scholarly journals Robot-Based Creation of Complete 3D Workpiece Models

2022 ◽  
pp. 289-299
Author(s):  
David Singer ◽  
Dorian Rohner ◽  
Dominik Henrich
Keyword(s):  
Object Recognition ◽  
Point Clouds ◽  
The Other ◽  
Multiple Views ◽  
Proof Of Concept ◽  
Complete Model ◽  
Depth Sensor ◽  
Texture Information ◽  
Planning Approaches ◽  
Or Task

AbstractA complete object database containing a model (representing geometric and texture information) of every possible workpiece is a common necessity e.g. for different object recognition or task planning approaches. The generation of these models is often a tedious process. In this paper we present a fully automated approach to tackle this problem by generating complete workpiece models using a robotic manipulator. A workpiece is recorded by a depth sensor from multiple views for one side, then turned, and captured from the other side. The resulting point clouds are merged into one complete model. Additionally, we represent the information provided by the object’s texture using keypoints. We present a proof of concept and evaluate the precision of the final models. In the end we conclude the usefulness of our approach showing a precision of around 1 mm for the resulting models.

scholarly journals Verification and Strategy Synthesis for Coalition Announcement Logic

2021 ◽  
Author(s):  
Natasha Alechina ◽  
Hans van Ditmarsch ◽  
Rustam Galimullin ◽  
Tuo Wang
Keyword(s):  
Model Checking ◽  
Proof Of Concept ◽  
Model Checker ◽  
Complete Model ◽  
Concept Model ◽  
The Family ◽  
Winning Strategies ◽  
Epistemic Goals

AbstractCoalition announcement logic (CAL) is one of the family of the logics of quantified announcements. It allows us to reason about what a coalition of agents can achieve by making announcements in the setting where the anti-coalition may have an announcement of their own to preclude the former from reaching its epistemic goals. In this paper, we describe a PSPACE-complete model checking algorithm for CAL that produces winning strategies for coalitions. The algorithm is implemented in a proof-of-concept model checker.

scholarly journals Chromatin Manipulation and Editing: Challenges, New Technologies and Their Use in Plants

2021 ◽  
Vol 22 (2) ◽  
pp. 512
Author(s):  
Kateryna Fal ◽  
Denisa Tomkova ◽  
Gilles Vachon ◽  
Marie-Edith Chabouté ◽  
Alexandre Berr ◽  
...  
Keyword(s):  
Cell Fate ◽  
Dna Sequence ◽  
Zinc Finger ◽  
Chromatin Structure ◽  
New Technologies ◽  
Dna Interaction ◽  
The Other ◽  
Proof Of Concept ◽  
Epigenetic Marks ◽  
Molecular Events

An ongoing challenge in functional epigenomics is to develop tools for precise manipulation of epigenetic marks. These tools would allow moving from correlation-based to causal-based findings, a necessary step to reach conclusions on mechanistic principles. In this review, we describe and discuss the advantages and limits of tools and technologies developed to impact epigenetic marks, and which could be employed to study their direct effect on nuclear and chromatin structure, on transcription, and their further genuine role in plant cell fate and development. On one hand, epigenome-wide approaches include drug inhibitors for chromatin modifiers or readers, nanobodies against histone marks or lines expressing modified histones or mutant chromatin effectors. On the other hand, locus-specific approaches consist in targeting precise regions on the chromatin, with engineered proteins able to modify epigenetic marks. Early systems use effectors in fusion with protein domains that recognize a specific DNA sequence (Zinc Finger or TALEs), while the more recent dCas9 approach operates through RNA-DNA interaction, thereby providing more flexibility and modularity for tool designs. Current developments of “second generation”, chimeric dCas9 systems, aiming at better targeting efficiency and modifier capacity have recently been tested in plants and provided promising results. Finally, recent proof-of-concept studies forecast even finer tools, such as inducible/switchable systems, that will allow temporal analyses of the molecular events that follow a change in a specific chromatin mark.

scholarly journals Robust autonomous flight in cluttered environment using a depth sensor

2020 ◽  
Vol 12 ◽  
pp. 175682932092452
Author(s):  
Liang Lu ◽  
Alexander Yunda ◽  
Adrian Carrio ◽  
Pascual Campoy
Keyword(s):  
High Speed ◽  
Point Clouds ◽  
Depth Sensor ◽  
Cluttered Environments ◽  
Industrial Plants ◽  
Cluttered Environment ◽  
Navigation Strategy ◽  
Physical Sensors ◽  
Aerial Vehicle ◽  
Planning Objective

This paper presents a novel collision-free navigation system for the unmanned aerial vehicle based on point clouds that outperform compared to baseline methods, enabling high-speed flights in cluttered environments, such as forests or many indoor industrial plants. The algorithm takes the point cloud information from physical sensors (e.g. lidar, depth camera) and then converts it to an occupied map using Voxblox, which is then used by a rapid-exploring random tree to generate finite path candidates. A modified Covariant Hamiltonian Optimization for Motion Planning objective function is used to select the best candidate and update it. Finally, the best candidate trajectory is generated and sent to a Model Predictive Control controller. The proposed navigation strategy is evaluated in four different simulation environments; the results show that the proposed method has a better success rate and a shorter goal-reaching distance than the baseline method.

scholarly journals BLAINDER—A Blender AI Add-On for Generation of Semantically Labeled Depth-Sensing Data

Sensors ◽  
2021 ◽  
Vol 21 (6) ◽  
pp. 2144
Author(s):  
Stefan Reitmann ◽  
Lorenzo Neumann ◽  
Bernhard Jung
Keyword(s):  
Point Clouds ◽  
Training Data ◽  
Sensor Data ◽  
Generation Process ◽  
Data Generation ◽  
Depth Sensor ◽  
Depth Sensing ◽  
Depth Sensors ◽  
3D Point Clouds ◽  
Wide Range

Common Machine-Learning (ML) approaches for scene classification require a large amount of training data. However, for classification of depth sensor data, in contrast to image data, relatively few databases are publicly available and manual generation of semantically labeled 3D point clouds is an even more time-consuming task. To simplify the training data generation process for a wide range of domains, we have developed the BLAINDER add-on package for the open-source 3D modeling software Blender, which enables a largely automated generation of semantically annotated point-cloud data in virtual 3D environments. In this paper, we focus on classical depth-sensing techniques Light Detection and Ranging (LiDAR) and Sound Navigation and Ranging (Sonar). Within the BLAINDER add-on, different depth sensors can be loaded from presets, customized sensors can be implemented and different environmental conditions (e.g., influence of rain, dust) can be simulated. The semantically labeled data can be exported to various 2D and 3D formats and are thus optimized for different ML applications and visualizations. In addition, semantically labeled images can be exported using the rendering functionalities of Blender.

scholarly journals Transferrin-Conjugated SNALPs Encapsulating 2′-O-Methylated miR-34a for the Treatment of Multiple Myeloma

2014 ◽  
Vol 2014 ◽  
pp. 1-7 ◽  
Author(s):  
Immacolata Scognamiglio ◽  
Maria Teresa Di Martino ◽  
Virginia Campani ◽  
Antonella Virgilio ◽  
Aldo Galeone ◽  
...  
Keyword(s):  
Multiple Myeloma ◽  
Zeta Potential ◽  
Lipid Vesicles ◽  
Significant Inhibition ◽  
The Other ◽  
Transferrin Receptors ◽  
Proof Of Concept ◽  
Wild Type ◽  
Chemical Conjugation ◽  
Mean Size

Stable nucleic acid lipid vesicles (SNALPs) encapsulating miR-34a to treat multiple myeloma (MM) were developed. Wild type or completely 2′-O-methylated (OMet) MiR-34a was used in this study. Moreover, SNALPs were conjugated with transferrin (Tf) in order to target MM cells overexpressing transferrin receptors (TfRs). The type of miR-34a chemical backbone did not significantly affect the characteristics of SNALPs in terms of mean size, polydispersity index, and zeta potential, while the encapsulation of an OMet miR-34a resulted in a significant increase of miRNA encapsulation into the SNALPs. On the other hand, the chemical conjugation of SNALPs with Tf resulted in a significant decrease of the zeta potential, while size characteristics and miR-34a encapsulation into SNALPs were not significantly affected. In an experimental model of MM, all the animals treated with SNALPs encapsulating miR-34a showed a significant inhibition of the tumor growth. However, the use of SNALPs conjugated with Tf and encapsulating OMet miR-34a resulted in the highest increase of mice survival. These results may represent the proof of concept for the use of SNALPs encapsulating miR-34a for the treatment of MM.

scholarly journals A Welcome to the New Journal, Journal of Advanced Therapies and Medical Innovation Science (j.ATAMIS).

2016 ◽  
Vol 1 ◽  
Author(s):  
Andrew Coats ◽  
Louise Shewan
Keyword(s):  
Venture Capital ◽  
Medical Devices ◽  
Medical Science ◽  
The Other ◽  
Proof Of Concept ◽  
Medical Innovation ◽  
Start Up ◽  
Advanced Therapies ◽  
Publishing Journal

<p>A new journal has been launched by Barcaray Publishing: Journal of Advanced Therapies and Medical Innovation Sciences (J.ATAMIS, www.j-atamis.org).  This journal fills a crucial gap in the literature – and in the cycle of advances in medical science, therapeutics and devices - covering the pipeline from idea through proof of concept studies and start-up funding to regulatory approval.  It will be multi-disciplinary and unusually we will have significant input from funders - both angel and venture capital-, start-up CEO’s, and regulators as well as medical scientists and triallists.  We have quite frankly a stellar editorial board, with leading lights of biotechnology, medical devices, new and established pharma as well as the “other side”, CEO’s and investors.  </p>

scholarly journals The representation of colored objects in macaque color patches

2017 ◽  
Author(s):  
Le Chang ◽  
Pinglei Bao ◽  
Doris Y. Tsao
Keyword(s):  
Object Recognition ◽  
Color Vision ◽  
The Other ◽  
Color Patch ◽  
Shape Information ◽  
Object Shape ◽  
Shape Invariant ◽  
High Concentrations ◽  
The Brain

AbstractAn important question about color vision is: how does the brain represent the color of an object? The recent discovery of “color patches” in macaque inferotemporal (IT) cortex, the part of brain responsible for object recognition, makes this problem experimentally tractable. Here we record neurons in three color patches, middle color patch CLC (central lateral color patch), and two anterior color patches ALC (anterior lateral color patch) and AMC (anterior medial color patch), while presenting images of objects systematically varied in hue. We found that all three patches contain high concentrations of hue-selective cells, and the three patches use distinct computational strategies to represent colored objects: while all three patches multiplex hue and shape information, shape-invariant hue information is much stronger in anterior color patches ALC/AMC than CLC; furthermore, hue and object shape specifically for primate faces/bodies are over-represented in AMC but not in the other two patches.

scholarly journals How Much Information Does a Robot Need? Exploring the Benefits of Increased Sensory Range in a Simulated Crowd Navigation Task

Information ◽  
2020 ◽  
Vol 11 (2) ◽  
pp. 112
Author(s):  
Marit Hagens ◽  
Serge Thill
Keyword(s):  
Task Performance ◽  
Human Robot Interaction ◽  
The Other ◽  
Proof Of Concept ◽  
Robot Interaction ◽  
Navigation Task ◽  
Navigation Strategy ◽  
Hardware Designs ◽  
Navigation Strategies ◽  
And Task

Perfect information about an environment allows a robot to plan its actions optimally, but often requires significant investments into sensors and possibly infrastructure. In applications relevant to human–robot interaction, the environment is by definition dynamic and events close to the robot may be more relevant than distal ones. This suggests a non-trivial relationship between sensory sophistication on one hand, and task performance on the other. In this paper, we investigate this relationship in a simulated crowd navigation task. We use three different environments with unique characteristics that a crowd navigating robot might encounter and explore how the robot’s sensor range correlates with performance in the navigation task. We find diminishing returns of increased range in our particular case, suggesting that task performance and sensory sophistication might follow non-trivial relationships and that increased sophistication on the sensor side does not necessarily equal a corresponding increase in performance. Although this result is a simple proof of concept, it illustrates the benefit of exploring the consequences of different hardware designs—rather than merely algorithmic choices—in simulation first. We also find surprisingly good performance in the navigation task, including a low number of collisions with simulated human agents, using a relatively simple A*/NavMesh-based navigation strategy, which suggests that navigation strategies for robots in crowds need not always be sophisticated.

Sign in / Sign up

Export Citation Format

Share Document