Show, Attend and Interact: Perceivable Human-Robot Social Interaction through Neural Attention Q-Network

For a safe, natural and effective human-robot social interaction, it is essential to develop a system that allows a robot to demonstrate the perceivable responsive behaviors to complex human behaviors. We introduce the Multimodal Deep Attention Recurrent Q-Network using which the robot exhibits human-like social interaction skills after 14 days of interacting with people in an uncontrolled real world. Each and every day during the 14 days, the system gathered robot interaction experiences with people through a hit-and-trial method and then trained the MDARQN on these experiences using end-to-end reinforcement learning approach. The results of interaction based learning indicate that the robot has learned to respond to complex human behaviors in a perceivable and socially acceptable manner.Comment: 7 pages, 5 figures, accepted by IEEE-RAS ICRA'1

Estimating the Eddy Viscosity Profile from Velocity Spirals in the Ekman Boundary Layer

Final Form: December 18, 2014Turbulent mixing induced by tidal currents near the sea bottom plays a key role in coastal and shallow sea environments. Many attempts have been made to quantify turbulent mixing near the seabed, such as velocity microstructure measurements with microstructure profilers and turbulent Reynolds stress measurements using acoustic Doppler current profilers (ADCPs). This study proposes an alternative method in which the Ekman balance equations are solved with measured velocity spirals to estimate the eddy viscosity profile. Three schemes (schemes 1, 2, and 3) are described in this paper; schemes 1 and 2 were used in previous studies, while scheme 3 is newly proposed in the present study. The performance of the three schemes was tested using velocity spirals simulated with an idealized eddy viscosity profile, showing that scheme 2 is useful if the random measurement errors are small, while scheme 3 is useful when the errors in the Ekman balance are small. The performance was also evaluated using measured velocity spirals. This method utilizes velocity measured with standard ADCPs operated in normal modes, allowing for easier and more frequent quantifications of the mixing averaged over longer periods

Mode Selection in the Spontaneous Motion of an Alcohol Droplet

An alcohol (pentanol) droplet exhibits spontaneous agitation on an aqueous solution, driven by a solutal Marangoni effect. We found that the droplet's mode of motion is controlled by its volume. A droplet with a volume of less than $0.1 \mu\rm{l}$ shows irregular translational motion, whereas intermediate-sized droplets of $0.1-200 \mu\rm{l}$ show vectorial motion. When the volume is above $300 \mu\rm{l}$, the droplet splits into smaller drops. These experimental results regarding mode selection are interpreted in terms of the wave number selection depending on the droplet volume.Comment: 4 pages, 5 figure

Holographic storage of multiple coherence gratings in a Bose-Einstein condensate

We demonstrate superradiant conversion between a two-mode collective atomic state and a single-mode light field in an elongated cloud of Bose-condensed atoms. Two off-resonant write beams induce superradiant Raman scattering, producing two independent coherence gratings with a different wave vector in the cloud. By applying phase-matched read beams after a controllable delay, the gratings can be selectively converted into the light field also in a superradiant way. Due to the large cooperativity parameter and the small velocity width of the condensate, a high conversion efficiency of $> 70$ % and a long storage time of $> 120$ $\mu$s were achieved.Comment: 5 pages, 4 figure

Regular self-motion of a liquid droplet powered by the chemical marangoni effect

We describe here our recent work on spontaneous regular motion of liquid droplet powered by the chemical Marangoni effect under spatially symmetric conditions. It is shown that a spontaneously crawling oil droplet on a glass substrate with a nonequilibrium chemical condition of cationic surfactant exhibits regular rhythmic motion in a quasi-one-dimensional vessel, whereas irregular motion is induced in a two-dimensionally isotropic environment. Such behavior of a droplet demonstrates that spontaneous regular motion can be generated under fluctuating conditions by imposing an appropriate geometry. As another system, we introduce alcohol droplet moving spontaneously on water surface. The droplet spontaneously forms a specific morphology depending on its volume, causing specific mode of translational motion. An alcohol droplet with a smaller volume floating on water surface moves irregularly. On the other hand, a droplet with a larger volume undergoes vectorial motion accompanied by deformation into an asymmetric shape. This result suggests a scenario on the emergence of regular motion coupled with geometrical pattern formation under far-from-equilibrium conditions

Observed Features of Langmuir Turbulence Forced by Misaligned Wind and Waves Under Destabilizing Buoyancy Flux

Several features of Langmuir turbulence remain unquantified despite its potentially large impacts on ocean surface mixing. For example, its vertical velocity variance, expected to be proportional to based on numerical simulations, was proportional to in recent field observations, where is the friction velocity and is surface Stokes velocity. To investigate unquantified features of Langmuir turbulence, we conducted a field experiment around a marine observation tower in a shallow sea off the southern coast of Japan in early winter when winds and waves (often swells) were often misaligned. Coherent structures similar to Langmuir cells were successfully identified in the horizontal and vertical structures of turbulent flows measured with upward- and horizontally looking acoustic Doppler current profilers (ADCPs). ADCPs and several anemometers attached at the tower showed that turbulent vertical velocity variance was large when the Langmuir number and Hoenikker number (; where B is surface buoyancy flux and H is the water depth) were both small and that the orientation of the cells was generally aligned in the direction of Lagrangian current shear. These results agree well with the previous numerical results. As in the previous observations, however, the vertical velocity variance appeared to be proportional to . In our experiment, this curious feature was explained by compensatory effects between waves and convection. Misaligned wind with waves also seems to characterize the observed Langmuir turbulence, though further quantitative analysis is required to confirm this result

Chemo-Sensitive Running Droplet

Chemical control of the spontaneous motion of a reactive oil droplet moving on a glass substrate under an aqueous phase is reported. Experimental results show that the self-motion of an oil droplet is confined on an acid-treated glass surface. The transient behavior of oil-droplet motion is also observed with a high-speed video camera. A mathematical model that incorporates the effect of the glass surface charge is built based on the experimental observation of oil-droplet motion. A numerical simulation of this mathematical model reproduced the essential features concerning confinement within a certain chemical territory of oil-droplet motion, and also its transient behavior. Our results may shed light on physical aspects of reactive spreading and a chemotaxis in living things.Comment: 17 pages, 10 figure

Clinical efficacy and cytokine network-modulating effects of tacrolimus in myasthenia gravis

金沢大学保健管理センター115To clarify the long-term efficacy, safety and the cytokine network-modulating effects of tacrolimus in myasthenia gravis, medical records of 86 newly diagnosed consecutive patients and nine steroid-dependent patients were retrospectively reviewed, and peripheral blood mononuclear cells (PBMC) were cultured for the cytokine profile. Steroid reduction effects were observed by using tacrolimus, and no serious adverse effects were observed. The culture study showed reduced IL-12, IL-17, IFN-γ, GM-CSF, TNF-α and MIP-1β, and elevated IL-10 in the PBMC from patients who received tacrolimus, which suggests inhibition of T cells and macrophages, and enhancement of type 1 regulatory T cells. © 2008 Elsevier B.V. All rights reserved