Ihmisen ja robotin sanattoman kanssakäynnin haasteet sulautetussa järjestelmässä

Tiivistelmä. Robottien kehityksen myötä niitä voidaan hyödyntää tehtävissä, jotka vaativat robotilta jatkuvaa kanssakäymistä ihmisten kanssa. Ihmisten keskuudessa toimivien robottien pitää pystyä vuorovaikuttamaan sulavasti ja luonnollisesti käyttäjiensä kanssa. Sulava kanssakäynti vaatii robotilta kykyä lukea ihmisen sanatonta ja sanallista viestintää sekä kykyä tuottaa ihmisten ymmärtämää viestintää. Tässä työssä kehitettiin toimiva katsekontakti robotille. Työssä käytettiin pohjana InMoov-robotin päätä, jonka silmiä ohjattiin Raspberry PI:lle ja Arduino UNO:lle kehitetyillä ohjelmistoilla. Katsekontakti toteutettiin seuraavalla tavalla: Robotin silmään sijoitetulta kameralta tulevasta kuvasta tunnistetaan kasvot, jonka jälkeen silmät ohjataan kohti kuvassa olevia kasvoja.Challenges of nonverbal human-robot interaction within an embedded system. Abstract. Due to technological improvement of robots they can be utilized in tasks that require constant interaction with humans. Robots that work among humans need to be able to interact naturally and fluently with its users. Smooth interaction requires ability to read both non-verbal and verbal communication of humans and an ability to communicate in a way that can be easily understood. In this project a working eye contact application was built for a robot. The robot used is built on an InMoov robot head, with eyes controlled by software made for Raspberry Pi and Arduino UNO. The application was designed in the following way: A camera mounted in the eye of the robot takes pictures. A face recognition algorithm then finds the face and the eyes are turned towards it

Effect of TNF-α on apoptosis in human eosinophils.

<p>Effect of TNF-α on apoptosis in culture for 40 h (A). Representative graphs from relative DNA fragmentation assay of propidium iodide-stained eosinophils are shown in (B and C). In (B and C) figures in top right corner represent percentage of cells showing decreased DNA content. In (D) is shown the DNA fragmentation in eosinophils cultured without (lane 1) and with 10 ng/ml TNF-α (lane 2). The typical apoptotic morphology (cell shrinkage and condensation of nuclear chromatin) of May-Grünwald-Giemsa-stained cytokine-deprived eosinophils is shown in (E) and the reduction in the number of cells showing apoptotic morphology when cultured with TNF-α (10 ng/ml) for 40 h is shown in (F). Scale bar (E and F) is 10 µm. In (G and H) representative graphs from Annexin-V FITC (FL1-H) and uptake of propidium iodide (FL2-H) analysis of eosinophils are shown. In (G and H) figures in top right corner represent percentages of Annexin-V positive cells (FITC+/PI- and FITC+/PI+). In (I) is shown the effect of neutralising TNF-α (A-TNF-α) antibody (5 µg/ml) on the inhibition of apoptosis induced by TNF-α. The isotype control was IgG₁ (5 µg/ml) and had no effect on eosinophil apoptosis during the 40 h culture. In A and I apoptosis was assessed by flow cytometric measurement of relative DNA content. Each datapoint represents the mean ± SEM of 4–6 independent determinations using eosinophils from different donors. * indicates P<0.05, **P<0.01 and ***P<0.001 as compared with the respective control without TNF-α and # P<0.05 as compared with the respective control without TNF-α neutralising antibody.</p

Effect of TNF-α on IκBα phosphorylation.

<p>The effect of TNF-α (100 ng/ml) in the absence and presence of IKK-1/IKK-2 inhibitor BMS-345541 (10 µM) on the phosphorylation of IκBα (p-IκB) in isolated human eosinophils. Incubations were terminated at the indicated time-points after addition of TNF-α or medium. In lower panel is shown the ratio of optical density (OD; arbitrary units) values of p-IκB and actin bands (mean ± SEM) from seven experiments using eosinophils isolated from different donors. * indicates P<0.05.</p

The effect of a MEK inhibitor PD98059 and a p38 MAPK inhibitor SB203580 on the antiapoptotic effect of TNF-α in human eosinophils.

<p>Eosinophils were preincubated with the solvent control (0.5% DMSO) or the indicated inhibitor for 30 min and thereafter with various concentrations of TNF-α for 40 hours. Apoptosis was assessed by measuring the relative DNA content of propidium iodide-stained cells by flow cytometry. Results are means ± SEM of 4 (PD98059) or 10 (SB203580) independent determinations using eosinophils from different donors. The control value in the absence of TNF-α is set as 100%. The percentage of apoptotic eosinophils in the absence of TNF-α and PD98059 was 63.5±2.5 and in the presence of TNF-α (100 ng/ml) it was 50.2±5.3 (n = 4). The percentage of apoptotic eosinophils in the absence of TNF-α and SB203580 was 58.0±5.8 and in the presence of TNF-α (100 ng/ml) it was 50.9±5.1 (n = 10).</p

Effect of Fas on apoptosis in human eosinophils.

<p>The effect of Fas mAb CH-11 (A) and soluble RhFasL (C) on apoptosis during culture for 40 h. In (B) is shown the effect of isotype control antibody (lane 1; IgM 100 ng/ml) and Fas mAb CH-11 (lane 2; 100 ng/ml) on DNA fragmentation in human eosinophils after culture for 24 h. In (D) is shown the effect of antagonistic Fas mAb ZB4 on human eosinophil apoptosis induced by soluble RhFasL (100 ng/ml) or Fas mAb CH-11 (100 ng/ml). The isotype control for Fas mAb ZB4 was IgG₁ (5 µg/ml) and it did not affect eosinophil apoptosis. In A, C and D apoptosis was analysed by flow cytometric measurement of relative DNA content. Mean ± SEM, n = 4–5. **indicates P<0.01 and ***P<0.001 as compared with the respective control.</p

Effect of TNF-receptor antibodies on apoptosis of human eosinophils in the presence of TNF-α.

<p>The effect of TNF-R1 mAb (10 µg/ml; ▪) and TNF-R2 mAb (10 µg/ml; ▴) on the anti-apoptotic effect of TNF-α in isolated human eosinophils cultured for 40 hours. The control TNF-α concentration-response curve (•) was made in the presence of IgG₁ isotype control (10 µg/ml). Apoptosis was assessed by flow cytometry measuring the relative DNA content of propidium iodide-stained eosinophils. Each data point represents the mean ± SEM of 6–8 independent determinations using eosinophils from different donors. Results are expressed as percentage of control. Solvent control in the absence of TNF-α is set as 100%.</p

Effect of TNF-α on IκB expression and NF-κB DNA binding.

<p>In (A) is shown the effect of TNF-α (100 ng/ml) on the expression of IκBα in isolated human eosinophils. Incubations were terminated at the indicated time-points after addition of TNF-α (top panel) or medium in the simultaneously prepared control cells isolated from the same donor (lower panel). The data are representative of three separate experiments using eosinophils isolated from different donors. In (B) is shown the effect of TNF-α on NF-κB DNA binding in isolated human eosinophils. Incubations were terminated at the indicated time-points after addition of TNF-α (100 ng/ml). NF-κB DNA-binding activity was analyzed by electrophoretic mobility shift assay. Arrowheads indicate the different specific bands. In (C) is shown the total optical density (OD; arbitrary units) values of the abovementioned three specific bands (mean ± SEM) from five experiments using eosinophils isolated from different donors. * indicates P<0.05 as compared with the respective value at 0 min timepoint.</p

Effect of NF-κB inhibitors on apoptosis of human eosinophils in the presence of TNF-α.

<p>The effects of NF-κB inhibitors A. PDTC (▪ 1 µM; ▴ 10 µM; ▾100 µM), B. gliotoxin (▪ 0.9 µg/ml) and the inactive methylgliotoxin (▴ 0.9 µg/ml) and C. an inhibitor of IκB kinases-1 and -2, BMS-345541 (▴ 10 µM) on TNF-α-induced inhibition of apoptosis in isolated human eosinophils after 40 h culture. In each figure, the concentration-response curve of TNF-α in the absence of inhibitors (solvent control) is indicated by (•). Apoptosis was assessed by flow cytometry measuring the relative DNA content of propidium iodide-stained eosinophils. Each data point represents the mean ± SEM of 6-9 independent determinations using eosinophils from different donors. In A, the percentage of apoptotic eosinophils in the absence of TNF-α and PDTC was 57.4±5.5 and in the presence of PDTC it was 63.6±11.0 (1 µM; P>0.05), 49.1±8.0 (10 µM; P>0.05) and 33.1±2.7 (100 µM; P<0.05). In B, the percentage of apoptotic eosinophils in the absence of TNF-α and gliotoxin was 32.7±5.2 and in the presence of gliotoxin (0.9 µg/ml) it was 77.1±4.3 (P<0.001). In C, the percentage of apoptotic eosinophils in the absence of TNF-α and BMS-345541 was 53.5±2.3 and in the presence of BMS-345541 (10 µM) it was 88.2±1.6 (P<0.001).</p

Effect of TNF-α on AP-1 activation in human eosinophils.

<p>The effect of TNF-α (100 ng/ml) on AP-1 activation in isolated human eosinophils. Incubations were terminated at the indicated time-points after addition of TNF-α. AP-1 DNA-binding activity was analyzed by electrophoretic mobility shift assay (A). Arrowheads indicate the different specific bands. The data are representative of three experiments. In (B) is shown the total optical density (OD; arbitrary units) values of the abovementioned specific bands (mean ± SEM) from 3 experiments using eosinophils isolated from different donors.</p