Perception is Only Real When Shared: A Mathematical Model for Collaborative Shared Perception in Human-Robot Interaction

Partners have to build a shared understanding of their environment in everyday collaborative tasks by aligning their perceptions and establishing a common ground. This is one of the aims of shared perception: revealing characteristics of the individual perception to others with whom we share the same environment. In this regard, social cognitive processes, such as joint attention and perspective-taking, form a shared perception. From a Human-Robot Interaction (HRI) perspective, robots would benefit from the ability to establish shared perception with humans and a common understanding of the environment with their partners. In this work, we wanted to assess whether a robot, considering the differences in perception between itself and its partner, could be more effective in its helping role and to what extent this improves task completion and the interaction experience. For this purpose, we designed a mathematical model for a collaborative shared perception that aims to maximise the collaborators’ knowledge of the environment when there are asymmetries in perception. Moreover, we instantiated and tested our model via a real HRI scenario. The experiment consisted of a cooperative game in which participants had to build towers of Lego bricks, while the robot took the role of a suggester. In particular, we conducted experiments using two different robot behaviours. In one condition, based on shared perception, the robot gave suggestions by considering the partners’ point of view and using its inference about their common ground to select the most informative hint. In the other condition, the robot just indicated the brick that would have yielded a higher score from its individual perspective. The adoption of shared perception in the selection of suggestions led to better performances in all the instances of the game where the visual information was not a priori common to both agents. However, the subjective evaluation of the robot’s behaviour did not change between conditions

Probability of Potential Collision for Aircraft Encounters in High Density Airspaces

Failure Management consists of a set of functions that enable the detection, isolation, and correction of anomalous behavior in a monitored system trying to prevent system failures. An effective failure management should monitor the system looking for errors and faults that could end up in a failure and overcome such issues when they arise

Steps towards collective sustainability in biomedical research

The optimism surrounding multistakeholder research initiatives does not match the clear view of policies that are needed to exploit the potential of these collaborations. Here we propose some action items that stem from the integration between research advancements with the perspectives of patient-advocacy organizations, academia, and industry

Efficacy of Operculectomy in the Treatment of 145 Cases with Unerupted Second Molars: A Retrospective Case–Control Study

The aim of this study is to assess whether operculectomy in patients with retained second molars eases spontaneous tooth eruption in respect to untreated controls. Two hundred and twenty-two patients with delayed eruption of at least one second molar were selected from the archives of the Department of Orthodontics, Milan, Italy. Eighty-eight patients, 40 males and 48 females (mean age 14.8 ± 1.3 years), met the inclusion criteria. Records were then divided into case and control groups. The case group consisted of patients that underwent removal of the overlaying mucosa over second molars (i.e., operculectomy) and the control group consisted of subjects who retained their operculum over an unerupted second molar and were followed for one year without performing any treatment. A total of 145 impacted second molars were considered (75 cases, 70 controls). A risk ratio with 95% confidence interval was used to compare the prevalence of eruption in the two groups. Spontaneous eruption occurred in 93.3% of cases in the operculectomy group (70/75), while in the control group, 10% teeth erupted spontaneously (7/70). Spontaneous eruption in the upper arch occurred in 95.2% of cases among treated patients (40 out of 42), while in the lower arch, spontaneous eruption occurred in 90.9% of cases (30 out of 33). Spontaneous eruption of the upper second molars in the control group occurred in 8.5% of cases (3 out of 35), while in the lower arch, it occurred in 8.5% (3 out of 35). Operculectomy can ease the spontaneous eruption of retained second molars and reduce the chances of inclusion

Emerg Infect Dis

The present work is devoted to the study of stone beads and pendants from Bronze Age sites in Sicily and the Aeolian Islands. Macroscopic geological examination made it possible to identify the rock types and in some cases their probable provenance. A chronological and typological analysis of the objects as well as graphic and photographic documentation completes the study of the stone artifacts. Comparative research throughout the Mediterranean allows the distinction between local groups of beads and pendants (i.e. of local production and distribution) and groups of Near Eastern objects (mainly in carnelian) that arrived in Italy through Aegean contacts. This work enables a chronological classification of these objects, some of which arrived in Sicily via Mediterranean sea routes. As a result, it is possible to discuss in depth some issues regarding Aegean imports in Italy and the changing socio-economic role that ornaments played in the indigenous communities during the Bronze Age

Antioxidant Properties of Aminoethylcysteine Ketimine Decarboxylated Dimer: A Review

Aminoethylcysteine ketimine decarboxylated dimer is a natural sulfur-containing compound detected in human plasma and urine, in mammalian brain and in many common edible vegetables. Over the past decade many studies have been undertaken to identify its metabolic role. Attention has been focused on its antioxidant properties and on its reactivity against oxygen and nitrogen reactive species. These properties have been studied in different model systems starting from plasma lipoproteins to specific cellular lines. All these studies report that aminoethylcysteine ketimine decarboxylated dimer is able to interact both with reactive oxygen and nitrogen species (hydrogen peroxide, superoxide anion, hydroxyl radical, peroxynitrite and its derivatives). Its antioxidant activity is similar to that of Vitamin E while higher than other hydrophilic antioxidants, such as trolox and N-acetylcysteine

An immunohistochemical study of the human periodontal ligament during sperimental orthodontic movement

Orthodontic tooth movement is characterized by remodeling changes in dental and paradental tissues, including dental pulp, periodontal ligament (PDL), alveolar bone, and gingiva. These tissues, when exposed to varying degrees of magnitude, frequency, and duration of mechanical loading, express macroscopic and microscopic changes. The different modification of periodontal ligament during load deformation can be monitored by analysis of the expression of different collagen types, fibronectin and vascular endothelial growth factor. The aim of this study was to evalue PDL collagen types I and IV, fibronectin and vascular endothelial growth factor (VEGF) modification induced by application of a precalibrated and constant orthodontic strength at different stages of treatment. For the study we utilized a coilspring NiTi 50 gr. and in vivo samples of 20 maxillaries and mandibular premolars of patients aged from 13 to 18 years subject to orthodontic treatment. These teeth was extracted at 1, 7, 14, 21 and 28 days from application of force respectively. The extraction of the PDL was effectuated scarifying the radicular surface on the pressure and tension side. The results were compared with periodontal ligament samples of the normal homologous teeth (control). The periodontal ligament samples were fixed in 3% paraformaldehyde in a 0,2M phosphate buffer at pH 7,4. The following primary antibodies were used: anti collagen I, anti collagen IV, anti fibronectin and mouse monoclonal anti-VEGF. Section were then observed and photographed using Zeiss LSM 510 confocal microscope. Were analyzed fluorescence intensity and compared with the control side. The signal of type I collagen is negative in tension and pressure side after 1 day, showed an increased respect to control, in the tension and pressure side, until 7, 14 and 21 days. After this stage in both sides maintained the same values of the control. The immunofluorescence of type IV collagen is negative, in both sides, after 1 and 7 days. At 14, 21 and 28 days from treatment, increased gradually in pressure side and manteined the same values of the control in tension side. The observation of fibronectin showed strongly immunofluorescence at all stages of treatment. After 1, 7 and 14 days the immunofluorescence of VEGF is negative in pressure side, and positive in tension side. In the last observation periods at 21 and 28 days, VEGF signal showing, in both sides, significant increase when compared with the control group. These findings suggest that: the increase of collagen type I and fibronectin could indicate that the solicitation by orthodontic force could determinate an increase of metabolic activity in the periodontal ligament. The rapid modification after the start of tooth movement, suggest that VEGF may be involved in the early stages of periodontal remodeling during orthodontic tooth movement, when occur rapid changes in local blood circulation. The initial decrease of collagen type IV, indicate a loss of vascular component in the early stages of movement infact this protein is localized in perivessel zones

The Proteomic Landscape of Human Ex Vivo Regulatory and Conventional T Cells Reveals Specific Metabolic Requirements

Human CD4(+)CD25(hi)Foxp3(+)CD127(-) Treg and CD4(+)CD25(-)Foxp3(-) Tconv cell functions are governed by their metabolic requirements. Here we report a comprehensive comparative analysis between ex vivo human Treg and Tconv cells that comprises analyses of the proteomic networks in subcellular compartments. We identified a dominant proteomic signature at the metabolic level that primarily impacted the highly-tuned balance between glucose and fatty-acid oxidation in the two cell types. Ex vivo Treg cells were highly glycolytic while Tconv cells used predominantly fatty-acid oxidation (FAO). When cultured in vitro, Treg cells engaged both glycolysis and FAO to proliferate, while Tconv cell proliferation mainly relied on glucose metabolism. Our unbiased proteomic analysis provides a molecular picture of the impact of metabolism on ex vivo human Treg versus Tconv cell functions that might be relevant for therapeutic manipulations of these cells

Clinical decision-making review on magnetic attachments versus mechanical attachments in dental prosthetics

BackgroundConventional dentures in edentulous patients show some limitations due to the lack of retention, support and stability thus resulting in difficulty to chew. The modern implantology allows to use different implant overdentures and different attachment systems. The selection of the attachment by practitioners is mainly influenced by the clinical experience or technical preferences. AimsThe aim of the present review is to provide an adequate background to the clinicians, in order to select the prosthetic attachments according to the current literature. The mechanical attachments have been compared to the magnetic devices, with the aim to guide the decision of the practitioners. Methods Articles topics selection was based on the use of magnetic attachments in dentistry and the comparison between them and mechanical connectors. The databases used were PubMed/MEDLINE, Google Scholar and ISI Web of Science. A critical evaluation of the selected paper has been made to choose the ones that matched the inclusion criteria.Results Nowadays, few studies have compared different attachments in a manner useful for clinical decision-making. The main problem limiting long-term durability of magnetic attachments in the oral fluid is the poor corrosion resistance of permanent magnets and the consequent leaching of cytotoxic ions. ConclusionMagnetic attachments in comparison with other attaching systems can be useful in patients with special needs, in patients with limited interocclusal space, or in patients with neuromuscular limitations, thanks to the automatic reseating properties. However, it’s important to highlight that the mechanical attachments still represent the best choice in common conditions requiring dental prostheses