Probabilistic movement modeling for intention inference in human-robot interaction.

Intention inference can be an essential step toward efficient humanrobot interaction. For this purpose, we propose the Intention-Driven Dynamics Model (IDDM) to probabilistically model the generative process of movements that are directed by the intention. The IDDM allows to infer the intention from observed movements using Bayes ’ theorem. The IDDM simultaneously finds a latent state representation of noisy and highdimensional observations, and models the intention-driven dynamics in the latent states. As most robotics applications are subject to real-time constraints, we develop an efficient online algorithm that allows for real-time intention inference. Two human-robot interaction scenarios, i.e., target prediction for robot table tennis and action recognition for interactive humanoid robots, are used to evaluate the performance of our inference algorithm. In both intention inference tasks, the proposed algorithm achieves substantial improvements over support vector machines and Gaussian processes.

The prognosis of streptococcal prosthetic bone and joint infections depends on surgical management-A multicenter retrospective study

BACKGROUND: The optimal treatment of streptococcal prosthetic joint infections (PJIs) is unclear. METHODS: A cohort of streptococcal PJIs was reviewed retrospectively in seven reference centers for the management of complex bone and joint infections, covering the period January 1, 2010 to December 31, 2012. RESULTS: Seventy patients with monomicrobial infections were included: 47 had infections of total hip arthroplasty and 23 had infections of total knee arthroplasty. The median age was 77 years (interquartile range (IQR) 69-83 years), the median Charlson comorbidity score was 4 (IQR 3-6), and 15.6% (n=11) had diabetes. The most commonly identified streptococcal species were Streptococcus agalactiae and Streptococcus dysgalactiae (38.6% (n=27) and 17.1% (n=12), respectively). Debridement, antibiotics and implant retention (DAIR) was performed after a median time of 7 days (IQR 3-8 days), with polyethylene exchange (PE) in 21% of cases. After a minimum follow-up of 2 years, 27% of patients had relapsed, corresponding to 51.4% of DAIR treatment cases and 0% of one-stage (n=15) or two-stage (n=17) exchange strategy cases. Rifampicin or levofloxacin in combination therapy was not associated with a better outcome (adjusted p= 0.99). S. agalactiae species and DAIR treatment were associated with a higher risk of failure. On multivariate analysis, only DAIR treatment and S. agalactiae were independent factors of relapse. Compared to DAIR without PE, DAIR with PE was only associated with a trend towards a benefit (odds ratio 0.33, 95% confidence interval 0.06-1.96; adjusted p= 0.44). CONCLUSIONS: Streptococcal PJIs managed with DAIR have a poor prognosis and S. agalactiae seems to be an independent factor of treatment failure

Reviews and syntheses: Abrupt ocean biogeochemical change under human-made climatic forcing – warming, acidification, and deoxygenation

Abrupt changes in ocean biogeochemical variables occur as a result of human-induced climate forcing as well as those which are more gradual and occur over longer timescales. These abrupt changes have not yet been identified and quantified to the same extent as the more gradual ones. We review and synthesise abrupt changes in ocean biogeochemistry under human-induced climatic forcing. We specifically address the ocean carbon and oxygen cycles because the related processes of acidification and deoxygenation provide important ecosystem hazards. Since biogeochemical cycles depend also on the physical environment, we also describe the relevant changes in warming, circulation, and sea ice. We include an overview of the reversibility or irreversibility of abrupt marine biogeochemical changes. Important implications of abrupt biogeochemical changes for ecosystems are also discussed. We conclude that there is evidence for increasing occurrence and extent of abrupt changes in ocean biogeochemistry as a consequence of rising greenhouse gas emissions

Ventilatory response to hyperoxia in newborn mice heterozygous for the transcription factor Phox2b

International audienc

Geographies of shit: spatial and temporal variations in attitudes towards human waste

Taboos surrounding human waste have resulted in a lack of attention to spatial inequalities in access to sanitation and the consequences of this for human, environmental and economic health. This paper explores spaces where urgent environmental health imperatives intersect with deeply entrenched cultural norms surrounding human waste and the barriers they create for the development of more appropriate excreta management systems. The primary focus is on the global South (particularly India), although literature on sanitation histories in Europe and its colonies is drawn upon to illustrate spatial and temporal differences in cultural attitudes towards excrement