Task-Level Authoring for Remote Robot Teleoperation.

Remote teleoperation of robots can broaden the reach of domain specialists across a wide range of industries such as home maintenance, health care, light manufacturing, and construction. However, current direct control methods are impractical, and existing tools for programming robot remotely have focused on users with significant robotic experience. Extending robot remote programming to end users, i.e., users who are experts in a domain but novices in robotics, requires tools that balance the rich features necessary for complex teleoperation tasks with ease of use. The primary challenge to usability is that novice users are unable to specify complete and robust task plans to allow a robot to perform duties autonomously, particularly in highly variable environments. Our solution is to allow operators to specify shorter sequences of high-level commands, which we call task-level authoring, to create periods of variable robot autonomy. This approach allows inexperienced users to create robot behaviors in uncertain environments by interleaving exploration, specification of behaviors, and execution as separate steps. End users are able to break down the specification of tasks and adapt to the current needs of the interaction and environments, combining the reactivity of direct control to asynchronous operation. In this paper, we describe a prototype system contextualized in light manufacturing and its empirical validation in a user study where 18 participants with some programming experience were able to perform a variety of complex telemanipulation tasks with little training. Our results show that our approach allowed users to create flexible periods of autonomy and solve rich manipulation tasks. Furthermore, participants significantly preferred our system over comparative more direct interfaces, demonstrating the potential of our approach for enabling end users to effectively perform remote robot programming.

Ice loss from the East Antarctic Ice Sheet during late Pleistocene interglacials.

Understanding ice sheet behaviour in the geological past is essential for evaluating the role of the cryosphere in the climate system and for projecting rates and magnitudes of sea level rise in future warming scenarios1-4. Although both geological data5-7 and ice sheet models3,8 indicate that marine-based sectors of the East Antarctic Ice Sheet were unstable during Pliocene warm intervals, the ice sheet dynamics during late Pleistocene interglacial intervals are highly uncertain3,9,10. Here we provide evidence from marine sedimentological and geochemical records for ice margin retreat or thinning in the vicinity of the Wilkes Subglacial Basin of East Antarctica during warm late Pleistocene interglacial intervals. The most extreme changes in sediment provenance, recording changes in the locus of glacial erosion, occurred during marine isotope stages 5, 9, and 11, when Antarctic air temperatures11 were at least two degrees Celsius warmer than pre-industrial temperatures for 2,500 years or more. Hence, our study indicates a close link between extended Antarctic warmth and ice loss from the Wilkes Subglacial Basin, providing ice-proximal data to support a contribution to sea level from a reduced East Antarctic Ice Sheet during warm interglacial intervals. While the behaviour of other regions of the East Antarctic Ice Sheet remains to be assessed, it appears that modest future warming may be sufficient to cause ice loss from the Wilkes Subglacial Basin.

Reorganization of Southern Ocean plankton ecosystem at the onset of Antarctic glaciation.

The circum-Antarctic Southern Ocean is an important region for global marine food webs and carbon cycling because of sea-ice formation and its unique plankton ecosystem. However, the mechanisms underlying the installation of this distinct ecosystem and the geological timing of its development remain unknown. Here, we show, on the basis of fossil marine dinoflagellate cyst records, that a major restructuring of the Southern Ocean plankton ecosystem occurred abruptly and concomitant with the first major Antarctic glaciation in the earliest Oligocene (~33.6 million years ago). This turnover marks a regime shift in zooplankton-phytoplankton interactions and community structure, which indicates the appearance of eutrophic and seasonally productive environments on the Antarctic margin. We conclude that earliest Oligocene cooling, ice-sheet expansion, and subsequent sea-ice formation were important drivers of biotic evolution in the Southern Ocean.