A Proactive Approach of Robotic Framework for Making Eye Contact with Humans

Making eye contact is a most important prerequisite function of humans to initiate a conversation with others. However, it is not an easy task for a robot to make eye contact with a human if they are not facing each other initially or the human is intensely engaged his/her task. If the robot would like to start communication with a particular person, it should turn its gaze to that person and make eye contact with him/her. However, such a turning action alone is not enough to set up an eye contact phenomenon in all cases. Therefore, the robot should perform some stronger actions in some situations so that it can attract the target person before meeting his/her gaze. In this paper, we proposed a conceptual model of eye contact for social robots consisting of two phases: capturing attention and ensuring the attention capture. Evaluation experiments with human participants reveal the effectiveness of the proposed model in four viewing situations, namely, central field of view, near peripheral field of view, far peripheral field of view, and out of field of view

A New 100-GHz Band Front-End System with a Waveguide-Type Dual-Polarization Sideband-Separating SIS Receiver for the NRO 45-m Radio Telescope

We developed a waveguide-type dual-polarization sideband-separating SIS receiver system of the 100-GHz band for the 45-m radio telescope at the Nobeyama Radio Observatory, Japan. This receiver is composed of an ortho-mode transducer and two sideband-separating SIS mixers, which are both based on the waveguide technique. The receiver has four intermediate frequency bands of 4.0--8.0 GHz. Over the radio frequency range of 80--120 GHz, the single-sideband receiver noise temperatures are 50--100 K and the image rejection ratios are greater than 10 dB. We developed new matching optics for the telescope beam as well as new IF chains for the four IF signals. The new receiver system was installed in the telescope, and we successfully observed the 12CO, 13CO and C18O emission lines simultaneously toward the Sagittarius B2 region to confirm the performance of the receiver system. The SSB noise temperature of the system, including the atmosphere, became approximately half of that of the previous receiver system. The Image Rejection Ratios (IRRs) of the two 2SB mixers were calculated from the 12CO and HCO+ spectra from the W51 giant molecular cloud, resulting in > 20 dB for one polarization and > 12 dB for the other polarization.Comment: 10 pages, 13 figures, Accepted for publication in PASJ, version with high resolution figures is available via http://www.nro.nao.ac.jp/library/report/list.htm

Guidelines for the use and interpretation of assays for monitoring autophagy (3rd edition)

In 2008 we published the first set of guidelines for standardizing research in autophagy. Since then, research on this topic has continued to accelerate, and many new scientists have entered the field. Our knowledge base and relevant new technologies have also been expanding. Accordingly, it is important to update these guidelines for monitoring autophagy in different organisms. Various reviews have described the range of assays that have been used for this purpose. Nevertheless, there continues to be confusion regarding acceptable methods to measure autophagy, especially in multicellular eukaryotes. For example, a key point that needs to be emphasized is that there is a difference between measurements that monitor the numbers or volume of autophagic elements (e.g., autophagosomes or autolysosomes) at any stage of the autophagic process versus those that measure fl ux through the autophagy pathway (i.e., the complete process including the amount and rate of cargo sequestered and degraded). In particular, a block in macroautophagy that results in autophagosome accumulation must be differentiated from stimuli that increase autophagic activity, defi ned as increased autophagy induction coupled with increased delivery to, and degradation within, lysosomes (inmost higher eukaryotes and some protists such as Dictyostelium ) or the vacuole (in plants and fungi). In other words, it is especially important that investigators new to the fi eld understand that the appearance of more autophagosomes does not necessarily equate with more autophagy. In fact, in many cases, autophagosomes accumulate because of a block in trafficking to lysosomes without a concomitant change in autophagosome biogenesis, whereas an increase in autolysosomes may reflect a reduction in degradative activity. It is worth emphasizing here that lysosomal digestion is a stage of autophagy and evaluating its competence is a crucial part of the evaluation of autophagic flux, or complete autophagy. Here, we present a set of guidelines for the selection and interpretation of methods for use by investigators who aim to examine macroautophagy and related processes, as well as for reviewers who need to provide realistic and reasonable critiques of papers that are focused on these processes. These guidelines are not meant to be a formulaic set of rules, because the appropriate assays depend in part on the question being asked and the system being used. In addition, we emphasize that no individual assay is guaranteed to be the most appropriate one in every situation, and we strongly recommend the use of multiple assays to monitor autophagy. Along these lines, because of the potential for pleiotropic effects due to blocking autophagy through genetic manipulation it is imperative to delete or knock down more than one autophagy-related gene. In addition, some individual Atg proteins, or groups of proteins, are involved in other cellular pathways so not all Atg proteins can be used as a specific marker for an autophagic process. In these guidelines, we consider these various methods of assessing autophagy and what information can, or cannot, be obtained from them. Finally, by discussing the merits and limits of particular autophagy assays, we hope to encourage technical innovation in the field

Development of Smart Wheelchair System for a User with Severe Motor Impairment

AbstractUsers with severe motor impairment may find it difficult to operate a wheelchair when they are in tight space (e.g., passing doorway) or when avoiding obstacles since they cannot command the wheelchair by means of a conventional joystick. Here we propose a framework that can assist users to overcome such circumstances using a hierarchical semi-autonomous control strategy. Initially multimodal user inputs based on momentary switch and yaw head angle are analyzed to decide a maneuvering mode and assign the direction of travel. Then, environmental information is perceived using the combination of a laser range finder and the Kinect sensor for determining safety map around wheelchair's vicinity. Eventually, the user's inputs are provided to the navigation planner along with the safety map to moderate motion that is collision free and the best for user preference. Experimental results demonstrate the feasibility of the proposed approach

A Study on Proactive Methods for Initiating Interaction with Human by Social Robots

This paper reports on the trending literature of Human-Robot Interaction (HRI) methods for proactively initiating interaction with human by social robots in social spaces. The discussion explores the state-of-the-art proactive HRI methods and pinpoints the necessity of dedicated attention to initiate successful proactive interaction by social robots with human. The findings suggest that although reactive HRI methods are well established in social spaces but very few proactive methods are implemented. More research should be paid to introduce social robot’s proactive HRI approach properly in social spaces. The literature further showed that robust human detection and tracking method is crucial to read human’s is interests and intentions from their behaviors before introducing proactive HRI with human in social spaces. Finally, future potential applications of social robots are addressed