Towards Personalised Robotic Assessment and Response during Physical Human Robot Interactions

University of Technology Sydney. Faculty of Engineering and Information Technology.The exponential growth of robotics in human environments have led to an explosion of human robot interactions. These interactions occur in proximity and have exposed the constraints and limitations of traditional models for robotic response which rely on task-centric measures. This has spurred on an area of research which focuses on understanding the capabilities and limitations of the human user during these interactions. Humans are complex, autonomous agents that are difficult to model, and provide different categories of feedback that derive from biological systems. The current sensory paradigm requires an improved understanding of the limitations, the development of blended-measure models that employ human-centric measures, and a contextually connected biological human understanding into robotic frameworks. This thesis presents a framework towards personalised robotic assessment and response with considerations on understanding the human user during physical human robot interactions. The framework approaches this by examining current limitations, enabling personalised models from human-centric measures, and enhancing the understanding of the human user through physiological and musculoskeletal models. The implementation of a robotic system highlights the feasibility and limitations of using task-centric models during Physical Human Robot Interactions (pHRI). Further work investigates inertial effects of the user during interactions in the context of a prominent predictive model, Fitts’ Law. Physical Human Robot Interaction Primitives extends upon Interaction Primitives by incorporating physical interaction forces between the human user and robot, enabling the inference of user intent when generating a personalised robotic response. Finally, the enhancement of the link between biological human understanding and robotic frameworks is explored. A validation process for a popular musculoskeletal model is conducted, comparing computational results with experimental readings. The limitations for the complex model led to the generation of an empirical model correlating forearm muscle activity and grip strength. This physiological model captured co-contractions for antagonistic muscle pairs and supplemented motion analysis for the musculoskeletal model, enhancing the computational results. The framework combines the topics which facilitate intuitive and adaptive human-robot interactions. The advancement of such collaborative intelligence enhances complementary strengths between human and robot, and work hand in end-effector towards a safer, more interactive future

Automatic Robotic Development through Collaborative Framework by Large Language Models

Despite the remarkable code generation abilities of large language models LLMs, they still face challenges in complex task handling. Robot development, a highly intricate field, inherently demands human involvement in task allocation and collaborative teamwork . To enhance robot development, we propose an innovative automated collaboration framework inspired by real-world robot developers. This framework employs multiple LLMs in distinct roles analysts, programmers, and testers. Analysts delve deep into user requirements, enabling programmers to produce precise code, while testers fine-tune the parameters based on user feedback for practical robot application. Each LLM tackles diverse, critical tasks within the development process. Clear collaboration rules emulate real world teamwork among LLMs. Analysts, programmers, and testers form a cohesive team overseeing strategy, code, and parameter adjustments . Through this framework, we achieve complex robot development without requiring specialized knowledge, relying solely on non experts participation

Hierarchical Large Language Models in Cloud Edge End Architecture for Heterogeneous Robot Cluster Control

Despite their powerful semantic understanding and code generation capabilities, Large Language Models (LLMs) still face challenges when dealing with complex tasks. Multi agent strategy generation and motion control are highly complex domains that inherently require experts from multiple fields to collaborate. To enhance multi agent strategy generation and motion control, we propose an innovative architecture that employs the concept of a cloud edge end hierarchical structure. By leveraging multiple large language models with distinct areas of expertise, we can efficiently generate strategies and perform task decomposition. Introducing the cosine similarity approach,aligning task decomposition instructions with robot task sequences at the vector level, we can identify subtasks with incomplete task decomposition and iterate on them multiple times to ultimately generate executable machine task sequences.The robot is guided through these task sequences to complete tasks of higher complexity. With this architecture, we implement the process of natural language control of robots to perform complex tasks, and successfully address the challenge of multi agent execution of open tasks in open scenarios and the problem of task decomposition

A CD300c-Fc Fusion Protein Inhibits T Cell Immunity

T cell responses are fine-tuned by co-stimulatory and co-inhibitory molecules. Among the T cell regulators, the B7 family members are of central importance. The recent success in targeting the B7 family molecules for the treatment of immune-related diseases has attracted intense interest in identifying additional B7-related molecules. In this study, we describe CD300c as a novel T cell co-inhibitory molecule that shares significant sequence homology with existing B7 family members. CD300c protein is expressed on professional antigen-presenting cells (APC), including B cells, monocytes, macrophages, and dendritic cells (DCs). The putative CD300c counter-receptor is expressed on CD4 and CD8 T cells, and the expression levels are upregulated upon activation. Soluble human and mouse CD300c-Fc fusion proteins significantly inhibit the proliferation, activation, and cytokine production by CD4 and CD8 T cells in vitro. Administration of CD300c-Fc protein attenuates graft-vs.-host disease (GVHD) in mice. Our results suggest that therapeutic interaction with the CD300c inhibitory pathway may represent a new strategy to modulate T cell-mediated immunity for the treatment of GVHD and autoimmune disease

Dispersion-Engineered T-type Germanium Waveguide for Mid-Infrared Supercontinuum and Frequency Comb Generations in All-Normal Dispersion Region

In this paper, a T-type Germanium (Ge) waveguide with the all-normal dispersion profile is designed for mid-infrared supercontinuum (SC) and frequency comb generations. The nonlinearity coefficient of the designed waveguide is calculated as 30.48 W-1·m-1 at the initial pump wavelength of 3.0 μm. Moreover, the group-velocity dispersion is kept low and flat in the considered wavelength range. Simulation results show that with the designed waveguide, the highly coherent and octave-spanning MIR SC can be generated in the wavelength range from 1.85 to 9.98 µm (more than 2.4 octaves) when the pump pulse with wavelength of 3.0 μm, peak power of 900 W, and duration of 120 fs is launched into the 5 mm long waveguide. When the pulse train including 50 pulses at a repetition rate of 100 MHz is used as the pump source, the SC-based frequency comb is obtained

Highly coherent mid-infrared supercontinuum generations in a strip titanium dioxide waveguide with three zero-dispersion wavelengths

A strip titanium dioxide (TiO2) waveguide is designed for highly coherent mid-infrared (MIR) supercontinuum (SC) generation. For the designed TiO2 waveguide, three zero-dispersion wavelengths (ZDWs) are obtained through adjusting the waveguide structure parameters. The three ZDWs are located at 1.53, 3.96, and 5.43 μm, respectively. The nonlinearity coefficient γ is calculated as 1.12 W − 1 m − 1 at wavelength 3.1 μm. By optimizing the pump pulse parameters, the highly coherent MIR SCs are generated when the hyperbolic secant pump pulse with a duration of 80 fs, peak power of 1 kW, and wavelength of 3.1 μm is launched into the TiO2 waveguide and propagated 4.2-mm in length. The obtained SC covers a wavelength range from 1.71 to 9.90 μm (more than 2.5 octaves). Our research results can find important applications in MIR photonics and spectroscopy, biophotonics, optical precision measurement, etc

Reactivation of Epstein–Barr virus by a dual-responsive fluorescent EBNA1-targeting agent with Zn2+-chelating function

EBNA1 is the only Epstein–Barr virus (EBV) latent protein responsible for viral genome maintenance and is expressed in all EBV-infected cells. Zn2+ is essential for oligomerization of the functional EBNA1. We constructed an EBNA1 binding peptide with a Zn2+ chelator to create an EBNA1-specific inhibitor (ZRL5P4). ZRL5P4 by itself is sufficient to reactivate EBV from its latent infection. ZRL5P4 is able to emit unique responsive fluorescent signals once it binds with EBNA1 and a Zn2+ ion. ZRL5P4 can selectively disrupt the EBNA1 oligomerization and cause nasopharyngeal carcinoma (NPC) tumor shrinkage, possibly due to EBV lytic induction. Dicer1 seems essential for this lytic reactivation. As can been seen, EBNA1 is likely to maintain NPC cell survival by suppressing viral reactivation

Expansion within the CYP71D subfamily drives the heterocyclization of tanshinones synthesis in Salvia miltiorrhiza

Tanshinones are the bioactive nor-diterpenoid constituents of the Chinese medicinal herb Danshen (Salvia miltiorrhiza). These groups of chemicals have the characteristic furan D-ring, which differentiates them from the phenolic abietane-type diterpenoids frequently found in the Lamiaceae family. However, how the 14,16-epoxy is formed has not been elucidated. Here, we report an improved genome assembly of Danshen using a highly homozygous genotype. We identify a cytochrome P450 (CYP71D) tandem gene array through gene expansion analysis. We show that CYP71D373 and CYP71D375 catalyze hydroxylation at carbon-16 (C16) and 14,16-ether (hetero)cyclization to form the D-ring, whereas CYP71D411 catalyzes upstream hydroxylation at C20. In addition, we discover a large biosynthetic gene cluster associated with tanshinone production. Collinearity analysis indicates a more specific origin of tanshinones in Salvia genus. It illustrates the evolutionary origin of abietane-type diterpenoids and those with a furan D-ring in Lamiaceae

Meta-analysis Followed by Replication Identifies Loci in or near CDKN1B, TET3, CD80, DRAM1, and ARID5B as Associated with Systemic Lupus Erythematosus in Asians

Systemic lupus erythematosus (SLE) is a prototype autoimmune disease with a strong genetic involvement and ethnic differences. Susceptibility genes identified so far only explain a small portion of the genetic heritability of SLE, suggesting that many more loci are yet to be uncovered for this disease. In this study, we performed a meta-analysis of genome-wide association studies on SLE in Chinese Han populations and followed up the findings by replication in four additional Asian cohorts with a total of 5,365 cases and 10,054 corresponding controls. We identified genetic variants in or near CDKN1B, TET3, CD80, DRAM1, and ARID5B as associated with the disease. These findings point to potential roles of cell-cycle regulation, autophagy, and DNA demethylation in SLE pathogenesis. For the region involving TET3 and that involving CDKN1B, multiple independent SNPs were identified, highlighting a phenomenon that might partially explain the missing heritability of complex diseases

Detailed Analysis of a Contiguous 22-Mb Region of the Maize Genome

Most of our understanding of plant genome structure and evolution has come from the careful annotation of small (e.g., 100 kb) sequenced genomic regions or from automated annotation of complete genome sequences. Here, we sequenced and carefully annotated a contiguous 22 Mb region of maize chromosome 4 using an improved pseudomolecule for annotation. The sequence segment was comprehensively ordered, oriented, and confirmed using the maize optical map. Nearly 84% of the sequence is composed of transposable elements (TEs) that are mostly nested within each other, of which most families are low-copy. We identified 544 gene models using multiple levels of evidence, as well as five miRNA genes. Gene fragments, many captured by TEs, are prevalent within this region. Elimination of gene redundancy from a tetraploid maize ancestor that originated a few million years ago is responsible in this region for most disruptions of synteny with sorghum and rice. Consistent with other sub-genomic analyses in maize, small RNA mapping showed that many small RNAs match TEs and that most TEs match small RNAs. These results, performed on ∼1% of the maize genome, demonstrate the feasibility of refining the B73 RefGen_v1 genome assembly by incorporating optical map, high-resolution genetic map, and comparative genomic data sets. Such improvements, along with those of gene and repeat annotation, will serve to promote future functional genomic and phylogenomic research in maize and other grasses