Directing human attention with pointing

© 2014 IEEE. Pointing is a typical means of directing a human's attention to a specific object or event. Robot pointing behaviours that direct the attention of humans are critical for human-robot interaction, communication and collaboration. In this paper, we describe an experiment undertaken to investigate human comprehension of a humanoid robot's pointing behaviour. We programmed a NAO robot to point to markers on a large screen and asked untrained human subjects to identify the target of the robots pointing gesture. We found that humans are able to identify robot pointing gestures. Human subjects achieved higher levels of comprehension when the robot pointed at objects closer to the gesturing arm and when they stood behind the robot. In addition, we found that subjects performance improved with each assessment task. These new results can be used to guide the design of effective robot pointing behaviours that enable more effective robot to human communication and improve human-robot collaborative performance

Clostridium: Transmission difficile?

Stephan Harbarth and Matthew Samore discuss the implications, and the limitations, of new research that might indicate that most Clostridium difficile cases are imported into hospitals

The strength of weight-bearing bones is similar in amenorrheic and eumenorrheic elite long-distance runners

Background: Regular intense endurance exercise can lead to amenorrhea with possible adverse consequences for bone health. Objective: We compared whole-body and regional bone strength and skeletal muscle characteristics between amenorrheic (AA: n=14) and eumenorrheic (EA: n=15) elite adult female long distance runners and non-athletic controls (C: n=15). Study design and Participants: Participants completed three-day food diaries, dual energy x-ray absorptiometry (DXA), magnetic resonance imaging (MRI), peripheral quantitative computed tomography (pQCT) and isometric maximal voluntary knee extension contraction (MVC). Results: Both athlete groups had a higher caloric intake than controls, with no significant difference between athlete groups. DXA revealed lower bone mineral density (BMD) at the trunk, rib, pelvis and lumbar spine in the AA than EA and C. pQCT showed greater bone size in the radius and tibia in EA and AA than C. The radius and tibia of AA had a larger endocortical circumference than C. Tibia bone mass and moments of inertia (Ix and Iy) were greater in AA and EA than C, whereas in the radius only the proximal Iy was larger in EA than C. Knee extensor MVC did not differ significantly between groups. Conclusions: Amenorrheic adult female elite long-distance runners had lower BMD in the trunk, lumbar spine, ribs and pelvis than eumenorrheic athletes and controls. The radius and tibia bone size and strength indicators were similar in amenorrheic and eumenorrheic athletes, suggesting that long bones of the limbs differ in their response to amenorrhea from bones in the trunk

Topological robot localization in a large-scale water pipe network

Topological localization is well suited to robots operating in water pipe networks because the environment is well defined as a set of discrete connected places like junctions, customer connections, and access points. Topological methods are more computationally efficient than metric methods, which is important for robots operating in pipes as they will be small with limited computational power. A Hidden Markov Model (HMM) based localization method is presented here, with novel incorporation of measured distance travelled. Improvements to the method are presented which use a reduced definition of the robot state to improve computational efficiency and an alternative motion model where the probability of transitioning to each other state is uniform. Simulation in a large realistic map shows that the use of measured distance travelled improves the localization accuracy by around 70%, that the reduction of the state definition gives an reduction in computational requirement by 75% with only a small loss to accuracy dependant on the robot parameters, and that the alternative motion model gives a further improvement to accuracy

Meltwater produced by wind–albedo interaction stored in an East Antarctic ice shelf

Surface melt and subsequent firn air depletion can ultimately lead to disintegration of Antarctic ice shelves1,2 causing grounded glaciers to accelerate3 and sea level to rise. In the Antarctic Peninsula, foehn winds enhance melting near the grounding line4, which in the recent past has led to the disintegration of the most northerly ice shelves5,6. Here, we provide observational and model evidence that this process also occurs over an East Antarctic ice shelf, where meltwaterinduced firn air depletion is found in the grounding zone. Unlike the Antarctic Peninsula, where foehn events originate from episodic interaction of the circumpolar westerlies with the topography, in coastal East Antarctica high temperatures are caused by persistent katabatic winds originating from the ice sheet’s interior. Katabatic winds warm and mix the air as it flows downward and cause widespread snow erosion, explaining >3 K higher near-surface temperatures in summer and surface melt doubling in the grounding zone compared with its surroundings. Additionally, these winds expose blue ice and firn with lower surface albedo, further enhancing melt. The in situ observation of supraglacial flow and englacial storage of meltwater suggests that ice-shelf grounding zones in East Antarctica, like their Antarctic Peninsula counterparts, are vulnerable to hydrofracturing7

Microevolution of Helicobacter pylori during prolonged infection of single hosts and within families

Our understanding of basic evolutionary processes in bacteria is still very limited. For example, multiple recent dating estimates are based on a universal inter-species molecular clock rate, but that rate was calibrated using estimates of geological dates that are no longer accepted. We therefore estimated the short-term rates of mutation and recombination in Helicobacter pylori by sequencing an average of 39,300 bp in 78 gene fragments from 97 isolates. These isolates included 34 pairs of sequential samples, which were sampled at intervals of 0.25 to 10.2 years. They also included single isolates from 29 individuals (average age: 45 years) from 10 families. The accumulation of sequence diversity increased with time of separation in a clock-like manner in the sequential isolates. We used Approximate Bayesian Computation to estimate the rates of mutation, recombination, mean length of recombination tracts, and average diversity in those tracts. The estimates indicate that the short-term mutation rate is 1.4×10−6 (serial isolates) to 4.5×10−6 (family isolates) per nucleotide per year and that three times as many substitutions are introduced by recombination as by mutation. The long-term mutation rate over millennia is 5–17-fold lower, partly due to the removal of non-synonymous mutations due to purifying selection. Comparisons with the recent literature show that short-term mutation rates vary dramatically in different bacterial species and can span a range of several orders of magnitude

Identification of a novel zinc metalloprotease through a global analysis of clostridium difficile extracellular proteins

Clostridium difficile is a major cause of infectious diarrhea worldwide. Although the cell surface proteins are recognized to be important in clostridial pathogenesis, biological functions of only a few are known. Also, apart from the toxins, proteins exported by C. difficile into the extracellular milieu have been poorly studied. In order to identify novel extracellular factors of C. difficile, we analyzed bacterial culture supernatants prepared from clinical isolates, 630 and R20291, using liquid chromatography-tandem mass spectrometry. The majority of the proteins identified were non-canonical extracellular proteins. These could be largely classified into proteins associated to the cell wall (including CWPs and extracellular hydrolases), transporters and flagellar proteins. Seven unknown hypothetical proteins were also identified. One of these proteins, CD630_28300, shared sequence similarity with the anthrax lethal factor, a known zinc metallopeptidase. We demonstrated that CD630_28300 (named Zmp1) binds zinc and is able to cleave fibronectin and fibrinogen in vitro in a zinc-dependent manner. Using site-directed mutagenesis, we identified residues important in zinc binding and enzymatic activity. Furthermore, we demonstrated that Zmp1 destabilizes the fibronectin network produced by human fibroblasts. Thus, by analyzing the exoproteome of C. difficile, we identified a novel extracellular metalloprotease that may be important in key steps of clostridial pathogenesis

The co-development and evaluation of an e-learning course on spinal cord injury physical activity counselling:a randomized controlled trial

Background: Health, fitness and lifestyle professionals can play important roles in promoting physical activity in groups at risk of developing an inactive lifestyle, such as people with spinal cord injury (SCI). Tailored counselling is a promising tool to promote and improve physical activity levels. To support professionals to effectively have a conversation about physical activity with clients with SCI, evidence-based training and resources are needed. This project aimed to (1) co-develop an e-learning course on best practices for SCI physical activity counselling and, (2) examine the effectiveness and usability of this course. Methods: Guided by the technology-enhanced learning (TEL) evaluation framework, we used a systematic, multistep approach to co-develop and evaluate an e-learning course. The development process was informed by input and feedback from a diverse group of end-users and experts (n &gt; 160) via online surveys and (think-aloud) interviews. A randomized controlled trial was used to compare learning outcomes (post-knowledge and self-efficacy) between participants who completed the course (intervention group) and the wait-listed control group. Usability, learning experiences, and satisfaction were assessed among all participants. Results: Forty-one participants (21 intervention-group; 20 control-group) with various backgrounds (e.g., lifestyle counsellors, physiotherapists, occupational therapists, recreation therapists, fitness trainers) enrolled in the randomized controlled trial. After completing the course, participants in the intervention group showed significantly improved knowledge on the best practices for SCI physical activity counselling and higher self-efficacy for using these best practices in conversations with clients with SCI compared to the control group (p &lt;.001). Participants reported above average usability scores, positive learning experiences, and high levels of satisfaction when completing the course. Conclusion: We used a systematic, multi-step, theory-informed approach to co-develop and evaluate an evidence-based e-learning course on SCI physical activity counselling to support professionals to promote physical activity in their daily practices. The overall positive findings demonstrate that the e-learning course is feasible and ready for further implementation in various health and community settings. Implementation of the e-learning course can help professionals improve the physical activity support they provide to their clients, and subsequently increase physical activity participation in people with SCI.</p

Lipopolysaccharide Diversity Evolving in Helicobacter pylori Communities through Genetic Modifications in Fucosyltransferases

Helicobacter pylori persistently colonizes the gastric mucosa of half the human population. It is one of the most genetically diverse bacterial organisms and subvariants are continuously emerging within an H. pylori population. In this study we characterized a number of single-colony isolates from H. pylori communities in various environmental settings, namely persistent human gastric infection, in vitro bacterial subcultures on agar medium, and experimental in vivo infection in mice. The lipopolysaccharide (LPS) O-antigen chain revealed considerable phenotypic diversity between individual cells in the studied bacterial communities, as demonstrated by size variable O-antigen chains and different levels of Lewis glycosylation. Absence of high-molecular-weight O-antigen chains was notable in a number of experimentally passaged isolates in vitro and in vivo. This phenotype was not evident in bacteria obtained from a human gastric biopsy, where all cells expressed high-molecular-weight O-antigen chains, which thus may be the preferred phenotype for H. pylori colonizing human gastric mucosa. Genotypic variability was monitored in the two genes encoding α1,3-fucosyltransferases, futA and futB, that are involved in Lewis antigen expression. Genetic modifications that could be attributable to recombination events within and between the two genes were commonly detected and created a diversity, which together with phase variation, contributed to divergent LPS expression. Our data suggest that the surrounding environment imposes a selective pressure on H. pylori to express certain LPS phenotypes. Thus, the milieu in a host will select for bacterial variants with particular characteristics that facilitate adaptation and survival in the gastric mucosa of that individual, and will shape the bacterial community structure