Multisensory wearable interface for immersion and telepresence in robotics

The idea of being present in a remote location has inspired researchers to develop robotic devices that make humans to experience the feeling of telepresence. These devices need of multiple sensory feedback to provide a more realistic telepresence experience. In this work, we develop a wearable interface for immersion and telepresence that provides to human with the capability of both to receive multisensory feedback from vision, touch and audio and to remotely control a robot platform. Multimodal feedback from a remote environment is based on the integration of sensor technologies coupled to the sensory system of the robot platform. Remote control of the robot is achieved by a modularised architecture, which allows to visually explore the remote environment. We validated our work with multiple experiments where participants, located at different venues, were able to successfully control the robot platform while visually exploring, touching and listening a remote environment. In our experiments we used two different robotic platforms: the iCub humanoid robot and the Pioneer LX mobile robot. These experiments show that our wearable interface is comfortable, easy to use and adaptable to different robotic platforms. Furthermore, we observed that our approach allows humans to experience a vivid feeling of being present in a remote environment

Towards a wearable interface for immersive telepresence in robotics

In this paper we present an architecture for the study of telepresence, immersion and human-robot interaction. The architecture is built around a wearable interface that provides the human user with visual, audio and tactile feedback from a remote location. We have chosen to interface the system with the iCub humanoid robot, as it mimics many human sensory modalities, including vision (with gaze control) and tactile feedback, which offers a richly immersive experience for the human user. Our wearable interface allows human participants to observe and explore a remote location, while also being able to communicate verbally with others located in the remote environment. Our approach has been tested from a variety of distances, including university and business premises, and using wired, wireless and Internet based connections, using data compression to maintain the quality of the experience for the user. Initial testing has shown the wearable interface to be a robust system of immersive teleoperation, with a myriad of potential applications, particularly in social networking, gaming and entertainment

Assessment of multispectral and hyperspectral imaging systems for digitisation of a Russian icon

In a study of multispectral and hyperspectral reflectance imaging, a Round Robin Test assessed the performance of different systems for the spectral digitisation of artworks. A Russian icon, mass-produced in Moscow in 1899, was digitised by ten institutions around Europe. The image quality was assessed by observers, and the reflectance spectra at selected points were reconstructed to characterise the icon’s colourants and to obtain a quantitative estimate of accuracy. The differing spatial resolutions of the systems affected their ability to resolve fine details in the printed pattern. There was a surprisingly wide variation in the quality of imagery, caused by unwanted reflections from both glossy painted and metallic gold areas of the icon’s surface. Specular reflection also degraded the accuracy of the reconstructed reflectance spectrum in some places, indicating the importance of control over the illumination geometry. Some devices that gave excellent results for matte colour charts proved to have poor performance for this demanding test object. There is a need for adoption of standards for digitising cultural heritage objects to achieve greater consistency of system performance and image quality.This article arose out of a Short-Term Scientific Mission (STSM) conducted by Tatiana Vitorino when visiting University College London during a 2-week period in late October 2015. The research was carried out under the auspices of the European COST Action TD1201 Colour and Space in Cultural Heritage (COSCH). The project website is at http://www.cosch.info. Under the COST rules, TV received funding for travel and accommodation expenses, and all coauthors were able to claim travel expenses to attend the subsequent COSCH project meeting. No other funding was received from COSCH for labour or equipment and all work was done on a voluntary pro bono basis.info:eu-repo/semantics/publishedVersio

Critical aspects of substrate nanopatterning for the ordered growth of GaN nanocolumns

Precise and reproducible surface nanopatterning is the key for a successful ordered growth of GaN nanocolumns. In this work, we point out the main technological issues related to the patterning process, mainly surface roughness and cleaning, and mask adhesion to the substrate. We found that each of these factors, process-related, has a dramatic impact on the subsequent selective growth of the columns inside the patterned holes. We compare the performance of e-beam lithography, colloidal lithography, and focused ion beam in the fabrication of hole-patterned masks for ordered columnar growth. These results are applicable to the ordered growth of nanocolumns of different materials

Maternal sepsis complicating arabin cervical pessary placement for the prevention of preterm birth: a case report

Preterm delivery is a major health problem and contributes to more than 50% of all neonatal and infant deaths. Recently, there has been a renewed interest in the use of cervical pessaries as a safe and effective intervention with few maternal side-effects for the prevention of preterm birth in both single and twin pregnancies

Pyrazoleamide compounds are potent antimalarials that target Na+ homeostasis in intraerythrocytic Plasmodium falciparum

The quest for new antimalarial drugs, especially those with novel modes of action, is essential in the face of emerging drug-resistant parasites. Here we describe a new chemical class of molecules, pyrazoleamides, with potent activity against human malaria parasites and showing remarkably rapid parasite clearance in an in vivo model. Investigations involving pyrazoleamide-resistant parasites, whole-genome sequencing and gene transfers reveal that mutations in two proteins, a calcium-dependent protein kinase (PfCDPK5) and a P-type cation-ATPase (PfATP4), are necessary to impart full resistance to these compounds. A pyrazoleamide compound causes a rapid disruption of Na+ regulation in blood-stage Plasmodium falciparum parasites. Similar effect on Na+ homeostasis was recently reported for spiroindolones, which are antimalarials of a chemical class quite distinct from pyrazoleamides. Our results reveal that disruption of Na+ homeostasis in malaria parasites is a promising mode of antimalarial action mediated by at least two distinct chemical classes

Does Kin Recognition and Sib-Mating Avoidance Limit the Risk of Genetic Incompatibility in a Parasitic Wasp?

Background: When some combinations of maternal and paternal alleles have a detrimental effect on offspring fitness, females should be able to choose mates on the basis of their genetic compatibility. In numerous Hymenoptera, the sex of an individual depends of the allelic combination at a specific locus (single-locus Complementary Sex Determination), and in most of these species individuals that are homozygous at this sexual locus develop into diploid males with zero fitness. Methods and Findings: In this paper, we tested the hypothesis of genetic incompatibility avoidance by investigating sibmating avoidance in the solitary wasp parasitoid, Venturia canescens. In the context of mate choice we show, for the first time in a non-social hymenopteran species, that females can avoid mating with their brothers through kin recognition. In ‘‘no-choice’ ’ tests, the probability a female will mate with an unrelated male is twice as high as the chance of her mating with her brothers. In contrast, in choice tests in small test arenas, no kin discrimination effect was observed. Further experiments with male extracts demonstrate that chemical cues emanating from related males influence the acceptance rate of unrelated males. Conclusions: Our results are compatible with the genetic incompatibility hypothesis. They suggest that the female wasps recognize sibs on the basis of a chemical signature carried or emitted by males possibly using a ‘‘self-referent phenotyp

Comparative proteomic analysis of spermatozoa isolated by swim-up or density gradient centrifugation

Abstract BACKGROUND: Reports about the morphologic and functional characteristics of spermatozoa prepared by density gradient centrifugation (DC) or swim-up (SU) have produced discordant results. We have performed a proteomic comparison of cells prepared by DC and SU providing a molecular insight into the differences between these two methods of sperm cell isolation. METHODS: Protein maps were obtained by 2-dimensional (2-D) separations consisting of isoelectrofocusing (IEF) from pI 3 to 11 followed by SDS-polyacrylamide gel electrophoresis. 2-D gels were stained with Sypro Ruby. Map images of DC and SU spermatozoa were compared using dedicated software. Intensities of a given spot were considered different between DC and SU when their group mean differed by >1.5-fold (p<0.05, Anova). RESULTS: No differences were observed for 853 spots, indicating a 98.7% similarity between DC and SU. Five spots were DC>SU and 1 was SU>DC. Proteins present in 3 of the differential spots could be identified. One DC>SU spot contained lactate dehydrogenase C and gamma-glutamylhydrolase, a second DC>SU spot contained fumarate hydratase and glyceraldehyde-3-phosphate dehydrogenase-2, and a SU>DC spot contained pyruvate kinase M1/M2. CONCLUSIONS: The differences in protein levels found on comparison of DC with SU spermatozoa indicate possible dissimilarities in their glycolytic metabolism and DNA methylation and suggest that DC cells may have a better capacitation potential

Transmembrane but not soluble helices fold inside the ribosome tunnel

Integral membrane proteins are assembled into the ER membrane via a continuous ribosome-translocon channel. The hydrophobicity and thickness of the core of the membrane bilayer leads to the expectation that transmembrane (TM) segments minimize the cost of harbouring polar polypeptide backbones by adopting a regular pattern of hydrogen bonds to form α-helices before integration. Co-translational folding of nascent chains into an α-helical conformation in the ribosomal tunnel has been demonstrated previously, but the features governing this folding are not well understood. In particular, little is known about what features influence the propensity to acquire α-helical structure in the ribosome. Using in vitro translation of truncated nascent chains trapped within the ribosome tunnel and molecular dynamics simulations, we show that folding in the ribosome is attained for TM helices but not for soluble helices, presumably facilitating SRP (signal recognition particle) recognition and/or a favourable conformation for membrane integration upon translocon entry