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Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks [article]

Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng
2021 arXiv   pre-print
Rearranging and manipulating deformable objects such as cables, fabrics, and bags is a long-standing challenge in robotic manipulation.  ...  We propose embedding goal-conditioning into Transporter Networks, a recently proposed model architecture for learning robotic manipulation that rearranges deep features to infer displacements that can  ...  In addition, we propose goal-conditioned model architectures with Transporter Networks for rearranging objects to match goal configurations.  ... 
arXiv:2012.03385v3 fatcat:ern2rrdeznbdpcnwm7u2r5vqai

VisuoSpatial Foresight for Physical Sequential Fabric Manipulation [article]

Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
2021 arXiv   pre-print
We build upon the Visual Foresight framework to learn fabric dynamics that can be efficiently reused to accomplish different sequential fabric manipulation tasks with a single goal-conditioned policy.  ...  We extend our earlier work on VisuoSpatial Foresight (VSF), which learns visual dynamics on domain randomized RGB images and depth maps simultaneously and completely in simulation.  ...  Seita D, Florence P, Tompson J, Coumans E, Sindhwani V, Goldberg K, Zeng A (2021) Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks.  ... 
arXiv:2102.09754v2 fatcat:kyxkizg7ofg2vbsor6q6jclf3y

The Role of Soft Robotic Micromachines in the Future of Medical Devices and Personalized Medicine

Lourdes Garcia, Genevieve Kerns, Kaitlin O'Reilley, Omolola Okesanjo, Jacob Lozano, Jairaj Narendran, Conor Broeking, Xiaoxiao Ma, Hannah Thompson, Preston Njapa Njeuha, Drashti Sikligar, Reed Brockstein (+1 others)
2021 Micromachines  
In this review, we analyze the trajectory of biomedical and engineering approaches to soft robotics for healthcare applications.  ...  Developments in medical device design result in advances in wearable technologies, minimally invasive surgical techniques, and patient-specific approaches to medicine.  ...  By improving control over this assembly, the goal is to develop adaptable materials and rearrangeable robots for applications such as grasping and transporting at the micro and nano scale [117] .  ... 
doi:10.3390/mi13010028 pmid:35056193 pmcid:PMC8781893 fatcat:vsp5syfajfev7g7kuo7wtaekwu

Optically clear biomicroviscometer with modular geometry using disposable PDMS chips

Niko Lee-Yow, Katie L. Pitts, Marianne Fenech
2017 2017 IEEE International Symposium on Medical Measurements and Applications (MeMeA)  
This measurement technique has potential applications in measuring rheological properties at the micro level to further blood disease analysis, and lab-on-a-chip fabrication and analysis.  ...  ii Abstract We have designed and fabricated a biomicroviscometer platform for measurement of microflows of biological fluids.  ...  RBC Deformation RBCs are specialized flexible cells that contain no nucleus and maximize oxygen transport without consuming any of the oxygen that they are transporting [1] .  ... 
doi:10.1109/memea.2017.7985852 dblp:conf/memea/Lee-YowPF17 fatcat:bkikdeeotrc5rfi4yxp2nvqi3u

Study on the Concept of Ideal Systems, Ideal Technology and their Realization Opportunities using ICCT & Nanotechnology

Dr P. Sreeramana Aithal
2021 Zenodo  
Study on the Concept of Ideal Systems, Ideal Technology and their Realization Opportunities using ICCT & Nanotechnology: D.Sc. Thesis  ...  these characteristics with an objective to achieve the goal.  ...  .  Fabric enhanced with nanowhiskers for water and stain resistant.  Fabric enhanced with nanopores insulates against heat or chill.  Fabric enhanced with some kind of nanoparticles supports dirt rinses  ... 
doi:10.5281/zenodo.5148343 fatcat:xupc6wlsabanjedtekzcqfpxla

Sixth aerospace mechanisms symposium

1971 Journal of Mechanisms  
All the other mechanisms retrieved were found to be in good operating condition. Most of the lubricative systems used were found to be completely satisfactory.  ...  I would like to encourage your aggressive and critical discussion of the papers to draw the full benefit from the information presented.  ...  The CMG Assembly was developed under contract to the Martin Marietta Corporation for the National Aeronautics and Space Administration.  ... 
doi:10.1016/0022-2569(71)90025-5 fatcat:iznya3slufeltdcyaertndg6au

Engineering, Technology & Applied Science Research (ETASR), Vol. 11, No. 4, pp. 7291-7530

2021 Zenodo  
ISSN: 1792-8036 and 2241-4487.  ...  of science application, technology, and engineering.  ...  ineffectively and end at distracting the students instead of achieving the learning goals is always present.  ... 
doi:10.5281/zenodo.5506592 fatcat:73sj5nawgndeffb26wh6wnux4a

New Frontiers in Ocean Exploration: The E/V Nautilus and NOAA Ship Okeanos Explorer 2015 Field Season

Katherine Bell, Michael Brennan, Joanne Flanders, Nicole Raineault, Katie Wagner
2016 Oceanography  
Another goal was to visit the Iguanas black smoker vents, located on a fault offset from the 86°W sites, to compare initial observations from 2006 (Haymon et al., 2008) with current conditions and to  ...  We completed the season in September, working with Ocean Networks Canada on a final Applied Exploration project in an effort to service the VENUS and NEPTUNE cabled observatories, as well as to conduct  ...  Permission is granted to reprint in whole or in part for any noncommercial, educational uses. The Oceanography Society requests that the original source be credited.  ... 
doi:10.5670/oceanog.2016.supplement.01 fatcat:6zvtmihtyjefpj4zya5zgga4iq

Integrated material practice in free-form timber structures

Tom Svilans, Mette Ramsgaard Thomsen, Martin Tamke
2021 Zenodo  
Drawing on a partnership with Dsearch – the digital research network at White Arkitekter in Sweden – and Blumer Lehmann AG – a leading Swiss timber contractor – this research examines the design and fabrication  ...  of glue-laminated timber structures and seeks a means to link industrial timber fabrication with early-stage architectural design through the application of comp [...]  ...  The research acknowledges that there are many architectural practices and many industrial timber fabricators with an equally large diversity of methods and approaches.  ... 
doi:10.5281/zenodo.4545123 fatcat:z4u5ikmtmnbdnj4zl4c4exteyu

Special Issue: Aging Management of Nuclear Power Plant

Ippei Maruyama (Editor)
2016 Journal of advanced concrete technology  
This is because it is an indispensable power source for the use of renewable energy in Japan with limited resources.  ...  Plant Life Management and Ageing Management, and addressing issues peculiar to the nuclear power field will be an important contribution from the field of concrete research to the field of nuclear power  ...  "A user's manual for ANISN, A one-dimensional discrete ordinates transport code with anisotropic scattering." USAEC Report K-1963. Ewing, R.  ... 
doi:10.3151/jact.14.s1 fatcat:eirwi3xxibam5bvdacpgkrnbeu

The Age of Plastic: Ingenuity and Responsibility, Proceeding of the 2012 MCI Symposium

Odile Madden, A. Elena Charola, Kim Cullen Cobb, Paula T. DePriest, Robert J. Koestler
2017 Smithsonian Contributions to Museum Conservation  
The relationship between plastic and the environment is probed with perspectives on pollution, advantages of plastic to living zoological collections, and recycling.  ...  The volume features observations on innovation in plastic with past and contemporary examples of furniture design, failed experiments with proteinaceous fibers before World War II, the transition of celluloid  ...  In The authors thank the following individuals for contributing to this paper: David Graziosi, Jinny Ferl, Ken Yocum, and James Clougherty, senior design engineers; Bobby Jones and David Slack, design  ... 
doi:10.5479/si.19492367.7 fatcat:2kslcrlnzrec3hm2eewzp3toa4

Plant Biomechanics: An Engineering Approach to Plant Form and Function

R. A. Spicer, K. J. Niklas
1993 Journal of Ecology  
can be extended and enriched by what we learn about plants.  ...  Also, it is desirable to place the leaf lamina in a plastic bag before cutting it off the plant to reduce transpiration.)  ...  Also, the ratio of a material's viscosity to its elastic modulus. Residua) strain. The plastic component of deformation.  ... 
doi:10.2307/2261541 fatcat:bkg3uo6sefhvboufvbbx6dzpje


Anna E. Bülow, Belinda J. Colston, David S. Watt
2002 Studies in Conservation  
Although degradation mechanisms of paper with respect to cycling conditions are not entirely clear, results of this study emphasise the importance of ventilation and dehumidification in order to avoid  ...  This survey proved problems with dampness to be often misdiagnosed and the consequences of damage underestimated.  ...  Not many other problems are observed, as there is a fairly small number of library users and the collection is not catalogued.  ... 
doi:10.1179/sic.2002.47.s3.006 fatcat:mqoi6atoczb4xj24aedjetuy7q

Liprotides: a New Class of Protein Lipid-Complexes

Jannik N. Pedersen, Henriette Kristina S. Frislev, Jan S. Pedersen, Daniel E. Otzen
2016 Biophysical Journal  
Solvent contribution has been implemented using Hypred [2] and is being expanded to handle generic co-solvents and conditions.  ...  This method has been shown to scale linearly with the number of atoms and is as accurate as established multipole expansion methods.  ...  The ODS alloys were manufactured by MA(Mechanical Alloying) and Hot working process with various chemical compositions and fabrication conditions.  ... 
doi:10.1016/j.bpj.2015.11.3085 fatcat:eqeeb47atfc4lisnurb25n55gu

Democratizing Innovation [chapter]

2013 Encyclopedia of Creativity, Invention, Innovation and Entrepreneurship  
A firm that owns both a channel and content (e.g., a cable network) may have a strong incentive to shut out or discriminate against content developed by users or others in favor of its own content.  ...  Many of the advantages associated with user innovation communities also apply to open information networks and communities.  ... 
doi:10.1007/978-1-4614-3858-8_100231 fatcat:n2l4rdaskzfjbm5nejv5mbbz7m
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