Following recipes with a cooking robot

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2012.Cataloged from PDF version of thesis.Includes bibliographical references (p. 141-143).In this thesis, we present BakeBot, a PR2 robot system that interprets natural language baking recipes into baking instructions which it follows to execute the recipe, from mise en place presentation of the ingredients through baking in a toaster oven. We developed parameterized motion primitives for baking. The motion primitives utilize the existing sensing and manipulation capabilities of the PR2 platform and also our new compliant control techniques to address environmental uncertainty. The system was first implemented as a static finite state machine, which was tested through 27 baking attempts, 16 of which successfully resulted in edible cookies. The system was then implemented as a dynamic state machine, in which the robot estimated the world state and planned sequences of motion primitives to follow the baking instructions inferred from the natural language recipe, which was tested thorough five baking attempts of two different recipes, all of which resulted in edible cookies.by Mario Attilio Bollini.S.M

The design of scaled robotic end effectors to mimic razor clam burrowing

Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.Cataloged from PDF version of thesis.Includes bibliographical references (p. 75).This thesis reviews the design of two scaled mechanical end effectors that mimic the digging of Ensis directus, the Atlantic Razor Clam. Modeled after a 0.5x Ensis scale device, the end effectors are 1.0x and 2.0x Ensis scale. The end effectors will be coupled to a pneumatic robotic actuator to explore the nondimensional relationships governing the digging dynamics of razor clams in littoral substrates. Such dynamics could be exploited to construct novel mimetic engineering devices which would provide an order-of-magnitude improvement over existing subsea burrowing and anchoring technologies.by Mario Attilio Bollini.S.B

Convolution of Lorentz Invariant Ultradistributions and Field Theory

In this work, a general definition of convolution between two arbitrary four dimensional Lorentz invariant (fdLi) Tempered Ultradistributions is given, in both: Minkowskian and Euclidean Space (Spherically symmetric tempered ultradistributions). The product of two arbitrary fdLi distributions of exponential type is defined via the convolution of its corresponding Fourier Transforms. Several examples of convolution of two fdLi Tempered Ultradistributions are given. In particular we calculate exactly the convolution of two Feynman's massless propagators. An expression for the Fourier Transform of a Lorentz invariant Tempered Ultradistribution in terms of modified Bessel distributions is obtained in this work (Generalization of Bochner's formula to Minkowskian space). At the same time, and in a previous step used for the deduction of the convolution formula, we obtain the generalization to the Minkowskian space, of the dimensional regularization of the perturbation theory of Green Functions in the Euclidean configuration space given in ref.[12]. As an example we evaluate the convolution of two n-dimensional complex-mass Wheeler's propagators.Facultad de Ciencias Exacta

Superstring and Superstring Field Theory: A New Solution Using Ultradistributions of Exponential Type

In this paper we show that Ultradistributions of Exponential Type (UET) are appropriate for the description in a consistent way superstring and superstring field theories. A new Lagrangian for the closed superstring is given. We show that the superstring field is a linear superposition of UET of compact support, and give the notion of anti-superstring. We evaluate the propagator for the superstring field, and calculate the convolution of two of them.Facultad de Ciencias Exacta

Vacuum state of the quantum string without anomalies in any number of dimensions

We show that the anomalies of the Virasoro algebra are due to the asymmetric behavior of raising and lowering operators with respect to the ground state of the string. With the adoption of a symmetric vacuum we obtain a non-anomalous theory in any number of dimensions, in particular forD = 4. PACS 11.25 - Theory of fundamental strings.Facultad de Ciencias Exacta

Is the Higgs a visible particle?

We suggest that the Higgs might be unobservable as a free particle, due to its origin at a symmetry-breaking mechanism. The standard model is kept intact, only the definition of the vacuum for the Higgs is changed. With the new (natural) definition, the Higgs propagator is half-advanced and half-retarded. This Green’s function is compatible with the absence of free particles.Facultad de Ciencias Exacta

Convolution of n-dimensional Tempered Ultradistributions and Field Theory

In this work, a general definition of convolution between two arbitrary Tempered Ultradistributions is given. When one of the Tempered Ultradistributions is rapidly decreasing this definition coincides with the definition of J. Sebastiao e Silva. In the four-dimensional case, when the Tempered Ultradistributions are even in the variables $k^0$ and $\rho$ (see Section 5) we obtain an expression for the convolution, which is more suitable for practical applications. The product of two arbitrary even (in the variables $x^0$ and $r$) four dimensional distributions of exponential type is defined via the convolution of its corresponding Fourier Transforms. With this definition of convolution, we treat the problem of singular products of Green Functions in Quantum Field Theory. (For Renormalizable as well as for Nonrenormalizable Theories). Several examples of convolution of two Tempered Ultradistributions are given. In particular we calculate the convolution of two massless Wheeeler's propagators and the convolution of two complex mass Wheeler's propagators.Facultad de Ciencias Exacta

Interpreting and Executing Recipes with a Cooking Robot

The creation of a robot chef represents a grand challenge for the field of robotics. Cooking is one of the most important activities that takes place in the home, and a robotic chef capable of following arbitrary recipes would have many applications in both household and industrial environments. The kitchen environment is a semi-structured proving ground for algorithms in robotics. It provides many computational challenges, such as accurately perceiving ingredients in cluttered environments, manipulating objects, and engaging in complex activities such as mixing and chopping. Keywords: Reward Function; Statistical Machine Translation; Human Partner; Motion Primitive; Primitive Actio

Convolution of Ultradistributions, Field Theory, Lorentz Invariance and Resonances

In this work, a general definition of convolution between two arbitrary Ultradistributions of Exponential type (UET) is given. The product of two arbitrary UET is defined via the convolution of its corresponding Fourier Transforms. Some examples of convolution of two UET are given. Expressions for the Fourier Transform of spherically symmetric (in Euclidean space) and Lorentz invariant (in Minkowskian space) UET in term of modified Bessel distributions are obtained (Generalization of Bochner’s theorem). The generalization to UET of dimensional regularization in configuration space is obtained in both, Euclidean and Minkowskian spaces As an application of our formalism, we give a solution to the question of normalization of resonances in Quantum Mechanics. General formulae for convolution of even, spherically symmetric and Lorentz invariant UET are obtained and several examples of application are given.Facultad de Ciencias Exacta

Quantization of a 4th-Order Wave Equation

The quantization of a scalar field obeying a fourth-order wave equation is described. Faster-than-light particles appearing in the process are treated as ghosts, with the wrong relation between spin and statistics. In this way, positive energy spectrum, as well as positive metric in Fock space are obtained. Finally, some implications of an interaction described by a Lagrangian symmetrized in the scalar fields are briefly discussed.Facultad de Ciencias ExactasComisión de Investigaciones Científicas de la provincia de Buenos Aire