Affective visuomotor interaction: a functional model for socially competent robot grasping

In the context of human-robot social interactions, the ability of interpreting the emotional value of objects and actions is critical if we wish robots to achieve truly meaningful interchanges with human partners. We review here the most significant findings related to reward management and values assignment in the primate brain, with particular regard to the prefrontal cortex. Based on such findings, we propose a novel model of vision-based grasping in which the context-dependent emotional value of available options (e.g. damageable or dangerous items) is taken into account when interacting with objects in the real world. The model is both biologically plausible and suitable for being applied to a robotic setup. We provide a testing framework along with implementation guidelines

A determination of the strange quark mass for unquenched clover fermions using the AWI

Using the O(a) Symanzik improved action an estimate is given for the strange quark mass for unquenched (nf=2) QCD. The determination is via the axial Ward identity (AWI) and includes a non-perturbative evaluation of the renormalisation constant. Numerical results have been obtained at several lattice spacings, enabling the continuum limit to be taken. Results indicate a value for the strange quark mass (in the MSbar-scheme at a scale of 2GeV) in the range 100 - 130MeV.Comment: 6 pages, contribution to Lattice2005(Hadron spectrum and quark masses), uses PoS.cl

A Determination of the Lambda Parameter from Full Lattice QCD

We present a determination of the QCD parameter Lambda in the quenched approximation (n_f=0) and for two flavours (n_f=2) of light dynamical quarks. The calculations are performed on the lattice using O(a) improved Wilson fermions and include taking the continuum limit. We find Lambda_{n_f=0} = 259(1)(20) MeV and Lambda_{n_f=2} = 261(17)(26) MeV}, using r_0 = 0.467 fm to set the scale. Extrapolating our results to five flavours, we obtain for the running coupling constant at the mass of the Z boson alpha_s(m_Z) = 0.112(1)(2). All numbers refer to the MSbar scheme.Comment: 25 pages, 9 figure

On the stability of gas bubbles in sea water

Laboratory experiments have been performed to determine the rate of solution and the change in composition of air bubbles in stirred sea water as a function of depth (0-200 m) and temperature (1-27° C). At each depth the shrinking of the diameter is nearly linear. This rate of solution increases with increasing pressure up to a limiting value which is almost reached at a depth of 20 m. The rate of disappearance of a bubble is only imperceptibly influenced by temperature. When a bubble of air dissolves at a given depth it becomes richer in nitrogen until a final constant composition is reached. This final nitrogen percentage increases with increasing depth. Equations have been developed, based on the theory of diffusion, which satisfactorily account for the observed facts

Reinitiation of compensatory lung growth after subsequent lung resection

ObjectiveIn experimental animals, pneumonectomy results in rapid, hyperplastic compensatory growth of the remaining lung. The limits of this induced growth are unknown. We tested the hypothesis that compensatory growth can be reinitiated in the same lung after subsequent lung resection.MethodsA left thoracotomy (Sham group) or left pneumonectomy (PNX group) was performed in Sprague–Dawley rats. A third group underwent left pneumonectomy followed 4 weeks later by a bilobectomy of the right upper and middle lobes (PNX+LBX group). Four weeks after bilobectomy in the PNX+LBX group (8 weeks in the Sham and PNX groups), right ventricular pressures were measured by using the open chest technique, and total lung weight and lower plus cardiac lobe weight indices were measured. Lungs were inflation fixed at 25 cm H2O to measure lobe volume index and to perform morphometric measurements on lung sections. Right ventricle/left ventricle plus septum weight index was measured as another index of pulmonary hypertension.ResultsTotal lung weight index was similar in all groups. Pneumonectomy resulted in increased lower plus cardiac lobe weight and volume indices, which were significantly augmented in the PNX+LBX group. The PNX+LBX group underwent a significant increase in total volume of respiratory region, airspace, and tissue and a decrease in alveolar surface density versus the PNX group. The PNX+LBX group also had significantly increased right ventricular systolic pressure and right ventricle/left ventricle plus septum index.ConclusionThese results demonstrate that compensatory growth can be reinitiated in lungs that had previously undergone postpneumonectomy compensatory growth. This subsequent growth, however, is more hypertrophic, and pulmonary hypertension develops despite subsequent compensatory growth

Calculation of Finite Size Effects on the Nucleon Mass in Unquenched QCD using Chiral Perturbation Theory

The finite size effects on nucleon masses are calculated in relativistic chiral perturbation theory. Results are compared with two-flavor lattice results.Comment: talk at Confinement03, 5 pages latex, 3 figures. Assignment of 2 data points to incorrect data sets in plot 1 and of 1 data point in plot 2 corrected. 1 fm lattice result updated. Conclusions unchange

Safety and Tolerability of Adoptive Cell Therapy in Cancer.

Adoptive T cell therapy (ACT) is a safe and effective personalized cancer immunotherapy that can comprise naturally occurring ex vivo expanded cells (e.g., tumor-infiltrating lymphocytes [TIL]) or T cells genetically engineered to confer antigen specificity (T-cell receptor [TCR] or chimeric antigen receptor [CAR] engineered T cells) to mediate cancer rejection. In recent years, some ACTs have produced unprecedented breakthrough responses: TIL therapy has moved from melanoma to solid tumor applications, TCR-engineered cells are developed for hematologic and solid tumors, and CAR-engineered T cells have received Food and Drug Administration (FDA) approval for the treatment of patients with certain B-cell malignancies. Although results are encouraging, to date, only a small percentage of patients with advanced malignancies can benefit from ACT. Besides ACT availability and accessibility, treatment-related toxicities represent a major hurdle in the widespread implementation of this therapeutic modality. The large variety of observed toxicities is caused by the infused cell product or as side effects of accompanying medication and chemotherapy. Toxicities can occur immediately or can be delayed. In order to render those highly promising therapeutic approaches safe enough for a wider pool of patients outside of clinical trials, an international consensus for toxicity management needs to be established

The strong coupling constant from lattice QCD with N_f=2 dynamical quarks

We compute $\Lambda_{\bar{MS}}$ for two flavors of light dynamical quarks using non-perturbatively $O(a)$ improved Wilson fermions. We improve on a recent calculation by employing Pad\'e-improved two-loop and three-loop perturbation theory to convert the lattice numbers to the $\bar{MS}$ scheme.Comment: Contribution to Lattice 2001 (matrix elements), typo correcte

Flt3 Ligand Regulates Dendritic Cell Development from Flt3+ Lymphoid and Myeloid-committed Progenitors to Flt3+ Dendritic Cells In Vivo

Stimulation of Flt3 receptor tyrosine kinase through its cognate ligand expands early hematopoietic progenitor and dendritic cells (DCs) in humans and mice. The exact developmental stages at which hematopoietic progenitors express Flt3, are responsive to its ligand, and subsequently develop to DCs, are not known. Here we show that common lymphoid and common myeloid progenitors, as well as steady state DCs in thymus, spleen, and epidermis, express Flt3. The receptor is down-regulated once definitive B cell, T cell, and megakaryocyte/erythrocyte commitment occurs, and Flt3 is not detectable on other steady state hematopoietic cell populations. Upon in vivo Flt3 ligand (Flt3L) administration, Flt3+ progenitor cells and their progeny DCs are expanded, whereas Flt3− downstream progenitors are not, or are only slightly increased. Transplantation of common lymphoid and common myeloid progenitors and subsequent Flt3L injection increases progeny DCs of both precursor populations. These findings provide a definitive map of Flt3 expression in the hematopoietic hierarchy and directly demonstrate that Flt3L can drive DC development along both the lymphoid and myeloid developmental pathways from Flt3+ progenitors to Flt3+ DCs

Integrated Experimental, Atomistic, and Microstructurally Based Finite Element Investigation of the Dynamic Compressive Behavior of 2139 Aluminum

The objective of this study was to identify the microstructural mechanisms related to the high strength and ductile behavior of 2139-Al, and how dynamic conditions would affect the overall behavior of this alloy. Three interrelated approaches, which span a spectrum of spatial and temporal scales, were used: (i) The mechanical response was obtained using the split Hopkinson pressure bar, for strain-rates ranging from 1.0×10^(−3) s to 1.0×10^4 s^(−1). (ii) First principles density functional theory calculations were undertaken to characterize the structure of the interface and to better understand the role played by Ag in promoting the formation of the Ω phase for several Ω-Al interface structures. (iii) A specialized microstructurally based finite element analysis and a dislocation-density based multiple-slip formulation that accounts for an explicit crystallographic and morphological representation of Ω and Θ' precipitates and their rational orientation relations were conducted. The predictions from the microstructural finite element model indicated that the precipitates continue to harden and also act as physical barriers that impede the matrix from forming large connected zones of intense plastic strain. As the microstructural FE predictions indicated, and consistent with the experimental observations, the combined effects of Θ' and Ω, acting on different crystallographic orientations, enhance the strength and ductility, and reduce the susceptibility of 2139-Al to shear strain localization due to dynamic compressive loads