QoS Control in Remote Robot Operation with Force Feedback

Recently, many researchers focus on studies of remote robot operation with force feedback. By using force feedback, since users can touch remote objects and feel the shape, weight, and softness of each object, the efficiency and accuracy of operation can be largely improved. However, when the haptic information such as force and/or position information is transmitted over a QoS (Quality of Service) non-guaranteed network like the Internet, QoE (Quality of Experience) and stability may seriously deteriorate. Therefore, it is important to carry out QoS control and stabilization control together to solve the problems. In this chapter, we mainly focus on QoS control. We also introduce our remote robot system with force feedback which we constructed to study QoS control and stabilization control by experiment. In the system, a user operates a remote industrial robot with a force sensor by using a local haptic interface device while monitoring the robot operation by a video camera. We handle two types of operation; operation with a single remote robot system and that between two remote robot systems. We explain several types of QoS control which we have proposed so far for remote robot operation with force feedback. Finally, we discuss the challenges and future directions of QoS control in remote robot operation with force feedback

Cooperation among Humans and Robots in Remote Robot Systems with Force Feedback

By using remote robot systems with force feedback, we can largely improve the efficiency and accuracy of work among the systems over a network. In such a system, a human can operate a remote robot by manipulating a haptic interface device while monitoring the movement of the robot arm and perceiving force applied to an object touched/moved by an arm of the robot having a force sensor. The remote robot systems with force feedback are expected to be used in many areas such as outer space, deep sea, nuclear power plants, and disaster areas, which humans cannot enter easily. In these situations, three types of cooperation among humans and robots (that is, between humans and robots, between humans, and between robots) are highly demanded. In this chapter, we introduce our remote robot systems with force feedback and describe the three types of cooperation among humans and robots in the systems. We also explain QoS (Quality of Service) control and stabilization control as our challenges and solutions for effective cooperation. Furthermore, we discuss future directions of the cooperation

Intravenous Injections of a Rationally Selected Oncolytic Herpes Virus as a Potent Virotherapy for Hepatocellular Carcinoma

As a clinical setting in which novel treatment options are urgently needed, hepatocellular carcinoma (HCC) exhibits intriguing opportunities for oncolytic virotherapy. Here we report the rational generation of a novel herpes simplex virus type 1 (HSV-1)-based oncolytic vector for targeting HCC, named Ld0-GFP, which was derived from oncolytic ICP0-null virus (d0-GFP), had a fusogenic phenotype, and was a novel killer against HCC as well as other types of cancer cells. Compared with d0-GFP, Ld0-GFP exhibited superior cancer cell-killing ability in vitro and in vivo . Ld0-GFP targets a broad spectrum of HCC cells and can result in significantly enhanced immunogenic tumor cell death. Intratumoral and intravenous injections of Ld0-GFP showed effective antitumor capabilities in multiple tumor models, leading to increased survival. We speculated that more active cell-killing capability of oncolytic virus and enhanced immunogenic cell death may lead to better tumor regression. Additionally, Ld0-GFP had an improved safety profile, showing reduced neurovirulence and systemic toxicity. Ld0-GFP virotherapy could offer a potentially less toxic, more effective option for both local and systemic treatment of HCC. This approach also provides novel insights toward ongoing efforts to develop an optimal oncolytic vector for cancer therapy

Concurrent Asian monsoon strengthening and early modern human dispersal to East Asia during the last interglacial

The relationship between initial Homo sapiens dispersal from Africa to East Asia and the orbitally paced evolution of the Asian summer monsoon (ASM)-currently the largest monsoon system-remains underexplored due to lack of coordinated synthesis of both Asian paleoanthropological and paleoclimatic data. Here, we investigate orbital-scale ASM dynamics during the last 280 thousand years (kyr) and their likely influences on early H. sapiens dispersal to East Asia, through a unique integration of i) new centennial-resolution ASM records from the Chinese Loess Plateau, ii) model-based East Asian hydroclimatic reconstructions, iii) paleoanthropological data compilations, and iv) global H. sapiens habitat suitability simulations. Our combined proxy-and model-based reconstructions suggest that ASM precipitation responded to a combination of Northern Hemisphere ice volume, greenhouse gas, and regional summer insolation forcing, with cooccurring primary orbital cycles of ∼100-kyr, 41-kyr, and ∼20-kyr. Between ∼125 and 70 kyr ago, summer monsoon rains and temperatures increased in vast areas across Asia. This episode coincides with the earliest H. sapiens fossil occurrence at multiple localities in East Asia. Following the transcontinental increase in simulated habitat suitability, we suggest that ASM strengthening together with Southeast African climate deterioration may have promoted the initial H. sapiens dispersal from their African homeland to remote East Asia during the last interglacial