Learning Task Constraints from Demonstration for Hybrid Force/Position Control

We present a novel method for learning hybrid force/position control from demonstration. We learn a dynamic constraint frame aligned to the direction of desired force using Cartesian Dynamic Movement Primitives. In contrast to approaches that utilize a fixed constraint frame, our approach easily accommodates tasks with rapidly changing task constraints over time. We activate only one degree of freedom for force control at any given time, ensuring motion is always possible orthogonal to the direction of desired force. Since we utilize demonstrated forces to learn the constraint frame, we are able to compensate for forces not detected by methods that learn only from the demonstrated kinematic motion, such as frictional forces between the end-effector and the contact surface. We additionally propose novel extensions to the Dynamic Movement Primitive (DMP) framework that encourage robust transition from free-space motion to in-contact motion in spite of environment uncertainty. We incorporate force feedback and a dynamically shifting goal to reduce forces applied to the environment and retain stable contact while enabling force control. Our methods exhibit low impact forces on contact and low steady-state tracking error.Comment: Under revie

Three-dimensional microfabrication through a multimode optical fiber

Additive manufacturing, also known as 3D printing, is an advanced manufacturing technique that allows the fabrication of arbitrary macroscopic and microscopic objects. All 3D printing systems require large optical elements or nozzles in proximity to the built structure. This prevents their use in applications in which there is no direct access to the area where the objects have to be printed. Here, we demonstrate three-dimensional microfabrication based on two-photon polymerization (TPP) with sub diffraction-limited resolution through an ultra-thin, 50 mm long printing nozzle of 560 micrometers in diameter. Using wavefront shaping, femtosecond infrared pulses are focused and scanned through a multimode optical fiber (MMF) inside a photoresist that polymerizes via two-photon absorption. We show the construction of arbitrary 3D structures of 500 nm resolution on the other side of the fiber. To our knowledge, this is the first demonstration of microfabrication through a multimode optical fiber. Our work represents a new area which we refer to as endofabrication

Optical focusing in scattering media with photoacoustic wavefront shaping (PAWS)

Controllable light delivery to the region of interest is essential to biomedical optical imaging methods like photoacoustic microscopy. It is, however, challenging beyond superficial depths in biological tissue (~1 mm beneath human skin) due to the strong scattering of light that scrambles the photon propagation paths. Recently, optical wavefront shaping has been proposed to modulate the incident light wavefront to compensate for the scattering-induced phase distortions, and consequentially, convey light optimally to a desired location behind or inside turbid media. To reach an optimum wavefront, a searching algorithm is usually required to optimize a feedback signal. In this work, we present our latest explorations, which use photoacoustic signals as the feedback to remotely and non-invasively guide the wavefront shaping process. Our method does not require direct optical access to the target region or the invasive embedding of fluorescence probes inside turbid media. Experimentally, we have demonstrated that diffuse light can be converged to the ultrasound focus by maximizing the amplitude of photoacoustic emissions from the intended absorbing site. Moreover, we show that wavefront-shaped light focusing can enhance existing optical imaging modalities like photoacoustic microscopy, in regard to signal-to-noise ratio, imaging depth, and potentially, resolution

Spectral control of broadband light through random media by wavefront shaping

A random medium can serve as a controllable arbitrary spectral filter with spectral resolution determined by the inverse of the interaction time of the light in the medium. We use wavefront shaping to implement an arbitrary spectral response at a particular point in the scattered field. We experimentally demonstrate this technique by selecting either a narrow band or dual bands with a width of 5.5nm each

Focusing light in scattering media by ultrasonically encoded wavefront shaping (SEWS)

Wavefront distortion in scattering media can be compensated for using optical wavefront shaping. In this technique, a spatial light modulator (SLM) is used to apply a spatially distributed phase shift to the optical field. A genetic optimization algorithm was used to obtain the SLM pattern which best focuses light within the medium. The target volume is defined by using a focused ultrasound beam to encode light travelling within the acoustic focus. The ultrasonically-encoded light is measured and used as feedback to the algorithm, which then searches for the pattern which maximizes the encoded light intensity. We call this technique ultrasonically-encoded wavefront shaping (SEWS). Using SEWS, we focused light into a scattering medium consisting of ground glass diffuser and a gelatin phantom. The optical intensity at the target was increased by 11 times over the original intensity. These results were validated using fluorescent imaging at the ultrasonic focus

Subsurface ablation of atherosclerotic plaque using ultrafast laser pulses

We perform subsurface ablation of atherosclerotic plaque using ultrafast pulses. Excised mouse aortas containing atherosclerotic plaque were ablated with ultrafast near-infrared (NIR) laser pulses. Optical coherence tomography (OCT) was used to observe the ablation result, while the physical damage was inspected in histological sections. We characterize the effects of incident pulse energy on surface damage, ablation hole size, and filament propagation. We find that it is possible to ablate plaque just below the surface without causing surface damage, which motivates further investigation of ultrafast ablation for subsurface atherosclerotic plaque removal

The Relationship of Self-Concept Clarity, Social Intelligence, and Empathy to Intellectual Humility

The construct, humility has gained in popularity as a heralded leadership attribute and focus of study. Scholars have postulated that humility may possess subdomains. Intellectual humility (IH) is one of these subdomains. It is proposed that IH differs from humility in its specificity to a particular context. This study was designed to analyze the relationship between IH and self-concept clarity (SCC), social intelligence (SI), and empathy (EM). Using data collected from students attending a public, northeast university, IH was found to have statistically significant relationships with SCC, SI, and EM. The findings suggest support for previous IH scholars’ theorized IH components of self-concept accuracy and openness to others as potential exemplars of knowledge. More research is required to determine the strength and predictiveness of these relationships over time and in relationship to other constructs and performance criteria outcomes

Machinima And Video-based Soft Skills Training

Multimedia training methods have traditionally relied heavily on video based technologies and significant research has shown these to be very effective training tools. However production of video is time and resource intensive. Machinima (pronounced \u27muh-sheen-eh-mah\u27) technologies are based on video gaming technology. Machinima technology allows video game technology to be manipulated into unique scenarios based on entertainment or training and practice applications. Machinima is the converting of these unique scenarios into video vignettes that tell a story. These vignettes can be interconnected with branching points in much the same way that education videos are interconnected as vignettes between decision points. This study addressed the effectiveness of machinima based soft-skills education using avatar actors versus the traditional video teaching application using human actors. This research also investigated the difference between presence reactions when using avatar actor produced video vignettes as compared to human actor produced video vignettes. Results indicated that the difference in training and/or practice effectiveness is statistically insignificant for presence, interactivity, quality and the skill of assertiveness. The skill of active listening presented a mixed result indicating the need for careful attention to detail in situations where body language and facial expressions are critical to communication. This study demonstrates that a significant opportunity exists for the exploitation of avatar actors in video based instruction