Modeling, simulation, and control of soft robots

2019 Fall.Includes bibliographical references.Soft robots are a new type of robot with deformable bodies and muscle-like actuations, which are fundamentally different from traditional robots with rigid links and motor-based actuators. Owing to their elasticity, soft robots outperform rigid ones in safety, maneuverability, and adaptability. With their advantages, many soft robots have been developed for manipulation and locomotion in recent years. However, the current state of soft robotics has significant design and development work, but lags behind in modeling and control due to the complex dynamic behavior of the soft bodies. This complexity prevents a unified dynamics model that captures the dynamic behavior, computationally-efficient algorithms to simulate the dynamics in real-time, and closed-loop control algorithms to accomplish desired dynamic responses. In this thesis, we address the three problems of modeling, simulation, and control of soft robots. For the modeling, we establish a general modeling framework for the dynamics by integrating Cosserat theory with Hamilton's principle. Such a framework can accommodate different actuation methods (e.g., pneumatic, cable-driven, artificial muscles, etc.). To simulate the proposed models, we develop efficient numerical algorithms and implement them in C++ to simulate the dynamics of soft robots in real-time. These algorithms consider qualities of the dynamics that are typically neglected (e.g., numerical damping, group structure). Using the developed numerical algorithms, we investigate the control of soft robots with the goal of achieving real-time and closed-loop control policies. Several control approaches are tested (e.g., model predictive control, reinforcement learning) for a few key tasks: reaching various points in a soft manipulator's workspace and tracking a given trajectory. The results show that model predictive control is possible but is computationally demanding, while reinforcement learning techniques are more computationally effective but require a substantial number of training samples. The modeling, simulation, and control framework developed in this thesis will lay a solid foundation to unleash the potential of soft robots for various applications, such as manipulation and locomotion

Is Texture Predictive for Age and Sex in Brain MRI?

Deep learning builds the foundation for many medical image analysis tasks where neuralnetworks are often designed to have a large receptive field to incorporate long spatialdependencies. Recent work has shown that large receptive fields are not always necessaryfor computer vision tasks on natural images. We explore whether this translates to certainmedical imaging tasks such as age and sex prediction from a T1-weighted brain MRI scans.Comment: MIDL 2019 [arXiv:1907.08612

Post-treatment follow-up study of abdominal cystic echinococcosis in Tibetan communities of northwest Sichuan Province, China

Background: Human cystic echinococcosis (CE), caused by the larval stage of Echinococcus granulosus, with the liver as the most frequently affected organ, is known to be highly endemic in Tibetan communities of northwest Sichuan Province. Antiparasitic treatment with albendazole remains the primary choice for the great majority of patients in this resource-poor remote area, though surgery is the most common approach for CE therapy that has the potential to remove cysts and lead to complete cure. The current prospective study aimed to assess the effectiveness of community based use of cyclic albendazole treatment in Tibetan CE cases, and concurrently monitor the changes of serum specific antibody levels during treatment. Methodology/Principal Findings: Ultrasonography was applied for diagnosis and follow-up of CE cases after cyclic albendazole treatment in Tibetan communities of Sichuan Province during 2006 to 2008, and serum specific IgG antibody levels against Echinococcus granulosus recombinant antigen B in ELISA was concurrently monitored in these cases. A total of 196 CE cases were identified by ultrasound, of which 37 (18.9%) showed evidence of spontaneous healing/involution of hepatic cyst(s) with CE4 or CE5 presentations. Of 49 enrolled CE cases for treatment follow-up, 32.7% (16) were considered to be cured based on B-ultrasound after 6 months to 30 months regular albendazole treatment, 49.0% (24) were improved, 14.3% (7) remained unchanged, and 4.1% (2) became aggravated. In general, patients with CE2 type cysts (daughter cysts present) needed a longer treatment course for cure (26.4 months), compared to cases with CE1 (univesicular cysts) (20.4 months) or CE3 type (detached cyst membrane or partial degeneration of daughter cysts) (9 months). In addition, the curative duration was longer in patients with large (.10 cm) cysts (22.3 months), compared to cases with medium (5– 10 cm) cysts (17.3 months) or patients with small (,5 cm) cysts (6 months). At diagnosis, seven (53.8%) of 13 cases with CE1 type cysts without any previous intervention showed negative specific IgG antibody response to E. granulosus recombinant antigen B (rAgB). However, following 3 months to 18 months albendazole therapy, six of these 7 initially seronegative CE1 cases sero-converted to be specific IgG antibody positive, and concurrently ultrasound scan showed that cysts changed to CE3a from CE1 type in all the six CE cases. Two major profiles of serum specific IgG antibody dynamics during albendazole treatment were apparent in CE cases: (i) presenting as initial elevation followed by subsequent decline, or (ii) a persistent decline. Despite a decline, however, specific antibody levels remained positive in most improved or cured CE cases. Conclusions: This was the first attempt to follow up community-screened cystic echinococcosis patients after albendazole therapy using ultrasonography and serology in an endemic Tibetan region. Cyclic albendazole treatment proved to be effective in the great majority of CE cases in this resource-poor area, but periodic abdominal ultrasound examination was necessary to guide appropriate treatment. Oral albendazole for over 18 months was more likely to result in CE cure. Poor drug compliance resulted in less good outcomes. Serology with recombinant antigen B could provide additional limited information about the effectiveness of albendazole in CE cases. Post-treatment positive specific IgG antibody seroconversion, in initially seronegative, CE1 patients was considered a good indication for positive therapeutic efficacy of albendazole

VPS: Excavating high-level C++ constructs from low-level binaries to protect dynamic dispatching

Polymorphism and inheritance make C++ suitable for writing complex software, but significantly increase the attack surface because the implementation relies on virtual function tables (vtables). These vtables contain function pointers that attackers can potentially hijack and in practice, vtable hijacking is one of the most important attack vector for C++ binaries. In this paper, we present VTable Pointer Separation (vps), a practical binary-level defense against vtable hijacking in C++ applications. Unlike previous binary-level defenses, which rely on unsound static analyses to match classes to virtual callsites, vps achieves a more accurate protection by restricting virtual callsites to validly created objects. More specifically, vps ensures that virtual callsites can only use objects created at valid object construction sites, and only if those objects can reach the callsite. Moreover, vps explicitly prevents false positives (falsely identified virtual callsites) from breaking the binary, an issue existing work does not handle correctly or at all. We evaluate the prototype implementation of vps on a diverse set of complex, real-world applications (MongoDB, MySQL server, Node.js, SPEC CPU2017/CPU2006), showing that our approach protects on average 97.8% of all virtual callsites in SPEC CPU2006 and 97.4% in SPEC CPU2017 (all C++ benchmarks), with a moderate performance overhead of 11% and 9% geomean, respectively. Furthermore, our evaluation reveals 86 false negatives in VTV, a popular source-based defense which is part of GCC

The Asymptotic Safety Scenario in Quantum Gravity -- An Introduction

The asymptotic safety scenario in quantum gravity is reviewed, according to which a renormalizable quantum theory of the gravitational field is feasible which reconciles asymptotically safe couplings with unitarity. All presently known evidence is surveyed: (a) from the 2+\eps expansion, (b) from the perturbation theory of higher derivative gravity theories and a `large N' expansion in the number of matter fields, (c) from the 2-Killing vector reduction, and (d) from truncated flow equations for the effective average action. Special emphasis is given to the role of perturbation theory as a guide to `asymptotic safety'. Further it is argued that as a consequence of the scenario the selfinteractions appear two-dimensional in the extreme ultraviolet. Two appendices discuss the distinct roles of the ultraviolet renormalization in perturbation theory and in the flow equation formalism.Comment: 77p, 1 figure; v2: revised and updated; discussion of perturbation theory in higher derivative theories extended. To appear as topical review in CQ