Making Sense of Audio Vibration for Liquid Height Estimation in Robotic Pouring

In this paper, we focus on the challenging perception problem in robotic pouring. Most of the existing approaches either leverage visual or haptic information. However, these techniques may suffer from poor generalization performances on opaque containers or concerning measuring precision. To tackle these drawbacks, we propose to make use of audio vibration sensing and design a deep neural network PouringNet to predict the liquid height from the audio fragment during the robotic pouring task. PouringNet is trained on our collected real-world pouring dataset with multimodal sensing data, which contains more than 3000 recordings of audio, force feedback, video and trajectory data of the human hand that performs the pouring task. Each record represents a complete pouring procedure. We conduct several evaluations on PouringNet with our dataset and robotic hardware. The results demonstrate that our PouringNet generalizes well across different liquid containers, positions of the audio receiver, initial liquid heights and types of liquid, and facilitates a more robust and accurate audio-based perception for robotic pouring.Comment: Checkout project page for video, code and dataset: https://lianghongzhuo.github.io/AudioPourin

Diacenaphthylene-fused benzo[1,2-b:4,5-b‘]dithiophenes: polycyclic heteroacenes containing full-carbon five-membered aromatic rings

We herein report on an efficient synthesis of diacenaphthylenefused benzo[1,2-b:4,5-b’]dithiphenes and demonstrate that their packing structure in the solid state depends on the substituent groups. These compounds form dimers with their radical cations in high solution concentration and display good field-effect mobility

Budesonide and Formoterol Reduce Early Innate Anti-Viral Immune Responses In Vitro

Asthma is a chronic inflammatory airways disease in which respiratory viral infections frequently trigger exacerbations. Current treatment of asthma with combinations of inhaled corticosteroids and long acting beta2 agonists improves asthma control and reduces exacerbations but what impact this might have on innate anti-viral immunity is unclear. We investigated the in vitro effects of asthma drugs on innate anti-viral immunity. Peripheral blood mononuclear cells (PBMC) from healthy and asthmatic donors were cultured for 24 hours with the Toll-like receptor 7 agonist, imiquimod, or rhinovirus 16 (RV16) in the presence of budesonide and/or formoterol. Production of proinflammatory cytokines and expression of anti-viral intracellular signalling molecules were measured by ELISA and RT-PCR respectively. In PBMC from healthy donors, budesonide alone inhibited IP-10 and IL-6 production induced by imiquimod in a concentration-dependent manner and the degree of inhibition was amplified when budesonide and formoterol were used in combination. Formoterol alone had little effect on these parameters, except at high concentrations (10−6 M) when IL-6 production increased. In RV16 stimulated PBMC, the combination of budesonide and formoterol inhibited IFNα and IP-10 production in asthmatic as well as healthy donors. Combination of budesonide and formoterol also inhibited RV16-stimulated expression of the type I IFN induced genes myxovirus protein A and 2′, 5′ oligoadenylate synthetise. Notably, RV16 stimulated lower levels of type Myxovirus A and oligoadenylate synthase in PBMC of asthmatics than control donors. These in vitro studies demonstrate that combinations of drugs commonly used in asthma therapy inhibit both early pro-inflammatory cytokines and key aspects of the type I IFN pathway. These findings suggest that budesonide and formoterol curtail excessive inflammation induced by rhinovirus infections in patients with asthma, but whether this inhibits viral clearance in vivo remains to be determined

Current Strategies for Drug Delivery to the Inner Ear

For many years, drug delivery to the inner ear has been a challenge to physicians in the treatment of inner ear disorders. In the past decade, the field of inner ear drug delivery has emerged with the development of new biomaterials and drug delivery technologies to improve the effectiveness of inner ear drug therapy. This paper reviews a number of inner ear drug delivery strategies including systemic, intratympanic, and intracochlear delivery. A focus of this review is the recent advances in intratympanic delivery of medications; approaches utilizing novel biomaterials as well as other recent developments are also discussed. Biotechnology-based approaches, such as gene and stem cell therapy methods are also reviewed. Among the various strategies, local drug delivery approaches including intratympanic and intracochlear drug delivery methods that limit systemic exposure are particularly promising. These inner ear drug delivery systems provide a new opportunity to improve the treatment of inner ear disorders