Natural Language Instructions for Intuitive Human Interaction with Robotic Assistants in Field Construction Work

The introduction of robots is widely considered to have significant potential of alleviating the issues of worker shortage and stagnant productivity that afflict the construction industry. However, it is challenging to use fully automated robots in complex and unstructured construction sites. Human-Robot Collaboration (HRC) has shown promise of combining human workers' flexibility and robot assistants' physical abilities to jointly address the uncertainties inherent in construction work. When introducing HRC in construction, it is critical to recognize the importance of teamwork and supervision in field construction and establish a natural and intuitive communication system for the human workers and robotic assistants. Natural language-based interaction can enable intuitive and familiar communication with robots for human workers who are non-experts in robot programming. However, limited research has been conducted on this topic in construction. This paper proposes a framework to allow human workers to interact with construction robots based on natural language instructions. The proposed method consists of three stages: Natural Language Understanding (NLU), Information Mapping (IM), and Robot Control (RC). Natural language instructions are input to a language model to predict a tag for each word in the NLU module. The IM module uses the result of the NLU module and building component information to generate the final instructional output essential for a robot to acknowledge and perform the construction task. A case study for drywall installation is conducted to evaluate the proposed approach. The obtained results highlight the potential of using natural language-based interaction to replicate the communication that occurs between human workers within the context of human-robot teams

Trauma e psicopatologia na dor somatoforme

Objectivo: Esta investigação pretendeu averiguar as experiências traumáticas e o seu impacto em doentes com perturbação de dor somatoforme e investigar a associação entre tipos de trauma e localizações da dor. Como objectivos secundários, quisemos perceber se a depressão e outros sintomas psicopatológicos estariam ligados a este quadro de dor, se a intensidade da dor era diferente pelo sexo e pelo tipo de diagnóstico de dor somatoforme e, finalmente, se o sexo tinha influência sobre o tipo de diagnóstico. Método: Para a confirmação do diagnóstico de dor somatoforme, recorremos a uma entrevista estruturada, a versão actualizada da Mini International Neuropsychiatric Interview (M.I.N.I.), a M.I.N.I. Plus. Para registar objectivamente a localização anatómica da dor utilizámos a nossa adaptação do Pain Drawing Instrument, que denominámos de Mapa Corporal da Dor (MCD). Para avaliar as experiências traumáticas usámos o Traumatic Experiencies Checklist (TEC). Para avaliar os sintomas depressivos e os sintomas psicopatológicos, aplicámos o Beck Depression Inventory (BDI) e o Brief Symptom Inventory (BSI) respectivamente. A nossa amostra ficou constituída por um grupo de doentes com dor somatoforme (n = 30) e um grupo de comparação que incluiu doentes sem patologia de dor (n = 30). As idades ficaram compreendidas entre os 26 e os 68 anos. Resultados: Os doentes com dor somatoforme têm significativamente mais experiências traumáticas emocionais, de abuso sexual e de ameaça corporal do que os doentes sem dor. Essas experiências foram todas registadas com impacto máximo. A localização da dor correlaciona-se moderadamente com o local do trauma no corpo. Os doentes do grupo com dor têm valores elevados na depressão e a diferença das pontuações médias entre os dois grupos é altamente significativa. O grupo de doentes com dor apresenta valores significativamente mais elevados em todos os sintomas psicopatológicos. Observamos ainda que a intensidade da dor nas mulheres é significativamente mais alta do que nos homens. Não encontramos diferenças na intensidade da dor quando comparamos os dois diagnósticos de dor somatoforme. Verificámos que o sexo feminino prediz o tipo de diagnóstico de dor. Conclusão: Ficou clara a relação entre trauma e dor somatoforme, no entanto os nossos resultados devem ser vistos como preliminares e replicados em amostras maiores e representativas

Function and failure of the fetal membrane : modelling the mechanics of the chorion and amnion

The fetal membrane surrounds the fetus during pregnancy and is a thin tissue composed of two layers, the chorion and the amnion. While rupture of this membrane normally occurs at term, preterm rupture can result in increased risk of fetal mortality and morbidity, as well as danger of infection in the mother. Although structural changes have been observed in the membrane in such cases, the mechanical behaviour of the human fetal membrane in vivo remains poorly understood and is challenging to investigate experimentally. Therefore, the objective of this study was to develop simplified finite element models to investigate the mechanical behaviour and rupture of the fetal membrane, particularly its constituent layers, under various physiological conditions. It was found that modelling the chorion and amnion as a single layer predicts remarkably different behaviour compared with a more anatomically-accurate bilayer, significantly underestimating stress in the amnion and under-predicting the risk of membrane rupture. Additionally, reductions in chorion-amnion interface lubrication and chorion thickness (reported in cases of preterm rupture) both resulted in increased membrane stress. Interestingly, the inclusion of a weak zone in the fetal membrane that has been observed to develop overlying the cervix would likely cause it to fail at term, during labour. Finally, these findings support the theory that the amnion is the dominant structural component of the fetal membrane and is required to maintain its integrity. The results provide a novel insight into the mechanical effect of structural changes in the chorion and amnion, in cases of both normal and preterm rupture

Implicating genes, pleiotropy, and sexual dimorphism at blood lipid loci through multi-ancestry meta-analysis

Publisher Copyright: © 2022, The Author(s).Background: Genetic variants within nearly 1000 loci are known to contribute to modulation of blood lipid levels. However, the biological pathways underlying these associations are frequently unknown, limiting understanding of these findings and hindering downstream translational efforts such as drug target discovery. Results: To expand our understanding of the underlying biological pathways and mechanisms controlling blood lipid levels, we leverage a large multi-ancestry meta-analysis (N = 1,654,960) of blood lipids to prioritize putative causal genes for 2286 lipid associations using six gene prediction approaches. Using phenome-wide association (PheWAS) scans, we identify relationships of genetically predicted lipid levels to other diseases and conditions. We confirm known pleiotropic associations with cardiovascular phenotypes and determine novel associations, notably with cholelithiasis risk. We perform sex-stratified GWAS meta-analysis of lipid levels and show that 3–5% of autosomal lipid-associated loci demonstrate sex-biased effects. Finally, we report 21 novel lipid loci identified on the X chromosome. Many of the sex-biased autosomal and X chromosome lipid loci show pleiotropic associations with sex hormones, emphasizing the role of hormone regulation in lipid metabolism. Conclusions: Taken together, our findings provide insights into the biological mechanisms through which associated variants lead to altered lipid levels and potentially cardiovascular disease risk.Peer reviewe

Implicating genes, pleiotropy, and sexual dimorphism at blood lipid loci through multi-ancestry meta-analysis

Funding GMP, PN, and CW are supported by NHLBI R01HL127564. GMP and PN are supported by R01HL142711. AG acknowledge support from the Wellcome Trust (201543/B/16/Z), European Union Seventh Framework Programme FP7/2007–2013 under grant agreement no. HEALTH-F2-2013–601456 (CVGenes@Target) & the TriPartite Immunometabolism Consortium [TrIC]-Novo Nordisk Foundation’s Grant number NNF15CC0018486. JMM is supported by American Diabetes Association Innovative and Clinical Translational Award 1–19-ICTS-068. SR was supported by the Academy of Finland Center of Excellence in Complex Disease Genetics (Grant No 312062), the Finnish Foundation for Cardiovascular Research, the Sigrid Juselius Foundation, and University of Helsinki HiLIFE Fellow and Grand Challenge grants. EW was supported by the Finnish innovation fund Sitra (EW) and Finska Läkaresällskapet. CNS was supported by American Heart Association Postdoctoral Fellowships 15POST24470131 and 17POST33650016. Charles N Rotimi is supported by Z01HG200362. Zhe Wang, Michael H Preuss, and Ruth JF Loos are supported by R01HL142302. NJT is a Wellcome Trust Investigator (202802/Z/16/Z), is the PI of the Avon Longitudinal Study of Parents and Children (MRC & WT 217065/Z/19/Z), is supported by the University of Bristol NIHR Biomedical Research Centre (BRC-1215–2001) and the MRC Integrative Epidemiology Unit (MC_UU_00011), and works within the CRUK Integrative Cancer Epidemiology Programme (C18281/A19169). Ruth E Mitchell is a member of the MRC Integrative Epidemiology Unit at the University of Bristol funded by the MRC (MC_UU_00011/1). Simon Haworth is supported by the UK National Institute for Health Research Academic Clinical Fellowship. Paul S. de Vries was supported by American Heart Association grant number 18CDA34110116. Julia Ramierz acknowledges support by the People Programme of the European Union’s Seventh Framework Programme grant n° 608765 and Marie Sklodowska-Curie grant n° 786833. Maria Sabater-Lleal is supported by a Miguel Servet contract from the ISCIII Spanish Health Institute (CP17/00142) and co-financed by the European Social Fund. Jian Yang is funded by the Westlake Education Foundation. Olga Giannakopoulou has received funding from the British Heart Foundation (BHF) (FS/14/66/3129). CHARGE Consortium cohorts were supported by R01HL105756. Study-specific acknowledgements are available in the Additional file 32: Supplementary Note. The views expressed in this manuscript are those of the authors and do not necessarily represent the views of the National Heart, Lung, and Blood Institute; the National Institutes of Health; or the U.S. Department of Health and Human Services.Peer reviewedPublisher PD