Electrostatic Brakes Enable Individual Joint Control of Underactuated, Highly Articulated Robots

Highly articulated organisms serve as blueprints for incredibly dexterous mechanisms, but building similarly capable robotic counterparts has been hindered by the difficulties of developing electromechanical actuators with both the high strength and compactness of biological muscle. We develop a stackable electrostatic brake that has comparable specific tension and weight to that of muscles and integrate it into a robotic joint. Compared to electromechanical motors, our brake-equipped joint is four times lighter and one thousand times more power efficient while exerting similar holding torques. Our joint design enables a ten degree-of-freedom robot equipped with only one motor to manipulate multiple objects simultaneously. We also show that the use of brakes allows a two-fingered robot to perform in-hand re-positioning of an object 45% more quickly and with 53% lower positioning error than without brakes. Relative to fully actuated robots, our findings suggest that robots equipped with such electrostatic brakes will have lower weight, volume, and power consumption yet retain the ability to reach arbitrary joint configurations.Comment: 17 pages, 15 figure

MoDem-V2: Visuo-Motor World Models for Real-World Robot Manipulation

Robotic systems that aspire to operate in uninstrumented real-world environments must perceive the world directly via onboard sensing. Vision-based learning systems aim to eliminate the need for environment instrumentation by building an implicit understanding of the world based on raw pixels, but navigating the contact-rich high-dimensional search space from solely sparse visual reward signals significantly exacerbates the challenge of exploration. The applicability of such systems is thus typically restricted to simulated or heavily engineered environments since agent exploration in the real-world without the guidance of explicit state estimation and dense rewards can lead to unsafe behavior and safety faults that are catastrophic. In this study, we isolate the root causes behind these limitations to develop a system, called MoDem-V2, capable of learning contact-rich manipulation directly in the uninstrumented real world. Building on the latest algorithmic advancements in model-based reinforcement learning (MBRL), demo-bootstrapping, and effective exploration, MoDem-V2 can acquire contact-rich dexterous manipulation skills directly in the real world. We identify key ingredients for leveraging demonstrations in model learning while respecting real-world safety considerations -- exploration centering, agency handover, and actor-critic ensembles. We empirically demonstrate the contribution of these ingredients in four complex visuo-motor manipulation problems in both simulation and the real world. To the best of our knowledge, our work presents the first successful system for demonstration-augmented visual MBRL trained directly in the real world. Visit https://sites.google.com/view/modem-v2 for videos and more details.Comment: 9 pages, 8 figure

Optical Proximity Sensing for Pose Estimation During In-Hand Manipulation

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to detect discriminative geometric object features, but previous sensing modalities are unable to make such measurements robustly. The robot's fingers can occlude the view of environment- or robot-mounted image sensors, and tactile sensors can only measure at the local areas of contact. Motivated by fingertip-embedded proximity sensors' robustness to occlusion and ability to measure beyond the local areas of contact, we present the first evaluation of proximity sensor based pose estimation for in-hand manipulation. We develop a novel two-fingered hand with fingertip-embedded optical time-of-flight proximity sensors as a testbed for pose estimation during planar in-hand manipulation. Here, the in-hand manipulation task consists of the robot moving a cylindrical object from one end of its workspace to the other. We demonstrate, with statistical significance, that proximity-sensor based pose estimation via particle filtering during in-hand manipulation: a) exhibits 50% lower average pose error than a tactile-sensor based baseline; b) empowers a model predictive controller to achieve 30% lower final positioning error compared to when using tactile-sensor based pose estimates.Comment: 8 pages, 6 figure

Trends in smoking and quitting in China from 1993 to 2003: National Health Service Survey data

OBJECTIVE: China has about 350 million smokers, more commonly men. Using data from National Health Service Surveys conducted in 1993, 1998 and 2003, we (i) estimated trends in smoking prevalence and cessation according to sociodemographic variables and (ii) analysed cessation rates, quitting intentions, reasons for quitting and reasons for relapsing. METHODS: Data were collected from approximately 57 000 households and 200 000 individuals in each survey year. Household members > 15 years of age were interviewed about their smoking habits, quitting intentions and attitudes towards smoking. We present descriptive data stratified by age, sex, income level and rural versus urban residence. FINDINGS: In China, current smoking in those > 15 years old declined 60–49% in men and 5–3.2% in women over 1993–2003. The decline was more marked in urban areas. However, heavy smoking (≥ 20 cigarettes daily) increased substantially overall and doubled in men. The average age of uptake also dropped by about 3 years. In 2003, 7.9% of smokers reported intending to quit, and 6% of people who had ever smoked reported having quit. Of former smokers, 40.6% quit because of illness, 26.9% to prevent disease and 10.9% for financial reasons. CONCLUSION: Smoking prevalence declined in China over the study period, perhaps due to the combined effect of smoking cessation, reduced uptake in women and selective mortality among men over 40 years of age. However, heavy smoking increased. People in China rarely quit or intend to quit smoking, except at older ages. Further tobacco control efforts are urgently needed, especially in rural areas

Randomized controlled trial of a web-based computer-tailored smoking cessation program as a supplement to nicotine patch therapy

Aim  To assess the efficacy of World Wide Web-based tailored behavioral smoking cessation materials among nicotine patch users. Design  Two-group randomized controlled trial. Setting  World Wide Web in England and Republic of Ireland. Participants  A total of 3971 subjects who purchased a particular brand of nicotine patch and logged-on to use a free web-based behavioral support program. Intervention  Web-based tailored behavioral smoking cessation materials or web-based non-tailored materials. Measurements  Twenty-eight-day continuous abstinence rates were assessed by internet-based survey at 6-week follow-up and 10-week continuous rates at 12-week follow-up. Findings  Using three approaches to the analyses of 6- and 12-week outcomes, participants in the tailored condition reported clinically and statistically significantly higher continuous abstinence rates than participants in the non-tailored condition. In our primary analyses using as a denominator all subjects who logged-on to the treatment site at least once, continuous abstinence rates at 6 weeks were 29.0% in the tailored condition versus 23.9% in the non-tailored condition (OR = 1.30; P  = 0.0006); at 12 weeks continuous abstinence rates were 22.8% versus 18.1%, respectively (OR = 1.34; P  = 0.0006). Moreover, satisfaction with the program was significantly higher in the tailored than in the non-tailored condition. Conclusions  The results of this study demonstrate a benefit of the web-based tailored behavioral support materials used in conjunction with nicotine replacement therapy. A web-based program that collects relevant information from users and tailors the intervention to their specific needs had significant advantages over a web-based non-tailored cessation program.Peer Reviewedhttp://deepblue.lib.umich.edu/bitstream/2027.42/72486/1/j.1360-0443.2005.01093.x.pd

Weak and strong fillability of higher dimensional contact manifolds

For contact manifolds in dimension three, the notions of weak and strong symplectic fillability and tightness are all known to be inequivalent. We extend these facts to higher dimensions: in particular, we define a natural generalization of weak fillings and prove that it is indeed weaker (at least in dimension five),while also being obstructed by all known manifestations of "overtwistedness". We also find the first examples of contact manifolds in all dimensions that are not symplectically fillable but also cannot be called overtwisted in any reasonable sense. These depend on a higher-dimensional analogue of Giroux torsion, which we define via the existence in all dimensions of exact symplectic manifolds with disconnected contact boundary.Comment: 68 pages, 5 figures. v2: Some attributions clarified, and other minor edits. v3: exposition improved using referee's comments. Published by Invent. Mat

Electron cryo-tomography reveals the subcellular architecture of growing axons in human brain organoids.

Funder: Natural Sciences and Engineering Research Council of Canada; FundRef: http://dx.doi.org/10.13039/501100000038During brain development, axons must extend over great distances in a relatively short amount of time. How the subcellular architecture of the growing axon sustains the requirements for such rapid build-up of cellular constituents has remained elusive. Human axons have been particularly poorly accessible to imaging at high resolution in a near-native context. Here, we present a method that combines cryo-correlative light microscopy and electron tomography with human cerebral organoid technology to visualize growing axon tracts. Our data reveal a wealth of structural details on the arrangement of macromolecules, cytoskeletal components, and organelles in elongating axon shafts. In particular, the intricate shape of the endoplasmic reticulum is consistent with its role in fulfilling the high demand for lipid biosynthesis to support growth. Furthermore, the scarcity of ribosomes within the growing shaft suggests limited translational competence during expansion of this compartment. These findings establish our approach as a powerful resource for investigating the ultrastructure of defined neuronal compartments