Towards Assistive Feeding with a General-Purpose Mobile Manipulator

General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a proof-of-concept robotic system for assistive feeding that consists of a Willow Garage PR2, a high-level web-based interface, and specialized autonomous behaviors for scooping and feeding yogurt. As a step towards use by people with disabilities, we evaluated our system with 5 able-bodied participants. All 5 successfully ate yogurt using the system and reported high rates of success for the system's autonomous behaviors. Also, Henry Evans, a person with severe quadriplegia, operated the system remotely to feed an able-bodied person. In general, people who operated the system reported that it was easy to use, including Henry. The feeding system also incorporates corrective actions designed to be triggered either autonomously or by the user. In an offline evaluation using data collected with the feeding system, a new version of our multimodal anomaly detection system outperformed prior versions.Comment: This short 4-page paper was accepted and presented as a poster on May. 16, 2016 in ICRA 2016 workshop on 'Human-Robot Interfaces for Enhanced Physical Interactions' organized by Arash Ajoudani, Barkan Ugurlu, Panagiotis Artemiadis, Jun Morimoto. It was peer reviewed by one reviewe

Dietary patterns among Vietnamese and Hispanic immigrant elementary school children participating in an after school program

Immigrants in the U.S. may encounter challenges of acculturation, including dietary habits, as they adapt to new surroundings. We examined Vietnamese and Hispanic immigrant children's American food consumption patterns in a convenience sample of 63 Vietnamese and Hispanic children in grades four to six who were attending an after school program. Children indicated the number of times they consumed each of 54 different American foods in the past week using a food frequency questionnaire. We ranked each food according to frequency of consumption, compared the intake of foods to the USDA Healthy Eating Pattern, and performed dietary pattern analysis. Since the data were not normally distributed we used two nonparametric tests to evaluate statistical significance: the Kruskal-Wallis tested for significant gender and ethnicity differences and the Wilcoxon signed-rank test evaluated the food consumption of children compared with the USDA recommended amounts. We found that among USDA categories, discretionary food was most commonly consumed, followed by fruit. The sample as a whole ate significantly less than the recommended amount of grains, protein foods, and dairy, but met the recommended amount of fruit. Boys ate significantly more grains, proteins, and fruits than did girls. Dietary pattern analysis showed a very high sweet snack consumption among all children, while boys ate more fast food and fruit than girls. Foods most commonly consumed were cereal, apples, oranges, and yogurt. Ethnicity differences in food selection were not significant. The high intake of discretionary/snack foods and fruit, with low intake of grains, vegetables, protein, and dairy in our sample suggests Vietnamese and Hispanic immigrant children may benefit from programs to improve diet quality

Significance analysis of lexical bias in microarray data

BACKGROUND: Genes that are determined to be significantly differentially regulated in microarray analyses often appear to have functional commonalities, such as being components of the same biochemical pathway. This results in certain words being under- or overrepresented in the list of genes. Distinguishing between biologically meaningful trends and artifacts of annotation and analysis procedures is of the utmost importance, as only true biological trends are of interest for further experimentation. A number of sophisticated methods for identification of significant lexical trends are currently available, but these methods are generally too cumbersome for practical use by most microarray users. RESULTS: We have developed a tool, LACK, for calculating the statistical significance of apparent lexical bias in microarray datasets. The frequency of a user-specified list of search terms in a list of genes which are differentially regulated is assessed for statistical significance by comparison to randomly generated datasets. The simplicity of the input files and user interface targets the average microarray user who wishes to have a statistical measure of apparent lexical trends in analyzed datasets without the need for bioinformatics skills. The software is available as Perl source or a Windows executable. CONCLUSION: We have used LACK in our laboratory to generate biological hypotheses based on our microarray data. We demonstrate the program's utility using an example in which we confirm significant upregulation of SPI-2 pathogenicity island of Salmonella enterica serovar Typhimurium by the cation chelator dipyridyl

Consecutive Case Series of Melanoma Sentinel Node Biopsy for Lymphoseek Compared to Sulfur Colloids

Introduction: Sentinel lymph node biopsy (SLNB) is an important adjunct in the staging of patients with melanoma. Preoperative lymphoscintigraphy (LS) with radiolabeled isotopes is essential to localize sentinel nodes for removal. Our study compared the effectiveness of Lymphoseek to standard sulfur colloids (SC) in patients with melanoma undergoing SLNB. Methods: We queried our IRB-approved melanoma database to identify 370 consecutive patients who underwent SLNB from 2012-2016 with at least one year of follow up. There were 185 patients in each group. Data points included characteristics of the primary melanoma lymphoscintigraphy, and SLNB. Student’s t-test and Chi-Square were used to analyze the data with a p-value of \u3c0.05 being considered significant. Results: Patients were equally matched in regard to age, sex, and primary characteristics of their melanoma. In comparison to SC, Lymphoseek required lower radiation dosages (p\u3c0.001), shorter mapping times (p=0.008), and decreased number of sentinel nodes removed (p=0.03). There was no difference in the number of patients with positive nodes (p=0.5). Additionally, there were no statistical differences between the two radioactive tracers in regard to the number of patients with false negative SLNB. Conclusion: Lymphoseek has the potential to decrease radioactivity and mapping time in patients who need SLNB. With a decrease in the number of nodes removed without loss of sensitivity, there is a potential to avoid unnecessary node removal and thus complications such as lymphedema. Longer follow-up will help to determine if there is any increase in false negative rates despite fewer nodes removed

A Phase I Study of Abiraterone Acetate Combined with BEZ235, a Dual PI3K/mTOR Inhibitor, in Metastatic Castration Resistant Prostate Cancer.

Lessons learnedThe combination of standard dose abiraterone acetate and BEZ235, a pan-class I PI3K and mTORC1/2 inhibitor, was poorly tolerated in men with progressive mCRPC.Although the clinical development of BEZ235 has been discontinued in prostate cancer, agents that more selectively target PI3K-AKT-mTOR signaling may have a more favorable therapeutic index and should continue to be explored.BackgroundAndrogen receptor (AR) and phosphatidylinositol-3 kinase (PI3K) signaling are two commonly perturbed pathways in prostate cancer. Preclinical data have shown that the two pathways compensate for each other when one is inhibited, and combined inhibition of AR and PI3K signaling may be a viable strategy to prevent or overcome castration resistance.MethodsThis phase I study evaluated the safety and tolerability of abiraterone acetate and prednisone combined with BEZ235, a dual PI3K and mTORC1/2 inhibitor, in men with progressive metastatic castration resistant prostate cancer (mCRPC) who have not received prior chemotherapy.ResultsSix patients (n = 6) were treated at the starting dose level of abiraterone acetate 1,000 mg with prednisone 5 mg twice daily and BEZ235 200 mg twice daily in a 3 + 3 dose escalation design. The study was terminated early because three of the six patients (50%) experienced dose-limiting toxicities: grade 3 mucositis, grade 3 hypotension, and grade 4 dyspnea and pneumonitis. All six patients had previously progressed on abiraterone/prednisone. The median treatment duration was 27 days (range: 3-130 days). No prostate-specific antigen (PSA) decline or objective response were observed.ConclusionThe combination of standard-dose abiraterone/prednisone with BEZ235 200 mg twice daily was poorly tolerated in patients with mCRPC. The on-target and off-target effects of dual PI3K and mTORC inhibition likely contributed to the unacceptable toxicity profile. The Oncologist 2017;22:503-e43

Improved methods for magnetic purification of malaria parasites and haemozoin

<p>Abstract</p> <p>Background</p> <p>Malaria parasites generate free haem upon catabolism of host haemoglobin during their intraerythrocytic growth cycle. In order to minimize oxidative toxicity of the ferric iron, the free haem molecules are polymerized into the biomineral beta-haematin (commonly referred to as haemozoin). Haemozoin crystals are paramagnetic, and this property can be exploited for the purification of late stage parasites as they contain larger haemozoin crystals than early stage parasites and uninfected cells. Commercially available magnets that were originally developed for the purpose of antibody-mediated cell purification are widely used for this purpose. As these methods are not necessarily optimized for parasite purification, the relationship between magnetic field strength and the quantity and quality of yield during parasite purification was explored.</p> <p>Methods</p> <p>Inexpensive rare-earth neodymium magnets with commercially available disposable columns were employed to explore the relationship between magnetic field strength and recovery of free haemozoin and infected erythrocytes (iRBCs).</p> <p>Results</p> <p>Yields of free haemozoin increased nearly linearly with increasing magnetic field strength to the strongest fields tested (8,500 Gauss). Stronger magnetic fields also improved the recovery of iRBCs with no detrimental effects on parasite viability. An in-house constructed magnetic stand, built for $75 in materials, produced superior results when compared with much more expensive commercial products.</p> <p>Conclusions</p> <p>Existing protocols for the magnetic purification of free haemozoin and iRBCs result in sub-optimal yields. Inexpensive high-strength neodymium magnets offer a better option, resulting in higher yields with no detrimental effects on parasite viability.</p

Improved analytical methods for microarray-based genome-composition analysis

BACKGROUND: Whereas genome sequencing has given us high-resolution pictures of many different species of bacteria, microarrays provide a means of obtaining information on genome composition for many strains of a given species. Genome-composition analysis using microarrays, or 'genomotyping', can be used to categorize genes into 'present' and 'divergent' categories based on the level of hybridization signal. This typically involves selecting a signal value that is used as a cutoff to discriminate present (high signal) and divergent (low signal) genes. Current methodology uses empirical determination of cutoffs for classification into these categories, but this methodology is subject to several problems that can result in the misclassification of many genes. RESULTS: We describe a method that depends on the shape of the signal-ratio distribution and does not require empirical determination of a cutoff. Moreover, the cutoff is determined on an array-to-array basis, accounting for variation in strain composition and hybridization quality. The algorithm also provides an estimate of the probability that any given gene is present, which provides a measure of confidence in the categorical assignments. CONCLUSIONS: Many genes previously classified as present using static methods are in fact divergent on the basis of microarray signal; this is corrected by our algorithm. We have reassigned hundreds of genes from previous genomotyping studies of Helicobacter pylori and Campylobacter jejuni strains, and expect that the algorithm should be widely applicable to genomotyping data

Bichromatic Driving of a Solid State Cavity QED System

The bichromatic driving of a solid state cavity quantum electrodynamics system is used to probe cavity dressed state transitions and observe coherent interaction between the system and the light field. We theoretically demonstrate the higher order cavity-dressed states, supersplitting, and AC stark shift in a solid state system comprised of a quantum dot strongly coupled to a photonic crystal cavity for on- and far off-resonant cases. For the off-resonant case, phonons mediate off-resonant coupling between the quantum dot and the photonic resonator, a phenomenon unique to solid state cavity quantum electrodynamics.Comment: 8 pages 6 figure

Biophysics at the coffee shop: lessons learned working with George Oster

Over the past 50 years, the use of mathematical models, derived from physical reasoning, to describe molecular and cellular systems has evolved from an art of the few to a cornerstone of biological inquiry. George Oster stood out as a pioneer of this paradigm shift from descriptive to quantitative biology not only through his numerous research accomplishments, but also through the many students and postdocs he mentored over his long career. Those of us fortunate enough to have worked with George agree that his sharp intellect, physical intuition and passion for scientific inquiry not only inspired us as scientists but also greatly influenced the way we conduct research. We would like to share a few important lessons we learned from George in honor of his memory and with the hope that they may inspire future generations of scientists.Comment: 22 pages, 3 figures, accepted in Molecular Biology of the Cel