Abstract: A robotic system includes an end-effector and a control system. The control system includes a processor, a dynamical system module (DSM), and a velocity control module (VCM). Via execution of a method, the DSM processes inputs via a flow vector field and outputs a control velocity command. The inputs may include an actual position, desired goal position, and demonstrated reference path of the end-effector. The VCM receives an actual velocity of the end-effector and the control velocity command as inputs, and transmits a motor torque command to the end-effector as an output command. The control system employs a predetermined set of differential equations to generate a motion trajectory of the end-effector in real time that approximates the demonstrated reference path. The control system is also programmed to modify movement of the end-effector in real time via the VCM in response to perturbations of movement of the end-effector.

Abstract: Described is a pattern matching system for matching a test image with a 3D template. The system is initiated by generating a library of templates (each individual template is a three-dimensional array, with each pixel in the array representing a value at a particular x, y, and z coordinate). Each column of pixels along one axis (e.g., z) is converted into a neural input. Each neural input is fed through a neural network to establish a delayed connection between each neural input and output neuron and to generate a template neural network. Separately, a test image is converted into neural inputs. The neural inputs of the test image are input the template neural network to generate output neurons. The output neurons are evaluated to identify a location of the template in the test image.

Abstract: A method of classification and segmentation of an image using modules on a computer system includes receiving a plurality of models having features suitable for classifying each pixel of the image into a respective one of a plurality of categories, using a classifier to provide a score for each pixel in the image for each category and using a segmenter to segment the image into image segments, wherein each image segment is a contiguous set of pixels having at least one common feature. For each image segment a set of average probabilities for each category is determined, and for each image segment, a most likely category to which the image segment belongs is determined by the maximum average probability resulting in a labeled segment image, which is used to identify any empty areas as incorrect holes. Then any empty areas that are identified as incorrect holes are filled.

Abstract: Described is system for identifying functional elements of objects for robotic manipulation. The system causes a robot to manipulate an object, the robot having an audio sensor and touch sensors. A three-dimensional (3D) location of each audio event that produces a response during manipulation of the object is recorded. Additionally, a 3D location of each tactile event that produces a response during manipulation of the object is recorded. A 3D location of each audio and tactile event in 3D space is then determined. A 3D audio point cloud and a 3D tactile point cloud are generated. Then, the 3D audio point cloud and the 3D tactile point cloud are registered with a 3D model point cloud of the object. Finally, an annotated 3D model point cloud of the object is generated, which encodes the location of a functional element of the object.

Abstract: Described is a system for allowing sets of processors to engage in a secure pattern matching protocol. An input pattern is received from a first set of processors, while a text is received from a second set of processors. A matrix is constructed based on values computed for each character determined by each character's position in the pattern. The first set of processors sends an encrypted matrix to the second set of processors. The second set of processors processes each character in the text and creates a set of vectors. A final activation vector is created based on processing the set of vectors and an encrypted activation vector. The second set of processors sends the final activation vector to the first set of processors. The second set of processors decrypts the final activation vector. The system provides to the first set of processors where the pattern matches the text.

Abstract: Described is a robotic visual perception system for determining a position and pose of a three-dimensional object. The system receives an external input to select an object of interest. The system also receives visual input from a sensor of a robotic controller that senses the object of interest. Rotation-invariant shape features and appearance are extracted from the sensed object of interest and a set of object templates. A match is identified between the sensed object of interest and an object template using shape features. The match between the sensed object of interest and the object template is confirmed using appearance features. The sensed object is then identified, and a three-dimensional pose of the sensed object of interest is determined. Based on the determined three-dimensional pose of the sensed object, the robotic controller is used to grasp and manipulate the sensed object of interest.

Abstract: Described is a system for searching a continuous data stream for exact matches with a priori stored data sequences. The system includes a neural network with an input and an output layer. The input layer has one neuron for each possible character or number in the data stream, and the output layer has one neuron for each stored pattern. Importantly, the delays of the connections from input to output layer are engineered to match the temporal occurrence of an input character within a stored sequence. Thus, if an input sequence has the proper time gaps between characters, matching a stored pattern, then the delayed neural signals result in a simultaneous activation at the receiving neuron, which indicates a detected pattern. For storing a pattern, only one connection for each pair of input character and output neuron has to be specified resulting in sparse coding and quick storage.

Abstract: A switch for a switching unit for energy supply and distribution includes a first connection and a second connection, each with a cylindrical bolt. The bolts are axially adjacent one another and spaced apart. An annular sleeve with an inner diameter larger than the diameter of the bolts, is arranged in such a way that it can be axially displaced on the bolt of the first connection, and partially on the bolt of the second connection. At least a first contact element is arranged between the surface of the bolt of the first connection and the inner surface of the annular sleeve. At least a second contact element is arranged and constructed in such a way that it can be positioned between the surface of the bolt of the second connection and the inner surface of the annular sleeve.

Abstract: A switch for a switching unit for energy supply and distribution includes a first connection and a second connection, each with a cylindrical bolt. The bolts are axially adjacent one another and spaced apart. An annular sleeve with an inner diameter larger than the diameter of the bolts, is arranged in such a way that it can be axially displaced on the bolt of the first connection, and partially on the bolt of the second connection. At least a first contact element is arranged between the surface of the bolt of the first connection and the inner surface of the annular sleeve. At least a second contact element is arranged and constructed in such a way that it can be positioned between the surface of the bolt of the second connection and the inner surface of the annular sleeve.

Abstract: The present invention relates to a process for preparing novel, monodisperse crosslinked bead polymers having thiourea groups and their use for adsorbing metal compounds, in particular heavy metal compounds or noble metal compounds.

Abstract: The present invention relates to a process for preparing novel, monodisperse crosslinked bead polymers having thiourea groups and their use for adsorbing metal compounds, in particular heavy metal compounds or noble metal compounds.

Abstract: The invention relates to a process for the selective recovery of catalysts used in the production of adipic acid by(a) separating adipic acid from the reaction solution,(b) exposing the resultant reaction solution to a sulfonated ion exchanger, thereby binding iron, copper, and vanadium ions to said sulfonated ion exchanger,(c) separating the ion-exchanger from the reaction solution,(d) washing the separated ion exchanger with nitric acid to obtain an acid eluate, and(e) exposing the acid eluate to an ion exchanger modified with aminophosphonic acid groups, thereby removing the iron ions from the acid eluate.

Abstract: Weakly basic anion exchangers of the poly(meth)acrylamide type which have been prepared by aminolysis of poly(meth)acrylonitrile or poly(meth)acrylate with polyamines of defined composition have an improved absorption capacity for sulphate ions and are suitable for selectively removing sulphate ions from aqueous liquids, in particular from sodium chloride brine and from waste waters.

Abstract: Weakly basic anion exchangers of the poly(meth)acrylamide type which have been prepared by aminolysis of poly(meth)acrylonitrile or poly(meth)acrylate with polyamines of defined composition have an improved absorption capacity for sulphate ions and are suitable for selectively removing sulphate ions from aqueous liquids, in particular from sodium chloride brine and from waste waters.

Abstract: In the process for recovering gallium from aqueous, alkaline solutions by adsorption of the gallium on to bead-polymerized synthetic resins impregnated with 8-hydroxyquinolines and elution thereof with aqueous acids, the synthetic resins employed according to the invention are macroporous polydivinylbenzene or macroporous divinylbenzene copolymers which have been obtained by bead polymerization of divinylbenzene or mixtures of aromatic mono-, di- and/or trivinylbenzenes containing at least 50% by weight of divinylbenzene, in the presence of methyl isobutyl ketone, and which have been loaded with 160-190 g of Kelex 100 per liter of resin; in addition the resin is washed with sodium hydroxide solution after the elution step and before the commencement of each individual service cycle.

Abstract: An improvement in a method for the reprocessing, by oxidation, of condensate obtained in urea production plants and having a urea content of approximately 50 mg/l and a biuret content of approximately 2 mg/l, is disclosed. The improvement comprises performing the oxidation at elevated temperatures and at alkaline pH values; preferably, the oxidation is performed at a temperature greater than 60.degree. C. and a pH value greater than 8.