Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals

Robotic avatar systems promise to bridge distances and reduce the need for travel. We present the updated NimbRo avatar system, winner of the $5M grand prize at the international ANA Avatar XPRIZE competition, which required participants to build intuitive and immersive robotic telepresence systems that could be operated by briefly trained operators. We describe key improvements for the finals, compared to the system used in the semifinals: To operate without a power- and communications tether, we integrated a battery and a robust redundant wireless communication system. Video and audio data are compressed using low-latency HEVC and Opus codecs. We propose a new locomotion control device with tunable resistance force. To increase flexibility, the robot's upper-body height can be adjusted by the operator. We describe essential monitoring and robustness tools which enabled the success at the competition. Finally, we analyze our performance at the competition finals and discuss lessons learned.Comment: M. Schwarz and C. Lenz contributed equall

Audio-based Roughness Sensing and Tactile Feedback for Haptic Perception in Telepresence

Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering system, which is capable of detecting and displaying surface roughness. As the robot fingertip moves across a surface of interest, two microphones capture sound coupled directly through the fingertip and through the air, respectively. A learning-based detector system analyzes the data in real time and gives roughness estimates with both high temporal resolution and low latency. Finally, an audio-based vibrational actuator displays the result to the human operator. We demonstrate the effectiveness of our system through lab experiments and our winning entry in the ANA Avatar XPRIZE competition finals, where briefly trained judges solved a roughness-based selection task even without additional vision feedback. We publish our dataset used for training and evaluation together with our trained models to enable reproducibility of results.Comment: IEEE International Conference on Systems, Man, and Cybernetics (SMC), Honolulu, Hawaii, USA, October 202

Superior Ventriculo-Arterial Coupling with Decellularized Allografts Compared with Conventional Prostheses

Background To date, no experimental or clinical study provides detailed analysis of vascular impedance changes after total aortic arch replacement. This study investigated ventriculoarterial coupling and vascular impedance after replacement of the aortic arch with conventional prostheses vs. decellularized allografts. Methods After preparing decellularized aortic arch allografts, their mechanical, histological and biochemical properties were evaluated and compared to native aortic arches and conventional prostheses in vitro. In open-chest dogs, total aortic arch replacement was performed with conventional prostheses and compared to decellularized allografts (n = 5/group). Aortic flow and pressure were recorded continuously, left ventricular pressure-volume relations were measured by using a pressure- conductance catheter. From the hemodynamic variables end-systolic elastance (Ees), arterial elastance (Ea) and ventriculoarterial coupling were calculated. Characteristic impedance (Z) was assessed by Fourier analysis. Results While Ees did not differ between the groups and over time (4.1±1.19 vs. 4.58±1.39 mmHg/mL and 3.21±0.97 vs. 3.96±1.16 mmHg/mL), Ea showed a higher increase in the prosthesis group (4.01±0.67 vs. 6.18±0.20 mmHg/mL, P<0.05) in comparison to decellularized allografts (5.03±0.35 vs. 5.99±1.09 mmHg/mL). This led to impaired ventriculoarterial coupling in the prosthesis group, while it remained unchanged in the allograft group (62.5±50.9 vs. 3.9±23.4%). Z showed a strong increasing tendency in the prosthesis group and it was markedly higher after replacement when compared to decellularized allografts (44.6±8.3dyn·sec·cm−5 vs. 32.4±2.0dyn·sec·cm−5, P<0.05). Conclusions Total aortic arch replacement leads to contractility-afterload mismatch by means of increased impedance and invert ventriculoarterial coupling ratio after implantation of conventional prostheses. Implantation of decellularized allografts preserves vascular impedance thereby improving ventriculoarterial mechanoenergetics after aortic arch replacement

Evidence for the formation of comet 67P/Churyumov-Gerasimenko through gravitational collapse of a bound clump of pebbles

The processes that led to the formation of the planetary bodies in the Solar System are still not fully understood. Using the results obtained with the comprehensive suite of instruments on-board ESA’s Rosetta mission, we present evidence that comet 67P/Churyumov-Gerasimenko likely formed through the gentle gravitational collapse of a bound clump of mm-sized dust aggregates (“pebbles”), intermixed with microscopic ice particles. This formation scenario leads to a cometary make-up that is simultaneously compatible with the global porosity, homogeneity, tensile strength, thermal inertia, vertical temperature profiles, sizes and porosities of emitted dust, and the steep increase in water-vapour production rate with decreasing heliocentric distance, measured by the instruments on-board the Rosetta spacecraft and the Philae lander. Our findings suggest that the pebbles observed to be abundant in protoplanetary discs around young stars provide the building material for comets and other minor bodies

Total Aortic Arch Replacement: Superior Ventriculo-Arterial Coupling with Decellularized Allografts Compared with Conventional Prostheses.

BACKGROUND: To date, no experimental or clinical study provides detailed analysis of vascular impedance changes after total aortic arch replacement. This study investigated ventriculoarterial coupling and vascular impedance after replacement of the aortic arch with conventional prostheses vs. decellularized allografts. METHODS: After preparing decellularized aortic arch allografts, their mechanical, histological and biochemical properties were evaluated and compared to native aortic arches and conventional prostheses in vitro. In open-chest dogs, total aortic arch replacement was performed with conventional prostheses and compared to decellularized allografts (n = 5/group). Aortic flow and pressure were recorded continuously, left ventricular pressure-volume relations were measured by using a pressure-conductance catheter. From the hemodynamic variables end-systolic elastance (Ees), arterial elastance (Ea) and ventriculoarterial coupling were calculated. Characteristic impedance (Z) was assessed by Fourier analysis. RESULTS: While Ees did not differ between the groups and over time (4.1+/-1.19 vs. 4.58+/-1.39 mmHg/mL and 3.21+/-0.97 vs. 3.96+/-1.16 mmHg/mL), Ea showed a higher increase in the prosthesis group (4.01+/-0.67 vs. 6.18+/-0.20 mmHg/mL, P<0.05) in comparison to decellularized allografts (5.03+/-0.35 vs. 5.99+/-1.09 mmHg/mL). This led to impaired ventriculoarterial coupling in the prosthesis group, while it remained unchanged in the allograft group (62.5+/-50.9 vs. 3.9+/-23.4%). Z showed a strong increasing tendency in the prosthesis group and it was markedly higher after replacement when compared to decellularized allografts (44.6+/-8.3dyn.sec.cm-5 vs. 32.4+/-2.0dyn.sec.cm-5, P<0.05). CONCLUSIONS: Total aortic arch replacement leads to contractility-afterload mismatch by means of increased impedance and invert ventriculoarterial coupling ratio after implantation of conventional prostheses. Implantation of decellularized allografts preserves vascular impedance thereby improving ventriculoarterial mechanoenergetics after aortic arch replacement

The detectability of radio emission from exoplanets

Like the magnetized planets in our Solar system, magnetized exoplanets should emit strongly at radio wavelengths. Radio emission directly traces the planetary magnetic fields and radio detections can place constraints on the physical parameters of these features. Large comparative studies of predicted radio emission characteristics for the known population of exoplanets help to identify what physical parameters could be the key for producing bright, observable radio emission. Since the last comparative study, many thousands of exoplanets have been discovered. We report new estimates for the radio flux densities and maximum emission frequencies for the current population of known exoplanets orbiting pre-main-sequence and main-sequence stars with spectral types F-M. The set of exoplanets predicted to produce observable radio emission are Hot Jupiters orbiting young stars. The youth of these systems predicts strong stellar magnetic fields and/or dense winds, which are the key for producing bright, observable radio emission. We use a new all-sky circular polarization Murchison Widefield Array survey to place sensitive limits on 200MHz emission from exoplanets, with 3s values ranging from 4.0 to 45.0mJy. Using a targeted Giant Metrewave Radio Telescope observing campaign, we also report a 3s upper limit of 4.5mJy on the radio emission from V830 Tau b, the first Hot Jupiter to be discovered orbiting a pre-main-sequence star. Our limit is the first to be reported for the low-frequency radio emission from this source

Bioartificial heart: a human-sized porcine model - the way ahead

BACKGROUND: A bioartificial heart is a theoretical alternative to transplantation or mechanical left ventricular support. Native hearts decellularized with preserved architecture and vasculature may provide an acellular tissue platform for organ regeneration. We sought to develop a tissue-engineered whole-heart neoscaffold in human-sized porcine hearts. METHODS: We decellularized porcine hearts (n = 10) by coronary perfusion with ionic detergents in a modified Langendorff circuit. We confirmed decellularization by histology, transmission electron microscopy and fluorescence microscopy, quantified residual DNA by spectrophotometry, and evaluated biomechanical stability with ex-vivo left-ventricular pressure/volume studies, all compared to controls. We then mounted the decellularized porcine hearts in a bioreactor and reseeded them with murine neonatal cardiac cells and human umbilical cord derived endothelial cells (HUVEC) under simulated physiological conditions. RESULTS: Decellularized hearts lacked intracellular components but retained specific collagen fibers, proteoglycan, elastin and mechanical integrity; quantitative DNA analysis demonstrated a significant reduction of DNA compared to controls (82.6+/-3.2 ng DNA/mg tissue vs. 473.2+/-13.4 ng DNA/mg tissue, p<0.05). Recellularized porcine whole-heart neoscaffolds demonstrated re-endothelialization of coronary vasculature and measurable intrinsic myocardial electrical activity at 10 days, with perfused organ culture maintained for up to 3 weeks. CONCLUSIONS: Human-sized decellularized porcine hearts provide a promising tissue-engineering platform that may lead to future clinical strategies in the treatment of heart failure

Overcoming Intrinsic Multidrug Resistance in Melanoma by Blocking the Mitochondrial Respiratory Chain of Slow-Cycling JARID1Bhigh Cells

Despite success with BRAFV600E inhibitors, therapeutic responses in patients with metastatic melanoma are short-lived because of the acquisition of drug resistance. We identified a mechanism of intrinsic multidrug resistance based on the survival of a tumor cell subpopulation. Treatment with various drugs, including cisplatin and vemurafenib, uniformly leads to enrichment of slow-cycling, long-term tumor-maintaining melanoma cells expressing the H3K4-demethylase JARID1B/KDM5B/PLU-1. Proteome-profiling revealed an upregulation in enzymes of mitochondrial oxidative-ATP-synthesis (oxidative phosphorylation) in this subpopulation. Inhibition of mitochondrial respiration blocked the emergence of the JARID1B(high) subpopulation and sensitized melanoma cells to therapy, independent of their genotype. Our findings support a two-tiered approach combining anticancer agents that eliminate rapidly proliferating melanoma cells with inhibitors of the drug-resistant slow-cycling subpopulation

Results of biomechanical measurements.

<p>Left ventricular peak pressure vs. volume. Decellularized hearts showed similar mechanical stability as native hearts with no significant differences in biomechanical behavior. All values are expressed as mean ± SEM.</p

Photomicrographs of unstained tissue samples demonstrating intact coronary vasculature (A, B) with intact third- and fourth-level vessels (A, red arrows).

<p>The extracellular matrix composition of the aortic wall (<b>C</b>) and aortic valve leaflet (<b>D</b>) was preserved after decellularization and showed no remnant nuclear material as demonstrated by hematoxylin and eosin (HE) staining (C, D) and TEM analysis (<b>box in D</b>). Also the aortic valve remained competent after decellularization (<b>E, F</b>).</p