Improving Robot Team's performance by Passing Objects between Robots

Department of Computer Science and EngineeringA transport robot system is a robotic system in which robots move objects from one place to another place. Most existing transport robot systems perform three tasks: loading an item, moving to another location, and unloading the item. Traditional mobile robots, which carry objects one at a time, is not suitable for repeatedly transporting objects over a long distance. Therefore, in the factory or warehouse environment, they still use conveyor belts to transport a large number of objects. However, the existing conveyor belts are physically fixed in their environments, and it is difficult to reconfigure the layout of a conveyor network. In this thesis, I presente three new robotic systems that have the ability to pass objects at a distance between mobile robots. These three robotic systems are mobile conveyor belts, dynamic robot chains, and mobile workstations. First, conveyor belts are commonly used to transport many objects rapidly and effectively. I present a novel conveyor system called a mobile conveyor line that can autonomously organize itself to transport objects to a given location. In this thesis, I analyze the reachability of multiple mobile conveyor belts and present an algorithm to verify the reachability of a specified destination, as well as a way to gen- erate a configuration for connecting conveyor belts to reach the destination. The key results include a complete set of equations describing the reachable set of a mobile conveyor belt on a flat surface, which leads to an effective probabilistic strategy for autonomous configuration. The results of the experiment demonstrated the overlap effect, which states that reachable sets frequently overlap. This system can be suitable for locations where it is difficult to install a conveyor line, such as disaster zones. Second, I present to use mobile conveyor belts in foraging tasks in environments with obstacles. Foraging robots can form a dynamic robot chain network that can quickly send resources received from other foraging robots to a collecting zone called a depot area. A robot chain is essentially a sequence of mobile robots with the ability to quickly pass resources at a long distance. A dynamic robot chain network is a network of robot chains that allow the branches of the robot chains to connect multiple resource clusters. By allowing branching, the traffic near the end of the robot chain network can be dis- tributed to several branches, and congestion can be avoided. The dynamic robot chain network leverages mobility to relocate, reduce collection time for other robots, and quickly send resources received from other foraging robots to the depot area. The key result is the formation of robot chains capable of over- coming the two major limitations of existing dynamic depot foraging systems: the long travel distance for delivery and congestion near the central collection zone. In the experiments, given the same num- ber of robots, a dynamic robot chain network outperformed existing dynamic depots in multiple-place foraging problems. Third, I consider the idea of mobile workstations, which integrate mobile platforms with production machinery to improve efficiency by overlapping production time and delivery time. I describe a task planning algorithm for multiple mobile workstations and offer a model of mobile workstations and their jobs. This planning problem for mobile workstations includes the features of both traveling salesman problems (TSP) and job shop scheduling problems (JSP). For planning, I presente two algorithms: a) a complete search algorithm that offers a minimum makespan plan and b) a local search in the space of task graphs to offer suboptimal plans quickly. According to the experiments, the second algorithm can generate near-optimal temporal plans when the number of jobs is small. In addition, the second algorithm can generate noticeably shorter plans than a version of the job shop scheduling algorithm and SGPlan 5 when the number of jobs is large. This research shows that transport robot systems could work together with other robots or machines in various environments to overcome the limitations of existing systems for the environments. A mobile conveyor line can pass quickly objects at a long distance and can apply to many different environments by overcoming the existing problem of conveyor belts. By using mobile conveyor belts, the robots have the ability to pass objects at a distance between mobile robots to improve the performance of foraging tasks by overcoming the long travel distance for delivery and congestion near the central collection zone. In addition, a mobile workstation can handle the tasks that transport the production of goods to users. By paralleling the production time and the movement, a mobile workstation can substantially shorten the time it takes to deliver products to customers.ope

NUMERICAL ANALYSIS OF THERMAL STRATIFICATION IN THE UPPER PLENUM OF THE MONJU FAST REACTOR

A numerical analysis of thermal stratification in the upper plenum of the MONJU fast breeder reactor was performed. Calculations were performed for a 1/6 simplified model of the MONJU reactor using the commercial code, CFX-13. To better resolve the geometrically complex upper core structure of the MONJU reactor, the porous media approach was adopted for the simulation. First, a steady state solution was obtained and the transient solutions were then obtained for the turbine trip test conducted in December 1995. The time dependent inlet conditions for the mass flow rate and temperature were provided by JAEA. Good agreement with the experimental data was observed for steady state solution. The numerical solution of the transient analysis shows the formation of thermal stratification within the upper plenum of the reactor vessel during the turbine trip test. The temporal variations of temperature were predicted accurately by the present method in the initial rapid coastdown period (∼300 seconds). However, transient numerical solutions show a faster thermal mixing than that observed in the experiment after the initial coastdown period. A nearly homogenization of the temperature field in the upper plenum is predicted after about 900 seconds, which is a much shorter-term thermal stratification than the experimental data indicates. This discrepancy may be due to the shortcoming of the turbulence models available in the CFX-13 code for a natural convection flow with thermal stratification

Encoding Speaker-Specific Latent Speech Feature for Speech Synthesis

In this work, we propose a novel method for modeling numerous speakers, which enables expressing the overall characteristics of speakers in detail like a trained multi-speaker model without additional training on the target speaker's dataset. Although various works with similar purposes have been actively studied, their performance has not yet reached that of trained multi-speaker models due to their fundamental limitations. To overcome previous limitations, we propose effective methods for feature learning and representing target speakers' speech characteristics by discretizing the features and conditioning them to a speech synthesis model. Our method obtained a significantly higher similarity mean opinion score (SMOS) in subjective similarity evaluation than seen speakers of a best-performing multi-speaker model, even with unseen speakers. The proposed method also outperforms a zero-shot method by significant margins. Furthermore, our method shows remarkable performance in generating new artificial speakers. In addition, we demonstrate that the encoded latent features are sufficiently informative to reconstruct an original speaker's speech completely. It implies that our method can be used as a general methodology to encode and reconstruct speakers' characteristics in various tasks

Angstrom-Scale Active Width Control of Nano Slits for Variable Plasmonic Cavity

Nanogap slits can operate as a plasmonic Fabry-Perot cavity in the visible and infrared ranges due to the gap plasmon with an increased wavenumber. Although the properties of gap plasmon are highly dependent on the gap width, active width tuning of the plasmonic cavity over the wafer length scale was barely realized. Recently, the fabrication of nanogap slits on a flexible substrate was demonstrated to show that the width can be adjusted by bending the flexible substrate. In this work, by conducting finite element method (FEM) simulation, we investigated the structural deformation of nanogap slit arrays on an outer bent polydimethylsiloxane (PDMS) substrate and the change of the optical properties. We found that the tensile deformation is concentrated in the vicinity of the gap bottom to widen the gap width proportionally to the substrate curvature. The width widening leads to resonance blueshift and field enhancement decrease. Displacement ratio ((width change)/(supporting stage translation)), which was identified to be proportional to the substrate thickness and slit period, is on the order of 10(-5) enabling angstrom-scale width control. This low displacement ratio comparable to a mechanically controllable break junction highlights the great potential of nanogap slit structures on a flexible substrate, particularly in quantum plasmonics

Recurrent Thyroid Carcinoma in a Dog - Diagnosis by 18F-Fluorodeoxyglucose Positron Emission Tomography

Background: Thyroid tumor is a common endocrine tumor that accounts for up to 3.8% of all tumors in dogs. Most of them are malignant and usually nonfunctional in dogs. 18F-fluorodeoxyglucose positron emission tomography (FDG-PET) is an imaging modality that detects intracellular accumulation of radioactive deoxyglucose administered in the body and is used in combination with computed tomography to provide functional information with exact anatomical localization. It is used in human medicine to detect residual or recurrent head and neck neoplasm after treatments, such as surgical resection. This report describes the first case of diagnosing recurrent thyroid carcinoma (TC) through FDG-PET in a dog. Case: A 9-year-old castrated male Maltese dog presented with a palpable mobile mass in the right ventral cervical region. Radiography and ultrasonography (US) showed a radiopaque mass adjacent to the trachea, and the right thyroid gland was enlarged on computed tomography. The surgically excised mass was encapsulated and measured to be 2.3 × 1.0 × 3.4 cm (width x length x height) in size. Histopathologically, the mass was diagnosed as differentiated follicular TC, and gross and vascular invasions were observed. To prevent recurrence, postoperative carboplatin chemotherapy was performed for 5 months. Two months after completion of chemotherapy, a nodule of approximately 7 mm in diameter was detected in the thyroidectomy bed by US. FDG-PET scanning was performed as an effective means of evaluating the malignancy, local recurrence, and metastasis of differentiated follicular TC. The nodule had the dimensions of 2.8 × 5.9 × 8.6 mm, a maximum standardized uptake value (SUV) of 8.49, and a mean SUV of 5.6. The results of FDG-PET suggested the recurrence of TC; therefore, the second chemotherapy protocol using toceranib was applied for 16 months. After initiation of the second chemotherapy, follow-up examinations were conducted approximately every 4 months. On the 134th day, although the nodule was not palpated, its size was observed to have increased to 5.0 × 3.8 × 13.6 mm on cervical US on the 232nd day, showing heterogeneous and hypoechoic parenchyma. On the 405th day, the tumor was enlarged to a size of 13.4 × 12.9 × 22 mm and identified as a lobular, amorphous shape, and its heterogeneity was increased. Moreover, two pulmonary nodules with well-defined margins were found on radiography in the left caudal lung lobe (9 × 10 mm and 12 × 12 mm [width × length]); thus, lung metastasis was suspected. On the 536th day, anorexia and lethargy occurred, and the dog was lost to follow-up. Discussion: In the present case, local recurrence of TC was suspected based on cervical US. Although US was useful as a screening tool, additional examinations were necessary for evaluating local invasiveness, malignancy, and nodal/distant metastasis. FDG-PET can detect recurrence at an early stage because it can sense increased tumor metabolism through physiologic absorption of FDG, even before the beginning of anatomic change in the lesion. Therefore, FDG-PET can assist in treatment planning and provide better prognosis. In humans, focal FDG uptake and a high maximum SUV in the thyroid gland on FDG-PET were associated with a higher risk of cancer. Because there was no evidence of neoplasia except the thyroid lesion during the FDG-PET examination, the tumor showed an increasingly malignant pattern of the thyroid gland on US during the follow-up period, and the metastatic pulmonary nodules were identified on the 650th day after the thyroidectomy. Therefore, the present case was diagnosed as recurrent TC. This report describes the use of FDG-PET for diagnosing local recurrence of TC, pointing to FDG-PET as a potential strategy to evaluate loco-regional recurrence and distant metastasis of TC. Keywords: canine, FDG-PET, follicular thyroid carcinoma, metastasis, tumor, cancer

Cystitis in a Bitch with Chronic Kidney Disease Caused by Multidrug-Resistant Escherichia coli

Background: In dogs with bacterial cystitis that is resistant to multiple antibiotics, resulting from repeated infections and antimicrobial administration, especially if the dog has impaired renal function and the induction of systemic side effects by intravenous or oral administration is a concern, intravesical instillation of antibiotics might represent an alternative treatment option. In human and veterinary medicine, a number of studies showed intravesical instillation of antibiotics is effective for the therapy multidrug-resistant bacterial urinary tract infection (UTI). This report firstly illustrates successful intravesical meropenem treatment of a UTI caused by multidrug-resistant Escherichia coli with no systemic side effects in dog with chronic kidney disease (CKD).Case: A 15-year-old spayed female Maltese was presented with recurrent bacterial cystitis. The risk factors for the recurrent UTI were spinal cord injury and CKD which had been managed for 1 year. Ultrasound-guided cystocentesis was performed to obtain a urine sample for urinalysis, bacteriologic culture, and antibiotic susceptibility testing. Bacterial cystitis caused by multidrug-resistant Escherichia coli was diagnosed on the basis of bacterial culture, and antimicrobial susceptibility testing. Because the dog had CKD, reducing the clearance of meropenem, intravesical instillation of antibiotics was initiated. The intravesical instillation process consisted of the emptying of the urinary bladder, infusion of a diluted meropenem solution (8.5 mg/kg diluted in 20 mL of saline solution) into the bladder through a urethral catheter, and retention of the meropenem solution in the bladder for 1 h, and its removal. The procedure was repeated every 8 h. On day 8 of the intravesical instillation therapy, Bactereologic culture yielded a growth of E. coli (50,000 CFUs/mL), which was less than previously obtained. the concentration of the meropenem solution being administered was increased to 17 mg/kg diluted in 20 mL of saline solution, to improve the effectiveness of the therapy. After 21 days of the intravesical meropenem instillation, the bacterial cystitis was resolved. One year after completion of the treatment, the dog is still alive without any recurrence of bacterial cystitis. Discussion: Because resistant uropathogens can cause zoonotic infections, effective therapy is important with increasing incidence not only for patients, but also for public health. Intravesical instillation of antibiotics can be an effective treatment method for dogs with urinary tract infection in which oral antibiotics are likely to be ineffective and injectable antibiotics cannot be a treatment option. The antibiotics can be administered directly to the affected location, and systemic side effects can be minimized by the impermeabtility of the bladder wall via intravesical instillation procedure. Meropenem is likely to accumulate in dogs with impaired renal function, leading to systemic side effects and the aggravation of CKD in old dogs. This report describes the successful treatment of multidrug-resistant E. coli infection by intravesical instillation of meropenem without any side effects in dogs with CKD. Therefore, clinician should consider the use of intravesical instillation of antibiotics which predominately excreted in the urine for the control of urinary tract infection caused by multidrug-resistant bacteria in dogs showing reduced renal function. Keywords: canine, intravesical instillation, meropenem, multidrug-resistant organism, urinary tract infection

Treatment of Discoid Lupus Erythematosus in a Dog with Human Intravenous Immunoglobulin

Background: Discoid lupus erythematosus (DLE) is a common canine autoimmune skin disease, in which systemic manifestations are absent. Skin Lesions are usually present on the nasal planum, and characterised by erythema, depigmentation, erosion, ulceration, and crusting. The diagnosis is based on histopathological results, which should demonstrate lymphoplasmacytic lichenoid-interface dermatitis. Human intravenous immunoglobulin (hIVIg) has been used in veterinary medicine to treat cutaneous diseases including erythema multiforme, PF, and severe adverse cutaneous drug reactions. In human medicine, it has been effective to treat DLE. This report firstly describes the clinical response to hIVIg in a dog with DLE resistant to common immunosuppressive drugs.Case: A 5-year-old, intact female Shih Tzu presented with a 1-month history of slowly progressive black crusting on the nasal planum, chin, and claw. Based on the results of a dermatologic examination, superficial pyoderma was diagnosed. The skin lesions did not improve during and after anti-infective treatment. After removing the crusts, a skin biopsy was obtained from the muzzle. Histopathology of lesional skin biopsy specimens revealed lymphoplasmacytic interface dermatitis at the dermoepidermal junction. Microscopic examination also revealed vacuolar changes and pigmentary incontinence of the basal layer as a lichenoid tissue reaction. No mites or fungi were detected on the skin section. The absence of acantholytic cells excluded pemphigus foliaceus, which is also characterised by the lesions of the nasal planum. Based on the distribution of the lesions, histopathology and exclusion of other dermatoses, the dog was diagnosed with DLE. The skin lesions temporarily improved after treatment with prednisolone (2 mg/kg PO q12h). However, after tapering the dose of prednisolone, new black crusts developed on the nasal planum and claw. Although the dog was successively treated with other immunosuppressive drugs, including azathioprine, cyclosporin with dexamethasone, and mycophenolate mofetil, black crusts still remained. Due to the low efficacy of these immunosuppressive drugs, hIVIg was administered at 0.5 g/kg once daily for 4 days, for a total dose of 2 g/kg. During hIVIg administration, the crusted lesions gradually improved. After the hIVIg administration, the dog was treated with prednisolone (1 mg/kg PO q12h). The lesions were almost in complete remission at 21 days after an additional application of prednisolone. The skin lesions did not recur, and the treatment was eventually discontinued after 6 weeks of additional prednisolone application.Discussion: The standard treatment of canine DLE includes glucocorticoids, and second-line immunosuppressive drugs, such as azathioprine and cyclosporine, are usually added in cases resistant to steroids. This case suggests that hIVIg may be beneficial as an adjunctive treatment option for canine DLE, especially when the application of standard immunosuppressive drugs is limited due to adverse effects or low efficacy. There is evidence from several studies that the steroid-sparing effect of hIVIg is significant in human patients. In the current case, the effective dose of prednisolone was reduced to 2 mg/kg/day after hIVIg administration, and prednisolone therapy was finally discontinued completely. The hIVIg appears to lower the daily steroid dose requirement in this dog. Keywords: autoimmune skin disease, discoid lupus erythematosus, canine dermatology, immunosuppressive drug, human intravenous immunoglobulin

Causes and outcomes of revision surgery in subjects with pulsatile tinnitus

IntroductionOnce the underlying pathology has been identified, pulsatile tinnitus (PT) can be treated successfully with surgical or interventional management. However, some patients experience residual or recurrent symptoms following initially successful surgical treatment, and require revision surgery or additional procedures. Here, we report a case series of patients who had undergone revision surgery or interventional treatment, and suggest possible ways of minimizing the need for revision.MethodsBetween January 2014 and March 2023, a total of seven subjects underwent revision surgery or interventional treatment for persistent or recurrent PT after initial surgical treatment. Demographic data, reasons for revision, and changes in symptoms before and after revision were analyzed retrospectively. Temporal bone computed tomographic angiography images were reviewed to identify the causes and reasons for revision.ResultsOf the seven subjects, six underwent sigmoid sinus (SS) resurfacing/reshaping due to ipsilateral diverticulum (Div) or dehiscence (Deh), and one underwent jugular bulb (JB) resurfacing due to a high-riding JB with bony Deh. Of the five subjects who underwent revision SS surgery due to recurrent SS-Div or SS-Deh, three showed marked resolution of PT, while the other two showed partial improvement of the symptoms. One subject who underwent revision JB resurfacing, and another who underwent additional transarterial embolization for a concurrent ipsilateral dural arteriovenous fistula, reported marked improvement of PT.DiscussionThe possibility of recurrence should be taken into account when performing surgical intervention in patients with PT. The likelihood of recurrence can be minimized through a comprehensive evaluation to identify possible multiple etiologies, and through the use of durable materials and appropriate surgical methods

MYC and BCL2 overexpression is associated with a higher class of Memorial Sloan-Kettering Cancer Center prognostic model and poor clinical outcome in primary diffuse large B-cell lymphoma of the central nervous system

Table S1. Correlation of BCL6 expression and clinicopathological variables; Table S2. MYC translocation and copy number change in MYC positive cases. (DOCX 24 kb

Case report: Central-pituitary hypothyroidism concurrent with hyperadrenocorticism without pituitary macroadenoma in a Miniature Schnauzer dog

Multiple endocrine disorders are uncommon in veterinary medicine, and the disease combination is usually related to hypercortisolism or autoimmunity. Central-pituitary hypothyroidism, also refer to secondary hypothyroidism, can be caused by hypercortisolemic conditions and is well-recognized in human medicine. However, central hypothyroidism, including pituitary hypothyroidism, concurrent with hyperadrenocorticism, is rarely reported in veterinary medicine. A 7-year-old, intact female Miniature Schnauzer presented with generalized alopecia, scale, and pruritus and was diagnosed with superficial pyoderma and Malassezia dermatitis. Hormonal tests were performed, and the results indicated multiple endocrinopathies with a combination of non-adrenal dependent hyperadrenocorticism and central-pituitary hypothyroidism. Magnetic resonance imaging (7 T) and high-resolution research tomography positron emission tomography were performed to differentiate neuroendocrine tumors; however, no lesion was found in the hypothalamic to pituitary region. Hyperadrenocorticism was managed first to control endocrinopathy. After controlling hypercortisolism, a weak elevation of free thyroxine (T4) was revealed, whereas total T4 and thyroid-stimulating hormone (TSH) were still undetectable, and hypothyroidism management was added. About 9 months after the management, both endocrine diseases were well controlled, and clinical signs improved; however, serum TSH was unmeasured consistently. This case study describes a case of multiple endocrinopathies in a Miniature Schnauzer dog diagnosed with central-pituitary hypothyroidism concurrent with non-adrenal dependent hyperadrenocorticism without pituitary macroadenoma