GelSlim: A High-Resolution, Compact, Robust, and Calibrated Tactile-sensing Finger

This work describes the development of a high-resolution tactile-sensing finger for robot grasping. This finger, inspired by previous GelSight sensing techniques, features an integration that is slimmer, more robust, and with more homogeneous output than previous vision-based tactile sensors. To achieve a compact integration, we redesign the optical path from illumination source to camera by combining light guides and an arrangement of mirror reflections. We parameterize the optical path with geometric design variables and describe the tradeoffs between the finger thickness, the depth of field of the camera, and the size of the tactile sensing area. The sensor sustains the wear from continuous use -- and abuse -- in grasping tasks by combining tougher materials for the compliant soft gel, a textured fabric skin, a structurally rigid body, and a calibration process that maintains homogeneous illumination and contrast of the tactile images during use. Finally, we evaluate the sensor's durability along four metrics that track the signal quality during more than 3000 grasping experiments.Comment: RA-L Pre-print. 8 page

A Parametric Study Of The Parameters Governing Flow Incidence Angle Tolerance For Turbomachine Blades

Performance metrics quantifying the efficiency of various turbomachinery blades aid in the development of an optimal blade design. In this study, a metric was created to investigate the performance of 48 different compressor blades created with Octave and MISES software. Three input parameters were varied: leading edge radius, the location of maximum blade thickness, and the number of blades in a blade row. The objective was to determine which of these parameters most strongly affects the average loss and incidence range for the blade row. After a sensitivity analysis of the three input parameters was conducted, it was found that the number of blades had the largest effect on blade performance, followed by the leading edge geometry and lastly the location of maximum thickness. Les indicateurs de performance qui mesurent les ef cacités de plusieurs pales utilisées dans les turbomachines aident le développement d’une conception optimale des pales. Dans cet article, un indicateur a été créé pour étudier la performance de 48 pales de compresseurs axiaux différents qui ont été faites avec les logiciels Octave et MISES. Trois paramètres d’entrés ont été examinés : le rayon du bord d’attaque, l’endroit de l’épaisseur maximale de la pale et le nombre de pales dans la rangée. L’objectif était de déterminer lequel parmi ces paramètres a l’effet le plus important sur la perte moyenne et la gamme de l’incidence de la rangée de pales. Après une analyse de sensibilité des trois paramètres, les résultats ont montré que le nombre de pales dans la rangée a eu l’effet le plus important sur la performance des pales, suivie par la géométrie du bord d’attaque et en n l’endroit de l’épaisseur maximale.

Robotic Pick-and-Place of Novel Objects in Clutter with Multi-Affordance Grasping and Cross-Domain Image Matching

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories without needing any task-specific training data for novel objects. To achieve this, it first uses a category-agnostic affordance prediction algorithm to select and execute among four different grasping primitive behaviors. It then recognizes picked objects with a cross-domain image classification framework that matches observed images to product images. Since product images are readily available for a wide range of objects (e.g., from the web), the system works out-of-the-box for novel objects without requiring any additional training data. Exhaustive experimental results demonstrate that our multi-affordance grasping achieves high success rates for a wide variety of objects in clutter, and our recognition algorithm achieves high accuracy for both known and novel grasped objects. The approach was part of the MIT-Princeton Team system that took 1st place in the stowing task at the 2017 Amazon Robotics Challenge. All code, datasets, and pre-trained models are available online at http://arc.cs.princeton.eduComment: Project webpage: http://arc.cs.princeton.edu Summary video: https://youtu.be/6fG7zwGfIk

Strategies for Improved CALIPSO Aerosol Optical Depth Estimates

In the spring of 2010, the Cloud-Aerosol Lidar and Infrared Pathfinder Satellite Observation (CALIPSO) project will be releasing version 3 of its level 2 data products. In this paper we describe several changes to the algorithms and code that yield substantial improvements in CALIPSO's retrieval of aerosol optical depths (AOD). Among these are a retooled cloud-clearing procedure and a new approach to determining the base altitudes of aerosol layers in the planetary boundary layer (PBL). The results derived from these modifications are illustrated using case studies prepared using a late beta version of the level 2 version 3 processing code

CALIOP Version 3 Data Products: A Comparison to Version 2

After launch we discovered that the CALIOP daytime measurements were subject to thermally induced beamdrift,and this caused the calibration to vary by as much as 30% during the course of a single daytime orbit segment. Using an algorithm developed by Powell et al.(2010), empirically derived correction factors are now computed in near realtime as a function of orbit elapsed time, and these are used to compensate for the beam wandering effects

Association of the Joint Effect of Menopause and Hormone Replacement Therapy and Cancer in African American Women: The Jackson Heart Study

Cancer is the second leading cause of death in the US and in Mississippi. Breast cancer (BC) is the most common cancer among women, and the underlying pathophysiology remains unknown, especially among African American (AA) women. The study purpose was to examine the joint effect of menopause status (MS) and hormone replacement therapy (HRT) on the association with cancers, particularly BC using data from the Jackson Heart Study. The analytic sample consisted of 3202 women between 35 and 84 years of which 73.7% and 22.6% were postmenopausal and on HRT, respectively. There were a total of 190 prevalent cancer cases (5.9%) in the sample with 22.6% breast cancer cases. Menopause (p < 0.0001), but not HRT (p = 0.6402), was independently associated with cancer. Similar results were obtained for BC. BC, cancer, hypertension, type 2 diabetes, prevalent cardiovascular disease, physical activity and certain dietary practices were all significantly associated with the joint effect of menopause and HRT in the unadjusted analyses. The family history of cancer was the only covariate that was significantly associated with cancer in the age-adjusted models. In examining the association of cancer and the joint effect of menopause and HRT, AA women who were menopausal and were not on HRT had a 1.97 (95% CI: 1.15, 3.38) times odds of having cancer compared to pre-menopausal women after adjusting for age; which was attenuated after further adjusting for family history of cancer. Given that the cancer and BC cases were small and key significant associations were attenuated after adjusting for the above mentioned covariates, these findings warrant further investigation in studies with larger sample sizes of cancer (and BC) cases

Ozone-CO Correlations Determined by the TES Satellite Instrument in Continental Outflow Regions

Collocated measurements of tropospheric ozone (O3) and carbon monoxide (CO) from the Tropospheric Emission Spectrometer (TES) aboard the EOS Aura satellite provide information on O3-CO correlations to test our understanding of global anthropogenic influence on O3. We examine the global distribution of TES O3-CO correlations in the middle troposphere (618 hPa) for July 2005 and compare to correlations generated with the GEOS-Chem chemical transport model and with ICARTT aircraft observations over the eastern United States (July 2004). The TES data show significant O3-CO correlations downwind of polluted continents, with dO3/dCO enhancement ratios in the range 0.4–1.0 mol mol−1 and consistent with ICARTT data. The GEOS-Chem model reproduces the O3-CO enhancement ratios observed in continental outflow, but model correlations are stronger and more extensive. We show that the discrepancy can be explained by spectral measurement errors in the TES data. These errors will decrease in future data releases, which should enable TES to provide better information on O3-CO correlations.Earth and Planetary SciencesEngineering and Applied Science