Interactive Text2Pickup Network for Natural Language based Human-Robot Collaboration

In this paper, we propose the Interactive Text2Pickup (IT2P) network for human-robot collaboration which enables an effective interaction with a human user despite the ambiguity in user's commands. We focus on the task where a robot is expected to pick up an object instructed by a human, and to interact with the human when the given instruction is vague. The proposed network understands the command from the human user and estimates the position of the desired object first. To handle the inherent ambiguity in human language commands, a suitable question which can resolve the ambiguity is generated. The user's answer to the question is combined with the initial command and given back to the network, resulting in more accurate estimation. The experiment results show that given unambiguous commands, the proposed method can estimate the position of the requested object with an accuracy of 98.49% based on our test dataset. Given ambiguous language commands, we show that the accuracy of the pick up task increases by 1.94 times after incorporating the information obtained from the interaction.Comment: 8 pages, 9 figure

RCM-Fusion: Radar-Camera Multi-Level Fusion for 3D Object Detection

While LiDAR sensors have been succesfully applied to 3D object detection, the affordability of radar and camera sensors has led to a growing interest in fusiong radars and cameras for 3D object detection. However, previous radar-camera fusion models have not been able to fully utilize radar information in that initial 3D proposals were generated based on the camera features only and the instance-level fusion is subsequently conducted. In this paper, we propose radar-camera multi-level fusion (RCM-Fusion), which fuses radar and camera modalities at both the feature-level and instance-level to fully utilize radar information. At the feature-level, we propose a Radar Guided BEV Encoder which utilizes radar Bird's-Eye-View (BEV) features to transform image features into precise BEV representations and then adaptively combines the radar and camera BEV features. At the instance-level, we propose a Radar Grid Point Refinement module that reduces localization error by considering the characteristics of the radar point clouds. The experiments conducted on the public nuScenes dataset demonstrate that our proposed RCM-Fusion offers 11.8% performance gain in nuScenes detection score (NDS) over the camera-only baseline model and achieves state-of-the-art performaces among radar-camera fusion methods in the nuScenes 3D object detection benchmark. Code will be made publicly available.Comment: 10 pages, 5 figure

Lamellar keratoplasty using position-guided surgical needle and M-mode optical coherence tomography

Deep anterior lamellar keratoplasty (DALK) is an emerging surgical technique for the restoration of corneal clarity and vision acuity. The big-bubble technique in DALK surgery is the most essential procedure that includes the air injection through a thin syringe needle to separate the dysfunctional region of the cornea. Even though DALK is a well-known transplant method, it is still challenged to manipulate the needle inside the cornea under the surgical microscope, which varies its surgical yield. Here, we introduce the DALK protocol based on the position-guided needle and M-mode optical coherence tomography (OCT). Depth-resolved 26-gage needle was specially designed, fabricated by the stepwise transitional core fiber, and integrated with the swept source OCT system. Since our device is feasible to provide both the position information inside the cornea as well as air injection, it enables the accurate management of bubble formation during DALK. Our results show that real-time feedback of needle end position was intuitionally visualized and fast enough to adjust the location of the needle. Through our research, we realized that position-guided needle combined with M-mode OCT is a very efficient and promising surgical tool, which also to enhance the accuracy and stability of DALK

Type I IFNs and TNF cooperatively reprogram the macrophage epigenome to promote inflammatory activation

Cross-regulation of Toll-like receptor responses by cytokines is essential for effective host defense, avoidance of toxicity, and homeostasis, but the underlying mechanisms are not well understood. A comprehensive epigenomic approach in human macrophages showed that the proinflammatory cytokines TNF and type I IFNs induce transcriptional cascades that alter chromatin states to broadly reprogram TLR4-induced responses. TNF tolerized inflammatory genes to prevent toxicity, while preserving antiviral and metabolic gene induction. Type I IFNs potentiated TNF inflammatory function by priming chromatin to prevent silencing of inflammatory NF-κB target genes. Priming of chromatin enabled robust transcriptional responses to weak upstream signals. Similar chromatin regulation occurred in human diseases. Our findings reveal that signaling crosstalk between IFNs and TNF is integrated at the level of chromatin to reprogram inflammatory responses, and identify new functions and mechanisms of action of these cytokines

Mental health conditions in Korean atomic bomb survivors: a survey in Seoul

More than 60 years have elapsed since the atomic bombings to Hiroshima and Nagasaki, and since all of the atomic bomb survivors have become old, the importance of caring their mental health has become increasing in Japan. Although approximately 70% of overseas atomic bomb are living in Korea, there have been quite few studies on their mental health. The objectives of the present study were to elucidate whether the mental health conditions of atomic bomb survivor in Korea are similar to those in Japan. The subjects were 181 Korean atomic bomb survivors living in Korea (cases) and 209 outpatients of a hospital in Seoul who were not exposed to atomic bombs (controls). Interviewers administered them at the hospital a questionnaire with Impact of Event Scale-Revised, General Health Questionnaire 12 (GHQ-12), Korean version of short form Geriatric Depression Scale and the K scale of the Minnesota Multiphasic Personality Inventory. Excluding subjects with incomplete responses we analyzed 162 cases and 189 controls. The proportion of subjects with high score of GHQ-12 ( 4) was significantly higher in cases (78/162 or 48.1%) than in controls (42/189 or 22.2%) (p < 0.0001, Fisher\u27s exact test). The present results, though preliminary, indicate that atomic bomb survivors in Korea have also mental health problems similar to those observed in Japanese atomic bomb survivors, indicating the necessity of a larger study

Selection of TCC Curve and Protection Cooperation Method of Distribution Line Using Linear Optimization

Distribution systems are mostly composed of radial structures, which are susceptible to an increased variability and complexity of system operation due to frequent line changes during operation. When multiple changes in distribution lines occur simultaneously, the relative positions of protective devices also change. The existing protection coordination method of distribution lines is configured by considering the operation characteristics and coordination time interval (CTI) of all protective devices in series from the substation to the terminal load. Therefore, the protection coordination algorithm needs to be redesigned whenever a line is changed or a protective device is added to the distribution line for which the existing protection coordination algorithm has been set. In addition, existing protection coordination methods require complex calculations and procedures, which are subject to human errors and are less feasible for responding in real-time to changes in the distribution system. In this paper, we propose the adaptive time–current curve (TCC) method by selecting the time dial setting (TDS) and minimum response time (MRT) of individual protective devices in accordance with the relative distance based on the linear optimization technique. Using PSCAD/EMTDC, a power system analysis program, the minimum operating current and the fault current of each protective device are obtained, and the proposed protection coordination algorithm is verified according to the series configuration relationship of the protective devices. Finally, the proposed method is applied to an actual distribution line to verify the improvement over the existing protection coordination

Brachymna tenuis Stål, 1861 (Hemiptera: Pentatomidae), a new invasive bamboo pest in Korea with notes on insects associated with bamboos

We report first observations of the invasive bamboo pest, Brachymna tenuis Stål, 1861 in Korea as the first species of Brachymna Stål, 1861 (Pentatomidae) reported from the country.Comments on its pest status and distribution are provided. General information on Bamboo-feeding insect in Korea is analysed and provided for the first time

Interactive Text2Pickup Networks for Natural Language-Based Human-Robot Collaboration

In this letter, we propose the Interactive Text2Pickup (IT2P) network for human-robot collaboration that enables an effective interaction with a human user despite the ambiguity in user&apos;s commands. We focus on the task where a robot is expected to pick up an object instructed by a human, and to interact with the human when the given instruction is vague. The proposed network understands the command from the human user and estimates the position of the desired object first. To handle the inherent ambiguity in human language commands, a suitable question which can resolve the ambiguity is generated. The user&apos;s answer to the question is combined with the initial command and given back to the network, resulting in more accurate estimation. The experiment results show that given unambiguous commands, the proposed method can estimate the position of the requested object with an accuracy of 98.49% based on the test dataset. Given ambiguous language commands, we show that the accuracy of the pick up task increases by 1.94 times after incorporating the information obtained from the interaction

Elucidation of the Interactions of Reactive Oxygen Species and Antioxidants in Model Membranes Mimicking Cancer Cells and Normal Cells

Photosensitizers (PSs) used in photodynamic therapy (PDT) have been developed to selectively destroy tumor cells. However, PSs recurrently reside on the extracellular matrix or affect normal cells in the vicinity, causing side effects. Additionally, the membrane stability of tumor cells and normal cells in the presence of reactive oxygen species (ROS) has not been studied, and the effects of ROS at the membrane level are unclear. In this work, we elucidate the stabilities of model membranes mimicking tumor cells and normal cells in the presence of ROS. The model membranes are constructed according to the degree of saturation in lipids and the bilayers are prepared either in symmetric or asymmetric form. Interestingly, membranes mimicking normal cells are the most vulnerable to ROS, while membranes mimicking tumor cells remain relatively stable. The instability of normal cell membranes may be one cause of the side effects of PDT. Moreover, we also show that ROS levels are controlled by antioxidants, helping to maintain an appropriate amount of ROS when PDT is applied

Quantification of spinal cord injury through optical coherence tomography

Recently, several treatment solutions for spinal cord injury (SCI) patient are introduced such as wireless electrical stimulation and stem cell therapy. To check the effect of treatment, monitoring spinal cord healing process is required, but MRI and CT cannot resolve small tissue level SCI. As an alternative non-destructive imaging tool, optical coherence tomography (OCT) was demonstrated to monitor and quantify SCI. OCT can visualize cross section information of biological samples with sub-micron resolution. Conventional OCT utilizes infra-red laser as a light source and screen flat focal plane through 2D scanner. However, if sample is curved or uneven structure, it is hard to acquire images where sample position is out of flat focal plane. To acquire entire information of curved sample, we present circular scanning optical coherence tomography. Like computed tomography (CT), scanning laser is guided to the sample omnidirectionally through specially designed metal coated mirror. Due to the perpendicular reflection at mirror, cylindrical focal plane around sample can be obtained, providing clear cross section information of spinal cord. To quantify SCI, we applied circular scanning OCT to spinal cord of mouse model ex vivo and segmented injury region through image processing. In addition, circular scanning OCT can detach white matter and gray matter. It gives possibility to monitor SCI healing process through quantifying area or volume of wound and time