Knowledge representation system for assembly using robots

Assembly robots combine the benefits of speed and accuracy with the capability of adaptation to changes in the work environment. However, an impediment to the use of robots is the complexity of the man-machine interface. This interface can be improved by providing a means of using a priori-knowledge and reasoning capabilities for controlling and monitoring the tasks performed by robots. Robots ought to be able to perform complex assembly tasks with the help of only supervisory guidance from human operators. For such supervisory quidance, it is important to express the commands in terms of the effects desired, rather than in terms of the motion the robot must undertake in order to achieve these effects. A suitable knowledge representation can facilitate the conversion of task level descriptions into explicit instructions to the robot. Such a system would use symbolic relationships describing the a priori information about the robot, its environment, and the tasks specified by the operator to generate the commands for the robot

Different approaches to community detection

A precise definition of what constitutes a community in networks has remained elusive. Consequently, network scientists have compared community detection algorithms on benchmark networks with a particular form of community structure and classified them based on the mathematical techniques they employ. However, this comparison can be misleading because apparent similarities in their mathematical machinery can disguise different reasons for why we would want to employ community detection in the first place. Here we provide a focused review of these different motivations that underpin community detection. This problem-driven classification is useful in applied network science, where it is important to select an appropriate algorithm for the given purpose. Moreover, highlighting the different approaches to community detection also delineates the many lines of research and points out open directions and avenues for future research.Comment: 14 pages, 2 figures. Written as a chapter for forthcoming Advances in network clustering and blockmodeling, and based on an extended version of The many facets of community detection in complex networks, Appl. Netw. Sci. 2: 4 (2017) by the same author

Tracking 3-D body motion for docking and robot control

An advanced method of tracking three-dimensional motion of bodies has been developed. This system has the potential to dynamically characterize machine and other structural motion, even in the presence of structural flexibility, thus facilitating closed loop structural motion control. The system's operation is based on the concept that the intersection of three planes defines a point. Three rotating planes of laser light, fixed and moving photovoltaic diode targets, and a pipe-lined architecture of analog and digital electronics are used to locate multiple targets whose number is only limited by available computer memory. Data collection rates are a function of the laser scan rotation speed and are currently selectable up to 480 Hz. The tested performance on a preliminary prototype designed for 0.1 in accuracy (for tracking human motion) at a 480 Hz data rate includes a worst case resolution of 0.8 mm (0.03 inches), a repeatability of plus or minus 0.635 mm (plus or minus 0.025 inches), and an absolute accuracy of plus or minus 2.0 mm (plus or minus 0.08 inches) within an eight cubic meter volume with all results applicable at the 95 percent level of confidence along each coordinate region. The full six degrees of freedom of a body can be computed by attaching three or more target detectors to the body of interest

Decreased beta-cell mass in diabetes: significance, mechanisms and therapeutic implications

Increasing evidence indicates that decreased functional beta-cell mass is the hallmark of both Type 1 and Type 2 diabetes. This underlies the absolute or relative insulin insufficiency in both conditions. In this For Debate, we consider the possible mechanisms responsible for beta-cell death and impaired function and their relative contribution to insulin insufficiency in diabetes. Beta-cell apoptosis and impaired proliferation consequent to hyperglycaemia is one pathway that could be operating in all forms of diabetes. Autoimmunity and other routes to beta-cell death are also considered. Recognition of decreased functional beta-cell mass and its overlapping multifactorial aetiology in diabetic states, leads us to propose a unifying classification of diabete

Finding a state in a haystack

We consider the problem to single out a particular state among $2^n$ orthogonal pure states. As it turns out, in general the optimal strategy is not to measure the particles separately, but to consider joint properties of the $n$-particle system. The required number of propositions is $n$. There exist $2^n!$ equivalent operational procedures to do so. We enumerate some configurations for three particles, in particular the Greenberger-Horne-Zeilinger (GHZ)- and W-states, which are specific cases of a unitary transformation For the GHZ-case, an explicit physical meaning of the projection operators is discussed.Comment: 11 page

'When I click "ok" I become Sassy – I become a girl.' Young people and gender identity: Subverting the ‘body’ in massively multi-player online role-playing games

This article is available open access through the publisher’s website through the link below. Copyright @ 2012 Taylor & Francis.This article explores young people's practices in the virtual spaces of online gaming communities. Based on a five-year ethnographic study of virtual worlds, it considers how young people construct and maintain identities within virtual social systems. In particular, the article discusses digital gender practices and considers the potential that these games offer for their young users to engage in alternate gender identities. We argue that these digital spaces offer spaces for the imagination and can enhance agency and, potentially, resistance. However, digital identity is simultaneously no ‘liberated space’ and it incorporates norms and practices that often mirror those of the material world. We argue that this ‘porosity’ is an important tool through which young people come to understand gender identity

Electron-correlation effects in appearance-potential spectra of Ni

Spin-resolved and temperature-dependent appearance-potential spectra of ferromagnetic Nickel are measured and analyzed theoretically. The Lander self-convolution model which relates the line shape to the unoccupied part of the local density of states turns out to be insufficient. Electron correlations and orbitally resolved transition-matrix elements are shown to be essential for a quantitative agreement between experiment and theory.Comment: LaTeX, 6 pages, 2 eps figures included, Phys. Rev. B (in press

A tilted grating interferometer for full vector field differential x-ray phase contrast tomography

We report on a setup for differential x-ray phase-contrast imaging and tomography, that measures the full 2D phase-gradient information. The setup uses a simple one-dimensional x-ray grating interferometer, in which the grating structures of the interferometer are oriented at a tilt angle with respect to the sample rotation axis. In such a configuration, the differential phase images from opposing tomography projections can be combined to yield both components of the gradient vector. We show how the refractive index distribution as well as its x, y, and z gradient components can be reconstructed directly from the recorded projection data. The method can equally well be applied at conventional x-ray tube sources, to analyzer based x-ray imaging or neutron imaging. It is demonstrated with measurements of an x-ray phantom and a rat brain using synchrotron radiation

Family memories in the home: contrasting physical and digital mementos

We carried out fieldwork to characterise and compare physical and digital mementos in the home. Physical mementos are highly valued, heterogeneous and support different types of recollection. Contrary to expectations, we found physical mementos are not purely representational, and can involve appropriating common objects and more idiosyncratic forms. In contrast, digital mementos were initially perceived as less valuable, although participants later reconsidered this. Digital mementos were somewhat limited in function and expression, largely involving representational photos and videos, and infrequently accessed. We explain these digital limitations and conclude with design guidelines for digital mementos, including better techniques for accessing and integrating these into everyday life, allowing them to acquire the symbolic associations and lasting value that characterise their physical counterparts