This paper considers grasp planning in the presence of shape uncertainty and explores how cloud computing can facilitate parallel Monte Carlo sampling of combination actions and shape perturbations to estimate a lower bound on the probability of achieving force closure. We focus on parallel-jaw push grasping for the class of parts that can be modeled as extruded 2-D polygons with statistical tolerancing. We describe an extension to model part slip and experimental results with an adaptive sampling algorithm that can reduce sample size by 90%. We show how the algorithm can also bound part tolerance for a given grasp quality level and report a sensitivity analysis on algorithm parameters. We test a cloud-based implementation with varying numbers of nodes, obtaining a 515x speedup with 500 nodes in one case, suggesting the algorithm can scale linearly when all nodes are reliable. Code and data are available at: http://automation.berkeley.edu/cloud-based-grasping.

The Cloud infrastructure and its extensive set of Internet-accessible resources has potential to provide significant benefits to robots and automation systems. We consider robots and automation systems that rely on data or code from a network to support their operation, i.e., where not all sensing, computation, and memory is integrated into a standalone system. This survey is organized around four potential benefits of the Cloud: 1) Big Data: access to libraries of images, maps, trajectories, and descriptive data; 2) Cloud Computing: access to parallel grid computing on demand for statistical analysis, learning, and motion planning; 3) Collective Robot Learning: robots sharing trajectories, control policies, and outcomes; and 4) Human Computation: use of crowdsourcing to tap human skills for analyzing images and video, classification, learning, and error recovery. The Cloud can also improve robots and automation systems by providing access to: a) datasets, publications, models, benchmarks, and simulation tools; b) open competitions for designs and systems; and c) open-source software. This survey includes over 150 references on results and open challenges. A website with new developments and updates is available at: http://goldberg.berkeley.edu/cloud-robotics/.

We present a new optimization-based approach for robotic motion planning among obstacles. Like CHOMP (Covariant Hamiltonian Optimization for Motion Planning), our algorithm can be used to find collision-free trajectories from naïve, straight-line initializations that might be in collision. At the core of our approach are (a) a sequential convex optimization procedure, which penalizes collisions with a hinge loss and increases the penalty coefficients in an outer loop as necessary, and (b) an efficient formulation of the no-collisions constraint that directly considers continuous-time safety Our algorithm is implemented in a software package called TrajOpt.We report results from a series of experiments comparing TrajOpt with CHOMP and randomized planners from OMPL, with regard to planning time and path quality. We consider motion planning for 7 DOF robot arms, 18 DOF full-body robots, statically stable walking motion for the 34 DOF Atlas humanoid robot, and physical experiments with the 18 DOF PR2. We also apply TrajOpt to plan curvature-constrained steerable needle trajectories in the SE(3) configuration space and multiple non-intersecting curved channels within 3D-printed implants for intracavitary brachytherapy. Details, videos, and source code are freely available at: http://rll.berkeley.edu/trajopt/ijrr.

Automating repetitive surgical subtasks such as suturing, cutting and debridement can reduce surgeon fatigue and procedure times and facilitate supervised tele-surgery. Programming is difficult because human tissue is deformable and highly specular. Using the da Vinci Research Kit (DVRK) robotic surgical assistant, we explore a 'Learning By Observation' (LBO) approach where we identify, segment, and parameterize motion sequences and sensor conditions to build a finite state machine (FSM) for each subtask. The robot then executes the FSM repeatedly to tune parameters and if necessary update the FSM structure. We evaluate the approach on two surgical subtasks: debridement of 3D Viscoelastic Tissue Phantoms (3d-DVTP), in which small target fragments are removed from a 3D viscoelastic tissue phantom; and Pattern Cutting of 2D Orthotropic Tissue Phantoms (2d-PCOTP), a step in the standard Fundamentals of Laparoscopic Surgery training suite, in which a specified circular area must be cut from a sheet of orthotropic tissue phantom. We describe the approach and physical experiments with repeatability of 96% for 50 trials of the 3d-DVTP subtask and 70% for 20 trials of the 2d-PCOTP subtask. A video is available at: http://j.mp/Robot-Surgery-Video-Oct-2014.

For applications such as warehouse order fulfillment, robot grasps must be robust to uncertainty arising from sensing, mechanics, and control. One way to achieve robustness is to evaluate the performance of candidate grasps by sampling perturbations in shape, pose, and gripper approach and to compute the probability of force closure for each candidate to identify a grasp with the highest expected quality. Since evaluating the quality of each grasp is computationally demanding, prior work has turned to cloud computing. To improve computational efficiency and to extend this work, we consider how Multi-Armed Bandit (MAB) models for optimizing decisions can be applied in this context. We formulate robust grasp planning as a MAB problem and evaluate convergence times towards an optimal grasp candidate using 100 object shapes from the Brown Vision 2D Lab Dataset with 1000 grasp candidates per object. We consider the case where shape uncertainty is represented as a Gaussian process implicit surface (GPIS) with Gaussian uncertainty in pose, gripper approach angle, and coefficient of friction. We find that Thompson Sampling and the Gittins index MAB methods converged to within 3% of the optimal grasp up to 10x faster than uniform allocation and 5x faster than iterative pruning.

Glycosylation is a topic of intense current interest in the development of biopharmaceuticals because it is related to drug safety and efficacy. This work describes results of an interlaboratory study on the glycosylation of the Primary Sample (PS) of NISTmAb, a monoclonal antibody reference material. Seventy-six laboratories from industry, university, research, government, and hospital sectors in Europe, North America, Asia, and Australia submitted a total of 103 reports on glycan distributions. The principal objective of this study was to report and compare results for the full range of analytical methods presently used in the glycosylation analysis of mAbs. Therefore, participation was unrestricted, with laboratories choosing their own measurement techniques. Protein glycosylation was determined in various ways, including at the level of intact mAb, protein fragments, glycopeptides, or released glycans, using a wide variety of methods for derivatization, separation, identification, and quantification. Consequently, the diversity of results was enormous, with the number of glycan compositions identified by each laboratory ranging from 4 to 48. In total, one hundred sixteen glycan compositions were reported, of which 57 compositions could be assigned consensus abundance values. These consensus medians provide community-derived values for NISTmAb PS. Agreement with the consensus medians did not depend on the specific method or laboratory type. The study provides a view of the current state-of-the-art for biologic glycosylation measurement and suggests a clear need for harmonization of glycosylation analysis methods.

The ODYSSEY OUTCOMES trial, comprising over 47 000 patient-years of placebo-controlled observation, demonstrated important reductions in the risk of recurrent ischaemic cardiovascular events with the monoclonal antibody to proprotein convertase subtilisin/kexin type 9 alirocumab, as well as lower all-cause death. These benefits were observed in the context of substantial and persistent lowering of low-density lipoprotein cholesterol with alirocumab compared with that achieved with placebo. The safety profile of alirocumab was indistinguishable from matching placebo except for a ∼1.7% absolute increase in local injection site reactions. Further, the safety of alirocumab compared with placebo was evident in vulnerable groups identified before randomization, such as the elderly and those with diabetes mellitus, previous ischaemic stroke, or chronic kidney disease. The frequency of adverse events and laboratory-based abnormalities was generally similar to that in placebo-treated patients. Thus, alirocumab appears to be a safe and effective lipid-modifying treatment over a duration of at least 5 years.