This work presents a new version of the tactile-sensing finger GelSlim 3.0, which integrates the ability to sense high-resolution shape, force, and slip in a compact form factor for use with small parallel jaw grippers in cluttered bin-picking scenar
ios. The novel design incorporates the capability to use real-time analytic methods to measure shape, estimate the contact 3D force distribution, and detect incipient slip. To achieve a compact integration, we optimize the optical path from illumination source to camera and other geometric variables in a optical simulation environment. In particular, we optimize the illumination sources and a light shaping lens around the constraints imposed by the photometric stereo algorithm used for depth reconstruction. The optimized optical configuration is integrated into a finger design composed of robust and easily replaceable snap-to-fit fingetip module that allow for ease of manufacture, assembly, use, and repair. To stimulate future research in tactile-sensing and provide the robotics community access to reliable and easily-reproducible tactile finger with a diversity of sensing modalities, we open-source the design and software at https://github.com/mcubelab/gelslim.
This paper addresses the localization of contacts of an unknown grasped rigid object with its environment, i.e., extrinsic to the robot. We explore the key role that distributed tactile sensing plays in localizing contacts external to the robot, in
contrast to the role that aggregated force/torque measurements play in localizing contacts on the robot. When in contact with the environment, an object will move in accordance with the kinematic and possibly frictional constraints imposed by that contact. Small motions of the object, which are observable with tactile sensors, indirectly encode those constraints and the geometry that defines them. We formulate the extrinsic contact sensing problem as a constraint-based estimation. The estimation is subject to the kinematic constraints imposed by the tactile measurements of object motion, as well as the kinematic (e.g., non-penetration) and possibly frictional (e.g., sticking) constraints imposed by rigid-body mechanics. We validate the approach in simulation and with real experiments on the case studies of fixed point and line contacts. This paper discusses the theoretical basis for the value of distributed tactile sensing in contrast to aggregated force/torque measurements. It also provides an estimation framework for localizing environmental contacts with potential impact in contact-rich manipulation scenarios such as assembling or packing.
Multi-stage forceful manipulation tasks, such as twisting a nut on a bolt, require reasoning over interlocking constraints over discrete as well as continuous choices. The robot must choose a sequence of discrete actions, or strategy, such as whether
to pick up an object, and the continuous parameters of each of those actions, such as how to grasp the object. In forceful manipulation tasks, the force requirements substantially impact the choices of both strategy and parameters. To enable planning and executing forceful manipulation, we augment an existing task and motion planner with controllers that exert wrenches and constraints that explicitly consider torque and frictional limits. In two domains, opening a childproof bottle and twisting a nut, we demonstrate how the system considers a combinatorial number of strategies and how choosing actions that are robust to parameter variations impacts the choice of strategy.
Getting insights on the shape and nature of the ionizing continuum in astronomical objects is often done via indirect methods as high energy photons are absorbed by our Galaxy. This work explores the ionization continuum of active galactic nuclei (AG
N) using the ubiquitous coronal lines. Using bona-fide BH mass estimates from reverberation mapping and the line ratio [Si VI] 1.963 micron/Br$gamma_{rm broad}$ as tracer of the AGN ionizing continuum, a novel BH-mass scaling relation of the form log($M_{rm BH}) = (6.40pm 0.17) - (1.99pm 0.37) times$ log ([Si VI]/Br$gamma_{rm broad})$, over the BH mass interval, $10^6 - 10^8$ M$_{odot}$ with dispersion 0.47 dex is found. Following on the thin accretion disc approximation and after surveying a basic parameter space for coronal lines production, we believe that a key parameter driving this anti-correlation is the effective temperature of the accretion disc, this being effectively sampled by the coronal line gas. Accordingly, the observed anti-correlation becomes formally in line with the thin accretion disc prediction $T_{rm{disc}} propto {M_{rm BH}}^{-1/4}$.
The ability to simulate and predict the outcome of contacts is paramount to the successful execution of many robotic tasks. Simulators are powerful tools for the design of robots and their behaviors, yet the discrepancy between their predictions and
observed data limit their usability. In this paper, we propose a self-supervised approach to learning residual models for rigid-body simulators that exploits corrections of contact models to refine predictive performance and propagate uncertainty. We empirically evaluate the framework by predicting the outcomes of planar dice rolls and compare its performance to state-of-the-art techniques.
We employ optical spectroscopy from the Multi Unit Spectroscopic Explorer (MUSE) combined with X-ray and radio data to study the highly-ionized gas (HIG) phase of the feedback in a sample of five local nearby Active Galactic Nuclei (AGN). Thanks to t
he superb field of view and sensitivity of MUSE, we found that the HIG, traced by the coronal line [FeVII] $lambda$6089, extends to scales not seen before, from 700 pc in Circinus and up to ~2 kpc in NGC5728 and NGC3393. The gas morphology is complex, following closely the radio jet and the X-ray emission. Emission line ratios suggest gas excitation by shocks produced by the passage of the radio jet. This scenario is further supported by the physical conditions derived for the HIG, stressing the importance of the mechanical feedback in AGN with low-power radio jets.
We report the first characterization of an extended outflow of high ionized gas in the Circinus Galaxy by means of the coronal line [FeVII] $lambda$6087 AA. This emission is located within the ionization cone already detected in the [OIII] $lambda$50
07 AA line and is found to extend up to a distance of 700 pc from the AGN. The gas distribution appears clumpy, with several knots of emission. Its kinematics is complex, with split profiles and line centroids shifted from the systemic velocity. The physical conditions of the gas show that the extended coronal emission is likely the remnants of shells inflated by the passage of a radio-jet. This scenario is supported by extended X-ray emission, which is spatially coincident with the morphology and extension of the [FeVII] $lambda$6087~AA gas in the NW side of the galaxy. The extension of the coronal gas in the Circinus galaxy is unique among active galaxies and demonstrates the usefulness of coronal lines for tracing the shock ionization component in these objects.
We present near-infrared spectroscopy of the NLS1 galaxy PHL1092 (z=0.394), the strongest FeII emitter ever reported, combined with optical and UV data. We modeled the continuum and the broad emission lines using a power-law plus a black body functio
n and Lorentzian functions, respectively. The strength of the FeII emission was estimated using the latest FeII templates in the literature. We re-estimate the ratio between the FeII complex centered at 4570Ang and the broad component of H-Beta, R_FeII, obtaining a value of 2.58, nearly half of that previously reported (R_FeII=6.2), but still placing PHL1092 among extreme FeII emitters. The FWHM found for low ionization lines are very similar (FWHM~1200km/s), but significantly narrower than those of the Hydrogen lines (FWHM(H-Beta)~1900km/s). Our results suggest that the FeII emission in PHL1092 follows the same trend as in normal FeII emitters, with FeII being formed in the outer portion of the BLR and co-spatial with CaII, and OI, while H-Beta is formed closer to the central source. The flux ratio between the UV lines suggest high densities, log(n_H)~13.0 cm^{-3}, and a low ionization parameter, log(U)~-3.5. The flux excess found in the FeII bump at 9200Ang after the subtraction of the NIR FeII template and its comparison with optical FeII emission suggests that the above physical conditions optimize the efficiency of the ly-Alpha fluorescence process, which was found to be the main excitation mechanism in the FeII production. We discuss the role of PHL1092 in the Eigenvector 1 context.
We study the problem of using high-resolution tactile sensors to control the insertion of objects in a box-packing scenario. We propose a new system based on a tactile sensor GelSlim for the dense packing task. In this paper, we propose an insertion
strategy that leverages tactile sensing to: 1) safely probe the box with the grasped object while monitoring incipient slip to maintain a stable grasp on the object. 2) estimate and correct for residual position uncertainties to insert the object into a designated gap without disturbing the environment. Our proposed methodology is based on two neural networks that estimate the error direction and error magnitude, from a stream of tactile imprints, acquired by two GelSlim fingers, during the insertion process. The system is trained on four objects with basic geometric shapes, which we show generalizes to four other common objects. Based on the estimated positional errors, a heuristic controller iteratively adjusts the position of the object and eventually inserts it successfully without requiring prior knowledge of the geometry of the object. The key insight is that dense tactile feedback contains useful information with respect to the contact interaction between the grasped object and its environment. We achieve high success rate and show that unknown objects can be inserted with an average of 6 attempts of the probe-correct loop. The methods ability to generalize to novel objects makes it a good fit for box packing in warehouse automation.
We analyze a set of optical-to-near-infrared long-slit nuclear spectra of 16 infrared-luminous spiral galaxies. All of the studied sources present H$_2$ emission, which reflects the star-forming nature of our sample, and they clearly display H I emis
sion lines in the optical. Their continua contain many strong stellar absorption lines, with the most common features due to Ca I, Ca II, Fe I, Na I, Mg I, in addition to prominent absorption bands of TiO, VO, ZrO, CN and CO. We report a homogeneous set of equivalent width (EW) measurements for 45 indices, from optical to NIR species for the 16 star-forming galaxies as well as for 19 early type galaxies where we collected the data from the literature. This selected set of emission and absorption-feature measurements can be used to test predictions of the forthcoming generations of stellar population models. We find correlations among the different absorption features and propose here correlations between optical and NIR indices, as well as among different NIR indices, and compare them with model predictions. While for the optical absorption features the models consistently agree with the observations,the NIR indices are much harder to interpret. For early-type spirals the measurements agree roughly with the models, while for star-forming objects they fail to predict the strengths of these indices.
