Getting the Ball Rolling: Learning a Dexterous Policy for a Biomimetic Tendon-Driven Hand with Rolling Contact Joints

Biomimetic, dexterous robotic hands have the potential to replicate much of the tasks that a human can do, and to achieve status as a general manipulation platform. Recent advances in reinforcement learning (RL) frameworks have achieved remarkable performance in quadrupedal locomotion and dexterous manipulation tasks. Combined with GPU-based highly parallelized simulations capable of simulating thousands of robots in parallel, RL-based controllers have become more scalable and approachable. However, in order to bring RL-trained policies to the real world, we require training frameworks that output policies that can work with physical actuators and sensors as well as a hardware platform that can be manufactured with accessible materials yet is robust enough to run interactive policies. This work introduces the biomimetic tendon-driven Faive Hand and its system architecture, which uses tendon-driven rolling contact joints to achieve a 3D printable, robust high-DoF hand design. We model each element of the hand and integrate it into a GPU simulation environment to train a policy with RL, and achieve zero-shot transfer of a dexterous in-hand sphere rotation skill to the physical robot hand.Comment: for project website, see https://srl-ethz.github.io/get-ball-rolling/ . for video, see https://youtu.be/YahsMhqNU8o . Submitted to the 2023 IEEE-RAS International Conference on Humanoid Robot

Sclerosing Epithelioid Fibrosarcoma of the Bone: A Case Report of High Resistance to Chemotherapy and a Survey of the Literature

Sclerosing epithelioid fibrosarcoma (SEF) is a rare soft tissue sarcoma mostly occurring in extraosseous sites. SEF represents a clinically challenging entity especially because no standardized treatment regimens are available. Intraosseous localization is an additional challenge with respect to the therapeutical approach. We report on a 16-year-old patient with SEF of the right proximal tibia. The patient underwent standardized neoadjuvant chemotherapy analogous to the EURAMOS-1 protocol for the treatment of osteosarcoma followed by tumor resection and endoprosthetic reconstruction. Histopathological analysis of the resected tumor showed >90% vital tumor cells suggesting no response to chemotherapy. Therefore, therapy was reassigned to the CWS 2002 High-Risk protocol for the treatment of soft tissue sarcoma. To date (22 months after diagnosis), there is no evidence of relapse or metastasis. Our data suggest that SEF may be resistant to a chemotherapy regimen containing Cisplatin, Doxorubicin, and Methotrexate, which should be considered in planning treatment for patients with SEF

IQB-Bildungstrend 2018

Im Skalenhandbuch werden die Erhebungsinstrumente dokumentiert, die im IQB-Bildungstrend 2018 in den Fächern Mathematik, Biologie, Chemie und Physik in der Sekundarstufe I eingesetzt wurden. Die Bildungstrend-Studien des IQB sind Teil der Gesamtstrategie der Kultusministerkonferenz zum Bildungsmonitoring. Sie werden regelmäßig durchgeführt, um zu überprüfen, inwieweit die Schülerinnen und Schüler in den einzelnen Ländern in der Bundesrepublik Deutschland die in den länderübergreifend verbindlichen Bildungsstandards formulierten Kompetenzziele erreicht haben. Mit dem IQB-Bildungstrend 2018 war es erstmalig möglich, für das Erreichen der Standards im Fach Mathematik und in den naturwissenschaftlichen Fächern in der 9. Jahrgangsstufe Trends zu berichten (Vergleich der Erhebungsjahre 2012 und 2018)

Ultrasound-based "CEUS-Bosniak"classification for cystic renal lesions: an 8-year clinical experience

Purpose Renal cysts comprise benign and malignant entities. Risk assessment profts from CT/MRI imaging using the Bosniak classifcation. While Bosniak-IIF, -III, and -IV cover complex cyst variants, Bosniak-IIF and -III stand out due to notorious overestimation. Contrast-enhanced ultrasound (CEUS) is promising to overcome this defcit but warrants standardization. This study addresses the benefts of a combined CEUS and CT/MRI evaluation of renal cysts. The study provides a realistic account of kidney tumor boards' intricacies in trying to validate renal cysts. Methods 247 patients were examined over 8 years. CEUS lesions were graded according to CEUS-Bosniak (IIF, III, IV). 55 lesions were resected, CEUS-Bosniak- and CT/MRI-Bosniak-classifcation were correlated with histopathological diagnosis. Interobserver agreement between the classifcations was evaluated statistically. 105 lesions were followed by ultrasound, and change in CEUS-Bosniak-types and lesion size were documented. Results 146 patients (156 lesions) were included. CEUS classifed 67 lesions as CEUS-Bosniak-IIF, 44 as CEUS-BosniakIII, and 45 as CEUS-Bosniak-IV. Histopathology of 55 resected lesions revealed benign cysts in all CEUS-Bosniak-IIF lesions (2/2), 40% of CEUS-Bosniak-III and 8% of CEUS-Bosniak-IV, whereas malignancy was uncovered in 60% of CEUS-Bosniak-III and 92% of CEUS-Bosniak-IV. Overall, CEUS-Bosniak-types matched CT/MRI-Bosniak types in 58% (fair agreement, κ=0.28). CEUS-Bosniak resulted in higher stages than CT/MRI-Bosniak (40%). Ultrasound follow-up of 105 lesions detected no relevant diferences between CEUS-Bosniak-types concerning cysts size. 99% of lesions showed the same CEUS-Bosniak-type. Conclusion The CEUS-Bosniak classifcation is an essential tool in clinical practice to diferentiate and monitor renal cystic lesions and empowers diagnostic work-up and patient care

Seronegative Herpes simplex Associated Esophagogastric Ulcer after Liver Transplantation

Herpes simplex infection is characterized by acute or subacute infection, often followed by a chronic carrier state. Consecutive recurrences may flare up if immunocompromise occurs. Herpes simplex associated esophagitis or duodenal ulcer have been reported in immunocompromised patients due to neoplasm, HIV/AIDS or therapeutically induced immune deficiency. Here we report the case of an HSV-DNA seronegative patient who developed grade III dysphagia 13 days after allogeneic liver transplantation. Endoscopy revealed an esophageal-gastric ulcer, and biopsy histopathology showed a distinct fibroplastic and capillary ulcer pattern highly suspicious for viral infection. Immunohistochemistry staining revealed a distinct nuclear positive anti-HSV reaction. Antiviral therapy with acyclovir and high-dose PPI led to a complete revision of clinical symptoms within 48 h. Repeat control endoscopy after 7 days showed complete healing of the former ulcer site at the gastroesophageal junction. Although the incidence of post-transplantation Herpes simplex induced gastroesophageal disease is low, the viral HSV ulcer may be included into a differential diagnosis if dysphagia occurs after transplantation even if HSV-DNA PCR is negative

IL-6 trans-signaling promotes pancreatitis-associated lung injury and lethality

Acute lung injury (ALI) is an inflammatory disease with a high mortality rate. Although typically seen in individuals with sepsis, ALI is also a major complication in severe acute pancreatitis (SAP). The pathophysiology of SAP-associated ALI is poorly understood, but elevated serum levels of IL-6 is a reliable marker for disease severity. Here, we used a mouse model of acute pancreatitis–associated (AP-associated) ALI to determine the role of IL-6 in ALI lethality. Il6-deficient mice had a lower death rate compared with wild-type mice with AP, while mice injected with IL-6 were more likely to develop lethal ALI. We found that inflammation-associated NF-κB induced myeloid cell secretion of IL-6, and the effects of secreted IL-6 were mediated by complexation with soluble IL-6 receptor, a process known as trans-signaling. IL-6 trans-signaling stimulated phosphorylation of STAT3 and production of the neutrophil attractant CXCL1 in pancreatic acinar cells. Examination of human samples revealed expression of IL-6 in combination with soluble IL-6 receptor was a reliable predictor of ALI in SAP. These results demonstrate that IL-6 trans-signaling is an essential mediator of ALI in SAP across species and suggest that therapeutic inhibition of IL-6 may prevent SAP-associated ALI

Situating language register across the ages, languages, modalities, and cultural aspects: Evidence from complementary methods

In the present review paper by members of the collaborative research center “Register: Language Users' Knowledge of Situational-Functional Variation” (CRC 1412), we assess the pervasiveness of register phenomena across different time periods, languages, modalities, and cultures. We define “register” as recurring variation in language use depending on the function of language and on the social situation. Informed by rich data, we aim to better understand and model the knowledge involved in situation- and function-based use of language register. In order to achieve this goal, we are using complementary methods and measures. In the review, we start by clarifying the concept of “register”, by reviewing the state of the art, and by setting out our methods and modeling goals. Against this background, we discuss three key challenges, two at the methodological level and one at the theoretical level: (1) To better uncover registers in text and spoken corpora, we propose changes to established analytical approaches. (2) To tease apart between-subject variability from the linguistic variability at issue (intra-individual situation-based register variability), we use within-subject designs and the modeling of individuals' social, language, and educational background. (3) We highlight a gap in cognitive modeling, viz. modeling the mental representations of register (processing), and present our first attempts at filling this gap. We argue that the targeted use of multiple complementary methods and measures supports investigating the pervasiveness of register phenomena and yields comprehensive insights into the cross-methodological robustness of register-related language variability. These comprehensive insights in turn provide a solid foundation for associated cognitive modeling.Peer Reviewe

Search for dark matter produced in association with bottom or top quarks in √s = 13 TeV pp collisions with the ATLAS detector

A search for weakly interacting massive particle dark matter produced in association with bottom or top quarks is presented. Final states containing third-generation quarks and miss- ing transverse momentum are considered. The analysis uses 36.1 fb−1 of proton–proton collision data recorded by the ATLAS experiment at √s = 13 TeV in 2015 and 2016. No significant excess of events above the estimated backgrounds is observed. The results are in- terpreted in the framework of simplified models of spin-0 dark-matter mediators. For colour- neutral spin-0 mediators produced in association with top quarks and decaying into a pair of dark-matter particles, mediator masses below 50 GeV are excluded assuming a dark-matter candidate mass of 1 GeV and unitary couplings. For scalar and pseudoscalar mediators produced in association with bottom quarks, the search sets limits on the production cross- section of 300 times the predicted rate for mediators with masses between 10 and 50 GeV and assuming a dark-matter mass of 1 GeV and unitary coupling. Constraints on colour- charged scalar simplified models are also presented. Assuming a dark-matter particle mass of 35 GeV, mediator particles with mass below 1.1 TeV are excluded for couplings yielding a dark-matter relic density consistent with measurements

IQB-Bildungstrend 2018

Im IQB-Bildungstrend 2018 wird über die Ergebnisse des zweiten Ländervergleichs des Instituts zur Qualitätsentwicklung im Bildungswesen (IQB) im Fach Mathematik und in den naturwissenschaftlichen Fächern Biologie, Chemie und Physik in der Sekundarstufe I berichtet. In den genannten Fächern werden die Kompetenzen von Schülerinnen und Schülern der 9. Jahrgangsstufe untersucht, die im Jahr 2018 erfasst wurden. Neben der Bestandsaufnahme für das Jahr 2018 liegt der Fokus auf Trendanalysen, die zeigen, inwieweit sich das von Neuntklässlerinnen und Neuntklässlern erreichte Kompetenzniveau in den untersuchten Fächern seit dem Jahr 2012 verändert hat. Die Grundlage bilden die für alle Länder verbindlichen Bildungsstandards der Kultusministerkonferenz, die fächerspezifisch festlegen, welche Kompetenzen Schülerinnen und Schüler bis zu einem bestimmten Punkt in ihrer Schullaufbahn entwickelt haben sollen. Zusätzlich zu den von Neuntklässlerinnen und Neuntklässlern in den Ländern erreichten Kompetenzen werden in diesem Bericht auch geschlechtsbezogene, soziale und zuwanderungsbezogene Disparitäten analysiert und ebenfalls überprüft, inwieweit sich diese seit dem Jahr 2012 verändert haben. Ergänzend werden Befunde zu motivationalen Merkmalen der Schülerinnen und Schüler, zu Aspekten der Unterrichtsqualität im Fach Mathematik sowie zur Aus- und Fortbildung von Lehrkräften im Fach Mathematik und in den naturwissenschaftlichen Fächern berichtet. Die repräsentative Erhebung für den IQB-Bildungstrend 2018 fand an insgesamt 1462 Schulen in allen 16 Ländern in der Bundesrepublik Deutschland statt. Das IQB ist eine unabhängige wissenschaftliche Einrichtung der Länder und hat den Auftrag, das Erreichen der von der Kultusministerkonferenz beschlossenen Bildungsstandards zu überprüfen. Die Erhebungen finden im Primarbereich in den Fächern Deutsch und Mathematik in der Regel alle fünf Jahre, in der Sekundarstufe I alternierend in den Fächergruppen Deutsch, Englisch und Französisch einerseits sowie Mathematik, Biologie, Chemie und Physik andererseits alle drei Jahre statt. Mit den IQB-Ländervergleichen, die in den Jahren 2009 (Sekundarstufe I: Deutsch, Englisch, Französisch), 2011 (Primarbereich: Deutsch, Mathematik) und 2012 (Sekundarstufe I: Mathematik, Biologie, Chemie und Physik) durchgeführt wurden, konnte der erste Zyklus der Überprüfungen des Erreichens der Bildungsstandards abgeschlossen werden. Die im zweiten Zyklus in den Jahren 2015 und 2016 durchgeführten IQB-Bildungstrends ermöglichten es, für das Erreichen der Bildungsstandards in den sprachlichen Fächern in der Sekundarstufe I und im Primarbereich Entwicklungstrends zu beschreiben. Mit dem vorliegenden Berichtsband zum IQB-Bildungstrend 2018, der den Abschluss des zweiten Studienzyklus bildet, legt das IQB nun auch für das Fach Mathematik und für die naturwissenschaftlichen Fächer in der 9. Jahrgangsstufe eine Analyse von Veränderungen in zentralen Kompetenzbereichen vor, die in einem Zeitraum von sechs Jahren stattgefunden haben

Microfluidic Tissue Engineering and Bio-Actuation

Bio-hybrid technologies aim to replicate the unique capabilities of biological systems that could surpass advanced artificial technologies. Soft bio-hybrid robots consist of synthetic and living materials and have the potential to self-assemble, regenerate, work autonomously, and interact safely with other species and the environment. Cells require a sufficient exchange of nutrients and gases, which is guaranteed by convection and diffusive transport through liquid media. The functional development and long-term survival of biological tissues in vitro can be improved by dynamic flow culture, but only microfluidic flow control can develop tissue with fine structuring and regulation at the microscale. Full control of tissue growth at the microscale will eventually lead to functional macroscale constructs, which are needed as the biological component of soft bio-hybrid technologies. This review summarizes recent progress in microfluidic techniques to engineer biological tissues, focusing on the use of muscle cells for robotic bio-actuation. Moreover, the instances in which bio-actuation technologies greatly benefit from fusion with microfluidics are highlighted, which include: the microfabrication of matrices, biomimicry of cell microenvironments, tissue maturation, perfusion, and vascularization.ISSN:0935-9648ISSN:1521-409