New CNN and hybrid CNN-LSTM models for learning object manipulation of humanoid robots from demonstration

Cluster Computing - As the environments that human live are complex and uncontrolled, the object manipulation with humanoid robots is regarded as one of the most challenging tasks. Learning a...     

Jumping robots: a biomimetic solution to locomotion across rough terrain

This paper introduces jumping robots as a means to traverse rough terrain; such terrain can pose problems for traditional wheeled, tracked and legged designs. The diversity of jumping mechanisms found in nature is explored to support the theory that jumping is a desirable ability for a robot locomotion system to incorporate, and then the size-related constraints are determined from first principles. A series of existing jumping robots are presented and their performance summarized. The authors present two new biologically inspired jumping robots, Jollbot and Glumper, both of which incorporate additional locomotion techniques of rolling and gliding respectively. Jollbot consists of metal hoop springs forming a 300 mm diameter sphere, and when jumping it raises its centre of gravity by 0.22 m and clears a height of 0.18 m. Glumper is of octahedral shape, with four 'legs' that each comprise two 500 mm lengths of CFRP tube articulating around torsion spring 'knees'. It is able to raise its centre of gravity by 1.60 m and clears a height of 1.17 m. The jumping performance of the jumping robot designs presented is discussed and compared against some specialized jumping animals. Specific power output is thought to be the performance-limiting factor for a jumping robot, which requires the maximization of the amount of energy that can be stored together with a minimization of mass. It is demonstrated that this can be achieved through optimization and careful materials selection.     

Anthropomorphism or sub-anthropomorphism? An anthropological approach to gods and robots

Since the 1980s, a new area of research entitled HRI (Human-Robot Interaction) has been emerging in the field of robotic studies. It focuses on the empirical study of the relationship between robots and human beings. This article aims to contrast the findings of roboticists concerning the interaction between humans and robots with anthropological studies which focus on the ritual interaction between gods and humans in specific religious contexts. This idea may seem provocative, but it is argued here that such a comparison can yield valuable insights both at a theoretical level and at an empirical one. This will be demonstrated with reference to ritual interactions between humans and gods in the Western Himalayas.  

Résumé

Depuis les années 1980, un nouveau domaine d'étude appelé HRI (Human-Robot Interaction) est apparu dans la recherche en robotique. Il s'agit d'une étude empirique des relations entre robots et êtres humains. Le présent article met en regard les observations de roboticiens sur les interactions entre humains et robots et les études anthropologiques consacrées à l'interaction entre dieux et humains dans des contextes religieux spécifiques. Pour provocatrice qu'elle puisse paraître, cette comparaison peut constituer une approche intéressante, du point de vue théorique aussi bien qu'empirique. L'auteur le démontre en référence à des interactions rituelles entre hommes et dieux dans les massifs occidentaux de l'Himalaya.     

Using strategic movement to calibrate a neural compass: a spiking network for tracking head direction in rats and robots

The head direction (HD) system in mammals contains neurons that fire to represent the direction the animal is facing in its environment. The ability of these cells to reliably track head direction even after the removal of external sensory cues implies that the HD system is calibrated to function effectively using just internal (proprioceptive and vestibular) inputs. Rat pups and other infant mammals display stereotypical warm-up movements prior to locomotion in novel environments, and similar warm-up movements are seen in adult mammals with certain brain lesion-induced motor impairments. In this study we propose that synaptic learning mechanisms, in conjunction with appropriate movement strategies based on warm-up movements, can calibrate the HD system so that it functions effectively even in darkness. To examine the link between physical embodiment and neural control, and to determine that the system is robust to real-world phenomena, we implemented the synaptic mechanisms in a spiking neural network and tested it on a mobile robot platform. Results show that the combination of the synaptic learning mechanisms and warm-up movements are able to reliably calibrate the HD system so that it accurately tracks real-world head direction, and that calibration breaks down in systematic ways if certain movements are omitted. This work confirms that targeted, embodied behaviour can be used to calibrate neural systems, demonstrates that 'grounding' of modelled biological processes in the real world can reveal underlying functional principles (supporting the importance of robotics to biology), and proposes a functional role for stereotypical behaviours seen in infant mammals and those animals with certain motor deficits. We conjecture that these calibration principles may extend to the calibration of other neural systems involved in motion tracking and the representation of space, such as grid cells in entorhinal cortex.     

An EMG-level muscle model for a fast arm movement to target

A model of human muscle action is presented for a maximally fast, large-amplitude forearm movement to target. the inputs to the model are approximately the biceps and triceps EMG envelopes over a single movement. The model's output gives the corresponding displacement angle of the forearm about a fixed elbow position as a function of time. The idea of the model is to conceive of both EMG input drives as successions of millisecond input pulses, with each pulse resulting in a muscle tension twitch. Every twitch is amplitude-scaled, parametrically-shaped, and duration-limited as a function of the muscle's contractile history thus far in the movement. The muscle tension at any time t is the sum of the residual tension levels of all twitches begun before t. The model was developed and tested with special reference to two subjects: one, according to the model dynamics, was a comparatively slow-twitch type, and the other modelled as a fast-twitch type. Good agreement was found between model output and subject response data whenever the subject's EMG's were synchronous. The model can be used to characterize each subject's responses by a suite of twitch characteristics. This will enable us to check the accepted but now suspect correlation between muscle biopsy-and performance-determined muscle twitch type.This study was supported by contract DAMD 17-80-C-0101 from the U.S. Army Medical Research and Development Command. The views, opinions and/or findings contained in this report are those of the authors and should not be construed as an official Department of the Army position, policy, or decision, unless so designated by other documentation     

An advanced taxi movement model in the working day movement for delay-tolerant networks

Vehicle safety communications is an important technology for preventing automobile accidents. The number of neighbor nodes is important in the automobile industry, which is becoming increasingly more customer-oriented. The Opportunistic Network Environment (ONE) simulator is a specialized tool for the simulation of a routing protocol in a delay-tolerant network (DTN). Various movement models, including random waypoint, working day movement, and post-disaster movement, have been studied. DTN is a network suggested for communication between networks with significantly varied delay times. In order to raise the accuracy of simulation results in DTNs, a movement model that considers an actual situation is very important. As for the ONE simulator, a working day movement model shows actual movement patterns of people among various movement models. For types of transportation, a road, a vehicle and a bus are provided, but a real-life situation is not provided for a taxi. A taxi moves to a destination via the shortest route when there is a customer; otherwise, it moves at fast speeds randomly. Such movement can generate various communication situations and packet transmission in a DTN. Therefore, this paper aims to design an advanced taxi movement model.     

An exogenous chloroplast genome for complex sequence manipulation in algae

We demonstrate a system for cloning and modifying the chloroplast genome from the green alga, Chlamydomonas reinhardtii. Through extensive use of sequence stabilization strategies, the ex vivo genome is assembled in yeast from a collection of overlapping fragments. The assembled genome is then moved into bacteria for large-scale preparations and transformed into C. reinhardtii cells. This system also allows for the generation of simultaneous, systematic and complex genetic modifications at multiple loci in vivo. We use this system to substitute genes encoding core subunits of the photosynthetic apparatus with orthologs from a related alga, Scenedesmus obliquus. Once transformed into algae, the substituted genome recombines with the endogenous genome, resulting in a hybrid plastome comprising modifications in disparate loci. The in vivo function of the genomes described herein demonstrates that simultaneous engineering of multiple sites within the chloroplast genome is now possible. This work represents the first steps toward a novel approach for creating genetic diversity in any or all regions of a chloroplast genome.     

An approximate solution to the Lamm equation

An approximate solution to the Lamm equation subject to the initial and boundary conditions for conventional sedimentation velocity experiments is derived and compared with the approximate solution of Fujita and MacCosham. Calculations with this solution demonstrate that the half-height method of estimating sedimentation coefficients yields correct values for epsilon < 0.02.     

Biomimetic vibrissal sensing for robots

Active vibrissal touch can be used to replace or to supplement sensory systems such as computer vision and, therefore, improve the sensory capacity of mobile robots. This paper describes how arrays of whisker-like touch sensors have been incorporated onto mobile robot platforms taking inspiration from biology for their morphology and control. There were two motivations for this work: first, to build a physical platform on which to model, and therefore test, recent neuroethological hypotheses about vibrissal touch; second, to exploit the control strategies and morphology observed in the biological analogue to maximize the quality and quantity of tactile sensory information derived from the artificial whisker array. We describe the design of a new whiskered robot, Shrewbot, endowed with a biomimetic array of individually controlled whiskers and a neuroethologically inspired whisking pattern generation mechanism. We then present results showing how the morphology of the whisker array shapes the sensory surface surrounding the robot's head, and demonstrate the impact of active touch control on the sensory information that can be acquired by the robot. We show that adopting bio-inspired, low latency motor control of the rhythmic motion of the whiskers in response to contact-induced stimuli usefully constrains the sensory range, while also maximizing the number of whisker contacts. The robot experiments also demonstrate that the sensory consequences of active touch control can be usefully investigated in biomimetic robots.     

An integrated approach to the characterization of cell movement.

BACKGROUND: Most phenomena in developmental biology involve or depend upon cell migration. This article describes a comprehensive framework for the characterization and analysis of trajectories defined by cell movement. The following two perspectives are considered: (a) the behavior of each individual cell and (b) interactions between neighboring pairs of cells. METHODS: The measurements considered for individual trajectories include the velocity magnitude and orientation, maximum spatial dispersion, displacement effectiveness, and displacement entropies. Interactions between two trajectories are characterized by comparing the respective velocities. RESULTS: The potential of the overall framework is illustrated using data of moving cells in different biological environments. The work shows that it is possible to use the new algorithm presented here to characterize cell motility. CONCLUSIONS: The features of the algorithm were successful in determining the motility changes under different experimental conditions.     

An improved solution structure for psi-conotoxin PiiiE

A revised, high-resolution structure of psi-conotoxin Piiie (psi-Piiie), a noncompetitive inhibitor of the nicotinic acetylcholine receptor (nAChR), produced through the use of NMR and molecular modeling calculations is presented. The original structures of psi-Piiie had a relatively high degree of disorder, particularly in the conformation of the disulfide bridges. Our studies utilized (13)C-labeling of selected cysteine residues allowing the resolution of all problems of resonance overlap for the cysteine residues. The improved data were used to produce a new set of structures by a molecular modeling process incorporating relaxation matrix methods for the determination of interproton distance restraints and a combination of distance geometry and simulated annealing for structure generation. The structures produced are very well converged with the RMSD of backbone atom positions of the main body of the peptide improving from 0.73 to 0.13 A. Other indicators of correlation with the experimental data and quality of covalent geometry showed significant improvement in the new structures. The overall conformation of the peptide backbone is similar between the two determinations with the exception of the N-terminus. This difference leads to a significant effect on the predicted distribution of positive charge within psi-Piiie, a property likely to influence interpretation of future mutational studies.     

An ultrasonic insect movement detector

ABSTRACT. An ultrasonic insect movement detector is described. Insect movement in an experimental chamber causes changes in an ultrasonic standing wave pattern: these changes are amplified and recorded, either as a continuous signal or as pulses. Results are presented from ground beetles, earwigs and a braconid parasite, showing that behaviour of these insects in the apparatus is similar to that assessed by other methods.     

An assay for glutathione in acid solution

A method is described for assaying GSH by heating solutions in 10.5 M sulfuric acid at 100° and determining the absorbance developed at 265 mμ. Substances closely related to GSH do not interfere. The method can be used to assay GSH in erythrocytes.     

An approach to the collection and manipulation of time-based data using the IBM PC and BASICA

With the advent of increasingly integrated, powerful and inexpensivedigital electronics, relatively powerful computers have becomeavailable to the general public. Along with this technologicalboom there has been a concomitant increase in the availabilityof over-the-counter software packages which can be used by researchscientists for program development. In the past, the developmentof computer programs for the collection of large amounts oftime-based data was expensive and time consuming; however, theintroduction of the current generation of 16-bit microcomputersand associated hardware and software packages has enabled investigatorswith only a rudimentary knowledge of computers and interfacingto begin to design programs. The schemes and algorithms, developedusing BASICA on an IBM-Personal Computer, which are describedin this article can serve other investigators as models forthe assembly of their own programs for the collection, manipulationand plotting of time-based data. The incorporation of inexpensivecomputer graphics hardware and software, which provided a simplesolution to the problem of analysis and presentation of largeamounts of data, will also be discussed. Received on December 19, 1984; accepted on December 22, 1984