, male sex (HR 1.17, 95% CI 1.13-1.21) and smoking (HR 1.43, 95% CI 1.35-1.51) with risk of subsequent CHD death or myocardial infarction, and differing associations with other individual and composite cardiovascular endpoints. CONCLUSIONS: GENIUS-CHD is a global collaboration seeking to elucidate genetic and non-genetic determinants of subsequent event risk in individuals with established CHD, in order to improve residual risk prediction and identify novel drug targets for secondary prevention. Initial analyses demonstrate the feasibility and reliability of a federated analysis approach. The consortium now plans to initiate and test novel hypotheses as well as supporting replication and validation analyses for other investigators

Genome-wide association meta-analysis in 269,867 individuals identifies new genetic and functional links to intelligence

Intelligence is highly heritable(1) and a major determinant of human health and well-being(2). Recent genome-wide meta-analyses have identified 24 genomic loci linked to variation in intelligence3-7, but much about its genetic underpinnings remains to be discovered. Here, we present a large-scale genetic association study of intelligence (n = 269,867), identifying 205 associated genomic loci (190 new) and 1,016 genes (939 new) via positional mapping, expression quantitative trait locus (eQTL) mapping, chromatin interaction mapping, and gene-based association analysis. We find enrichment of genetic effects in conserved and coding regions and associations with 146 nonsynonymous exonic variants. Associated genes are strongly expressed in the brain, specifically in striatal medium spiny neurons and hippocampal pyramidal neurons. Gene set analyses implicate pathways related to nervous system development and synaptic structure. We confirm previous strong genetic correlations with multiple health-related outcomes, and Mendelian randomization analysis results suggest protective effects of intelligence for Alzheimer's disease and ADHD and bidirectional causation with pleiotropic effects for schizophrenia. These results are a major step forward in understanding the neurobiology of cognitive function as well as genetically related neurological and psychiatric disorders.Peer reviewe

Author Correction:Study of 300,486 individuals identifies 148 independent genetic loci influencing general cognitive function

Christina M. Lill, who contributed to analysis of data, was inadvertently omitted from the author list in the originally published version of this article. This has now been corrected in both the PDF and HTML versions of the article

Robot Control for Simultaneous Impact tasks via Quadratic Programming-based Reference Spreading

With the aim of further enabling the exploitation of impacts in robotic manipulation, a control framework is presented that directly tackles the challenges posed by tracking control of robotic manipulators that are tasked to perform nominally simultaneous impacts associated to multiple contact points. To this end, we extend the framework of reference spreading, which uses an extended ante- and post-impact reference coherent with a rigid impact map, determined under the assumption of an inelastic simultaneous impact. In practice, the robot will not reside exactly on the reference at the impact moment; as a result a sequence of impacts at the different contact points will typically occur. Our new approach extends reference spreading in this context via the introduction of an additional interim control mode. In this mode, a torque command is still based on the ante-impact reference with the goal of reaching the target contact state, but velocity feedback is disabled as this can be potentially harmful due to rapid velocity changes. With an eye towards real implementation, the approach is formulated using a quadratic programming (QP) control framework and is validated using numerical simulations both on a rigid robot model and on a realistic robot model with flexible joints

Robot Control for Simultaneous Impact Tasks through Time-Invariant Reference Spreading

With the goal of enabling the exploitation of impacts in robotic manipulation, a new framework is presented for control of robotic manipulators that are tasked to execute nominally simultaneous impacts. In this framework, we employ tracking of time-invariant reference vector fields corresponding to the ante- and post-impact motion, increasing its applicability over similar conventional tracking control approaches. The ante- and post-impact references are coupled through a rigid impact map, and are extended to overlap around the area where the impact is expected to take place, such that the reference corresponding to the actual contact state of the robot can always be followed. As a sequence of impacts at the different contact points will typically occur, resulting in uncertainty of the contact mode and unreliable velocity measurements, a new interim control mode catered towards time-invariant references is formulated. In this mode, a position feedback signal is derived from the ante-impact velocity reference, which is used to enforce sustained contact in all contact points without using velocity feedback. With an eye towards real implementation, the approach is formulated using a QP control framework, and is validated using numerical simulations both on a rigid robot with a hard inelastic contact model and on a realistic robot model with flexible joints and compliant partially elastic contact model.Comment: 8 pages, 3 figures. Submitted for publication to the IEEE Conference on Decision and Control (CDC) 202

Study of 300,486 individuals identifies 148 independent genetic loci influencing general cognitive function.

General cognitive function is a prominent and relatively stable human trait that is associated with many important life outcomes. We combine cognitive and genetic data from the CHARGE and COGENT consortia, and UK Biobank (total N = 300,486; age 16-102) and find 148 genome-wide significant independent loci (P < 5 × 10-8) associated with general cognitive function. Within the novel genetic loci are variants associated with neurodegenerative and neurodevelopmental disorders, physical and psychiatric illnesses, and brain structure. Gene-based analyses find 709 genes associated with general cognitive function. Expression levels across the cortex are associated with general cognitive function. Using polygenic scores, up to 4.3% of variance in general cognitive function is predicted in independent samples. We detect significant genetic overlap between general cognitive function, reaction time, and many health variables including eyesight, hypertension, and longevity. In conclusion we identify novel genetic loci and pathways contributing to the heritability of general cognitive function

Study of 300,486 individuals identifies 148 independent genetic loci influencing general cognitive function

General cognitive function is a prominent and relatively stable human trait that is associated with many important life outcomes. We combine cognitive and genetic data from the CHARGE and COGENT consortia, and UK Biobank (total N = 300,486; age 16–102) and find 148 genome-wide significant independent loci (P < 5 × 10−8) associated with general cognitive function. Within the novel genetic loci are variants associated with neurodegenerative and neurodevelopmental disorders, physical and psychiatric illnesses, and brain structure. Gene-based analyses find 709 genes associated with general cognitive function. Expression levels across the cortex are associated with general cognitive function. Using polygenic scores, up to 4.3% of variance in general cognitive function is predicted in independent samples. We detect significant genetic overlap between general cognitive function, reaction time, and many health variables including eyesight, hypertension, and longevity. In conclusion we identify novel genetic loci and pathways contributing to the heritability of general cognitive function