Multiparty motion coordination: from choreographies to robotics programs

We present a programming model and typing discipline for complex multi-robot coordination programming. Our model encompasses both synchronisation through message passing and continuous-time dynamic motion primitives in physical space. We specify continuous-time motion primitives in an assume-guarantee logic that ensures compatibility of motion primitives as well as collision freedom. We specify global behaviour of programs in a choreographic type system that extends multiparty session types with jointly executed motion primitives, predicated refinements, as well as a separating conjunction that allows reasoning about subsets of interacting robots. We describe a notion of well-formedness for global types that ensures motion and communication can be correctly synchronised and provide algorithms for checking well-formedness, projecting a type, and local type checking. A well-typed program is communication safe, motion compatible, and collision free. Our type system provides a compositional approach to ensuring these properties. We have implemented our model on top of the ROS framework. This allows us to program multi-robot coordination scenarios on top of commercial and custom robotics hardware platforms. We show through case studies that we can model and statically verify quite complex manoeuvres involving multiple manipulators and mobile robots---such examples are beyond the scope of previous approaches

Performance of an automated multiplex immunofluorescence assay for detection of Chlamydia trachomatis immunoglobulin G.

Chlamydia serology is indicated to investigate etiology of miscarriage, infertility, pelvic inflammatory disease, and ectopic pregnancy. Here, we assessed the reliability of a new automated-multiplex immunofluorescence assay (InoDiag test) to detect specific anti-C. trachomatis immunoglobulin G. Considering immunofluorescence assay (IF) as gold standard, InoDiag tests exhibited similar sensitivities (65.5%) but better specificities (95.1%-98%) than enzyme-linked immunosorbent assays (ELISAs). InoDiag tests demonstrated similar or lower cross-reactivity rates when compared to ELISA or IF

Motion session types for robotic interactions

Robotics applications involve programming concurrent components synchronising through messages while simultaneously executing motion primitives that control the state of the physical world. Today, these applications are typically programmed in low-level imperative programming languages which provide little support for abstraction or reasoning. We present a unifying programming model for concurrent message-passing systems that additionally control the evolution of physical state variables, together with a compositional reasoning framework based on multiparty session types. Our programming model combines message-passing concurrent processes with motion primitives. Processes represent autonomous components in a robotic assembly, such as a cart or a robotic arm, and they synchronise via discrete messages as well as via motion primitives. Continuous evolution of trajectories under the action of controllers is also modelled by motion primitives, which operate in global, physical time. We use multiparty session types as specifications to orchestrate discrete message-passing concurrency and continuous flow of trajectories. A global session type specifies the communication protocol among the components with joint motion primitives. A projection from a global type ensures that jointly executed actions at end-points are communication safe and deadlock-free, i.e., session-typed components do not get stuck. Together, these checks provide a compositional verification methodology for assemblies of robotic components with respect to concurrency invariants such as a progress property of communications as well as dynamic invariants such as absence of collision. We have implemented our core language and, through initial experiments, have shown how multiparty session types can be used to specify and compositionally verify robotic systems implemented on top of off-the-shelf and custom hardware using standard robotics application libraries

Flights in my hands : coherence concerns in designing Strip'TIC, a tangible space for air traffic controllers

Best Paper Honorable Mention awardInternational audienceWe reflect upon the design of a paper-based tangible interactive space to support air traffic control. We have observed, studied, prototyped and discussed with controllers a new mixed interaction system based on Anoto, video projection, and tracking. Starting from the understanding of the benefits of tangible paper strips, our goal is to study how mixed physical and virtual augmented data can support the controllers' mental work. The context of the activity led us to depart from models that are proposed in tangible interfaces research where coherence is based on how physical objects are representative of virtual objects. We propose a new account of coherence in a mixed interaction system that integrates externalization mechanisms. We found that physical objects play two roles: they act both as representation of mental objects and as tangible artifacts for interacting with augmented features. We observed that virtual objects represent physical ones, and not the reverse, and, being virtual representations of physical objects, should seamlessly converge with the cognitive role of the physical object. Finally, we show how coherence is achieved by providing a seamless interactive space

Comparison of computational methods for the identification of topologically associating domains.

Chromatin folding gives rise to structural elements among which are clusters of densely interacting DNA regions termed topologically associating domains (TADs). TADs have been characterized across multiple species, tissue types, and differentiation stages, sometimes in association with regulation of biological functions. The reliability and reproducibility of these findings are intrinsically related with the correct identification of these domains from high-throughput chromatin conformation capture (Hi-C) experiments. Here, we test and compare 22 computational methods to identify TADs across 20 different conditions. We find that TAD sizes and numbers vary significantly among callers and data resolutions, challenging the definition of an average TAD size, but strengthening the hypothesis that TADs are hierarchically organized domains, rather than disjoint structural elements. Performances of these methods differ based on data resolution and normalization strategy, but a core set of TAD callers consistently retrieve reproducible domains, even at low sequencing depths, that are enriched for TAD-associated biological features. This study provides a reference for the analysis of chromatin domains from Hi-C experiments and useful guidelines for choosing a suitable approach based on the experimental design, available data, and biological question of interest