EXOT: Exit-aware Object Tracker for Safe Robotic Manipulation of Moving Object

Current robotic hand manipulation narrowly operates with objects in predictable positions in limited environments. Thus, when the location of the target object deviates severely from the expected location, a robot sometimes responds in an unexpected way, especially when it operates with a human. For safe robot operation, we propose the EXit-aware Object Tracker (EXOT) on a robot hand camera that recognizes an object's absence during manipulation. The robot decides whether to proceed by examining the tracker's bounding box output containing the target object. We adopt an out-of-distribution classifier for more accurate object recognition since trackers can mistrack a background as a target object. To the best of our knowledge, our method is the first approach of applying an out-of-distribution classification technique to a tracker output. We evaluate our method on the first-person video benchmark dataset, TREK-150, and on the custom dataset, RMOT-223, that we collect from the UR5e robot. Then we test our tracker on the UR5e robot in real-time with a conveyor-belt sushi task, to examine the tracker's ability to track target dishes and to determine the exit status. Our tracker shows 38% higher exit-aware performance than a baseline method. The dataset and the code will be released at https://github.com/hskAlena/EXOT.Comment: 2023 IEEE International Conference on Robotics and Automation (ICRA

Axial strain dependence of all-fiber acousto-optic tunable filters

We report the axial strain dependence of two types of all-fiber acousto-optic tunable filters based on flexural and torsional acoustic waves. Experimental observation of the resonant wavelength shift under applied axial strain could be explained by theoretical consideration of the combination of acoustic and optical effects. We discuss the possibility of suppressing the strain effect in the filters, or conversely, the possibility of using the strain dependence for wavelength tuning or strain sensors

A hybrid decision support model to discover informative knowledge in diagnosing acute appendicitis

BACKGROUND: The aim of this study is to develop a simple and reliable hybrid decision support model by combining statistical analysis and decision tree algorithms to ensure high accuracy of early diagnosis in patients with suspected acute appendicitis and to identify useful decision rules. METHODS: We enrolled 326 patients who attended an emergency medical center complaining mainly of acute abdominal pain. Statistical analysis approaches were used as a feature selection process in the design of decision support models, including the Chi-square test, Fisher's exact test, the Mann-Whitney U-test (p < 0.01), and Wald forward logistic regression (entry and removal criteria of 0.01 and 0.05, or 0.05 and 0.10, respectively). The final decision support models were constructed using the C5.0 decision tree algorithm of Clementine 12.0 after pre-processing. RESULTS: Of 55 variables, two subsets were found to be indispensable for early diagnostic knowledge discovery in acute appendicitis. The two subsets were as follows: (1) lymphocytes, urine glucose, total bilirubin, total amylase, chloride, red blood cell, neutrophils, eosinophils, white blood cell, complaints, basophils, glucose, monocytes, activated partial thromboplastin time, urine ketone, and direct bilirubin in the univariate analysis-based model; and (2) neutrophils, complaints, total bilirubin, urine glucose, and lipase in the multivariate analysis-based model. The experimental results showed that the model with univariate analysis (80.2%, 82.4%, 78.3%, 76.8%, 83.5%, and 80.3%) outperformed models using multivariate analysis (71.6%, 69.3%, 73.7%, 69.7%, 73.3%, and 71.5% with entry and removal criteria of 0.01 and 0.05; 73.5%, 66.0%, 80.0%, 74.3%, 72.9%, and 73.0% with entry and removal criteria of 0.05 and 0.10) in terms of accuracy, sensitivity, specificity, positive predictive value, negative predictive value, and area under ROC curve, during a 10-fold cross validation. A statistically significant difference was detected in the pairwise comparison of ROC curves (p < 0.01, 95% CI, 3.13-14.5; p < 0.05, 95% CI, 1.54-13.1). The larger induced decision model was more effective for identifying acute appendicitis in patients with acute abdominal pain, whereas the smaller induced decision tree was less accurate with the test data. CONCLUSIONS: The decision model developed in this study can be applied as an aid in the initial decision making of clinicians to increase vigilance in cases of suspected acute appendicitis

Experimental Study of the Injection System for CO2 Geologic Storage Demonstration

AbstractThe worldwide issue of greenhouse gas reduction has recently drawn great attention to carbon capture and storage (CCS). Almost CCS studies have been focused in the capture technology of carbon dioxide and the geological investigation for underground storage. The study of mechanical injection system for carbon dioxide has not implemented nearly. We are intended to develop a ground system for underground injection of carbon dioxide. In this study, we made lab-scale underground injection system and implemented injection simulation test experimentally. The 10,000 ton/year pilot plant for geological storage of carbon dioxide will be designed on the base of these test results. Major components of the lab-scale underground injection system include a pressure pump and an in-line heater to bring liquid carbon dioxide into its supercritical state. Test results assure that this system readily achieves the designed injection pressure and temperature, showing satisfactory control performance

Brillouin fiber laser pumped by a DFB laser diode

In this paper, we present a novel Brillouin fiber-ring laser utilizing an unbalanced Mach-Zehnder interferometer (UMZI) as coupling device. The laser is pumped by a distributed-feedback laser diode and shows continuous-wave and single-frequency operation. Frequency-dependent transmission characteristics of the UMZI make it possible for the pump wave to pass through the laser-ring cavity with no resonance effect for stable pump operation, while the Brillouin laser signal still resonates in a high-finesse cavity. Single and multiple longitudinal mode operations are observed according to the relative location between longitudinal modes and Brillouin gain-curve center. A stable single-frequency operation is achieved using a simple stabilizing feedback loop based on dithering and autotracking techniques. Using this simple stabilizing feedback loop, the laser-intensity fluctuation is highly suppressed and remains below 4%. The Brillouin output converted from the pump power of 26.4 mW is about 3.18 mW, and the linewidth is measured to be below 1 kH

Unleashing the full potential of Hsp90 inhibitors as cancer therapeutics through simultaneous inactivation of Hsp90, Grp94, and TRAP1

Cancer therapeutics: Extending a drug&apos;s reach A new drug that blocks heat shock proteins (HSPs), helper proteins that are co-opted by cancer cells to promote tumor growth, shows promise for cancer treatment. Several drugs have targeted HSPs, since cancer cells are known to hijack these helper proteins to shield themselves from destruction by the body. However, the drugs have had limited success. Hye-Kyung Park and Byoung Heon Kang at Ulsan National Institutes of Science and Technology in South Korea and coworkers noticed that the drugs were not absorbed into mitochondria, a key cellular compartment, and HSPs in this compartment were therefore not being blocked. They identified a new HSP inhibitor that can reach every cellular compartment and inhibit all HSPs. Testing in mice showed that this inhibitor effectively triggered death of tumor cells, and therefore shows promise for anti-cancer therapy. The Hsp90 family proteins Hsp90, Grp94, and TRAP1 are present in the cell cytoplasm, endoplasmic reticulum, and mitochondria, respectively; all play important roles in tumorigenesis by regulating protein homeostasis in response to stress. Thus, simultaneous inhibition of all Hsp90 paralogs is a reasonable strategy for cancer therapy. However, since the existing pan-Hsp90 inhibitor does not accumulate in mitochondria, the potential anticancer activity of pan-Hsp90 inhibition has not yet been fully examined in vivo. Analysis of The Cancer Genome Atlas database revealed that all Hsp90 paralogs were upregulated in prostate cancer. Inactivation of all Hsp90 paralogs induced mitochondrial dysfunction, increased cytosolic calcium, and activated calcineurin. Active calcineurin blocked prosurvival heat shock responses upon Hsp90 inhibition by preventing nuclear translocation of HSF1. The purine scaffold derivative DN401 inhibited all Hsp90 paralogs simultaneously and showed stronger anticancer activity than other Hsp90 inhibitors. Pan-Hsp90 inhibition increased cytotoxicity and suppressed mechanisms that protect cancer cells, suggesting that it is a feasible strategy for the development of potent anticancer drugs. The mitochondria-permeable drug DN401 is a newly identified in vivo pan-Hsp90 inhibitor with potent anticancer activity