Improving human robot collaboration through Force/Torque based learning for object manipulation

Human–Robot Collaboration (HRC) is a term used to describe tasks in which robots and humans work together to achieve a goal. Unlike traditional industrial robots, collaborative robots need to be adaptive; able to alter their approach to better suit the situation and the needs of the human partner. As traditional programming techniques can struggle with the complexity required, an emerging approach is to learn a skill by observing human demonstration and imitating the motions; commonly known as Learning from Demonstration (LfD). In this work, we present a LfD methodology that combines an ensemble machine learning algorithm (i.e. Random Forest (RF)) with stochastic regression, using haptic information captured from human demonstration. The capabilities of the proposed method are evaluated using two collaborative tasks; co-manipulation of an object (where the human provides the guidance but the robot handles the objects weight) and collaborative assembly of simple interlocking parts. The proposed method is shown to be capable of imitation learning; interpreting human actions and producing equivalent robot motion across a diverse range of initial and final conditions. After verifying that ensemble machine learning can be utilised for real robotics problems, we propose a further extension utilising Weighted Random Forest (WRF) that attaches weights to each tree based on its performance. It is then shown that the WRF approach outperforms RF in HRC tasks.     

Safe and intuitive manual guidance of a robot manipulator using adaptive admittance control towards robot agility

Key areas of robot agility include methods that increase capability and flexibility of industrial robots and facilitate robot re-tasking. Manual guidance can achieve robot agility effectively, provided that a safe and smooth interaction is guaranteed when the user exerts an external force on the end effector. We approach this by designing an adaptive admittance law that can adjust its parameters to modify the robot compliance in critical areas of the workspace, such as near and on configuration singularities, joint limits, and workspace limits, for a smooth and safe operation. Experimental validation was done with two tests: a constraint activation test and a 3D shape tracing task. In the first one, we validate the proper response to constraints and in the second one, we compare the proposed approach with different admittance parameter tuning strategies using a drawing task where the user is asked to guide the robot to trace a 3D profile with an accuracy or speed directive and evaluate performance considering path length error and execution time as metrics, and a questionnaire for user perception. Results show that appropriate response to individual and simultaneous activation of the aforementioned constraints for a safe and intuitive manual guidance interaction is achieved and that the proposed parameter tuning strategy has better performance in terms of accuracy, execution time, and subjective evaluation of users.     

Infants' sensitivity to optical flow for controlling posture.

Infants' sensitivity to optical flow for controlling sitting and standing was tested using a "moving room" in which all of the walls moved together, or only the side walls or front wall moved. Two questions motivated this research. (a) is the optical flow necessary for inducing postural compensations spatially distributed in the optic array? (b) Do visually induced compensations follow a developmental progression, or alternatively, emerge all at once? Experiment 1 was designed to test postural compensations by 14-month-old infants capable of standing in the moving room. Experiment 2 was designed to test postural compensations by 5- to 9-month-old infants who were passively supported while sitting in the moving room. The results revealed that partial flow is generally sufficient for inducing postural compensations, but that the amplitude and consistency of the response depend on the location of the flow in the optic array. In addition, there was evidence suggesting that compensatory responses become increasingly systematic during the second half of the first year. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Editorial: January 1992.

Explains changes in the American Psychologist (AP) and reveals plans for 3 special issues in 1992 and 1993 (including a commemorative issue to observe the American Psychological Association's (APA's) centennial year. AP's standard editorial procedure, reasons for some rejections, and reconsideration of submissions are discussed. The editor notes that APA's new building (already a financial success) and its highly successful publications program can become an additional source of income to APA. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Latchkey children and susceptibility to peer pressure: An ecological analysis.

Data on adolescents' after-school experiences and their susceptibility to peer pressure were derived from surveys administered to a heterogeneous sample of 865 adolescents in Grades 5–9. Consistent with the findings of previous studies, the results show that Ss who reported home after school were not significantly different from those who were supervised by their parents at home during after-school hours. However, when a 2nd sample of latchkey children (n?=?594) was studied to include greater variation in after-school experiences, Ss who were more removed from adult supervision were found to be more susceptible to peer pressure to engage in antisocial activity. Ss who were home alone were less susceptible to peer pressure than are those who were at a friend's house after school, and those who were at a friend's house, in turn, were less susceptible than were those who describe themselves as "hanging out." Moreover, latchkey Ss whose parents knew their whereabouts and those who had been raised authoritatively were less susceptible to peer influence than were their peers, even if their afternoons were spent in contexts in which adult supervision was lax and susceptibility to peer pressure was generally high. (17 ref) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Psychology, history, and the press: The case of William McDougall and The New York Times..

A number of reasons have been suggested for the rapid decline in influence and credibility experienced by William McDougall after his arrival in America. To obtain some evidence on this issue, all articles appearing in The New York Times between 1906 and 1940 in which McDougall was mentioned were coded for the nature of the image conveyed. Articles mentioning the two authors most similar to McDougall in terms of number of citations, Joseph Jastrow and Edward L. Thorndike, were also coded for the nature of the image conveyed. In contrast to the images of Jastrow and Thorndike, the image McDougall conveyed was significantly more negative. McDougall was more often satirized, and references to McDougall were significantly less likely to be simple reporting of something he had said or done. Results are discussed in terms of the role of the press in "deciding" controversies in which the scientific community has lost interest. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

Functionalized metal–organic frameworks with strong acidity and hydrophobicity as an efficient catalyst for the production of 5-hydroxymethylfurfural

In the dehydration of fructose to 5-hydroxymethyl furfural(HMF), in situ produced water weakens the acid strength of the catalyst and causes the rehydration of HMF, causing unsatisfactory catalytic activity and selectivity. In this work, a class of benzenesulfonic acid-grafted metal–organic frameworks with strong acidity and hydrophobicity is obtained by the direct sulfonation method using 4-chlorobenzenesulfonic acid as sulfonating agent. The resultant MOFs have a specific surface area of greater than 250 m~2·g~(-1), acid density above 1.0 mmol·g~(-1), and water contact angle up to 129°. The hydrophobic MOF-Ph SO_3 H exhibits both higher catalytic activity and selectivity than MOF-SO_3 H in the HMF synthesis due to its better hydrophobicity and olephilicity. Moreover, the catalyst has a high recycled stability. At last, fructose is completely converted, and 98.0% yield of HMF is obtained under 120 °C in a DMSO solvent system. The successful preparation of the hydrophobic acidic MOF provides a novel hydrophobic catalyst for the synthesis of HMF.     

Exploring the methods on improving CH4 delivery performance to surpass the Advanced Research Project Ageney-Energy target

CH_4 storage associated with adsorbed natural gas(ANG) technology is an issue attracting great concern.Following the Advanced Research Project Agency-Energy(ARPA-E) targeted deliverable capacity of 315 cm~3·cm~(-3)(STP), hundreds of thousands of materials have been experimentally or theoretically evaluated,while the best results still show a 35% gap from the target. Moreover, recent theoretical research reveals that the target is beyond the possibility that real materials can be designed. To get rid of the awkward situation, we make attempts on investigating the CH_4 delivery performance under other operation conditions. Methods of raising the discharge temperature(to infinite high) or elevating the storage pressure(to 25 MPa) have been proved to show limited effectiveness. In this work, it is found that the ARPA-E target can be achieved by using a decreasing storage temperature strategy. By taking 280 Co RE(computation-ready, experimental) COFs(covalent organic frameworks) as ANG materials, when reduce the storage temperature to 190.6 K, the highest deliverable capacity can reach 392 cm~3·cm~(-3)(STP), and16.1% Co RE COFs can surpass the target. The target is also achievable when storage at 220 K. Structure performance relationships study shows strong correlation between deliverable capacity and void fraction. Hence, 120 hypothetical COFs are generated to ascertain the optimum void fraction. In addition,the performance of 2 D-COFs can be greatly enhanced by increasing the interlayer spacings, e.g. CH_4 deliverable capacity(storage at 190.6 K) of ATFG-COF can be improved from 239 to 411 cm~3·cm~(-3)(STP) when interlayer spacing is enlarged to 1.65 nm.     

Robust Superhydrophobic Fabric for Durability,Self-Cleaning,and Oil/Water Separation via Thiol–Acrylate Polymerization

In recent years, highly efficient oil/water separation materials have brought much attention. It requests superhydrophobic surfaces with a rapid and facile separation process, excellent durability, and large-scale fabrication. Herein, a facile vapor-liquid sol-gel, and free radical polymerization reaction method to prepare the durable and robust superhydrophobic cotton fabric is proposed. Moreover, the fabric can be used for highly efficient and various oil/water separation. It is prepared via a simple two-step process, including a vapor-liquid sol-gel process to deposit with thiols particles, and then followed a free radical polymerization reaction to graft 2,2,3,4,4,4-hexafluorobutyl methacrylate. Scanning electron microscopy and Fourier transform infrared spectrometry prove that the rough structures are generated from the hydrolysis condensation reaction between tetraethyl orthosilicate and 3-mercaptopropyltriethoxysilane. As a result, the synthetic chemical composition provided by the natural fabric and silica nanoparticles synergistically construct a superhydrophobic surface with water contact angles and shedding angle of 158° and 9°, respectively. Additionally, the treated fabric exhibits excellent chemical resistance and self-cleaning ability. Remarkably, the fabric still retains superhydrophobic and excellent mechanical robustness after 30 cycles of various oil/water separation. In summary, the resultant fabrics with excellent chemical resistance, remarkable mechanical robustness, and versatile separation abilities have potential applications in various oil/water separations.     

Stereocomplex Crystallization Induced Significant Improvement in Transparency and Stiffness–Toughness Performance of Core-Shell Rubber Nanoparticles Toughened Poly(l-lactide) Blends

Toughening modification of poly(l -lactide) (PLLA) with rubber particles is often realized at the cost of transparency, mechanical strength, and modulus because high rubber loadings are generally required for toughening. In this work, a promising strategy to simultaneously improve the transparency and stiffness–toughness performance of poly(butyl acrylate)-poly(methyl methacrylate) (BAMMA) core-shell rubber nanoparticles toughened PLLA blends by utilizing the stereocomplex (SC) crystallization between PLLA and poly(d -lactide) (PDLA) is devised. The results reveal that the construction of SC crystallites in PLLA matrix via melt-mixing PLLA/BAMMA blends with PDLA can prevent BAMMA nanoparticles from aggregation and promote them to form network-like structure at lower contents. As a result, not only higher toughening efficiency with less rubber contents but also superior transparency is achieved in the PLLA/PDLA/BAMMA blends as compared with the PLLA/BAMMA ones where large aggregated BAMMA clusters are formed. Moreover, the outstanding reinforcement of SC crystallites network for PLLA can impart an enhanced tensile strength and modulus to PLLA/PDLA/BAMMA blends, thus improving the stiffness–toughness performance of PLLA/PDLA/BAMMA blends to a higher degree. This work demonstrates that SC crystallization is a promising solution to solve the contradiction between transparency and mechanical properties and then obtain superior comprehensive performances in rubber toughened PLLA blends.