Complex Manipulation Research Articles

Do robots outperform humans in human-centered domains?

The incessant progress of robotic technology and rationalization of human manpower induces high expectations in society, but also resentment and even fear. In this paper, we present a quantitative normalized comparison of performance, to shine a light onto the pressing question, "How close is the current state of humanoid robotics to outperforming humans in their typical functions (e.g., locomotion, manipulation), and their underlying structures (e.g., actuators/muscles) in human-centered domains?" This is the most comprehensive comparison of the literature so far. Most state-of-the-art robotic structures required for visual, tactile, or vestibular perception outperform human structures at the cost of slightly higher mass and volume. Electromagnetic and fluidic actuation outperform human muscles w.r.t. speed, endurance, force density, and power density, excluding components for energy storage and conversion. Artificial joints and links can compete with the human skeleton. In contrast, the comparison of locomotion functions shows that robots are trailing behind in energy efficiency, operational time, and transportation costs. Robots are capable of obstacle negotiation, object manipulation, swimming, playing soccer, or vehicle operation. Despite the impressive advances of humanoid robots in the last two decades, current robots are not yet reaching the dexterity and versatility to cope with more complex manipulation and locomotion tasks (e.g., in confined spaces). We conclude that state-of-the-art humanoid robotics is far from matching the dexterity and versatility of human beings. Despite the outperforming technical structures, robot functions are inferior to human ones, even with tethered robots that could place heavy auxiliary components off-board. The persistent advances in robotics let us anticipate the diminishing of the gap.

Study of β-Ga2O3 Ceramics Synthesized under Powerful Electron Beam.

The synthesis of β-Ga2O3 ceramic was achieved using high-energy electron beams for the first time. The irradiation of gallium oxide powder in a copper crucible using a 1.4 MeV electron beam resulted in a monolithic ceramic structure, eliminating powder particles and imperfections. The synthesized β-Ga2O3 ceramic exhibited a close-to-ideal composition of O/Ga in a 3:2 ratio. X-ray diffraction analysis confirmed a monoclinic structure (space group C2/m) that matched the reference diagram before and after annealing. Photoluminescence spectra revealed multiple luminescence peaks at blue (~2.7 eV) and UV (3.3, 3.4, 3.8 eV) wavelengths for the synthesized ceramic and commercial crystals. Raman spectroscopy confirmed the bonding modes in the synthesized ceramic. The electron beam-assisted method offers a rapid and cost-effective approach for β-Ga2O3 ceramic production without requiring additional equipment or complex manipulations. This method holds promise for fabricating refractory ceramics with high melting points, both doped and undoped.

Characterization of a water-based liquid scintillator for use in megavoltage radiotherapy beams

The measurement of the dose delivered in radiotherapy treatments is carried out using dosimeters that are often expensive to produce and sometimes toxic to humans and the environment, which leads to more complex and rigorous clinical manipulations. It is in this context that it is necessary to provide new types of scintillators that would no longer have these problems while having properties equivalent to those of human tissues. Thus, the following study presents the performance of a water-based liquid scintillator used at radiotherapy energies. The characteristics studied include the proportionality of the scintillation signal to the dose, the scintillation efficiency at two different energies as well as the identification of the Cherenkov portion of the signal for photon beams of 180 kVp, 6 MV as well as 18 MV. Spectral measurements of the scintillation solution and a solution of distilled water were acquired in order to isolate the contribution of the scintillation signal from the spectrum obtained, and then compared to a commercial scintillator, Ultima Gold. The signal exhibits a linear dose relationship with a correlation coefficient of 0.999 and lower scintillation efficiency than Ultima Gold.

Droplet Transportation on Liquid-Infused Asymmetrically Structured Surfaces by Mechanical Oscillation and Viscosity Control.

The transportation of droplets on solid surfaces has received significant attention owing to its importance in biochemical analysis and microfluidics. In this study, we propose a novel strategy for controlling droplet motion by combining an asymmetric structure and infused lubricating oil on a vibrating substrate. The transportation of droplets with volumes ranging from 10 to 90 μL was realized, and the movement speed could be adjusted from 1.45 to 10.87 mm/s. Typical droplet manipulations, including droplet transportation along a long trajectory and selective movement of multiple droplets, were successfully demonstrated. Through experimental exploration and theoretical analysis, we showed that the adjustment of droplet transport velocity involves an intricate interaction among the Ohnesorge number, droplet volume, and input amplitude. It can potentially be used for the more complex manipulation of liquid droplets in microfluidic and biochemical analysis systems.

Manipulation of polarization conversion and dual foci in a twisted caustic vector optical field in free space

Manipulation of polarization states in a complex structured optical field during propagation has become an important topic due to its fundamental interest and potential applications. This work demonstrates the effect of the caustic and twisting phases on the polarization states of a vector beam experimentally and theoretically. The novel properties of polarization evolution, especially the conversions of different states of polarization (SoPs) in a twisted caustic vector beam, occur during propagation in free space because of the modulation of twisting and caustic phases. The orthogonal polarization components tend to appear on the beam centers of two foci, and the two focal distances are closely related to the caustic and twisting phases. The twisting and caustic phases can manipulate the conversions between linear and circular polarization components that occur during propagation. These results provide a new approach to more complex manipulations of a structured optical field, especially in tailoring the evolution of polarization states and two foci. They may find potential applications in the corresponding field.

Что такое задача в психологии мышления и почему она нужна?

This paper is focused on the problem as the main tool for modeling of thinking and creativity. It traces the history of using problems in the psychology of thinking and analyzes how classical works in this field describe the relationship between a problem, a task, a problem situation, etc. Problem complexity is treated as the key property that allows researchers to study patterns of the solution process. Two main methods of complexity manipulation are facilitation and inhibition. Each may be external or internal in relation to the problem. Studies of external facilitation look at series of similar problems with a gradual increase in complexity, while internal facilitation involves the reduction of sources of difficulty using a hint. External inhibition studies analyze the role of past experience or social pressure, while internal inhibition entails “reverse hints” that lead the participants away from the correct solution path. This article discusses the following issues: which part of the solution should be complicated to further the theories of problem solving? Can the complication of a problem turn it into a qualitatively more complex problem? Internal problem structure is found to be stable, since all experimental manipulations affect the solution process but leave the essence of the problem intact.

The Study of Complex Manipulation via Kinematic Hand Synergies: The Effects of Data Pre-Processing.

The study of kinematic hand synergies through matrix decomposition techniques, such as singular value decomposition, supports the theory that humans might control a subspace of predefined motions during manipulation tasks. These subspaces are often referred to as synergies. However, different data pre-processing methods lead to quantitatively different conclusions about these synergies. In this work, we shed light on the role of data pre-processing on the study of hand synergies by analyzing both numerical simulation and real kinematic data from a complex manipulation task, i.e., piano playing. The results obtained suggest that centering the data, by removing the mean, appears to be the most appropriate preprocessing technique for studying kinematic hand synergies.

A meta-discursive analysis of engagement markers in QAnon anti-immigration comments

Abstract To better understand QAnon’s anti-immigration rhetoric, the study conducted a meta-discursive analysis of one of the group’s active Telegram channels by drawing on Hyland’s (2005) model of interaction. Specifically, engagement markers in their immigration-related discourse were analyzed to see how they contribute to endorsing the group’s macro conspiratorial arguments. The results illustrate a complex rhetorical manipulation and nearly unanimous expression of hate toward immigrants, with the use of ‘directives’ and ‘questions’ being the most prevalent metadiscursive markers. The former suggests that the commenters were more assertive or commanding in their tone, while the latter located within rhetorical persuasion, aimed at stimulating negative attitude toward immigrants. Conversely, a low frequency of the ‘shared knowledge’ markers indicates a lack of interest to establish credibility and constructive dialogue with the audience. The study aimed to unpack the nature of anti-immigration extremist discourse on social media, and its potential to incite violence among public.

Evaluation of indocyanine green tracheobronchial fluorescence (ICG-TBF) via nebulization during minimally invasive esophagectomy.

Surgical manipulation of the tracheobronchial complex is a contributing factor in pulmonary morbidity of esophagectomy. Accurate dissection between membranous trachea and bronchi with esophagus is essential. This study tests the feasibility of delivering indocyanine green (ICG) in an aerosol form to achieve tracheobronchial fluorescence (ICG-TBF). Patients with esophageal and esophagogastric junction carcinoma (N = 37) undergoing minimally invasive esophagectomy (McKeown type) were included. ICG was aerosolized by nebulization in supine position before thoracoscopy. ICG-TBF was observed with real-time fluorescence-enabled camera. Intra- and postoperative complications related to ICG were the primary focus. ICG-TBF was identified in 94.6% (35/37) of patients with median time to fluorescence identification of 15minutes (range 1-43). There were no airway injuries in the study. The ICU median stay was 2 (range 2-21) days. No intra- or postoperative complications attributable to ICG were observed. Grade 3 or 4 pulmonary complications were seen in total 8.1% patients. No 90-day postoperative mortality was seen. ICG delivered in aerosol form was found to be safe and effective in achieving ICG-TBF. It aided in accurate dissection of esophagus from the tracheobronchial complex. Further studies on effect of ICG-TBF in decreasing pulmonary complications of esophagectomy are needed.

236. INDOCYANINE GREEN TRACHEOBRONCHIAL FLUORESCENCE (ICG-TBF) VIA NEBULIZATION DURING MINIMALLY INVASIVE ESOPHAGECTOMY -A NOVEL TECHNIQUE

Abstract Keywords ICG, fluorescence guided surgery, esophagectomy, ICG nebulization, ICG-TBF, tracheobronchial fluorescence. Abstract Background Surgical manipulation of tracheobronchial complex is a contributing factor in pulmonary morbidity of esophagectomy. Accurate dissection between membranous trachea and bronchi with esophagus is essential. This study tests the feasibility of delivering indocyanine green (ICG) in an aerosol form to achieve tracheobronchial fluorescence (ICG-TBF). Methods Patients with esophageal and esophagogastric carcinoma undergoing minimally invasive esophagectomy (McKeowns type) were included. ICG was aersolized by nebulisation in supine position before thoracoscopy. ICG-TBF was observed with real time fluorescence enabled camera. Intraoperative and postoperative complications related to ICG were noted. Results 37 patients were included in the study. ICG-TBF was identified in 94.6% (35/37) of patients with mean time to fluorescence identification of 13 minutes (1–43). There were no airway resections/injuries in the study. No intraoperative or postoperative complications attributable to ICG were observed. No 90 day postoperative mortality was seen. Conclusions ICG delivered in aerosol form was found to be safe and effective in achieving ICG-TGF. Further studies on effect of ICG-TBF in decreasing pulmonary complications of esophagectomy are needed.

Investigating the effects of the aging brain on real tool use performance-an fMRI study.

Healthy aging affects several domains of cognitive and motor performance and is further associated with multiple structural and functional neural reorganization patterns. However, gap of knowledge exists, referring to the impact of these age-related alterations on the neural basis of tool use-an important, complex action involved in everyday life throughout the entire lifespan. The current fMRI study aims to investigate age-related changes of neural correlates involved in planning and executing a complex object manipulation task, further providing a better understanding of impaired tool use performance in apraxia patients. A balanced number of sixteen older and younger healthy adults repeatedly manipulated everyday tools in an event-related Go-No-Go fMRI paradigm. Our data indicates that the left-lateralized network, including widely distributed frontal, temporal, parietal and occipital regions, involved in tool use performance is not subjected to age-related functional reorganization processes. However, age-related changes regarding the applied strategical procedure can be detected, indicating stronger investment into the planning, preparatory phase of such an action in older participants.

Bio-inspired surface engineering of hydrophobic membranes with nano-structured hydrogel toward viscous oil-in-water emulsion separation

Oil-fouling is a troublesome problem for membrane separating viscous oil-in-water emulsions. Nano-structured hydrogel is a superhydrophilic material showing a superior anti-oil fouling property, but the current modification strategies for constructing nano-structured hydrogels on membranes are limited by the complex manipulation and poor universality. In this work, inspired by the stickiness of ovalbumin (OVA) and the versatility of tannic acid (TA), we designed a green, facile and universal strategy for constructing nano-structured hydrogel on various hydrophobic membranes for separating viscous oil-in-water emulsion. Thanks to the distinct adhesion property and reactivity of OVA and TA, cumbersome surface activation process is avoided. What’s more, abundant nano-structure can be generated in-situ during the formation of hydrogel, without adding extra nanomaterials. Compared to the hydrogel without nano-structure, the nano-structured hydrogel can keep un-fouling even the surface was pressed by crude oil for 23 h, demonstrating that the in-situ nano-structure can endow the membrane with excellent anti-crude oil-fouling performance. The resulted membrane not only shows a high efficiency for separating surfactant-stabilized crude oil-in-water emulsion with average flux of 2198 L m−2h−1 bar−1 and crude oil rejection rate of 99.8%, but also shows excellent resistance to water flushing, acid and alkali, and long-time stability in air. Notably, this strategy can construct nano-structured hydrogel on various hydrophobic membranes easily. Considering the simplicity and universality, this strategy has the potential to be a powerful tool for preparing separation membranes with super-anti-high-viscosity oil contamination property and accelerate the rapid development of membrane in separating viscous oil-in-water emulsions.

Learning high-level robotic manipulation actions with visual predictive model

Learning visual predictive models has great potential for real-world robot manipulations. Visual predictive models serve as a model of real-world dynamics to comprehend the interactions between the robot and objects. However, prior works in the literature have focused mainly on low-level elementary robot actions, which typically result in lengthy, inefficient, and highly complex robot manipulation. In contrast, humans usually employ top–down thinking of high-level actions rather than bottom–up stacking of low-level ones. To address this limitation, we present a novel formulation for robot manipulation that can be accomplished by pick-and-place, a commonly applied high-level robot action, through grasping. We propose a novel visual predictive model that combines an action decomposer and a video prediction network to learn the intrinsic semantic information of high-level actions. Experiments show that our model can accurately predict the object dynamics (i.e., the object movements under robot manipulation) while trained directly on observations of high-level pick-and-place actions. We also demonstrate that, together with a sampling-based planner, our model achieves a higher success rate using high-level actions on a variety of real robot manipulation tasks.

Abstract P3205: Differential Adaptation To Mitochondrial Ca 2+ Overload In The Left And Right Ventricles

Mitochondrial Ca 2+ (mtCa 2+ ) overload has emerged as a potential contributor to heart failure (HF), possibly through inducing oxidative stress. In HF, right ventricular (RV) function is predictive of mortality, and the RV is more vulnerable to oxidative stress than the left ventricle (LV). Therefore, how the response to mtCa 2+ overload might differ in the RV and LV is critical; however, ventricle-specific mtCa 2+ handling is still poorly understood. We sought to induce cardiac mtCa 2+ overload via genetic manipulation of the mitochondrial calcium uniporter complex (mtCU) formed by the MCU pore and several regulatory subunits. mtCU stoichiometry shapes mtCa 2+ kinetics: loss of mitochondrial calcium uptake 1 (MICU1) induces mtCa 2+ overload, and reduced essential MCU regulator (EMRE) to MCU ratio decreases mtCa 2+ uptake rate. Hypothesizing that mtCa 2+ overload differentially affects LV and RV function, we generated tamoxifen (Tmx)-inducible cardiac-specific Micu1 knockout mice ( Micu1 cKO ) . After confirming that MICU1 loss at 1 week post-Tmx resulted in mtCa 2+ overload in both ventricles, we explored how the LV and RV responses diverge. In Micu1 cKO mice, LV function assessed by echocardiography declined at 4 weeks post-Tmx but recovered partially by 6 weeks. However, impaired RV function at 4 weeks post-Tmx persisted at 6 weeks and longer, without evidence of pulmonary hypertension. Interestingly, at 7-9 weeks post-Tmx, mtCa 2+ levels and oxidative stress remained elevated in the RV but returned to control levels in the LV. Concurrently, EMRE protein levels and mtCa 2+ uptake rate were reduced only in the LV, suggesting that the LV has greater capacity to adapt to mtCa 2+ overload via downregulation of EMRE. We further traced this LV-specific adaptive response to increased maturation of the mAAA-proteases that degrade EMRE. In summary, mtCa 2+ overload induced by MICU1 deletion results in greater oxidative stress and functional impairment over time in the RV than the LV due to absence of compensatory EMRE reduction in the RV.

Robot Programming by Demonstration: Trajectory Learning Enhanced by sEMG-Based User Hand Stiffness Estimation

Trajectory learning is one of the key components of robot Programming by Demonstration approaches, which in many cases, especially in industrial practice, aim at defining complex manipulation patterns. In order to enhance these methods, which are generally based on a physical interaction between the user and the robot, guided along the desired path, an additional input channel is considered in this article. The hand stiffness, that the operator continuously modulates during the demonstration, is estimated from the forearm surface electromyography and translated into a request for a higher or lower accuracy level. Then, a constrained optimization problem is built (and solved) in the framework of smoothing B-splines to obtain a minimum curvature trajectory approximating, in this manner, the taught path within the precision imposed by the user. Experimental tests in different applicative scenarios, involving both position and orientation, prove the benefits of the proposed approach in terms of the intuitiveness of the programming procedure for the human operator and characteristics of the final motion.

Mere tension output from spring-linkage-based mechanical metamaterials.

Metamaterials whose properties are inaccessible with conventional materials offer powerful tools for unprecedentedly manipulating physical signals. However, an effective design strategy of metamaterials still remains a challenge for changing the compression or tension characters of stress waves during forward propagation. Here, we introduce a class of spring-linkage-based metamaterials exhibiting mere tension output at the distal end, no matter that the input is an axial impact, a sudden tension, or even alternating tension-compression. The metamaterials can turn compressive waves into pure tension and filter them out from the tension-compression mixed ones while allowing tensile signal stably propagating in soliton form. This is achieved by combining nonuniform and nonlinear properties of the proposed cells. In particular, these extraordinary functions of the metamaterial can be turned on or off and adjusted by tuning a key switch cell; thus, it is anticipated to serve as a start for more complex manipulation and utilization of mechanical signals.

CRISPR/Cas9 based manipulating oncogenic chromosomal changes in vivo

Chromosomal changes are important factors in the development of human cancers, leading to the creation of gene fusions that can be targeted by therapeutic treatments. One such gene fusion is EML4-ALK, which results from an inversion on chromosome 1 and is found in a subset of non-small cell lung cancers. This gene fusion is clinically significant because it makes the cancer cells sensitive to ALK inhibitors. However, modeling these genetic events in mice has been difficult and requires complex manipulation of the germ line. This study presents an efficient method of inducing specific chromosomal changes in vivo using viral-mediated delivery of the CRISPR/Cas9 system to somatic cells of adult animals. The method was used to create a mouse model of EML4-ALK-driven lung cancer. The resulting tumors consistently exhibited EML4-ALK inversion, expressed the EML4-ALK fusion gene and had molecular features of human NSCLCs and react to handling with ALK inhibitors. The capacity to simulate human malignancies in mice is substantially improved by this method.

A robotic system for automated genetic manipulation and analysis of Caenorhabditis elegans.

The nematode Caenorhabditis elegans is one of the most widely studied organisms in biology due to its small size, rapid life cycle, and manipulable genetics. Research with C. elegans depends on labor-intensive and time-consuming manual procedures, imposing a major bottleneck for many studies, especially for those involving large numbers of animals. Here, we describe a general-purpose tool, WormPicker, a robotic system capable of performing complex genetic manipulations and other tasks by imaging, phenotyping, and transferring C. elegans on standard agar media. Our system uses a motorized stage to move an imaging system and a robotic arm over an array of agar plates. Machine vision tools identify animals and assay developmental stage, morphology, sex, expression of fluorescent reporters, and other phenotypes. Based on the results of these assays, the robotic arm selectively transfers individual animals using an electrically self-sterilized wire loop, with the aid of machine vision and electrical capacitance sensing. Automated C. elegans manipulation shows reliability and throughput comparable with standard manual methods. We developed software to enable the system to autonomously carry out complex protocols. To validate the effectiveness and versatility of our methods, we used the system to perform a collection of common C. elegans procedures, including genetic crossing, genetic mapping, and genomic integration of a transgene. Our robotic system will accelerate C. elegans research and open possibilities for performing genetic and pharmacological screens that would be impractical using manual methods.

Rule-Based Safe Probabilistic Movement Primitive Control via Control Barrier Functions

In this paper, we develop a novel and safe control design approach that takes demonstrations provided by a human teacher to enable a robot to accomplish complex manipulation scenarios in dynamic environments. First, an overall task is divided into multiple simpler subtasks that are more appropriate for learning and control objectives. Then, by collecting human demonstrations, the subtasks that require robot movement are modeled by probabilistic movement primitives (ProMPs). We also study two strategies for modifying the ProMPs to avoid collisions with environmental obstacles. Finally, we introduce a rule-base control technique by utilizing a finite-state machine along with a unique means of control design for ProMPs. For the ProMP controller, we propose control barrier and Lyapunov functions to guide the system along a trajectory within the distribution defined by a ProMP while guaranteeing that the system state never leaves more than a desired distance from the distribution mean. This allows for better performance on nonlinear systems and offers solid stability and known bounds on the system state. A series of simulations and experimental studies demonstrate the efficacy of our approach and show that it can run in real time. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —This paper is motivated by the need to create a teach-by-demonstration framework that captures the strengths of movement primitives and verifiable, safe control. We provide a framework that learns safe control laws from a probability distribution of robot trajectories through the use of advanced nonlinear control that incorporates safety constraints. Typically, such distributions are stochastic, making it difficult to offer any guarantees on safe operation. Our approach ensures that the distribution of allowed robot trajectories is within an envelope of safety and allows for robust operation of a robot. Furthermore, using our framework various probability distributions can be combined to represent complex scenarios in the environment. It will benefit practitioners by making it substantially easier to test and deploy accurate, efficient, and safe robots in complex real-world scenarios. The approach is currently limited to scenarios involving static obstacles, with dynamic obstacle avoidance an avenue of future effort.

Nest complexity correlates with larger brain size but smaller body mass across bird species.

Amniotes differ substantially in absolute and relative brain size after controlling for allometry, and numerous hypotheses have been proposed to explain brain size evolution. Brain size is thought to correlate with processing capacity and the brain's ability to support complex manipulation such as nest-building skills. The increased complexity of nest structure is supposed to be a measure of an ability to manipulate nesting material into the required shape. The degree of nest-structure complexity is also supposed to be associated with body mass, partly because small species lose heat faster and delicate and insulated nests are more crucial for temperature control of eggs during incubation by small birds. Here, we conducted comparative analyses to test these hypotheses by investigating whether the complexity of species-typical nest structure can be explained by brain size and body mass (a covariate also to control for allometric effects on brain size) across 1353 bird species from 147 families. Consistent with these hypotheses, our results revealed that avian brain size increases as the complexity of the nest structure increases after controlling for a significant effect of body size, and also that a negative relationship exists between nest complexity and body mass.