Multimodal Signal Processing and Learning Aspects of Human-Robot Interaction for an Assistive Bathing Robot

We explore new aspects of assistive living on smart human-robot interaction (HRI) that involve automatic recognition and online validation of speech and gestures in a natural interface, providing social features for HRI. We introduce a whole framework and resources of a real-life scenario for elderly subjects supported by an assistive bathing robot, addressing health and hygiene care issues. We contribute a new dataset and a suite of tools used for data acquisition and a state-of-the-art pipeline for multimodal learning within the framework of the I-Support bathing robot, with emphasis on audio and RGB-D visual streams. We consider privacy issues by evaluating the depth visual stream along with the RGB, using Kinect sensors. The audio-gestural recognition task on this new dataset yields up to 84.5%, while the online validation of the I-Support system on elderly users accomplishes up to 84% when the two modalities are fused together. The results are promising enough to support further research in the area of multimodal recognition for assistive social HRI, considering the difficulties of the specific task. Upon acceptance of the paper part of the data will be publicly available

Predicting Bevirimat resistance of HIV-1 from genotype

<p>Abstract</p> <p>Background</p> <p>Maturation inhibitors are a new class of antiretroviral drugs. Bevirimat (BVM) was the first substance in this class of inhibitors entering clinical trials. While the inhibitory function of BVM is well established, the molecular mechanisms of action and resistance are not well understood. It is known that mutations in the regions CS p24/p2 and p2 can cause phenotypic resistance to BVM. We have investigated a set of p24/p2 sequences of HIV-1 of known phenotypic resistance to BVM to test whether BVM resistance can be predicted from sequence, and to identify possible molecular mechanisms of BVM resistance in HIV-1.</p> <p>Results</p> <p>We used artificial neural networks and random forests with different descriptors for the prediction of BVM resistance. Random forests with hydrophobicity as descriptor performed best and classified the sequences with an area under the Receiver Operating Characteristics (ROC) curve of 0.93 ± 0.001. For the collected data we find that p2 sequence positions 369 to 376 have the highest impact on resistance, with positions 370 and 372 being particularly important. These findings are in partial agreement with other recent studies. Apart from the complex machine learning models we derived a number of simple rules that predict BVM resistance from sequence with surprising accuracy. According to computational predictions based on the data set used, cleavage sites are usually not shifted by resistance mutations. However, we found that resistance mutations could shorten and weaken the <it>α</it>-helix in p2, which hints at a possible resistance mechanism.</p> <p>Conclusions</p> <p>We found that BVM resistance of HIV-1 can be predicted well from the sequence of the p2 peptide, which may prove useful for personalized therapy if maturation inhibitors reach clinical practice. Results of secondary structure analysis are compatible with a possible route to BVM resistance in which mutations weaken a six-helix bundle discovered in recent experiments, and thus ease Gag cleavage by the retroviral protease.</p

A differential motion planning algorithm for controlling multi-robot systems handling a common object

Multi-robot systems have substantially increased capabilities over single-robot systems and can handle very large or peculiar objects. This paper presents a differential (incremental) motion planning algorithm for an m-robot system (m >or=2) to cooperatively transfer an object from an initial to a desired final position / orientation by rigidly holding it at given respective points Q[sub 1], Q[sub 2],..., Q[sub m]. One of the robots plays the role of a "master" while other robots operate in the "slave" mode maintaining invariant their relative positions and orientations during the system motion. The method employs the differential displacements of the end-effector of each robot arm. Then, the differential displacements of the joints of the m robots are computed for the application of incremental motion control. The algorithm was tested on many examples. A representative of them is shown here, concerning the case of three STAUBLI RX-90L robots similar to 6-dof PUMA robots. The results obtained show the practicality and effectiveness of the method, which, however, needs particular care for completely eliminating the cumulative errors that may occur