Autonomous Robust Skill Generation Using Reinforcement Learning with Plant Variation

This paper discusses an autonomous space robot for a truss structure assembly using some reinforcement learning. It is difficult for a space robot to complete contact tasks within a real environment, for example, a peg-in-hole task, because of error between the real environment and the controller model. In order to solve problems, we propose an autonomous space robot able to obtain proficient and robust skills by overcoming error to complete a task. The proposed approach develops skills by reinforcement learning that considers plant variation, that is, modeling error. Numerical simulations and experiments show the proposed method is useful in real environments

T2 relaxation times of the retrodiscal tissue in patients with temporomandibular joint disorders and in healthy volunteers: A comparative study

Objective. The aims of this study were to compare the temporomandibular joint (TMJ) retrodiscal tissue T2 relaxation times between patients with temporomandibular disorders (TMDs) and asymptomatic volunteers and to assess the diagnostic potential of this approach. Study Design. Patients with TMD (n = 173) and asymptomatic volunteers (n = 17) were examined by using a 1.5-T magnetic resonance scanner. The imaging protocol consisted of oblique sagittal, T2-weighted, 8-echo fast spin echo sequences in the closed mouth position. Retrodiscal tissue T2 relaxation times were obtained. Additionally, disc location and reduction, disc configuration, joint effusion, osteoarthritis, and bone edema or osteonecrosis were classified using MRI scans. The T2 relaxation times of each group were statistically compared. Results. Retrodiscal tissue T2 relaxation times were significantly longer in patient groups than in asymptomatic volunteers (P < .01). T2 relaxation times were significantly longer in all of the morphologic categories. The most important variables affecting retrodiscal tissue T2 relaxation times were disc configuration, joint effusion, and osteoarthritis. Conclusion. Retrodiscal tissue T2 relaxation times of patients with TMD were significantly longer than those of healthy volunteers. This finding may lead to the development of a diagnostic marker to aid in the early detection of TMDs

Unusual diffuse X-ray source in the Galactic center region

We report the ASCA and Chandra discovery of a diffuse X-ray source in the Galactic center region. The X-ray spectrum is fitted with a non-equilibrium ionization (NEI) plasma model of about 6-keV temperature. The model requires higher than solar metal abundances, a young plasma age of $\simeq$ 100 years and a large N_H value of about 10^{23} cm^{-2}. The N_H value constrains the source position to be in the Galactic center region at about 8.5 kpc distance. The high resolution X-ray image with the Chandra ACIS shows a ring of 10'' radius which corresponds to 0.4 pc at the Galactic center, and a tail-like structure. Although the morphology is peculiar, the other X-ray features are likely to be a very young supernova remnant, possibly in a free expansion phase.Comment: 11 pages, 4 figures, to be published in Ap

Structure of liquid Sn over a wide temperature range from neutron scattering experiments and first-principles MD simulation: A comparison to liquid Pb

金沢大学理学部The structure of liquid Sn was studied by neutron scattering experiments in the widest temperature range that was ever performed. Though, on increasing temperature, the existence of the shoulder in the structure factor, S(Q), becomes less clear in the change of the overall shape of the S(Q), the structure related to this shoulder seems to be present even at 1873 K. The first-principle molecular-dynamics ~FPMD! simulation was performed for the first time for liquid Sn by using the cell size of 64 particles. The calculated results well reproduced S(Q) obtained by the neutron experiments. The angle distribution, g(3)(u ,rc), was evaluated for the angle between vectors from centered atom to other two atoms in spheres of cutoff radii rc’s. The g(3)(u ,rc) shows that, with the decrease of rc from 0.4 to 0.3 nm, a rather sharp peak around 60 ° disappears and only a broad peak around 100 ° remains; the former peak may be derived from the feature of the closely packed structures and the latter one is close to the tetrahedral angle of 109 °. In addition, the coordination number, n, of liquid Sn counted within the sphere of rc50.3 nm is found to be 2–3 and does not change with the increase of temperature even up to 1873 K. These facts indicate that at least the fragment of the tetrahedral unit may be essentially kept even at 1873 K for liquid Sn. For comparison, the FPMD simulation was performed for the first time also for liquid Pb. No sign of the existence of the tetrahedral structure was observed for liquid Pb. Unfortunately, the self-diffusion coefficients, D’s, obtained from this FPMD for liquid Sn do not agree with those obtained by the microgravity experiments though the structure factors, S(Q)’s, are well reproduced. To remove the limitation of the small cell size of the FPMD, the classical molecular-dynamics simulations with a cell size of 2197 particles were performed by incorporating the present experimental structural information of liquid Sn. Obtained D’s are in good agreement with the microgravity data

Empowering Women in Integrated Crop-Livestock Farming through Innovation Platforms: Experience in Semi-arid Zimbabwe

Empowering Women in Integrated Crop-Livestock Farming through Innovation Platforms has drawn upon the experience gained during the ZimCLIFS project in semi-arid Zimbabwe, funded by the Australian Centre for International Agricultural Research, to introduce legume fodder crops like Mucuna as a better livestock feed, to improve market linkages for farmers to benefit from higher livestock productivity and to enhance knowledge and skills among support services enabling upscaling of the impacts of the integrated crop-livestock systems. In particular, it looks at how agricultural innovation platforms of commodities important for women farmers (goat, groundnut) can empower women in this rural context. In rural Zimbabwe, women farmers face multiple challenges such as degraded soil, lack of labor, inaccessible/far-off markets to sell their produce/livestock, inadequate supplies of resources (seeds/fertilizers), as also climate change-related issues such as frequent droughts and dry spells. Innovation platforms that support integrated crop-and-livestock systems and particularly increase women farmers’ ability to grow and monetize high-value crops and livestock can significantly mitigate the challenges faced by them and improve their livelihoods. By encouraging women to participate in processes of market development, capacity building and infrastructure improvement, a gender-sensitive framework can be implemented and maintained sustainably..

Are there “women’s crops”? A new tool for gender and agriculture

A “Gender Control Tool” was developed to measure women’s control over decision-making for agricultural production, sales, and use of income. The tool was tested for groundnuts in Eastern Province, Zambia, where mechanisation has increased male participation in groundnut shelling, and for goats in Gwanda district, Zimbabwe, where the introduction of auctions has increased investment and sales. A mixed methods approach was used, that involved focus group discussions (FGDs) and a quantitative household survey. This article compares the results obtained from these two methods and discusses the strengths and weaknesses of the tool in understanding how commercialisation affects women’s control

Structural basis for recognition of cognate tRNA by tyrosyl-tRNA synthetase from three kingdoms

The specific aminoacylation of tRNA by tyrosyl-tRNA synthetases (TyrRSs) relies on the identity determinants in the cognate tRNATyrs. We have determined the crystal structure of Saccharomyces cerevisiae TyrRS (SceTyrRS) complexed with a Tyr-AMP analog and the native tRNATyr(GΨA). Structural information for TyrRS–tRNATyr complexes is now full-line for three kingdoms. Because the archaeal/eukaryotic TyrRSs–tRNATyrs pairs do not cross-react with their bacterial counterparts, the recognition modes of the identity determinants by the archaeal/eukaryotic TyrRSs were expected to be similar to each other but different from that by the bacterial TyrRSs. Interestingly, however, the tRNATyr recognition modes of SceTyrRS have both similarities and differences compared with those in the archaeal TyrRS: the recognition of the C1-G72 base pair by SceTyrRS is similar to that by the archaeal TyrRS, whereas the recognition of the A73 by SceTyrRS is different from that by the archaeal TyrRS but similar to that by the bacterial TyrRS. Thus, the lack of cross-reactivity between archaeal/eukaryotic and bacterial TyrRS-tRNATyr pairs most probably lies in the different sequence of the last base pair of the acceptor stem (C1-G72 vs G1-C72) of tRNATyr. On the other hand, the recognition mode of Tyr-AMP is conserved among the TyrRSs from the three kingdoms

Asymptotic Regge Trajectories of Non-strange Mesons

We analyze the asymptotic behavior of Regge trajectories of non-strange mesons. In contrast to an existing belief, it is demonstrated that for the asymptotically linear Regge trajectories the width of heavy hadrons cannot linearly depend on their mass. Using the data on masses and widths of rho_J, omega_J, a_J and f_J mesons for the spin values J \leq 6, we extract the parameters of the asymptotically linear Regge trajectory predicted by the finite width model of quark gluon bags. As it is shown the obtained parameters for the data set B correspond to the cross-over temperature lying in the interval 170.9-175.3 MeV which is consistent with the kinetic freeze-out temperature of early hadronizing particles found in relativistic heavy ion collisions at and above the highest SPS energy.Comment: 14 pages, 3 figure

Targeted deletion of the C-terminus of the mouse adenomatous polyposis coli tumor suppressor results in neurologic phenotypes related to schizophrenia

Background: Loss of adenomatous polyposis coli (APC) gene function results in constitutive activation of the canonical Wnt pathway and represents the main initiating and rate-limiting event in colorectal tumorigenesis. APC is likely to participate in a wide spectrum of biological functions via its different functional domains and is abundantly expressed in the brain as well as in peripheral tissues. However, the neuronal function of APC is poorly understood. To investigate the functional role of Apc in the central nervous system, we analyzed the neurological phenotypes of Apc 1638T/1638T mice, which carry a targeted deletion of the 3′ terminal third of Apc that does not affect Wnt signaling. Results: A series of behavioral tests revealed a working memory deficit, increased locomotor activity, reduced anxiety-related behavior, and mildly decreased social interaction in Apc 1638T/1638T mice. Apc 1638T/1638T mice showed abnormal morphology of the dendritic spines and impaired long-term potentiation of synaptic transmission in the hippocampal CA1 region. Moreover, Apc 1638T/1638T mice showed abnormal dopamine and serotonin distribution in the brain. Some of these behavioral and neuronal phenotypes are related to symptoms and endophenotypes of schizophrenia. Conclusions: Our results demonstrate that the C-terminus of the Apc tumor suppressor plays a critical role in cognitive and neuropsychiatric functioning. This finding suggests a potential functional link between the C-terminus of APC and pathologies of the central nervous system