Recording, Documentation, and Information Management for the Conservation of Heritage Places: Guiding Principles

Provides guidance on integrating recording, documentation, and information management of territories, sites, groups of buildings, or monuments into the conservation process; evaluating proposals; consulting specialists; and controlling implementation

A second generation genetic map of the bumblebee Bombus terrestris (Linnaeus, 1758) reveals slow genome and chromosome evolution in the Apidae.

RIGHTS : This article is licensed under the BioMed Central licence at http://www.biomedcentral.com/about/license which is similar to the 'Creative Commons Attribution Licence'. In brief you may : copy, distribute, and display the work; make derivative works; or make commercial use of the work - under the following conditions: the original author must be given credit; for any reuse or distribution, it must be made clear to others what the license terms of this work are.BACKGROUND: The bumblebee Bombus terrestris is an ecologically and economically important pollinator and has become an important biological model system. To study fundamental evolutionary questions at the genomic level, a high resolution genetic linkage map is an essential tool for analyses ranging from quantitative trait loci (QTL) mapping to genome assembly and comparative genomics. We here present a saturated linkage map and match it with the Apis mellifera genome using homologous markers. This genome-wide comparison allows insights into structural conservations and rearrangements and thus the evolution on a chromosomal level. RESULTS: The high density linkage map covers ~ 93% of the B. terrestris genome on 18 linkage groups (LGs) and has a length of 2'047 cM with an average marker distance of 4.02 cM. Based on a genome size of ~ 430 Mb, the recombination rate estimate is 4.76 cM/Mb. Sequence homologies of 242 homologous markers allowed to match 15 B. terrestris with A. mellifera LGs, five of them as composites. Comparing marker orders between both genomes we detect over 14% of the genome to be organized in synteny and 21% in rearranged blocks on the same homologous LG. CONCLUSIONS: This study demonstrates that, despite the very high recombination rates of both A. mellifera and B. terrestris and a long divergence time of about 100 million years, the genomes' genetic architecture is highly conserved. This reflects a slow genome evolution in these bees. We show that data on genome organization and conserved molecular markers can be used as a powerful tool for comparative genomics and evolutionary studies, opening up new avenues of research in the Apidae

Assembly Planning from Observations under Physical Constraints

This paper addresses the problem of copying an unknown assembly of primitives with known shape and appearance using information extracted from a single photograph by an off-the-shelf procedure for object detection and pose estimation. The proposed algorithm uses a simple combination of physical stability constraints, convex optimization and Monte Carlo tree search to plan assemblies as sequences of pick-and-place operations represented by STRIPS operators. It is efficient and, most importantly, robust to the errors in object detection and pose estimation unavoidable in any real robotic system. The proposed approach is demonstrated with thorough experiments on a UR5 manipulator.Comment: See the project webpage at https://www.di.ens.fr/willow/research/assembly-planning

St. John Fisher College and Echo 360: Practical Applications and Uses of Echo

Robin and Matt describe how they incorporate Echo into many of their programs. They will demonstrate several key features of the system, and how those features have helped faculty accept and adopt capture and recording, and how faculty come to understand the ways Echo can help their students. They provide real-life examples, their own classes and training materials, and real data to show their successful support and spread of Echo across Nursing, Pharmacy, Business and other program

Robust Visual Sim-to-Real Transfer for Robotic Manipulation

Learning visuomotor policies in simulation is much safer and cheaper than in the real world. However, due to discrepancies between the simulated and real data, simulator-trained policies often fail when transferred to real robots. One common approach to bridge the visual sim-to-real domain gap is domain randomization (DR). While previous work mainly evaluates DR for disembodied tasks, such as pose estimation and object detection, here we systematically explore visual domain randomization methods and benchmark them on a rich set of challenging robotic manipulation tasks. In particular, we propose an off-line proxy task of cube localization to select DR parameters for texture randomization, lighting randomization, variations of object colors and camera parameters. Notably, we demonstrate that DR parameters have similar impact on our off-line proxy task and on-line policies. We, hence, use off-line optimized DR parameters to train visuomotor policies in simulation and directly apply such policies to a real robot. Our approach achieves 93% success rate on average when tested on a diverse set of challenging manipulation tasks. Moreover, we evaluate the robustness of policies to visual variations in real scenes and show that our simulator-trained policies outperform policies learned using real but limited data. Code, simulation environment, real robot datasets and trained models are available at https://www.di.ens.fr/willow/research/robust_s2r/

Learning Obstacle Representations for Neural Motion Planning

Motion planning and obstacle avoidance is a key challenge in robotics applications. While previous work succeeds to provide excellent solutions for known environments, sensor-based motion planning in new and dynamic environments remains difficult. In this work we address sensor-based motion planning from a learning perspective. Motivated by recent advances in visual recognition, we argue the importance of learning appropriate representations for motion planning. We propose a new obstacle representation based on the PointNet architecture and train it jointly with policies for obstacle avoidance. We experimentally evaluate our approach for rigid body motion planning in challenging environments and demonstrate significant improvements of the state of the art in terms of accuracy and efficiency.Comment: CoRL 2020. See the project webpage at https://www.di.ens.fr/willow/research/nmp_repr

Field Validation of a Non-carcinogenic and Eco-Friendly Disinfectant in a Stand-In Footbath for Treatment of Footrot Associated With aprV2-Positive Strains of Dichelobacter nodosus in Swiss Sheep Flocks.

A national control program for virulent footrot is currently planned in Switzerland. Since commonly used disinfectants either contain heavy metals or are carcinogenic, the aim of this study was to verify the effectiveness of an eco-friendly and non-carcinogenic candidate disinfectant against aprV2-positive strains of Dichelobacter nodosus. Additionally, the effect of the selective use of long-acting oxytetracyclines was evaluated. A total of 18 farms with confirmed footrot infection, randomly allocated to two treatment groups: (1) with antibiotics (AB; n = 9) and, (2) no antibiotics (NAB; n = 9), were included. Claws were carefully trimmed and scored using a scale from 0 (clinically healthy) to 5 (complete loss of the horn capsule) and a prewash waterbath was implemented on 11 farms. Twice-weekly, repeated whole-flock stand-in footbaths with the candidate disinfectant (6%) were performed. Additionally, animals of group AB with a score ≥ 3 were administered oxytetracyclines by injection. On all farms, 10 days after last treatment, aprV2-positive strains could not be detected by risk-based sampling for real-time PCR analysis after 7-21 (median = 12) footbaths with a minimal culling rate of non-responders on nine farms. Farms without contact to other sheep remained without clinical signs of footrot for a minimum of 245 days (mean ± standard deviation: 293.6 ± 23.6). Antibiotic treatment did not reduce the number of footbaths needed. In contrast, a mean of 3.3 disinfecting footbaths could be saved by implementing a prewash waterbath. At animal level, individual and selective use of oxytetracyclines lead to a higher chance (odds ratio = 9.95; 95% CI: 3.54-27.95; p < 0.001) for a lesion score ≥ 3 to improve to a lesion score < 3 within 2 weeks compared to treatment without antibiotics. The test disinfectant is an effective and eco-friendly alternative for the planned Swiss footrot control program and selective use of oxytetracycline has a beneficial impact on the recovery of animals with lesion scores ≥ 3