Tightly-coupled manipulation pipelines: Combining traditional pipelines and end-to-end learning

Traditionally, robot manipulation tasks are solved by engineering solutions in a modular fashion --- typically consisting of object detection, pose estimation, grasp planning, motion planning, and finally run a control algorithm to execute the planned motion. This traditional approach to robot manipulation separates the hard problem of manipulation into several self-contained stages, which can be developed independently, and gives interpretable outputs at each stage of the pipeline. However, this approach comes with a plethora of issues, most notably, their generalisability to a broad range of tasks; it is common that as tasks get more difficult, the systems become increasingly complex. To combat the flaws of these systems, recent trends have seen robots visually learning to predict actions and grasp locations directly from sensor input in an end-to-end manner using deep neural networks, without the need to explicitly model the in-between modules. This thesis investigates a sample of methods, which fall somewhere on a spectrum from pipelined to fully end-to-end, which we believe to be more advantageous for developing a general manipulation system; one that could eventually be used in highly dynamic and unpredictable household environments. The investigation starts at the far end of the spectrum, where we explore learning an end-to-end controller in simulation and then transferring to the real world by employing domain randomisation, and finish on the other end, with a new pipeline, where the individual modules bear little resemblance to the "traditional" ones. The thesis concludes with a proposition of a new paradigm: Tightly-coupled Manipulation Pipelines (TMP). Rather than learning all modules implicitly in one large, end-to-end network or conversely, having individual, pre-defined modules that are developed independently, TMPs suggest taking the best of both world by tightly coupling actions to observations, whilst still maintaining structure via an undefined number of learned modules, which do not have to bear any resemblance to the modules seen in "traditional" systems.Open Acces

VALUING LOSSES FROM DEPOPULATING MICHIGAN DAIRY HERDS

Depopulating dairy herds in the effort to eradicate disease would have significant economic effects. This paper evaluates farm-level effects that might occur and puts forth a method for quantifying losses. The reader is directed elsewhere for industry or state-level effects of disease eradication or depopulation.Livestock Production/Industries,

Justifying and unraveling apartheid: mission thought and the public theologies of David Bosch, Nico Smith, and Carel Boshoff, 1948-1994

This dissertation analyzes the careers of three Afrikaner missionaries, David Bosch, Carel Boshoff, and Nico Smith, who gained international reputations for pioneering alternatives to the South African Nation Party’s (NP) policy of apartheid over the second half of the 20th century. Afrikaners looked to missionaries to be moral leaders on questions of race relations, and missionaries’ public theologies carried significant moral weight. While numerous historians have argued that from the 1930s through the 1950s Afrikaner missionaries played a key role in developing and promoting the moral basis of apartheid in South Africa, they have not, however, addressed how Afrikaner missionaries responded to the political, social, and moral failure of apartheid. By the 1970s, the dissonance between the ideal and the actual implementation of apartheid led Bosch, Smith, and Boshoff—by that time leading public theologians—to a crisis of confidence in the NP, and they began to endorse divergent moral visions for the country’s future. David Bosch and Nico Smith embraced racial unity while Carel Boshoff pursued ethnic separatism. By the mid-1970s, Bosch became a leading proponent of “reconciliation,” which gave Afrikaners new moral language for thinking about themselves as part of a non-racial society. By the mid-1980s, both Bosch and Smith were key leaders in ecumenical and interracial organizations that endorsed a negotiated end to apartheid. They helped to form a growing interracial solidarity of Christians that encouraged and facilitated the democratic transition of 1990/1994. Conservative theologians, like Boshoff, attempted to stem the popularity of reconciliation in Afrikaner political and civil organizations. He was unable to successfully coordinate efforts with other conservatives, and he was increasingly marginalized. Ultimately, Boshoff opted for negotiated ethnic separatism with the African National Congress. This study demonstrates that far from being monolithic, Afrikaner religiosity and racial morality were dynamic and contested. Secondly, it shows that a number of Afrikaner public theologians and moral leaders were actively involved in ending white minority rule in South Africa. Conversely, it also shows that conservative religious leaders were able to transform Afrikaner nationalism, thereby prolonging its influence into the 21st century

Common mental disorders and ethnicity in England : the EMPIRIC Study

Background. There is little population-based evidence on ethnic variation in the most common mental disorders (CMD), anxiety and depression. We compared the prevalence of CMD among representative samples of White, Irish, Black Caribbean, Bangladeshi, Indian and Pakistani individuals living in England using a standardized clinical interview. Method. Cross-sectional survey of 4281 adults aged 16–74 years living in private households in England. CMD were assessed using the Revised Clinical Interview Schedule (CIS-R), a standardized clinical interview. Results. Ethnic differences in the prevalence of CMD were modest, and some variation with age and sex was noted. Compared to White counterparts, the prevalence of CMD was higher to a statistically significant degree among Irish [adjusted rate ratios (RR) 2.09, 95% CI 1.16–2.95, p=0.02] and Pakistani (adjusted RR 2.38, 95% CI 1.25–3.53, p=0.02) men aged 35–54 years, even after adjusting for differences in socio-economic status. Higher rates of CMD were also observed among Indian and Pakistani women aged 55–74 years, compared to White women of similar age. The prevalence of CMD among Bangladeshi women was lower than among White women, although this was restricted to those not interviewed in English. There were no differences in rates between Black Caribbean and White samples. Conclusions. Middle-aged Irish and Pakistani men, and older Indian and Pakistani women, had significantly higher rates of CMD than their White counterparts. The very low prevalence of CMD among Bangladeshi women contrasted with high levels of socio-economic deprivation among this group. Further study is needed to explore reasons for this variation

TEDI: the TripleSpec Exoplanet Discovery Instrument

The TEDI (TripleSpec - Exoplanet Discovery Instrument) will be the first instrument fielded specifically for finding low-mass stellar companions. The instrument is a near infra-red interferometric spectrometer used as a radial velocimeter. TEDI joins Externally Dispersed Interferometery (EDI) with an efficient, medium-resolution, near IR (0.9 - 2.4 micron) echelle spectrometer, TripleSpec, at the Palomar 200" telescope. We describe the instrument and its radial velocimetry demonstration program to observe cool stars.Comment: 6 Pages, To Appear in SPIE Volume 6693, Techniques and Instrumentation for Detection of Exoplanets II

A Volumetric Method for Quantifying Atherosclerosis in Mice by Using MicroCT: Comparison to En Face

Precise quantification of atherosclerotic plaque in preclinical models of atherosclerosis requires the volumetric assessment of the lesion(s) while maintaining in situ architecture. Here we use micro-computed tomography (microCT) to detect ex vivo aortic plaque established in three dyslipidemic mouse models of atherosclerosis. All three models lack the low-density lipoprotein receptor (Ldlr−/−), each differing in plaque severity, allowing the evaluation of different plaque volumes using microCT technology. From clearly identified lesions in the thoracic aorta from each model, we were able to determine plaque volume (0.04–3.1 mm3), intimal surface area (0.5–30 mm2), and maximum plaque (intimal-medial) thickness (0.1–0.7 mm). Further, quantification of aortic volume allowed calculation of vessel occlusion by the plaque. To validate microCT for future preclinical studies, we compared microCT data to intimal surface area (by using en face methodology). Both plaque surface area and plaque volume were in excellent correlation between microCT assessment and en face surface area (r2 = 0.99, p<0.0001 and r2 = 0.95, p<0.0001, respectively). MicroCT also identified internal characteristics of the lipid core and fibrous cap, which were confirmed pathologically as Stary type III-V lesions. These data validate the use of microCT technology to provide a more exact empirical measure of ex vivo plaque volume throughout the entire intact aorta in situ for the quantification of atherosclerosis in preclinical models

Service evaluation of weight outcomes as a function of initial BMI in 34,271 adults referred to a primary care/commercial weight management partnership scheme

Peer reviewedPublisher PD

Earth-Abundant Mixed-Metal Catalysts for Hydrocarbon Oxygenation

The oxygenation of aliphatic and aromatic hydrocarbons using earth-abundant Fe and Cu catalysts and “green” oxidants such as hydrogen peroxide is becoming increasingly important to atom-economical chemical processing. In light of this, we describe that dinuclear Cu^II complexes of pyrrolic Schiff-base macrocycles, in combination with ferric chloride (FeCl₃), catalyze the oxygenation of π-activated benzylic substrates with hydroperoxide oxidants at room temperature and low loadings, representing a novel design in oxidation catalysis. Mass spectrometry and extended X-ray absorption fine structure analysis indicate that a cooperative action between Cu^II and Fe^III occurs, most likely because of the interaction of FeCl₃ or FeCl₄^– with the dinuclear Cu^II macrocycle. Voltammetric measurements highlight a modulation of both Cu^II and Fe^III redox potentials in this adduct, but electron paramagnetic resonance spectroscopy indicates that any Cu–Fe intermetallic interaction is weak. High ketone/alcohol product ratios, a small reaction constant (Hammett analysis), and small kinetic isotope effect for H-atom abstraction point toward a free-radical reaction. However, the lack of reactivity with cyclohexane, oxidation of 9,10-dihydroanthracene, oxygenation by the hydroperoxide MPPH (radical mechanistic probe), and oxygenation in dinitrogen-purge experiments indicate a metal-based reaction. Through detailed reaction monitoring and associated kinetic modeling, a network of oxidation pathways is proposed that includes “well-disguised” radical chemistry via the formation of metal-associated radical intermediates

Springfield\u27s Legacy: A Vision for A Transformative Transit-Oriented Union Station District

This urban design studio developed concepts around equitable transportation Union Station in Springfield, Massachusetts. The work creates a vision for the Union Station District, a revitalized mixed-use walkable neighborhood adjacent to the restored transportation center. It emphasizes reusing the city’s historic street grid in new, forward thinking ways that enhance neighborhood connectivity. The plan creates physical and social networks that bring together diverse groups of residents and visitors. The Union Station District will be a place that offers a range of non-automobile transportation options to residents and visitors and will help transforming an area characterized by vacant lots and empty buildings into a vibrant, well-connected TOD neighborhood. The Union Station District is envisioned as an active, vibrant place that is accessible and inviting to all. KEY GOAL AND MISSION OF THE PROJECT: • Creating a vibrant, connected, equitable neighborhood that reflects Springfield’s diversity KEY DESIGN AND PLANNING OBJECTIVES AND OUTCOMES: Creating places that welcome people of color and traditionally underrepresented communities Promoting public health and community well-being Encouraging bicycling, walking, public transportation and micro-mobility options for all ages including the youth Fostering arts/culture and innovation economy for placemaking/economic development Creating connectivity and mobility for persons with disabilities Provide better connectivity, reusing the existing street grid, and historic infrastructure Include strategies that limit impervious surfaces/stormwater to improve local climat

A Close Companion Search Around L Dwarfs Using Aperture Masking Interferometry and Palomar Laser Guide Star Adaptive Optics

We present a close companion search around 16 known early L dwarfs using aperture masking interferometry with Palomar laser guide star adaptive optics (LGS AO). The use of aperture masking allows the detection of close binaries, corresponding to projected physical separations of 0.6-10.0 AU for the targets of our survey. This survey achieved median contrast limits of ΔK ~ 2.3 for separations between 1.2λ/D-4λ/D and ΔK ~ 1.4 at 2/3λ/D. We present four candidate binaries detected with moderate-to-high confidence (90%-98%). Two have projected physical separations less than 1.5 AU. This may indicate that tight-separation binaries contribute more significantly to the binary fraction than currently assumed, consistent with spectroscopic and photometric overluminosity studies. Ten targets of this survey have previously been observed with the Hubble Space Telescope as part of companion searches. We use the increased resolution of aperture masking to search for close or dim companions that would be obscured by full aperture imaging, finding two candidate binaries. This survey is the first application of aperture masking with LGS AO at Palomar. Several new techniques for the analysis of aperture masking data in the low signal-to-noise regime are explored