Translating Universal Scene Descriptions into Knowledge Graphs for Robotic Environment

Robots performing human-scale manipulation tasks require an extensive amount of knowledge about their surroundings in order to perform their actions competently and human-like. In this work, we investigate the use of virtual reality technology as an implementation for robot environment modeling, and present a technique for translating scene graphs into knowledge bases. To this end, we take advantage of the Universal Scene Description (USD) format which is an emerging standard for the authoring, visualization and simulation of complex environments. We investigate the conversion of USD-based environment models into Knowledge Graph (KG) representations that facilitate semantic querying and integration with additional knowledge sources.Comment: 6 pages, 3 figures, ICRA 202

Myeloid-related protein 8/14 complex describes microcirculatory alterations in patients with type 2 diabetes and nephropathy

<p>Abstract</p> <p>Background</p> <p>Inflammation contributes to cardiovascular complications in type 2 diabetes, which are often characterized by microvascular alterations. We investigated whether myeloid-related protein 8/14 complex (MRP8/14) secreted by transmigrating monocytes and granulocytes may represent a biomarker for microvascular alterations in patients with type 2 diabetes and nephropathy.</p> <p>Methods</p> <p>MRP8/14 was measured in 43 patients with type 2 diabetes and nephropathy. Additionally, the inflammatory markers Interleukin-6 (IL-6), Tumor necrosis factor-α (TNF-α) and C-reactive protein (CRP) were quantified. To detect microvascular alterations proteinuria and retinal vessel caliber were used as classical and novel marker, respectively. Proteinuria was quantified by protein-creatinine ratio (PCR); retinal vessel caliber was quantified after retina photography on digitalized retina pictures.</p> <p>Results</p> <p>MRP8/14 was positively associated with inflammation (<it>r </it>= 0.57), proteinuria (<it>r </it>= 0.40) and retinal arterial caliber (<it>r </it>= 0.48). Type 2 diabetic patients with MRP8/14 values above the median of 5.8 μg/ml demonstrated higher proteinuria and larger retinal artery caliber than patients with MRP8/14 values below the median (logPCR: -0.51 ± 0.52 versus -0.96 ± 0.46, <it>P </it>< 0.01; retinal artery lumen (μm): 178.3 ± 14.1 versus 162.7 ± 14.9 <it>P </it>< 0.01). Both groups did not differ with regard to metabolic factors and blood pressure. MRP8/14 was an independent predictor of retinal artery caliber in multivariate stepwise regression analysis (<it>β </it>= 0.607) and was positively associated with IL-6 (<it>r </it>= 0.57, <it>P </it>< 0.001) and TNF-α (<it>r </it>= 0.36, <it>P </it>< 0.05).</p> <p>Conclusion</p> <p>MRP8/14 – a marker for transendothelial migration – describes not only the state of inflammation in diabetic nephropathy, but additionally the degree of microvascular alterations in the glomerular and retinal bed. Therefore, MRP8/14 may be a potentially selective novel biomarker for microcirculatory defects in diabetic nephropathy.</p

Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation

Advanced cognitive capabilities enable humans to solve even complex tasks by representing and processing internal models of manipulation actions and their effects. Consequently, humans are able to plan the effect of their motions before execution and validate the performance afterwards. In this work, we derive an analog approach for robotic wiping actions which are fundamental for some of the most frequent household chores including vacuuming the floor, sweeping dust, and cleaning windows. We describe wiping actions and their effects based on a qualitative particle distribution model. This representation enables a robot to plan goal-oriented wiping motions for the prototypical wiping actions of absorbing, collecting and skimming. The particle representation is utilized to simulate the task outcome before execution and infer the real performance afterwards based on haptic perception. This way, the robot is able to estimate the task performance and schedule additional motions if necessary. We evaluate our methods in simulated scenarios, as well as in real experiments with the humanoid service robot Rollin’ Justin

Subtle Alterations in PCNA-Partner Interactions Severely Impair DNA Replication and Repair

Dynamic switching of PCNA-partner interactions is essential for normal DNA replication and repair in yeast

A network of assembly factors is involved in remodeling rRNA elements during preribosome maturation

Eukaryotic ribosome biogenesis involves ∼200 assembly factors, but how these contribute to ribosome maturation is poorly understood. Here, we identify a network of factors on the nascent 60S subunit that actively remodels preribosome structure. At its hub is Rsa4, a direct substrate of the force-generating ATPase Rea1. We show that Rsa4 is connected to the central protuberance by binding to Rpl5 and to ribosomal RNA (rRNA) helix 89 of the nascent peptidyl transferase center (PTC) through Nsa2. Importantly, Nsa2 binds to helix 89 before relocation of helix 89 to the PTC. Structure-based mutations of these factors reveal the functional importance of their interactions for ribosome assembly. Thus, Rsa4 is held tightly in the preribosome and can serve as a “distribution box,” transmitting remodeling energy from Rea1 into the developing ribosome. We suggest that a relay-like factor network coupled to a mechano-enzyme is strategically positioned to relocate rRNA elements during ribosome maturation

ACCELERATING OUT of the GREAT RECESSION

xix, 202 Hlm, 22c

Student Perception of Online Learning in ESL Bilingual Teacher Preparation

Abstract Current technologies are changing delivery options for post-graduate teacher education. Many practicing teachers who return to school to prepare to educate English learners choose distance learning. This article explores teachers&apos; perceived satisfaction with the quality of online courses, with the collaborative tasks required in these, and the extent to which the teachers consider the online course format effectively prepares them to work with English learners. This study reports qualitative and quantitative finding from a questionnaire administered to teachers who completed graduate level courses in an online format. Data gathered strongly support online course delivery as a viable and appropriate format for post-graduate teacher preparation. Study findings are encouraging for the effectiveness of online course formats to prepare practicing teachers. Responses on the survey questionnaire completed by participants document their perception that online courses are as rigorous as F2F coursework given effective online delivery formats that include appropriate instructor availability, timely and positive feedback, and flexible course organization