Translating Universal Scene Descriptions into Knowledge Graphs for Robotic Environment

Robots performing human-scale manipulation tasks require an extensive amount of knowledge about their surroundings in order to perform their actions competently and human-like. In this work, we investigate the use of virtual reality technology as an implementation for robot environment modeling, and present a technique for translating scene graphs into knowledge bases. To this end, we take advantage of the Universal Scene Description (USD) format which is an emerging standard for the authoring, visualization and simulation of complex environments. We investigate the conversion of USD-based environment models into Knowledge Graph (KG) representations that facilitate semantic querying and integration with additional knowledge sources.Comment: 6 pages, 3 figures, ICRA 202

A P2P Network of Space Containers for Efficient Management of Spatial-Temporal Data in Intelligent Transportation Scenarios

The effectiveness of Intelligent Transportation Systems (ITS) depends on their ability to collect contextual data from various sources and appropriately generate and transport comprehensible, reliable and timely content to users. In such applications, the exchanged content is structured in space and time. Peer-to-peer (P2P) networks are the natural choice these applications due to their fault-tolerance, self-organization and scalability properties. However, a closer analysis of the available Distributed Hash Tables (DHT) protocols shows that the structure of the data gets lost and its short liveness leads to high signalling traffic. In this work we propose a novel overlay network of so called Space Containers for storing, accessing, manipulating and structuring dynamic geo-located content. The benefits of combining Space Containers and DHT are: clean applica-tion programming logic and efficient content retrieval while preserving the properties of DHTs. We describe the system architecture applied to a trans-portation scenario and show preliminary evaluation results. 1

Neurofibromin Deficient Myeloid Cells are Critical Mediators of Aneurysm Formation In Vivo

Background Neurofibromatosis Type 1 (NF1) is a genetic disorder resulting from mutations in the NF1 tumor suppressor gene. Neurofibromin, the protein product of NF1, functions as a negative regulator of Ras activity in circulating hematopoietic and vascular wall cells, which are critical for maintaining vessel wall homeostasis. NF1 patients have evidence of chronic inflammation resulting in development of premature cardiovascular disease, including arterial aneurysms, which may manifest as sudden death. However, the molecular pathogenesis of NF1 aneurysm formation is unknown. Method and Results Utilizing an angiotensin II-induced aneurysm model, we demonstrate that heterozygous inactivation of Nf1 (Nf1+/−) enhanced aneurysm formation with myeloid cell infiltration and increased oxidative stress in the vessel wall. Using lineage-restricted transgenic mice, we show loss of a single Nf1 allele in myeloid cells is sufficient to recapitulate the Nf1+/− aneurysm phenotype in vivo. Finally, oral administration of simvastatin or the antioxidant apocynin, reduced aneurysm formation in Nf1+/− mice. Conclusion These data provide genetic and pharmacologic evidence that Nf1+/− myeloid cells are the cellular triggers for aneurysm formation in a novel model of NF1 vasculopathy and provide a potential therapeutic target

A review and comparison of ontology-based approaches to robot autonomy

Within the next decades, robots will need to be able to execute a large variety of tasks autonomously in a large variety of environments. To relax the resulting programming effort, a knowledge-enabled approach to robot programming can be adopted to organize information in re-usable knowledge pieces. However, for the ease of reuse, there needs to be an agreement on the meaning of terms. A common approach is to represent these terms using ontology languages that conceptualize the respective domain. In this work, we will review projects that use ontologies to support robot autonomy. We will systematically search for projects that fulfill a set of inclusion criteria and compare them with each other with respect to the scope of their ontology, what types of cognitive capabilities are supported by the use of ontologies, and which is their application domain.Peer ReviewedPostprint (author's final draft

Safety and effectiveness of bariatric surgery: Roux-en-y gastric bypass is superior to gastric banding in the management of morbidly obese patients: a response

The recent article by Guller, Klein, Hagen was reviewed and discussed by the authors of this response to critically analyze the validity of the conclusions, at a time when patients and providers depend on peer reviewed data to guide their health care choices. The authors of this response all have high volume bariatric surgery practices encompassing experience with both gastric bypass and gastric banding, and have made significant contributions to the peer reviewed literature. We examined the assumptions of the paper, reviewed the main articles cited, provided more evidence from articles that were included in the materials and methods of the paper, but not cited, and challenge the conclusion that Roux-en-Y gastric bypass is superior to gastric banding. The paper by Guller et al was subject to significant bias. The authors did not demonstrate an understanding of gastric banding, selectively included data with unfavorable results towards gastric banding, did not provide equal critique to the literature on gastric bypass, and deliberately excluded much of the favorable data on gastric banding. The paper's conclusion that gastric bypass is the procedure of choice is biased, unsubstantiated, not supported by the current literature and represents a disservice to the scientific and health care community

Electrochemical Pressure Impedance Spectroscopy (EPIS): A Promising Diagnostic Tool for Metal-air Batteries and Fuel Cells

Electrochemical impedance spectroscopy (EIS) is a widely-used diagnostic technique to characterize electrochemical processes. It is based on the dynamic analysis of two electrical observables, that is, current and voltage. Electrochemical cells with gaseous reactants or products (e.g., fuel cells, metal/air cells, electrolyzers) offer an additional observable, that is, the gas pressure. The dynamic coupling of current and/or voltage with gas pressure gives rise to a number of additional impedance definitions, for which we have introduced the term electrochemical pressure impedance spectroscopy (EPIS) [1,2]. EPIS shows a particular sensitivity towards transport processes of gas-phase or dissolved species, in particular, diffusion coefficients and transport pathway lengths. It is as such complementary to standard EIS, which is mainly sensitive towards electrochemical processes. This sensitivity can be exploited for model parameterization and validation. A general analysis of EPIS is presented, which shows the necessity of model-based interpretation of the complex EPIS shapes in the Nyquist plot (cf. Figure). We then present EPIS simulations for two different electrochemical cells: (1) a sodium/oxygen battery cell and (2) a hydrogen/air fuel cell. We use 1D or 2D electrochemical and transport models to simulate current excitation/pressure detection or pressure excitation/voltage detection. The results are compared to first EPIS experimental data available in literature [2,3]

Model-based analysis of Electrochemical Pressure Impedance Spectroscopy (EPIS) for PEM Fuel Cells

Electrochemical impedance spectroscopy (EIS) is a widely-used diagnostic technique to characterize electrochemical processes. It is based on the dynamic analysis of two electrical observables, that is, current and voltage. Electrochemical cells with gaseous reactants or products, in particular fuel cells, offer an additional observable, that is, the gas pressure. The dynamic coupling of current or voltage with gas pressure gives rise to a number of additional impedance definitions, for which we have previously introduced the term electrochemical pressure impedance spectroscopy (EPIS) [1,2]. EPIS shows a particular sensitivity towards transport processes of gas-phase or dissolved species, in particular, diffusion coefficients and transport pathway lengths. It is as such complementary to standard EIS, which is mainly sensitive towards electrochemical processes. First EPIS experiments on PEM fuel cells have recently been shown [3]. We present a detailed modeling and simulation analysis of EPIS of a PEM fuel cell. We use a 1D+1D continuum model of a fuel/air channel pair with GDL and MEA. Backpressure is dynamically varied, and the resulting simulated oscillation in cell voltage is evaluated to yield the ▁Z_( V⁄p_ca ) EPIS signal. Results are obtained for different transport situations of the fuel cell, giving rise to very complex EPIS shapes in the Nyquist plot. This complexity shows the necessity of model-based interpretation of the complex EPIS shapes. Based on the simulation results, specific features in the EPIS spectra can be assigned to different transport domains (gas channel, GDL, membrane water transport)

Multi-Methodology Modeling and Design of Lithium-Air Cells with Aqueous Electrolyte

Metal-air batteries are being investigated as alternative to state-of-the-art lithium-ion batteries for mobile and stationary applications due to their higher specific energy and potentially lower cost. Modeling and simulation techniques allow a better understanding and improvement of the complex mechanisms and properties of metal-air batteries. We present simulation results of a lithium-air (Li/O2) battery with aqueous alkaline (LiOH) electrolyte using three different methodologies, (i) Lattice-Boltzmann modeling on the porous electrode scale, (ii) multi-physics continuum modeling on the single-cell scale and (iii) system simulation of a Li/O2-battery-powered electric vehicle. Different cell designs (porous separator, stirred separator, and redox-flow design) are investigated in order to quantitatively assess their performance. Virtual aqueous lithium-air batteries yielded high specific energy (up to 755 Wh/kg), but considerably uncompetitive specific power, which prohibit the use in battery electric vehicles at the present stage of development

Exploring the role of electrostatic deposition on inhaled aerosols in alveolated microchannels

Abstract Large amounts of net electrical charge are known to accumulate on inhaled aerosols during their generation using commonly-available inhalers. This effect often leads to superfluous deposition in the extra-thoracic airways at the cost of more efficient inhalation therapy. Since the electrostatic force is inversely proportional to the square of the distance between an aerosol and the airway wall, its role has long been recognized as potentially significant in the deep lungs. Yet, with the complexity of exploring such phenomenon directly at the acinar scales, in vitro experiments have been largely limited to upper airways models. Here, we devise a microfluidic alveolated airway channel coated with conductive material to quantify in vitro the significance of electrostatic effects on inhaled aerosol deposition. Specifically, our aerosol exposure assays showcase inhaled spherical particles of 0.2, 0.5, and 1.1 μm that are recognized to reach the acinar regions, whereby deposition is typically attributed to the leading roles of diffusion and sedimentation. In our experiments, electrostatic effects are observed to largely prevent aerosols from depositing inside alveolar cavities. Rather, deposition is overwhelmingly biased along the inter-alveolar septal spaces, even when aerosols are charged with only a few elementary charges. Our observations give new insight into the role of electrostatics at the acinar scales and emphasize how charged particles under 2 µm may rapidly overshadow the traditionally accepted dominance of diffusion or sedimentation when considering aerosol deposition phenomena in the deep lungs