A Robot Simulation Environment for Virtual Reality Enhanced Underwater Manipulation and Seabed Intervention T asks* Sumey El-M uft u 1 and Berke G ur 2 Abstract -- This paper presents the (MARUN) 2 underwater robotic simulator . The simulator architecture enables seamless integration with the ROS-based mission software and web-based user interface of URSULA, a squid inspired biomimetic robot designed for dexterous underwater manipulation and seabed intervention tasks. Utilizing Unity as the simulation environment enables the integration of virtual reality and haptic feedback capabilities for a more immersive and realistic experience for improved operator dexterity and experience. The utility of the simulator and improved dexterity provided by the VR module is validated through user experiments. I. INTRODUCTION Advancements in underwater robotic manipulation have paved the way for remote teleoperation and intervention in challenging aquatic environments. Several well-publicized recent developments have emphasized the increasing importance of dexterous underwater manipulation and intervention capabilities, in particular, for vehicles operating close to the seabed. In line with these developments, novel underwater robots specifically designed for such tasks have emerged over the recent years [1]-[3], including project URSULA.

With this paper, the design of a biomimetic robotic squid (dubbed URSULA) developed for dexterous underwater manipulation is presented. The robot serves as a test bed for several novel underwater technologies such as soft manipulators, propeller-less propulsion, model mediated tele-operation with video and haptic feedback, sonar-based underwater mapping, localization, and navigation, and high bandwidth visible light communications. Following the finalization of the detailed design, a prototype is manufactured and is currently undergoing pool tests.

Multi-step reasoning is widely adopted in the community to explore the better performance of language models (LMs). We report on the systematic strategy that LMs use in this process. Our controlled experiments reveal that LMs rely more heavily on heuristics, such as lexical overlap, in the earlier stages of reasoning Figure 1: Illustration of the systematic strategy we discovered when more steps are required to reach an in language models (LMs). When the goal is answer. Conversely, as LMs progress closer distant from the current state in a multi-step reasoning to the final answer, their reliance on heuristics process, the models tend to rely on heuristics, such as decreases. This suggests that LMs track only superficial overlap, which can lead them in the wrong a limited number of future steps and dynamically direction. In contrast, when the goal is within a limited combine heuristic strategies with logical distance, the models are more likely to take rational actions ones in tasks involving multi-step reasoning.

Seattle's financial future is brighter than originally predicted, having taken a positive turn over the last five months according to a new budget forecast. Rantz: Sword, meth, trash remain as School Board refuses to sweep tents 44 minutes ago Sound Transit's dilemma: What to delay, cut, or scale with $11.5 billion hole 23 minutes ago Wyman: New voting law would'force us to make changes' in Washington 40 minutes ago Ross: Artificial intelligence is coming, like it or not 12 minutes ago Over 19,000 complaints against SPD from 2020 COVID updates: King County launches in-home vaccination program 25 minutes ago Sound Transit's dilemma: What to delay, cut, or scale with $11.5 billion hole 23 minutes ago Wyman: New voting law would'force us to make changes' in Washington 40 minutes ago What Aldon Smith's charge could mean for his Seahawks future Auburn considers tightening rules for homeless camping Six Seattle mayoral candidates lead the fundraising race What Aldon Smith's charge could mean for his Seahawks future What Aldon Smith's charge could mean for his Seahawks future Dave Ross Ross: Artificial intelligence is coming for cars, like it or not Artificial intelligence is coming, like it or not. Cornell philosophy professor Shaun Nichols even predicts you'll be able to select your driving algorithm. Chokepoints Sound Transit's dilemma: What to delay, cut, or scale with $11.5 billion hole With an $11.5 billion budget hole, the Sound Transit board has to make tough choices of cutting projects, delaying projects, and ways to make up the gap. Jason Rantz Rantz: Sword, meth, and trash remain as School Board refuses to sweep encampment A growing encampment that threatens student and staff safety at Seattle's Broadview-Thompson K-8 remains in place.

I never met Ursula K. Le Guin, who died on January 22, 2018, at the age of eighty-eight, in Portland, Oregon, her home for many years. And yet we became good friends during the last two months of her life, entirely by way of e-mail. I inaugurated the correspondence on November 21, 2017, and she replied on November 24th. One of the things I like least about being very old is the unreliability of my energy. Working at poetry or a story is, always has been, the job I want to be doing, the work that keeps me steady and content.

Ursula K. Le Guin, the immensely popular author who brought literary depth and a tough-minded feminist sensibility to science fiction and fantasy with books like "The Left Hand of Darkness" and the Earthsea series, died on Monday at her home in Portland, Ore. Her son, Theo Downes-Le Guin, confirmed the death. He did not specify a cause but said she had been in poor health for several months. Ms. Le Guin embraced the standard themes of her chosen genres: sorcery and dragons, spaceships and planetary conflict. But even when her protagonists are male, they avoid the macho posturing of so many science fiction and fantasy heroes.