Qualitative design and implementation of human-robot spatial interactions

Despite the large number of navigation algorithms available for mobile robots, in many social contexts they often exhibit inopportune motion behaviours in proximity of people, often with very "unnatural" movements due to the execution of segmented trajectories or the sudden activation of safety mechanisms (e.g., for obstacle avoidance). We argue that the reason of the problem is not only the difficulty of modelling human behaviours and generating opportune robot control policies, but also the way human-robot spatial interactions are represented and implemented. In this paper we propose a new methodology based on a qualitative representation of spatial interactions, which is both flexible and compact, adopting the well-defined and coherent formalization of Qualitative Trajectory Calculus (QTC). We show the potential of a QTC-based approach to abstract and design complex robot behaviours, where the desired robot's behaviour is represented together with its actual performance in one coherent approach, focusing on spatial interactions rather than pure navigation problems

Irradiation-energy Dependence on the Spectral Changes of Hydrous C-Type Asteroids Based on 4kev and 20kev He Exposure Experiments of Murchison Cm Chondrite

C-type asteroid 162173 Ryugu was observed by remote sensing apparatus onboard Hayabusa2 spacecraft and found to be very dark object whose reflectance is (1.60 0.15) % at 0.55m and showed a small 2.7m absorption band indicative of phyllosilicates. The optical navigation camera detected color variations of Ryugus surface in the wavelength range from 0.4 to 0.95m: Bluer spectra are ob-served at both poles and on the equatorial ridge, both of which are topographic highs and thus may be fresh material exposed by gradual erosion. On the other hand, many locations at middle-latitude areas exhibit redder and darker colors. Similar color variations are also detected in the near-infrared wavelength range. These observations suggest that a surface-correlated process is responsible for the color variation, most prob-ably from blue to red, but the mechanism for the change is not yet identified. Space weathering is one possible mechanism responsible for the color variation, but the spectral changes of C-type asteroids from space weathering are far from being fully understood. Past experimental studies using hydrous carbonaceous chondrites such as Murchison and Tagish Lake show that He exposure (simulating solar wind irradiation) changes spectra to bluer and brighter. Recently our He exposure experiments indicate that spectral changes depend on physical properties such as porosity of exposed material. In this study, we per-formed further He exposure experiments using Murchison CM chondrite in order to understand energy dependence on the spectral changes. We found that He energy is a critical parameter, as well as physical properties of the samples, that affects spectral changes of space weathering of hydrated C-type asteroids

The potential for detecting gamma-ray burst afterglows from population III stars with the next generation of infrared telescopes

We investigate the detectability of a proposed population of gamma-ray bursts (GRBs) from the collapse of Population III (Pop III) stars. The James Webb Space Telescope (JWST) and Space Infrared Telescope for Cosmology and Astrophysics (SPICA) will be able to observe the late time infrared afterglows. We have developed a new method to calculate their detectability, which takes into account the fundamental initial mass function and formation rates of Pop III stars, from which we find the temporal variability of the afterglows and ultimately the length of time JWST and SPICA can detect them. In the range of plausible Pop III GRB parameters, the afterglows are always detectable by these instruments during the isotropic emission, for a minimum of 55 days and a maximum of 3.7 yr. The average number of detectable afterglows will be 2.96× 10–5 per SPICA field of view (FOV) and 2.78× 10–6 per JWST FOV. These are lower limits, using a pessimistic estimate of Pop III star formation. An optimal observing strategy with SPICA could identify a candidate orphan afterglow in ~1.3 yr, with a 90% probability of confirmation with further detailed observations. A beamed GRB will align with the FOV of the planned GRB detector Energetic X-ray Imaging Survey Telescope once every 9 yr. Pop III GRBs will be more easily detected by their isotropic emissions (i.e., orphan afterglows) rather than by their prompt emissions

Universality and superiority in preference for chromatic composition of art paintings

Color composition in paintings is a critical factor affecting observers' aesthetic judgments. We examined observers' preferences for the color composition of Japanese and Occidental paintings when their color gamut was rotated. In the experiment, observers were asked to select their preferred image from original and three hue-rotated images in a four-alternative forced choice paradigm. Despite observers' being unfamiliar with the presented artwork, the original paintings (0 degrees) were preferred more frequently than the hue-rotated ones. Furthermore, the original paintings' superiority was observed when the images were divided into small square pieces and their positions randomized (Scrambled condition), and when the images were composed of square pieces collected from different art paintings and composed as patchwork images (Patchwork condition). Therefore, the original paintings' superiority regarding preference was quite robust, and the specific objects in the paintings associated with a particular color played only a limited role. Rather, the original paintings' general trend in color statistics influenced hue-angle preference. Art paintings likely share common statistical regulations in color distributions, which may be the basis for the universality and superiority of the preference for original paintings.- We thank Dr. Yukinori Misaki at Kagawa National Institute of Technology, Japan and Ms. Nobuyo Okada and Ms. Kanako Maruchi at Toyohashi City Museum of Art and History, Japan for assisting in the measurement of art paintings. This work was supported by JSPS KAKENHI Grant Number JP19H01119 and 20H05956, and by the Portuguese Foundation for Science and Technology (FCT) in the framework of the Strategic Funding UIDB/04650/2020

How good are RGB cameras retrieving colors of natural scenes and paintings?—A study based on hyperspectral imaging

RGB digital cameras (RGB) compress the spectral information into a trichromatic system capable of approximately representing the actual colors of objects. Although RGB digital cameras follow the same compression philosophy as the human eye (OBS), the spectral sensitivity is different. To what extent they provide the same chromatic experiences is still an open question, especially with complex images. We addressed this question by comparing the actual colors derived from spectral imaging with those obtained with RGB cameras. The data from hyperspectral imaging of 50 natural scenes and 89 paintings was used to estimate the chromatic differences between OBS and RGB. The corresponding color errors were estimated and analyzed in the color spaces CIELAB (using the color difference formulas ΔE*ab and CIEDE2000), Jzazbz, and iCAM06. In CIELAB the most frequent error (using ΔE*ab) found was 5 for both paintings and natural scenes, a similarity that held for the other spaces tested. In addition, the distribution of errors across the color space shows that the errors are small in the achromatic region and increase with saturation. Overall, the results indicate that the chromatic errors estimated are close to the acceptance error and therefore RGB digital cameras are able to produce quite realistic colors of complex scenarios.This work was supported by the Portuguese Foundation for Science and Technology (FCT) in the framework of the Strategic Funding UIDB/04650/2020

Fetal Hematopoietic Stem Cell Transplantation Fails to Fully Regenerate the B-Lymphocyte Compartment

B cells are key components of cellular and humoral immunity and, like all lymphocytes, are thought to originate and renew from hematopoietic stem cells (HSCs). However, our recent single-HSC transfer studies demonstrate that adult bone marrow HSCs do not regenerate B-1a, a subset of tissue B cells required for protection against pneumonia, influenza, and other infections. Since B-1a are regenerated by transfers of fetal liver, the question arises as to whether B-1a derive from fetal, but not adult, HSCs. Here we show that, similar to adult HSCs, fetal HSCs selectively fail to regenerate B-1a. We also show that, in humanized mice, human fetal liver regenerates tissue B cells that are phenotypically similar to murine B-1a, raising the question of whether human HSC transplantation, the mainstay of such models, is sufficient to regenerate human B-1a. Thus, our studies overtly challenge the current paradigm that HSCs give rise to all components of the immune system

Blastocyst complementation using Prdm14-deficient rats enables efficient germline transmission and generation of functional mouse spermatids in rats.

Murine animal models from genetically modified pluripotent stem cells (PSCs) are essential for functional genomics and biomedical research, which require germline transmission for the establishment of colonies. However, the quality of PSCs, and donor-host cell competition in chimeras often present strong barriers for germline transmission. Here, we report efficient germline transmission of recalcitrant PSCs via blastocyst complementation, a method to compensate for missing tissues or organs in genetically modified animals via blastocyst injection of PSCs. We show that blastocysts from germline-deficient Prdm14 knockout rats provide a niche for the development of gametes originating entirely from the donor PSCs without any detriment to somatic development. We demonstrate the potential of this approach by creating PSC-derived Pax2/Pax8 double mutant anephric rats, and rescuing germline transmission of a PSC carrying a mouse artificial chromosome. Furthermore, we generate mouse PSC-derived functional spermatids in rats, which provides a proof-of-principle for the generation of xenogenic gametes in vivo. We believe this approach will become a useful system for generating PSC-derived germ cells in the future

Diamond Blackfan anemia is mediated by hyperactive Nemo-like kinase

Diamond Blackfan Anemia (DBA) is a congenital bone marrow failure syndrome associated with ribosomal gene mutations that lead to ribosomal insufficiency. DBA is characterized by anemia, congenital anomalies, and cancer predisposition. Treatment for DBA is associated with significant morbidity. Here, we report the identification of Nemo-like kinase (NLK) as a potential target for DBA therapy. To identify new DBA targets, we screen for small molecules that increase erythroid expansion in mouse models of DBA. This screen identified a compound that inhibits NLK. Chemical and genetic inhibition of NLK increases erythroid expansion in mouse and human progenitors, including bone marrow cells from DBA patients. In DBA models and patient samples, aberrant NLK activation is initiated at the Megakaryocyte/Erythroid Progenitor (MEP) stage of differentiation and is not observed in non-erythroid hematopoietic lineages or healthy erythroblasts. We propose that NLK mediates aberrant erythropoiesis in DBA and is a potential target for therapy