Material Recognition CNNs and Hierarchical Planning for Biped Robot Locomotion on Slippery Terrain

In this paper we tackle the problem of visually predicting surface friction for environments with diverse surfaces, and integrating this knowledge into biped robot locomotion planning. The problem is essential for autonomous robot locomotion since diverse surfaces with varying friction abound in the real world, from wood to ceramic tiles, grass or ice, which may cause difficulties or huge energy costs for robot locomotion if not considered. We propose to estimate friction and its uncertainty from visual estimation of material classes using convolutional neural networks, together with probability distribution functions of friction associated with each material. We then robustly integrate the friction predictions into a hierarchical (footstep and full-body) planning method using chance constraints, and optimize the same trajectory costs at both levels of the planning method for consistency. Our solution achieves fully autonomous perception and locomotion on slippery terrain, which considers not only friction and its uncertainty, but also collision, stability and trajectory cost. We show promising friction prediction results in real pictures of outdoor scenarios, and planning experiments on a real robot facing surfaces with different friction

Clinical Characteristics of Intramucosal Gastric Cancers with Lymphovascular Invasion Resected by Endoscopic Submucosal Dissection

博士（医学）福島県立医科大

Enhancement of the antigen-specific cytotoxic T lymphocyte-inducing ability in the PMDC11 leukemic plasmacytoid dendritic cell line via lentiviral vector-mediated transduction of the caTLR4 gene.

The aim of the present study was to enhance the efficiency of leukemia immunotherapy by increasing the antigen-specific cytotoxic T lymphocyte-inducing ability of leukemia cells. The leukemic plasmacytoid dendritic cell line PMDC05 containing the HLA-A02/24 antigen, which was previously established in our laboratory (Laboratory of Hematology and Oncology, Graduate School of Health Sciences, Niigata University, Niigata, Japan), was used in the present study. It exhibited higher expression levels of CD80 following transduction with lentiviruses encoding the CD80 gene. This CD80-expressing PMDC05 was named PMDC11. In order to establish a more potent antigen-presenting cell for cellular immunotherapy of tumors or severe infections, PMDC11 cells were transduced with a constitutively active (ca) toll-like receptor 4 (TLR4) gene using the Tet-On system (caTLR4-PMDC11). CD8(+) T cells from healthy donors with HLA-A02 were co-cultured with mutant WT1 peptide-pulsed PMDC11, lipopolysaccharide (LPS)-stimulated PMDC11 or caTLR4-PMDC11 cells. Interleukin (IL)-2 (50 IU/ml) and IL-7 (10 ng/ml) were added on day three of culture. Priming with mutant WT1 peptide-pulsed PMDC11, LPS-stimulated PMDC11 or caTLR4-PMDC11 cells was conducted once per week and two thirds of the IL-2/IL-7 containing medium was replenished every 3-4 days. Immediately prior to the priming with these various PMDC11 cells, the cultured cells were analyzed for the secretion of interferon (IFN)-γ in addition to the percentage and number of CD8(+)/WT1 tetramer(+) T cells using flow cytometry. caTLR4-PMDC11 cells were observed to possess greater antigen-presenting abilities compared with those of PMDC11 or LPS-stimulated PMDC11 cells in a mixed leukocyte culture. CD8 T cells positive for the WT1 tetramer were generated following 3-4 weeks of culture and CD8(+)/WT1 tetramer+ T cells were markedly increased in caTLR4-PMDC11-primed CD8(+) T cell culture compared with PMDC11 or LPS-stimulated PMDC11-primed CD8(+) T cell culture. These CD8(+) T cells co-cultured with caTLR4-PMDC11 cells were demonstrated to secrete IFN-γ and to be cytotoxic to WT1-expressing target cells. These data suggested that the antigen-specific cytotoxic T lymphocyte (CTL)-inducing ability of PMDC11 was potentiated via transduction of the caTLR4 gene. The present study also suggested that caTLR4-PMDC11 cells may be applied as potent antigen-presenting cells for generating antigen-specific CTLs in adoptive cellular immunotherapy against tumors and severe viral infections

Enhanced propagation of Granulicatella adiacens from human oral microbiota by hyaluronan

Host determinants for formation/composition of human oral microbiota remain to be clarified, although microorganisms entering the mouth cannot necessarily colonize the oral environment. Here we show that human oral-abundant bacteria degraded host glycosaminoglycans (GAGs) in saliva and gingiva, and certain bacteria significantly grew on hyaluronan (HA), a kind of GAGs. Microbial communities from teeth or gingiva of healthy donors assimilated HA. Metagenomic analysis of human oral microbiota under different carbon sources revealed HA-driven Granulicatella growth. HA-degrading bacterial strains independently isolated from teeth and gingiva were identified as Granulicatella adiacens producing extracellular 130 kDa polysaccharide lyase as a HA-degrading enzyme encoded in a peculiar GAG genetic cluster containing genes for isomerase KduI and dehydrogenase DhuD. These findings demonstrated that GAGs are one of the host determinants for formation/composition of oral microbiota not only for colonization but also for the adaptation to the host niche. Especially, HA enhanced the G. adiacens propagation

Osimertinib Did Not Respond to a Pulmonary Adenocarcinoma with Triple Mutations of Epidermal Growth Factor Receptor, G719S, T790M and S768I

Uncommon epidermal growth factor receptor (EGFR) gene mutations include G719S, T790M and S768I. T790M gatekeeper mutation is the most frequent mechanism of acquired drug resistance to first- and second-generation EGFR-tyrosine kinase inhibitors (TKIs). Osimertinib is a specific EGFR-TKI to overcome T790M resistance mutation. However, owing to a new drug and a rare mutation type, it remains unknown whether osimertinib is effective for acquired S768I. Herein, we reported a 76 year-old woman with pulmonary adenocarcinoma, which had acquired EGFR mutations of S768I and T790M in addition to original G719S after long gefitinib treatment. These mutations were detected in biopsy specimen of liver metastases. During two months of osimertinib, multiple liver metastases progressively enlarged. This case suggested that acquired S768I mutation might be resistant to osimeritinib, despite of co-occurrence of T790M

Gamma-Ray Spectroscopy of Λ16^{16}_\LambdaO and Λ15^{15}_\LambdaN Hypernuclei via the 16^{16}O(K−,π−)(K^-, \pi^-) reaction

he bound-state level structures of the $^{16}_{\Lambda}$O and $^{15}_{\Lambda}$N hypernuclei were studied by $\gamma$-ray spectroscopy using a germanium detector array (Hyperball) via the $^{16}$O ($K^-, \pi^- \gamma$) reaction. A level scheme for $^{16}_{\Lambda}$O was determined from the observation of three $\gamma$-ray transitions from the doublet of states ($2^-$,$1^-$) at $\sim 6.7$ MeV to the ground-state doublet ($1^-$,$0^-$). The $^{15}_{\Lambda}$N hypernuclei were produced via proton emission from unbound states in $^{16}_{\Lambda}$O . Three $\gamma$ -rays were observed and the lifetime of the $1/2^+;1$ state in $^{15}_{\Lambda}$N was measured by the Doppler shift attenuation method. By comparing the experimental results with shell-model calculations, the spin-dependence of the $\Lambda N$ interaction is discussed. In particular, the measured $^{16}_{\Lambda}$O ground-state doublet spacing of 26.4 $\pm$ 1.6 $\pm$ 0.5 keV determines a small but nonzero strength of the $\Lambda N$ tensor interaction.Comment: 22 pages, 17 figure

Status of 48Ca double beta decay search in CANDLES

We study a strategy to reduce veto-time in the search for neutrino-less double-beta decay (0υββ) with CANDLES-III system. We develop a new likelihood analysis and apply it to our new Run010 data. We show that we can increase the un-vetoed live-time by 11.8%. Thanks to this improvements, We expect to increase a limit on the life-time of 0υββ by a factor of three by analyzing both Run009 and Run010 data