Tactile Transfer Learning and Object Recognition With a Multifingered Hand Using Morphology Specific Convolutional Neural Networks.

Multifingered robot hands can be extremely effective in physically exploring and recognizing objects, especially if they are extensively covered with distributed tactile sensors. Convolutional neural networks (CNNs) have been proven successful in processing high dimensional data, such as camera images, and are, therefore, very well suited to analyze distributed tactile information as well. However, a major challenge is to organize tactile inputs coming from different locations on the hand in a coherent structure that could leverage the computational properties of the CNN. Therefore, we introduce a morphology-specific CNN (MS-CNN), in which hierarchical convolutional layers are formed following the physical configuration of the tactile sensors on the robot. We equipped a four-fingered Allegro robot hand with several uSkin tactile sensors; overall, the hand is covered with 240 sensitive elements, each one measuring three-axis contact force. The MS-CNN layers process the tactile data hierarchically: at the level of small local clusters first, then each finger, and then the entire hand. We show experimentally that, after training, the robot hand can successfully recognize objects by a single touch, with a recognition rate of over 95%. Interestingly, the learned MS-CNN representation transfers well to novel tasks: by adding a limited amount of data about new objects, the network can recognize nine types of physical properties

A new global river network database for macroscale hydrologic modeling

Coarse-resolution (upscaled) river networks are critical inputs for runoff routing in macroscale hydrologic models. Recently, Wu et al. (2011) developed a hierarchical dominant river tracing (DRT) algorithm for automated extraction and spatial upscaling of river networks using fine-scale hydrography inputs. We applied the DRT algorithms using combined HydroSHEDS and HYDRO1k global fine-scale hydrography inputs and produced a new series of upscaled global river network data at multiple (1/16° to 2°) spatial resolutions. The new upscaled results are internally consistent and congruent with the baseline fine-scale inputs and should facilitate improved regional to global scale hydrologic simulations

Real-Time Global Flood Estimation Using Satellite-Based Precipitation and a Coupled Land Surface and Routing Model

A widely used land surface model, the Variable Infiltration Capacity (VIC) model, is coupled with a newly developed hierarchical dominant river tracing-based runoff-routing model to form the Dominant river tracing-Routing Integrated with VIC Environment (DRIVE) model, which serves as the new core of the real-time Global Flood Monitoring System (GFMS). The GFMS uses real-time satellite-based precipitation to derive flood monitoring parameters for the latitude band 50 deg. N - 50 deg. S at relatively high spatial (approximately 12 km) and temporal (3 hourly) resolution. Examples of model results for recent flood events are computed using the real-time GFMS (http://flood.umd.edu). To evaluate the accuracy of the new GFMS, the DRIVE model is run retrospectively for 15 years using both research-quality and real-time satellite precipitation products. Evaluation results are slightly better for the research-quality input and significantly better for longer duration events (3 day events versus 1 day events). Basins with fewer dams tend to provide lower false alarm ratios. For events longer than three days in areas with few dams, the probability of detection is approximately 0.9 and the false alarm ratio is approximately 0.6. In general, these statistical results are better than those of the previous system. Streamflow was evaluated at 1121 river gauges across the quasi-global domain. Validation using real-time precipitation across the tropics (30 deg. S - 30 deg. N) gives positive daily Nash-Sutcliffe Coefficients for 107 out of 375 (28%) stations with a mean of 0.19 and 51% of the same gauges at monthly scale with a mean of 0.33. There were poorer results in higher latitudes, probably due to larger errors in the satellite precipitation input

Development of fragment-specific osteopontin antibodies and ELISA for quantification in human metastatic breast cancer

Background: Osteopontin (OPN) is associated with human cancers, and circulating blood OPN may have diagnostic or prognostic value in clinical oncology. Methods: To evaluate OPN as a cancer biomarker, we generated and characterized five novel mouse monoclonal antibodies against the human full-length OPN (fl-OPN). Epitopes recognized by four antibodies (2C5, 2F10, 2H9, and 2E11) map to N-terminal OPN (aa1-166); one (1F11) maps to C-terminal OPN (aa167-314). These antibodies recognize recombinant and native OPN by ELISA and immunoblot, cross reacting with human and mouse OPN. Two of these novel antibodies ( 2F10 and 1F11) were used to develop a quantitative enzyme linked immunosorbent assay ( ELISA) for fl-OPN. Results: In comparison with commercially available ELISAs, our assay had high accuracy in measuring fl-OPN standards, and high sensitivity. Specifically, our ELISA has a linear dose response between 0.078 ng/ml- 10 ng/ml, with a sensitivity of 13.9 pg/ml. We utilized this assay to quantify fl-OPN in the plasma of healthy volunteers in comparison with patients with metastatic breast cancer. The average circulating plasma fl-OPN in healthy volunteers was 1.2 ng/ml, compared to 4.76 ng/ml in patients with metastatic breast cancer (p = 0.0042). Although the increase in fl-OPN in cancer patients is consistent with previous studies, the measured quantity varied greatly between all existing fl-OPN ELISAs. Conclusion: Because OPN is a complex molecule with diversity from alternative splicing, post-translational modification, extracellular proteolytic modification, and participation in protein complexes, we suggest that further understanding of specific isoform recognition of multiple OPN species is essential for future studies of OPN biomarker utility

Template-Directed One-Step Synthesis of Cyclic Trimers by ADMET

A trifurcated template, containing three secondary dialkylammonium ion recognition sites for encirclement by a dibenzo [24]crown-8-containing acyclic diene, is used to promote acyclic diene metatheses (ADMET) catalyzed by ruthenium−alkylidene complexes, affording a cyclic trimer in 55% yield. Following this one-step, threefold ADMET reaction, the resulting cyclic trimer was isolated by preparative HPLC and characterized by NMR spectroscopy and mass spectrometry

Midterm Survivorship and Complications of Total Knee Arthroplasty in Patients with Dwarfism

Background Dwarfism is associated with skeletal dysplasias and joint deformities that frequently result in osteoarthritis requiring treatment with total knee arthroplasty (TKA). These surgeries can be challenging because of alignment deformities, poor bone stock, and smaller components. This study aims to compare TKA implant survivorship and complications between dwarf and nondwarf patients. Methods A retrospective case-control study was performed from 1997-2014 evaluating 115 TKAs in patients under the height threshold of 147.32 cm. This cohort was compared with 164 patients of normal height. Medical records were reviewed for demographics, surgical characteristics, and outcomes. All cases had 2-year minimum follow-up. Results The revision rate was 8.7% in dwarfs compared with 3.7% in controls (P = .08). The 2-, 5-, and 10-year implant survivorship in dwarfs was 96.4%, 92.5%, and 90.2%, respectively; and 96.6%, 95.6%, and 94.8% for controls, respectively (P = .24). Dwarfs underwent significantly more manipulations for arthrofibrosis (P = .002). There was greater femoral (17.4% vs 2.1%, P < .01) and tibial (6.5% vs 2.7%, P < .01) component overhang in dwarfs compared with controls. Conclusion Despite a 2-fold increase in the revision rate of the dwarf cohort, the midterm survivorship is comparable between the dwarf and nondwarf patients. However, dwarfs were more likely to become stiff and undergo manipulation; the increased propensity for stiffness may be associated with oversized components, as evidenced by greater component overhang. Surgeons should be aware of this increased risk and may consider using smaller or customized implants to account for the morphological differences in this patient population

Production and decay of the neutral top-pion in high energy e+e−e^{+}e^{-} colliders

We study the production and decay of the neutral top-pion $\pi_{t}^{0}$ predicted by topcolor-assisted technicolor(TC2) theory. Our results show that, except the dominant decay modes $b\bar{b}$, $\bar{t}c$ and $gg$, the $\pi_{t}^{0}$ can also decay into $\gamma\gamma$ and $Z \gamma$ modes. It can be significantly produced at high energy $e^{+}e^{-}$ collider(LC) experiments via the processes $e^{+}e^{-}\to \pi_{t}^{0}\gamma$ and $e^{+}e^{-}\to Z\pi_{t}^{0}$. We further calculate the production cross sections of the processes $e^{+}e^{-}\to\gamma\pi_{t}^{0}\to\gamma\bar{t}c$ and $e^{+}e^{-}\to Z\pi_{t}^{0}\to Z\bar{t}c$. We find that the signatures of the neutral top-pion $\pi_{t}^{0}$ can be detected via these processes.Comment: Latex file, 13 Pages, 6 eps figures. to be published in Phys.Rev.