Prediction of Human Trajectory Following a Haptic Robotic Guide Using Recurrent Neural Networks

Social intelligence is an important requirement for enabling robots to collaborate with people. In particular, human path prediction is an essential capability for robots in that it prevents potential collision with a human and allows the robot to safely make larger movements. In this paper, we present a method for predicting the trajectory of a human who follows a haptic robotic guide without using sight, which is valuable for assistive robots that aid the visually impaired. We apply a deep learning method based on recurrent neural networks using multimodal data: (1) human trajectory, (2) movement of the robotic guide, (3) haptic input data measured from the physical interaction between the human and the robot, (4) human depth data. We collected actual human trajectory and multimodal response data through indoor experiments. Our model outperformed the baseline result while using only the robot data with the observed human trajectory, and it shows even better results when using additional haptic and depth data.Comment: 6 pages, Submitted to IEEE World Haptics Conference 201

Sample-Efficient Training of Robotic Guide Using Human Path Prediction Network

Training a robot that engages with people is challenging, because it is expensive to involve people in a robot training process requiring numerous data samples. This paper proposes a human path prediction network (HPPN) and an evolution strategy-based robot training method using virtual human movements generated by the HPPN, which compensates for this sample inefficiency problem. We applied the proposed method to the training of a robotic guide for visually impaired people, which was designed to collect multimodal human response data and reflect such data when selecting the robot's actions. We collected 1,507 real-world episodes for training the HPPN and then generated over 100,000 virtual episodes for training the robot policy. User test results indicate that our trained robot accurately guides blindfolded participants along a goal path. In addition, by the designed reward to pursue both guidance accuracy and human comfort during the robot policy training process, our robot leads to improved smoothness in human motion while maintaining the accuracy of the guidance. This sample-efficient training method is expected to be widely applicable to all robots and computing machinery that physically interact with humans

Factors Influencing on Sexual Assertiveness of College Students

PURPOSE: The purpose of this study was to identify the factors influencing sexual assertiveness in dating college students. METHODS: With a cross-sectional survey design, 468 college students who have had dating experiences were recruited and answered questionnaires. Data were analyzed using t-test, ANOVA with Scheffe? test, Pearson's correlation coefficients, and multiple regression. RESULTS: The sexual assertiveness of college students showed significant results: positive correlations with self-assertiveness and negative correlations with traditional sexual attitude, gender role stereotypes. Significant predictors of sexual assertiveness were traditional sexual attitude, gender role stereotypes, and self-assertiveness. These variables explained 37% of the variance in sexual assertiveness. CONCLUSION: Findings suggest that it is important to identify and improve communication patterns in relation to sexual assertiveness. There is a need for sex education programs for college students that are relevant and effective

Structure-activity relationships of fluorene compounds inhibiting HCV variants

Approximately 71 million people suffer from hepatitis C virus (HCV) infection worldwide. Persistent HCV infection causes liver diseases such as chronic hepatitis, liver cirrhosis, and hepatocellular carcinoma, resulting in approximately 400,000 deaths annually. Effective direct-acting antiviral agents (DAAs) have been developed and are currently used for HCV treatment targeting the following three proteins: NS3/4A proteinase that cleaves the HCV polyprotein into various functional proteins, RNA-dependent RNA polymerase (designated as NS5B), and NS5A, which is required for the formation of double membrane vesicles serving as RNA replication organelles. At least one compound inhibiting NS5A is included in current HCV treatment regimens due to the high efficacy and low toxicity of drugs targeting NS5A. Here we report fluorene compounds showing strong inhibitory effects on GT 1b and 3a of HCV. Moreover, some compounds were effective against resistance-associated variants to DAAs. The structure-activity relationships of the compounds were analyzed. Furthermore, we investigated the molecular bases of the inhibitory activities of some compounds by the molecular docking method.11Ysciescopu

extract (EGb761) did not express estrogenic activity in an immature rat uterotrophic assay

Ginkgo biloba is a dioecious tree that has been used in traditional Chinese medicine for about 5,000 years. In previous studies on Ginkgo biloba extract (EGb761) using in vitro systems, we confirmed that EGb761 has biphasic effects on estrogenicity. In this study, we evaluated the agonistic and antagonistic activities of EGb761 using a uterotrophic assay in immature female rats. To evaluate agonistic and antagonistic effects of EGb761 on uterus, 21-day-old immature Sprague-Dawley (SD) female rats were treated with EGb761 (100, 200, or 400 mg/kg) by oral gavage, 10 μg/kg of estradiol (E2) or 1 mg/kg tamoxifen (TM) by subcutaneous injection, or with EGb761 plus E2 or TM for 3 consecutive days. At the end of the treatment period, animals were sacrificed and their body weights and organ weights (liver, lung, spleen and kidney) were measured. In addition, estrogen-related gene expressions (IGFBP-1 in liver and CaBP-9 in uterus) were determined. During the experiment, no animal showed clinical signs, a change in body weight or died. EGb761 treatment alone had no effect on absolute/relative uterine weight, luminal epithelial cell height (LECH, μm), or luminal circumference (LC, μm). In addition, uterine weights, LECHs, and LC induced by E2 or TM were not significantly changed by EGb761 at any dose. These results collectively suggested EGb761 has no agonistic/antagonistic effects in utero