Tele-operation of a Humanoid Robot, Using Operator Bio-data

•

1 like•1,118 views

We present our work on tele-operating a complex humanoid robot with the help of bio-signals collected from the operator. The frameworks (for robot vision, collision avoidance and machine learning), developed in our lab, allow for a safe interaction with the environment, when combined. This even works with noisy control signals, such as, the operator’s hand acceleration and their elec- tromyography (EMG) signals. These bio-signals are used to execute equivalent actions (such as, reaching and grasping of objects) on the 7 DOF arm.

#iSAIRAS 2014
tele-operation for humanoid
using operator bio-data
!
M. Luciw,A. Förster, J. Schmidhuber

!
istituto dalle molle di studi sull’intelligenza artiﬁciale

università della svizzera italiana

idsia / usi / supsi
Jürgen ’Juxi’ Leitner

project
!
WAY
http://www.wayproject.eu/results.html

project
IM-CLeVeR
http://robotics.idsia.ch/im-clever/

manipulation
!
aimed at
[Metta et al., 2010]

object manipulation
towards learned
http://robotics.idsia.ch/

avoidance
collision

MoBeEv1
[Frank et al., 2011,2012, 2013]

MoBeEv2
[Frank et al., 2011,2012, 2013]

hand/arm
op-space forcing
CSWorld
CSHand
CSR/CSL
[Leitner et al, in prep]
-

!
objects
detecting

rocks
detecting
e.g. [Leitner et al., i-SAIRAS’12]

http://Juxi.net/media

repertoire
[Leitner et al, in prep]

operation
tele

acquisition
emg

classiﬁcation
emg

acquiringemg

iEMG
board

+ acceleration

hand/arm
op-space forcing
World
CSHand
CSR/CSL
-
CSHand’

hand/arm
op-space forcing

hand/arm
op-space forcing

work
future
human-robot interaction
variable autonomy
action outcome/prediction
WaY better classiﬁcation

for listening
thanks
http://Juxi.net/projects

!
juxi@idsia.ch

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RecoveringancientrecordsofEarth'smagneticfieldisessentialfordeterminingtheroleofthemagnetosphereinprotectingearlyEarthfromcosmicradiationandatmosphericescape.WepresentpaleomagneticfieldtestshintingthatarecordofEarth's3.7‐billion‐year(Ga)oldmagneticfieldmaybepreservedinthenortheasternIsuaSupracrustalBeltasachemicalremanentmagnetizationacquiredduringamphibolite‐grademetamorphisminthebandedironformation.MultiplepetrologicalandgeochronologicallinesofevidenceindicatethatthenorthernmostpartofIsuahasnotexperiencedmetamorphictemperaturesexceeding380°CsincetheEoarchean,suggestingtherockshavenotbeensignificantlyheatedsincemagnetizationwasacquired.Weuse“pseudo”bakedcontacttests(intrusionsemplaced3.26–3.5Gaago)andafoldtest(folding3.6Gaago)todemonstratethatsomesamplespreserveaca.3.7Garecordofthemagneticfield.Werecoverafieldstrengthof>15μT.ThissuggeststhatEarth'smagneticfieldmayhavebeenweakenoughtoenhanceatmosphericescapeduringtheArchean

PossibleEoarcheanRecordsoftheGeomagneticFieldPreservedintheIsuaSupracrustalBe...

PossibleEoarcheanRecordsoftheGeomagneticFieldPreservedintheIsuaSupracrustalBe...

PossibleEoarcheanRecordsoftheGeomagneticFieldPreservedintheIsuaSupracrustalBe...

Chemical Tests; flame test, positive and negative ions test Edexcel Internati...

Chemical Tests; flame test, positive and negative ions test Edexcel Internati...

Chemical Tests; flame test, positive and negative ions test Edexcel Internati...

GBSN - Microbiology (Unit 2)

GBSN - Microbiology (Unit 2)

GBSN - Microbiology (Unit 2)

Recombination DNA Technology (Nucleic Acid Hybridization )

Recombination DNA Technology (Nucleic Acid Hybridization )

Recombination DNA Technology (Nucleic Acid Hybridization )

aarthirajkumar25

Chemistry is the scientific study of matter, its properties, composition, structure, and the changes it undergoes. It's often divided into various sub-disciplines such as organic chemistry, inorganic chemistry, physical chemistry, analytical chemistry, and biochemistry. Chemistry plays a crucial role in understanding the world around us and has applications in various fields such as medicine, materials science, environmental science, and industry.

Chemistry 4th semester series (krishna).pdf

Chemistry 4th semester series (krishna).pdf

Chemistry 4th semester series (krishna).pdf

Sumit Kumar yadav

We explore different scenarios to explain the chemical difference found in the remarkable giant-giant binary system HD138202+CD−3012303. For the first time, we suggest how to distinguish these scenarios by taking advantage of the extensive convective envelopes of giant stars. Methods. We carried out a high-precision determination of stellar parameters and abundances by applying a full line-by-line differential analysis on GHOST high-resolution spectra. We used the FUNDPAR program with ATLAS12 model atmospheres and specific opacities calculated for an arbitrary composition through a doubly iterated method. Physical parameters were estimated with the isochrones package and evolutionary tracks were calculated via MIST models. Results. We found a significant chemical difference between the two stars (∆[Fe/H]∼0.08dex), which is largely unexpected considering the insensitivity of giant stars to planetary ingestion and diffusion effects. We tested the possibility of engulfment events by using several different combinations of stellar mass, ingested mass, metallicity of the engulfed object and different convective envelopes. However, the planetary ingestion scenario does not seem to explain the observed differences. For the first time, we distinguished the source of chemical differences using a giant-giant binary system. By ruling out other possible scenarios such as planet formation and evolutionary effects between the two stars, we suggest that primordial inhomogeneities might explain the observed differences. This remarkable result implies that the metallicity differences that were observed in at least some main-sequence binary systems might be related to primordial inhomogeneities rather than engulfment events. We also discuss the important implications of finding primordial inhomogeneities, which affect chemical tagging and other fields such as planet formation. We strongly encourage the use of giantgiant pairs. They are a relevant complement to main-sequence pairs for determining the origin of the observed chemical differences in multiple systems.

Disentangling the origin of chemical differences using GHOST

Disentangling the origin of chemical differences using GHOST

Disentangling the origin of chemical differences using GHOST

A botany file is similar to a chemistry practical file but specifically focuses on experiments and observations related to plants. It typically includes detailed descriptions of plant-related experiments, such as germination studies, growth experiments, tissue culture techniques, plant anatomy investigations, and ecological surveys. The file may contain records of plant specimens collected, their classification, characteristics, and ecological significance. Additionally, it may include diagrams, photographs, drawings, tables, and data analysis related to plant research. Like a chemistry practical file, a botany file serves as a documentation of practical work conducted in the field of botany and is often used for assessment and educational purposes.

Botany 4th semester file By Sumit Kumar yadav.pdf

Botany 4th semester file By Sumit Kumar yadav.pdf

Botany 4th semester file By Sumit Kumar yadav.pdf

Sumit Kumar yadav

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Biopesticide (2).pptx .This slides helps to know the different types of biop...

Biopesticide (2).pptx .This slides helps to know the different types of biop...

Biopesticide (2).pptx .This slides helps to know the different types of biop...

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Cotton crops are vulnerable to a variety of sucking pests, which can severely impact plant health, yield, and fiber quality. These pests primarily feed on plant sap, extracting nutrients directly from the plant's vascular system. Here's a breakdown of some of the most significant sucking pests in cotton cultivation: Aphids: Cotton aphids or melon aphids can cause direct damage by sucking sap and indirect damage by secreting honeydew, which encourages sooty mold growth. This can interfere with photosynthesis and weaken the plant. Aphids can also transmit viral diseases. Whiteflies: Two species, the silverleaf whitefly and the bandedwinged whitefly, are particularly troublesome. They not only suck sap from the underside of leaves, causing yellowing and leaf drop, but their honeydew excretion promotes sooty mold and they can transmit several plant viruses. Thrips: While thrips can chew on plants, their primary damage to cotton is through sucking. They attack the cotton plant during its seedling stage, which can stunt growth and reduce vigor. Thrips are also capable of transmitting the Cotton Bud disease. Spider Mites: These are not insects but arachnids. Spider mites, such as the two-spotted spider mite, suck cell contents from the leaves, leading to speckled discoloration and potentially significant leaf loss if infestations are severe. Leafhoppers: Including various species, leafhoppers can cause direct damage through feeding, which results in leaf curling and stunted growth. They can also be vectors for plant diseases. Mealybugs: These pests are less common but can be problematic, especially in clustered planting conditions. They suck sap and secrete honeydew, which leads to sooty mold. Mealybugs can also spread viruses. Stink Bugs: Although primarily known for their chewing mouthparts, certain stink bugs can cause damage similar to sucking pests by injecting saliva into the plant and sucking out nutrients, leading to boll damage and stained lint. Management Strategies: Cultural Controls: This includes practices such as crop rotation, using resistant varieties, and managing planting and harvesting times to avoid peak pest populations. Biological Controls: Beneficial insects like lady beetles, lacewings, and predatory mites can naturally control sucking pest populations. Parasitic wasps also play a role in controlling aphid and whitefly populations. Chemical Controls: Insecticides may be used but should be chosen carefully to minimize resistance development and preserve beneficial insects. Systemic insecticides can be particularly effective against sucking pests. Integrated Pest Management (IPM): Combining multiple control strategies based on monitoring and thresholds to apply the most effective and environmentally sensitive approach. Effective management of sucking pests in cotton requires a thorough understanding of the pest species present, their life cycles, and the ecological balance of the field environment.

Pests of cotton_Sucking_Pests_Dr.UPR.pdf

Pests of cotton_Sucking_Pests_Dr.UPR.pdf

Pests of cotton_Sucking_Pests_Dr.UPR.pdf

Botany krishna series 2nd semester Only Mcq type questions

Botany krishna series 2nd semester Only Mcq type questions

Botany krishna series 2nd semester Only Mcq type questions

Sumit Kumar yadav

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Tele-operation of a Humanoid Robot, Using Operator Bio-data

1. #iSAIRAS 2014 tele-operation for humanoid using operator bio-data ! M. Luciw,A. Förster, J. Schmidhuber ! istituto dalle molle di studi sull’intelligenza artiﬁciale università della svizzera italiana idsia / usi / supsi Jürgen ’Juxi’ Leitner

2. project ! WAY http://www.wayproject.eu/results.html

3. project IM-CLeVeR http://robotics.idsia.ch/im-clever/

4. manipulation ! aimed at [Metta et al., 2010]

5. object manipulation towards learned http://robotics.idsia.ch/

6. avoidance collision

7. MoBeEv1 [Frank et al., 2011,2012, 2013]

8.

9. MoBeEv2 [Frank et al., 2011,2012, 2013]

10. hand/arm op-space forcing CSWorld CSHand CSR/CSL [Leitner et al, in prep] -

11. ! objects detecting

12. rocks detecting e.g. [Leitner et al., i-SAIRAS’12]

13.

14. http://Juxi.net/media

15. repertoire [Leitner et al, in prep]

16. operation tele

17. acquisition emg

18. classiﬁcation emg

19. acquiringemg

21. + acceleration

22. hand/arm op-space forcing World CSHand CSR/CSL - CSHand’

23. hand/arm op-space forcing

24. hand/arm op-space forcing

25. work future human-robot interaction variable autonomy action outcome/prediction WaY better classiﬁcation

26. for listening thanks http://Juxi.net/projects ! juxi@idsia.ch