Flexible schedule optimization for human-robot collaboration

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2013.Cataloged from PDF version of thesis.Includes bibliographical references (p. 99-101).Robots are increasingly entering domains typically thought of as human-only. This convergence of human and robotic agents leads to a need for new technology to enable safe and efficient collaboration. The goal of this thesis is to develop a task allocation and scheduling algorithm for teams of robots working with or around teams of humans in intense domains where tight, fluid choreography of robotic schedules is required to guarantee the safety of all involved while maintaining high levels of productivity. Three algorithms are presented in this work: the Adaptive Preferences Algorithm, the Multi-Agent Optimization Algorithm, and Tercio. Tercio, the culminatory algorithm, is capable of assigning robots to tasks and producing near-optimal schedules for ten agents and hundreds of tasks in seconds while making guarantees about process specifications such as worker safety and deadline satisfaction. This work extends dynamic scheduling methods to incorporate flexible windows with an optimization framework featuring a mixed integer program and a satisficing hueristic scheduler. By making use of Tercio, a manufacturing facility or other high-intensity domain may fluidly command a team of robots to complete tasks in a quick, efficient manner while maintaining an ability to respond seamlessly to disturbances at execution. This greatly increases both productivity, by decreasing the time spent recompiling solutions, and responsiveness to humans in the area. These improvements in performance are displayed with multiple live demonstrations and simulations of teams of robots responding to disturbances. Tercio acts as an enabling step towards the ultimate goal of fully coordinated factories of dozens to hundreds of robots accomplishing many thousands of tasks in a safe, predictable, efficient manner.by Ronald J. Wilcox.S.M

Fast Scheduling of Robot Teams Performing Tasks With Temporospatial Constraints

The application of robotics to traditionally manual manufacturing processes requires careful coordination between human and robotic agents in order to support safe and efficient coordinated work. Tasks must be allocated to agents and sequenced according to temporal and spatial constraints. Also, systems must be capable of responding on-the-fly to disturbances and people working in close physical proximity to robots. In this paper, we present a centralized algorithm, named 'Tercio,' that handles tightly intercoupled temporal and spatial constraints. Our key innovation is a fast, satisficing multi-agent task sequencer inspired by real-time processor scheduling techniques and adapted to leverage a hierarchical problem structure. We use this sequencer in conjunction with a mixed-integer linear program solver and empirically demonstrate the ability to generate near-optimal schedules for real-world problems an order of magnitude larger than those reported in prior art. Finally, we demonstrate the use of our algorithm in a multirobot hardware testbed

UA3/3/1 Analysis of the Demand for Married Student Housing at WKU, 1966-1967

The purpose of this study is to bring forth relevant information needed to determine the feasibility of an investment project for a married student housing complex on the campus of Western Kentucky University. Only the demand side of the market is analyzed; a potential investor will have the construction and land costs for such an enterprise at his disposal. With the information presented in this study it is hoped that a decision to construct a housing complex will be forthcoming. The study group attempted to present information that will allow a potential investor to make an intelligent decision as to the profitability of the investment. It is hoped that the critical questions concerning the investment have been answered by this study. The time period in which the study was carried out was January, 1967 to June, 1967, i.e., the second semester of the 1966-67 school year. The information presented was obtained from a single sample of the married population. Seventy married family units (8.4 percent of the population) were stratified according to class standing (Freshman, Sophomore, Junior, Senior, and Graduate) and then picked randomly within the class stratifications. A more desirable method would have been a sequential sampling method, but the time and expense of the method did not allow its use. Future studies can be carried out in order to substantiate the data presented at this time. The estimated size of the investment would seem to warrant at least one more comprehensive examination of the market in order that a more exact market character can be determined. The study group contacted state institutions that have married housing units in order to see if any useful information could be obtained from their experience in the determination of market character and size of their married students. None of the schools contacted had conducted a market study prior to the construction of such a housing unit. Discovering this factor did not disturb the study group. It was assumed that the market character at the various educational institutions would be significantly different with reference to income, rent, family size, etc., that no useful comparison could be made. The reason for this assumption rests on the fact that the educational institutions differ in such things as type and size of the graduate program and community size and industrial development. These factors have a direct influence on the family unit\u27s income, numbers, and the rate of growth of the married student body. The purpose of contacting the various institutions was to examine the methodology used in the study of the market for married student housing

Substrate Reduction Augments the Efficacy of Enzyme Therapy in a Mouse Model of Fabry Disease

Fabry disease is an X-linked glycosphingolipid storage disorder caused by a deficiency in the activity of the lysosomal hydrolase α-galactosidase A (α-gal). This deficiency results in accumulation of the glycosphingolipid globotriaosylceramide (GL-3) in lysosomes. Endothelial cell storage of GL-3 frequently leads to kidney dysfunction, cardiac and cerebrovascular disease. The current treatment for Fabry disease is through infusions of recombinant α-gal (enzyme-replacement therapy; ERT). Although ERT can markedly reduce the lysosomal burden of GL-3 in endothelial cells, variability is seen in the clearance from several other cell types. This suggests that alternative and adjuvant therapies may be desirable. Use of glucosylceramide synthase inhibitors to abate the biosynthesis of glycosphingolipids (substrate reduction therapy, SRT) has been shown to be effective at reducing substrate levels in the related glycosphingolipidosis, Gaucher disease. Here, we show that such an inhibitor (eliglustat tartrate, Genz-112638) was effective at lowering GL-3 accumulation in a mouse model of Fabry disease. Relative efficacy of SRT and ERT at reducing GL-3 levels in Fabry mouse tissues differed with SRT being more effective in the kidney, and ERT more efficacious in the heart and liver. Combination therapy with ERT and SRT provided the most complete clearance of GL-3 from all the tissues. Furthermore, treatment normalized urine volume and uromodulin levels and significantly delayed the loss of a nociceptive response. The differential efficacies of SRT and ERT in the different tissues indicate that the combination approach is both additive and complementary suggesting the possibility of an improved therapeutic paradigm in the management of Fabry disease

Aging and Autism Spectrum Disorder: Evidence from the Broad Autism Phenotype

This study investigated for the first time the Broad Autism Phenotype (BAP) in the context of older adulthood and its associations with real world executive function, social support, and both depression and anxiety symptomatology. Based on self-ratings of autistic traits, 66 older adults (60+ years old, range=61-88) were split into BAP (n=20) and control (n=46) groups. Individuals in the BAP group, even after controlling for age, education level, sex, and health problems, exhibited more real world executive function problems in multiple domains, reported lower levels of social support, and self-rated increased depression and anxiety symptomatology compared to the control group. Regression analysis revealed that level of social support was the strongest predictor of BAP traits across both groups, although real world executive function problems and depression symptomatology were also significant predictors. Moreover, when predicting anxiety and depression symptomatology, BAP traits were the strongest predictors above and beyond the effects of demographic factors, real world executive function problems, and social support levels. These findings suggest that the BAP in older adulthood imparts additional risks to areas of functioning that are known to be crucial to aging-related outcomes in the context of typical development. These results might in turn inform aging in autism spectrum disorder, which has been largely unexplored to date

Heliophysics and Amateur Radio:Citizen Science Collaborations for Atmospheric, Ionospheric, and Space Physics Research and Operations

The amateur radio community is a global, highly engaged, and technical community with an intense interest in space weather, its underlying physics, and how it impacts radio communications. The large-scale observational capabilities of distributed instrumentation fielded by amateur radio operators and radio science enthusiasts offers a tremendous opportunity to advance the fields of heliophysics, radio science, and space weather. Well-established amateur radio networks like the RBN, WSPRNet, and PSKReporter already provide rich, ever-growing, long-term data of bottomside ionospheric observations. Up-and-coming purpose-built citizen science networks, and their associated novel instruments, offer opportunities for citizen scientists, professional researchers, and industry to field networks for specific science questions and operational needs. Here, we discuss the scientific and technical capabilities of the global amateur radio community, review methods of collaboration between the amateur radio and professional scientific community, and review recent peer-reviewed studies that have made use of amateur radio data and methods. Finally, we present recommendations submitted to the U.S. National Academy of Science Decadal Survey for Solar and Space Physics (Heliophysics) 2024–2033 for using amateur radio to further advance heliophysics and for fostering deeper collaborations between the professional science and amateur radio communities. Technical recommendations include increasing support for distributed instrumentation fielded by amateur radio operators and citizen scientists, developing novel transmissions of RF signals that can be used in citizen science experiments, developing new amateur radio modes that simultaneously allow for communications and ionospheric sounding, and formally incorporating the amateur radio community and its observational assets into the Space Weather R2O2R framework. Collaborative recommendations include allocating resources for amateur radio citizen science research projects and activities, developing amateur radio research and educational activities in collaboration with leading organizations within the amateur radio community, facilitating communication and collegiality between professional researchers and amateurs, ensuring that proposed projects are of a mutual benefit to both the professional research and amateur radio communities, and working towards diverse, equitable, and inclusive communities

The Marine Microbial Eukaryote Transcriptome Sequencing Project (MMETSP): illuminating the functional diversity of eukaryotic life in the oceans through transcriptome sequencing

International audienceCurrent sampling of genomic sequence data from eukaryotes is relatively poor, biased, and inadequate to address important questions about their biology, evolution, and ecology; this Community Page describes a resource of 700 transcriptomes from marine microbial eukaryotes to help understand their role in the world's oceans

Common genetic variants in the CLDN2 and PRSS1-PRSS2 loci alter risk for alcohol-related and sporadic pancreatitis

Pancreatitis is a complex, progressively destructive inflammatory disorder. Alcohol was long thought to be the primary causative agent, but genetic contributions have been of interest since the discovery that rare PRSS1, CFTR, and SPINK1 variants were associated with pancreatitis risk. We now report two significant genome-wide associations identified and replicated at PRSS1-PRSS2 (1×10-12) and x-linked CLDN2 (p < 1×10-21) through a two-stage genome-wide study (Stage 1, 676 cases and 4507 controls; Stage 2, 910 cases and 4170 controls). The PRSS1 variant affects susceptibility by altering expression of the primary trypsinogen gene. The CLDN2 risk allele is associated with atypical localization of claudin-2 in pancreatic acinar cells. The homozygous (or hemizygous male) CLDN2 genotype confers the greatest risk, and its alleles interact with alcohol consumption to amplify risk. These results could partially explain the high frequency of alcohol-related pancreatitis in men – male hemizygous frequency is 0.26, female homozygote is 0.07