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Deterministic Execution of ROS~2 Applications via Lingua Franca
arXiv:2606.09203v1 Announce Type: new Abstract: The Robot Operating System~2 (ROS 2) is a widely used middleware for robotic systems, characterized by a publish-subscribe (pub-sub) communication mechanism in which computation is structured as callbacks dispatched by ROS 2 executors. Despite its popularity, the pub-sub pattern in ROS 2 is inherently nondeterministic: the order in which these callbacks run is nondeterministic even within a single executor, and distributed deployments add...
A Conversational Framework for Human-Robot Collaborative Manipulation with Distributed Generative AI models
arXiv:2606.06061v1 Announce Type: new Abstract: This paper presents a distributed conversational framework for human-robot collaborative manipulation that integrates local language and vision-language models (VLMs) with a Robot Operating System 2 (ROS 2)-based execution stack. Language understanding, visual grounding, orchestration, and motion execution run as separate ROS 2 nodes, enabling flexible deployment across distributed hardware while maintaining a responsive control loop. From...
Coupled intracellular redox and extracellular respiration sensing for quantitative oxidative stress profiling
Abstract Quantitative assessment of cellular oxidative stress requires simultaneous measurement of intracellular redox state and extracellular respiratory activity, yet integrated sensing approaches remain limited. Here, we present a dual fluorescent sensing platform combining a genetically encoded redox biosensor (roGFP2-Tsa2{Delta}CR) with an optical oxygen sensor embedded in microwell plates for parallel, noninvasive quantification of intracellular reactive oxygen species (ROS) and oxygen...
Modeling Components and Connections in Cyber-Physical Systems
Announce Type: new Abstract: Text based configuration files for cyber-physical systems show the hierarchy of component modules well but often hide the details of connections and interfaces between modules. A model-based visual approach to these configuration files can better capture this information. The XML structure of Robot Operating System (ROS) launch files can be improved using a modeling approach.
'It's time Elon Musk stopped using our outrage as a cash-machine'
'It's time Elon Musk stopped using our outrage as a cash-machine' Precious pictures of Henry Nowak are being used to whip up hatred, spread lies and cause division, writes Ros Wynne-Jones. It's time to fight back against the grifters hoping to whip up another summer of discontent His smiling photographs – at a family wedding, with 18th birthday balloons in the background – should have just been for his parents’ mantelpiece. But Henry Nowak’s family photographs are known to all of us now.
Autonomous Navigation System for Library Service Robot Based on Unitree Go2 Edu
arXiv:2606.03340v1 Announce Type: new Abstract: Libraries require autonomous robots to move quietly through narrow aisles while remaining safe around readers, chairs, bags, and carts. This paper presents a ROS 2 navigation system for a Unitree Go2 Edu quadruped equipped with a 4D LiDAR, a front depth camera, and an IMU. Rather than assuming the library is rough terrain, we target the practical mobility discontinuities of real deployments, including floor transitions, temporary clutter, and...
Immunomodulatory Effects of Insulin-Derived Fibrils from Infusion Pumps: Role of Phenolic Preservatives in Macrophage Activation
Background: Protein fibrillation represents a critical challenge in therapeutic insulin delivery, yet the structural determinants and immunological consequences of insulin-derived fibrils (IDFs) formed in the presence of phenolic preservatives remain poorly characterized. This study investigated the structural characteristics of IDFs formed with (IDF (+)) and without (IDF (-)) phenolic preservatives and elucidated their differential immunomodulatory mechanisms in bone marrow-derived...
Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer
arXiv:2606.09416v1 Announce Type: new Abstract: Robot middleware faces a new role in the era of Physical AI. Learned policies, planners, and vision-language-action (VLA) models now enter deployed robots as causal participants on the control path, but the layer that integrates them with timing, scheduling, and network has not been named. Recent language-agent work names this layer the harness, the external system that mediates tools, manages state, bounds resources, and records execution.
With his pet chihuahua and trusty gopher, 97yo grazier won't slow down
feel good Doug Harrison, 97, refuses to slow down after eight decades as a grazier Mon 8 Jun 2026 at 6:34am Doug Harrison doesn't do retirement. With his trusty gopher and pet chihuahua by his side, the grazier prefers to scoot around his outback station while completing the day's chores. "I'm not as old as I look, I'm only 97," he says.
O-GlcNAc transferase regulates H2O2 production via p38 MAPK
Idiopathic pulmonary fibrosis (IPF) is a progressive interstitial lung disease characterized by augmented transforming growth factor-{beta} (TGF-{beta}) signaling leading to excessive extracellular matrix (ECM) deposition. The fibroblast-to-myofibroblast-transition (FMT) and metabolic reprogramming of lung fibroblasts (HLFs) are essential to IPF pathogenesis, yet the connection between nutrient metabolism and fibrogenesis remains poorly defined. The O-linked N-acetylglucosamine (O-GlcNAc)...