Interactive Text2Pickup Network for Natural Language based Human-Robot Collaboration

In this paper, we propose the Interactive Text2Pickup (IT2P) network for human-robot collaboration which enables an effective interaction with a human user despite the ambiguity in user's commands. We focus on the task where a robot is expected to pick up an object instructed by a human, and to interact with the human when the given instruction is vague. The proposed network understands the command from the human user and estimates the position of the desired object first. To handle the inherent ambiguity in human language commands, a suitable question which can resolve the ambiguity is generated. The user's answer to the question is combined with the initial command and given back to the network, resulting in more accurate estimation. The experiment results show that given unambiguous commands, the proposed method can estimate the position of the requested object with an accuracy of 98.49% based on our test dataset. Given ambiguous language commands, we show that the accuracy of the pick up task increases by 1.94 times after incorporating the information obtained from the interaction.Comment: 8 pages, 9 figure

Effect of restorative experience in reducing the risk perception of COVID-19 infection: Korean male campers’ well-being and willingness to pay a premium for camping

During the Coronavirus disease 2019 (COVID-19) pandemic, South Korean men exhibited greater affective risk perceptions than women, displaying anxiety and fear of COVID-19 infection as well as emotional distress. Such negative psychological states can be reduced through exposure to natural environments. Natural settings often provide restorative environments promoting individual mental health, psychological stability, and well-being. Therefore, this study aims to examine the roles of restorativeness as perceived by men in mitigating the affective risk perception of COVID-19, improving well-being, and increasing the willingness to pay a premium to camp in the context of nature-based camping. An online survey was conducted with South Korean men who experienced camping during the COVID-19 pandemic. A total of 208 responses were used for data analysis. The results of structural equation modeling indicated significant relationships between affective risk perception and perceived restorativeness, perceived restorativeness and well-being, and well-being and willingness-to-pay-a-premium. The mediating effect of well-being was also significant. The findings of a multi-group analysis indicated a significant moderating effect of having children on the relationship between perceived restorativeness and well-being, but not on the relationship between well-being and willingness-to-pay-a-premium. The results of this study provide enhanced insight into restorative experiences in nature as a coping mechanism for increased affective risks as perceived by men during the pandemic. In particular, this study examined the psychological benefits of a natural environment in the context of camping and empirically identified the role of camping in promoting a feeling of restorativeness and inducing men’s well-being perception by easing negative emotions. This study also provides practitioners with an understanding of changes in men’s perceptions and emotional and behavioral responses through positive restorative experiences

Topological Semantic Graph Memory for Image-Goal Navigation

A novel framework is proposed to incrementally collect landmark-based graph memory and use the collected memory for image goal navigation. Given a target image to search, an embodied robot utilizes semantic memory to find the target in an unknown environment. % The semantic graph memory is collected from a panoramic observation of an RGB-D camera without knowing the robot's pose. In this paper, we present a topological semantic graph memory (TSGM), which consists of (1) a graph builder that takes the observed RGB-D image to construct a topological semantic graph, (2) a cross graph mixer module that takes the collected nodes to get contextual information, and (3) a memory decoder that takes the contextual memory as an input to find an action to the target. On the task of image goal navigation, TSGM significantly outperforms competitive baselines by +5.0-9.0% on the success rate and +7.0-23.5% on SPL, which means that the TSGM finds efficient paths. Additionally, we demonstrate our method on a mobile robot in real-world image goal scenarios

Microsatellite-Based Genetic Diversity Among Three Duck Populations in Sumatera Island

This study aimed to determine the genetic diversity among three duck populations (Bayang, Pegagan, and Pitalah) reared in Sumatera island, Indonesia, using microsatellite markers. Genetic diversity among populations (n = 90) was determined using 22 microsatellite markers, based on several indices: number of alleles (Na), observed heterozygosity (Ho), expected heterozygosity (He), polymorphism information content (PIC), and Wright’s F-statistics ( ). The total number of alleles detected across loci was 121. The Na per locus ranged from 2 (APH24, CAUD128, and CAUD009) to 18 (CAUD048 and CAUD040). The mean Ho (0.429) dan He (0.509) indicated that the level of genetic diversity among populations was moderate, while the mean PIC (0.46) suggested that the tested loci were informative for assessing genetic diversity. The mean F-statistics ( ) were 0.148, 0.198, and 0.060, respectively. The  value indicated that the level of genetic differentiation among populations was moderate. The results confirms a moderate genetic diversity among populations, which could be beneficial for designing conservation and utilization of the local ducks in Sumatera island

Novel management of expected post-radiotherapy complications in hepatocellular carcinoma patients: a case report

In recent years, radiotherapy (RT) has been used to treat hepatocellular carcinoma (HCC) at each stage. This clinical trend has developed with the increasing improvement of RT techniques, which show clinical results comparable to those of other treatment modalities. Intensity-modulated radiotherapy uses a high radiation dose to improve treatment effectiveness. However, the associated radiation toxicity can damage adjacent organs. Radiation-induced gastric damage with gastric ulcers is a complication of RT. This report presents a novel management strategy for preventing post-RT gastric ulcers. We present the case of a 53-year-old male patient diagnosed with HCC, who experienced gastric ulcer after RT. Before the second round of RT, the patient was administered a gas-foaming agent, which was effective in preventing RT complications

Application of CRISPR-Based C-to-G Base editing in rice protoplasts

Recently, new types of base editors, C-to-G base editors (CGBEs), that enable cytosine transversions that are unachievable with cytosine base editors (CBEs) and adenosine base editors (ABEs), have been developed in human cells. However, despite their importance in crop genome editing, the efficacy of CGBEs has not yet been extensively evaluated. In our study, based on the previously reported plant-compatible CBE and human CGBE, we demonstrated that our monocot plant-compatible CGBEs (PcCGBEs) enable cytosine transversions (C-to-G) in rice protoplasts. For all targets tested, PcCGBEs (monocot plant-compatible CGBEs) appeared to have substantial levels of C-to-G editing activity. PcCGBE showed a much higher C-to-G base editing activity and C-to-G specificity among C-to-D conversions than the mini-version of PcCGBE. Our demonstration of PcCGBE could provide a platform for the further development of enhanced CGBEs for reliable application as a new crop breeding technology.This work was supported by the Creative-Pioneering Researchers Program of Seoul National University, National Research Foundation of Korea (NRF) Grant (2019R1F1A1046305), and New Breeding Technologies Development Program (PJ016542) through the Rural Development Administration (RDA), Republic of Korea

Immune-checkpoint proteins, cytokines, and microbiome impact on patients with cervical insufficiency and preterm birth

BackgroundMicroenvironmental factors, including microbe-induced inflammation and immune-checkpoint proteins that modulate immune cells have been associated with both cervical insufficiency and preterm delivery. These factors are incompletely understood. This study aimed to explore and compare interactions among microbiome and inflammatory factors, such as cytokines and immune-checkpoint proteins, in patients with cervical insufficiency and preterm birth. In particular, factors related to predicting preterm birth were identified and the performance of the combination of these factors was evaluated.MethodsA total of 220 swab samples from 110 pregnant women, prospectively recruited at the High-Risk Maternal Neonatal Intensive Care Center, were collected between February 2020 and March 2021. This study included 63 patients with cervical insufficiency receiving cerclage and 47 control participants. Endo- and exocervical swabs and fluids were collected simultaneously. Shotgun metagenomic sequencing for the microbiome and the measurement of 34 immune-checkpoint proteins and inflammatory cytokines were performed.ResultsFirst, we demonstrated that immune-checkpoint proteins, the key immune-regulatory molecules, could be measured in endocervical and exocervical samples. Secondly, we identified significantly different microenvironments in cervical insufficiency and preterm birth, with precise cervical locations, to provide information about practically useful cervical locations in clinical settings. Finally, the presence of Moraxella osloensis (odds ratio = 14.785; P = 0.037) and chemokine CC motif ligand 2 levels higher than 73 pg/mL (odds ratio = 40.049; P = 0.005) in endocervical samples were associated with preterm birth. Combining M. osloensis and chemokine CC motif ligand 2 yielded excellent performance for predicting preterm birth (area under the receiver operating characteristic curve = 0.846, 95% confidence interval = 0.733-0.925).ConclusionMultiple relationships between microbiomes, immune-checkpoint proteins, and inflammatory cytokines in the cervical microenvironment were identified. We focus on these factors to aid in the comprehensive understanding and therapeutic modulation of local microbial and immunologic compositions for the management of cervical insufficiency and preterm birth

Antimicrobial resistance among migrants in Europe: a systematic review and meta-analysis

BACKGROUND: Rates of antimicrobial resistance (AMR) are rising globally and there is concern that increased migration is contributing to the burden of antibiotic resistance in Europe. However, the effect of migration on the burden of AMR in Europe has not yet been comprehensively examined. Therefore, we did a systematic review and meta-analysis to identify and synthesise data for AMR carriage or infection in migrants to Europe to examine differences in patterns of AMR across migrant groups and in different settings. METHODS: For this systematic review and meta-analysis, we searched MEDLINE, Embase, PubMed, and Scopus with no language restrictions from Jan 1, 2000, to Jan 18, 2017, for primary data from observational studies reporting antibacterial resistance in common bacterial pathogens among migrants to 21 European Union-15 and European Economic Area countries. To be eligible for inclusion, studies had to report data on carriage or infection with laboratory-confirmed antibiotic-resistant organisms in migrant populations. We extracted data from eligible studies and assessed quality using piloted, standardised forms. We did not examine drug resistance in tuberculosis and excluded articles solely reporting on this parameter. We also excluded articles in which migrant status was determined by ethnicity, country of birth of participants' parents, or was not defined, and articles in which data were not disaggregated by migrant status. Outcomes were carriage of or infection with antibiotic-resistant organisms. We used random-effects models to calculate the pooled prevalence of each outcome. The study protocol is registered with PROSPERO, number CRD42016043681. FINDINGS: We identified 2274 articles, of which 23 observational studies reporting on antibiotic resistance in 2319 migrants were included. The pooled prevalence of any AMR carriage or AMR infection in migrants was 25·4% (95% CI 19·1-31·8; I2 =98%), including meticillin-resistant Staphylococcus aureus (7·8%, 4·8-10·7; I2 =92%) and antibiotic-resistant Gram-negative bacteria (27·2%, 17·6-36·8; I2 =94%). The pooled prevalence of any AMR carriage or infection was higher in refugees and asylum seekers (33·0%, 18·3-47·6; I2 =98%) than in other migrant groups (6·6%, 1·8-11·3; I2 =92%). The pooled prevalence of antibiotic-resistant organisms was slightly higher in high-migrant community settings (33·1%, 11·1-55·1; I2 =96%) than in migrants in hospitals (24·3%, 16·1-32·6; I2 =98%). We did not find evidence of high rates of transmission of AMR from migrant to host populations. INTERPRETATION: Migrants are exposed to conditions favouring the emergence of drug resistance during transit and in host countries in Europe. Increased antibiotic resistance among refugees and asylum seekers and in high-migrant community settings (such as refugee camps and detention facilities) highlights the need for improved living conditions, access to health care, and initiatives to facilitate detection of and appropriate high-quality treatment for antibiotic-resistant infections during transit and in host countries. Protocols for the prevention and control of infection and for antibiotic surveillance need to be integrated in all aspects of health care, which should be accessible for all migrant groups, and should target determinants of AMR before, during, and after migration. FUNDING: UK National Institute for Health Research Imperial Biomedical Research Centre, Imperial College Healthcare Charity, the Wellcome Trust, and UK National Institute for Health Research Health Protection Research Unit in Healthcare-associated Infections and Antimictobial Resistance at Imperial College London

Surgical site infection after gastrointestinal surgery in high-income, middle-income, and low-income countries: a prospective, international, multicentre cohort study

Background: Surgical site infection (SSI) is one of the most common infections associated with health care, but its importance as a global health priority is not fully understood. We quantified the burden of SSI after gastrointestinal surgery in countries in all parts of the world. Methods: This international, prospective, multicentre cohort study included consecutive patients undergoing elective or emergency gastrointestinal resection within 2-week time periods at any health-care facility in any country. Countries with participating centres were stratified into high-income, middle-income, and low-income groups according to the UN's Human Development Index (HDI). Data variables from the GlobalSurg 1 study and other studies that have been found to affect the likelihood of SSI were entered into risk adjustment models. The primary outcome measure was the 30-day SSI incidence (defined by US Centers for Disease Control and Prevention criteria for superficial and deep incisional SSI). Relationships with explanatory variables were examined using Bayesian multilevel logistic regression models. This trial is registered with ClinicalTrials.gov, number NCT02662231. Findings: Between Jan 4, 2016, and July 31, 2016, 13 265 records were submitted for analysis. 12 539 patients from 343 hospitals in 66 countries were included. 7339 (58·5%) patient were from high-HDI countries (193 hospitals in 30 countries), 3918 (31·2%) patients were from middle-HDI countries (82 hospitals in 18 countries), and 1282 (10·2%) patients were from low-HDI countries (68 hospitals in 18 countries). In total, 1538 (12·3%) patients had SSI within 30 days of surgery. The incidence of SSI varied between countries with high (691 [9·4%] of 7339 patients), middle (549 [14·0%] of 3918 patients), and low (298 [23·2%] of 1282) HDI (p < 0·001). The highest SSI incidence in each HDI group was after dirty surgery (102 [17·8%] of 574 patients in high-HDI countries; 74 [31·4%] of 236 patients in middle-HDI countries; 72 [39·8%] of 181 patients in low-HDI countries). Following risk factor adjustment, patients in low-HDI countries were at greatest risk of SSI (adjusted odds ratio 1·60, 95% credible interval 1·05–2·37; p=0·030). 132 (21·6%) of 610 patients with an SSI and a microbiology culture result had an infection that was resistant to the prophylactic antibiotic used. Resistant infections were detected in 49 (16·6%) of 295 patients in high-HDI countries, in 37 (19·8%) of 187 patients in middle-HDI countries, and in 46 (35·9%) of 128 patients in low-HDI countries (p < 0·001). Interpretation: Countries with a low HDI carry a disproportionately greater burden of SSI than countries with a middle or high HDI and might have higher rates of antibiotic resistance. In view of WHO recommendations on SSI prevention that highlight the absence of high-quality interventional research, urgent, pragmatic, randomised trials based in LMICs are needed to assess measures aiming to reduce this preventable complication