Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks

We present a new method to translate videos to commands for robotic manipulation using Deep Recurrent Neural Networks (RNN). Our framework first extracts deep features from the input video frames with a deep Convolutional Neural Networks (CNN). Two RNN layers with an encoder-decoder architecture are then used to encode the visual features and sequentially generate the output words as the command. We demonstrate that the translation accuracy can be improved by allowing a smooth transaction between two RNN layers and using the state-of-the-art feature extractor. The experimental results on our new challenging dataset show that our approach outperforms recent methods by a fair margin. Furthermore, we combine the proposed translation module with the vision and planning system to let a robot perform various manipulation tasks. Finally, we demonstrate the effectiveness of our framework on a full-size humanoid robot WALK-MAN

Coordinating supply chains : a bilevel programming approach

In this paper we formulate the coordination and optimization problem of an extended supply chain as a bilevel program. As of today no such approach exists in relevant literature. In our opinion this model better represents the dynamics of today supply chains, comprised of separately owned entities each striving to maximize their own prot and still in need of collaborating and trading to supply the market. Bilevel programs are NP hard even in the linear case. We provide an ecient heuristic to nd good solutions

Quality maintenance performance and resistance to Tribolium castaneum and Plodia interpunctella penetration of an alternative packaging material for semolina

Insect attacks to food packages are a major concern for food producers, who are often blamed for being responsible for the occurrence of contamination which seriously affects the image of the company. Wheat semolina is commonly packed in paper bags, which do not always offer sufficient protection against insect pests. The present research evaluated the performance of a new packaging alternative, consisting of paper laminated with polypropylene (P+CPP), in terms of resistance to penetration by two common cereal product pests, namely Tribolium castaneum and Plodia interpunctella, and quality maintenance of the packaged product. Neither of the two pest species tested were able to pierce the P+CPP, while no differences were observed in the time required to penetrate other materials. Moreover, quality parameters, namely pH, acidity and color, did not differ significantly among samples packed in different materials. The new P+CPP combination is a promising alternative for the packaging of semolina, because it offers improved protection against pests compared with conventional materials, while maintaining the paper appearance of traditional packaging

Control of Plasma Flux Composition Incident on TiN Films during reactive Magnetron Sputtering and the Effect on Film Microstructure

A hybrid plasma enhanced physical vapor deposition (PEPVD) system consisting of an unbalanced dc magnetron and a pulsed electron beam-produced plasma was used to deposit reactively sputtered titanium nitride thin films. The system allowed for control of the magnitudes of the ion and neutral flux, in addition to the type of nitrogen ions (atomic or molecular) that comprised the flux. For all deposition experiments, the magnitude of the ion flux incident on the substrate was held constant, but the composition of the total flux was varied. X-ray diffraction and atomic force microscopy showed that crystallographic texture and surface morphology of the films were affected by the plasma flux composition during growth

Osteoporosis and diabetes

Diabetes mellitus and osteoporosis are chronic diseases with an elevated and growing incidence in the elderly. Recent epidemiological studies have demonstrated an elevated risk of hip, humerus and foot fractures in elder diabetic subjects. While type 1 diabetes is generally associated with a mild reduction in bone mineral density (BMD), type 2 diabetes, more prevalent in old subjects, is frequently linked to a normal or high BMD. Studies on experimental models of diabetes have suggested an altered bone structure that may help to explain the elevated risk of fractures observed in these animals and may as well help to explain the paradox of an incremented risk of fractures in type 2 diabetic elderly in the presence of normal or elevated BMD. In addition, diabetic elderly have an increased risk of falls, consequent at least in part to a poor vision, peripheral neuropathy, and weaken muscular performance. Diabetes may affect bone tissue by different mechanisms including obesity, hyperinsulinemia, deposit of advanced glycosilation end products in collagen fibre, reduced circulating levels of IGF-1, hypercalciuria, renal function impairment, microangiopathy and chronic inflammation. A better understanding of these mechanisms may help implement the prevention of fractures in the growing population of mature diabetics

Nitrogen and Hydrogen Plasma Treatments of Multiwalled Carbon Nanotubes

This article investigates plasma treatment of vertically aligned multiwall carbon nanotube (CNT) films in different plasma environments for modification of surface chemistry and morphology. The surfaces of the CNTs were functionalized with a pulsed dc plasma treatment, where the power was directly applied to the nanotube film in low pressure argon/nitrogen and argon/hydrogen backgrounds. Optical emission spectroscopy was used to detect atomic and molecular excitations in the gas mixtures as well as in pure gases in the vicinity of the CNT films. In situx-ray photoelectron spectroscopy was performed on the treated samples to examine CNT surface chemistry after treatment. The analysis of CNT films after nitrogen and hydrogen treatment indicated formation of both C-N and C-H bonds, respectively. Correlations of the plasma characteristics to the surface chemistry and morphology of the CNT surfaces are discussed

Symmetric Vlasov-type antenna for High Power Microwave applications

We present a novel Vlasov-type antenna operating at 2.5 GHz and composed of a circular waveguide with a double bevel-cut. Simulation results show that the proposed antenna is capable of providing a wider emission angle if compared to standard Vlasov configurations, while still maintaining an adequate gain level. For this reason, it could be of interest for those High-Power Microwave (HPM) applications in which a larger area need to be covered by the EM field

Fast Production of Cellulose Nanocrystals by Hydrolytic-Oxidative Microwave-Assisted Treatment

In contrast to conventional approaches, which are considered to be energy- and time-intensive, expensive, and not green, herein, we report an alternative microwave-assisted ammonium persulfate (APS) method for cellulose nanocrystals (CNCs) production, under pressurized conditions in a closed reaction system. The aim was to optimize the hydrolytic-oxidative patented procedure (US 8,900,706), replacing the conventional heating with a faster process that would allow the industrial scale production of the nanomaterial and make it more appealing to a green economy. A microwave-assisted process was performed according to dierent time\u2013temperature programs, varying the ramp (from 5 to 40 min) and the hold heating time (from 60 to 90 min), at a fixed reagent concentration and weight ratio of the raw material/APS solution. Dierences in composition, structure, and morphology of the nanocrystals, arising fromtraditional and microwave methods, were studied by several techniques (TEM, Fourier transform infrared spectroscopy (FTIR)-attenuated total reflectance (ATR), dynamic light scattering (DLS), electrophoretic light scattering (ELS), thermogravimetric analysis (TGA), X-ray diraction (XRD)), and the extraction yields were calculated. Fine tuning the microwave treatment variables, it was possible to realize a simple, cost-eective way for faster materials\u2019 preparation, which allowed achieving high-quality CNCs, with a defined hydrodynamic diameter (150 nm) and zeta potential (0.040 V), comparable to those obtained using conventional heating, in only 90 min instead of 16 h