Semantic Mapping Based on Spatial Concepts for Grounding Words Related to Places in Daily Environments

An autonomous robot performing tasks in a human environment needs to recognize semantic information about places. Semantic mapping is a task in which suitable semantic information is assigned to an environmental map so that a robot can communicate with people and appropriately perform tasks requested by its users. We propose a novel statistical semantic mapping method called SpCoMapping, which integrates probabilistic spatial concept acquisition based on multimodal sensor information and a Markov random field applied for learning the arbitrary shape of a place on a map.SpCoMapping can connect multiple words to a place in a semantic mapping process using user utterances without pre-setting the list of place names. We also develop a nonparametric Bayesian extension of SpCoMapping that can automatically estimate an adequate number of categories. In the experiment in the simulation environments, we showed that the proposed method generated better semantic maps than previous semantic mapping methods; our semantic maps have categories and shapes similar to the ground truth provided by the user. In addition, we showed that SpCoMapping could generate appropriate semantic maps in a real-world environment

RAISE-3 for Agile On-Orbit Demonstration of Innovative Satellite Technologies: Mission Definition and Conceptual Design

The Japan Aerospace Exploration Agency (JAXA) has selected on-orbit demonstration missions for the Innovative Satellite Technology Demonstration-3 project in May 2020, as part of the Innovative Satellite Technology Demonstration Program. Seven on-orbit demonstration missions were selected in a category of parts, components and subsystems and those missions will be demonstrated onboard the RApid Innovative payload demonstration SatellitE-3 (RAISE-3). This 100kg-class satellite developed by JAXA is a flagship of the Innovative Satellite Technology Demonstration-3 fleet. This paper describes an overview of the demonstration missions and system specifications of RAISE-3, as well as results of conceptual design of the satellite and a partial application of digital development process to an initial phase of the project. Further, project plan and technical challenges to be studied in a project implementation phase are also discussed

中学、高校の体育授業における「体つくり運動」等の指導内容

The purpose of this study was to examine teaching contents for "Exercise to promote physical fitness" etc. in physical education classes of junior and senior high schools, where the subjects conducted a teaching practicum. The subjects were senior students who finished a teaching practicum of health and physical education during the spring term of 2002. They responded to a questionnaire presented following completion of the teaching practicum. The number of responses was 320 (87.4%). The findings were as follows: 1) Teaching contents for "Warm-up and cool-down exercise" containing elements of "Exercise to enhance physical fitness" such as "gymnastics" and "resistance training," were practiced in many schools. 2) Concerning "Karadahogushi (Relaxing and healing) exercise" "Stretching," "Games," "Gymnastics" and "Leapfrogging" were practiced often. However, approximately 30 percent answered "not practiced." More over, approximately 60 percent did not answer. 3) Concerning "Exercise to enhance physical fitness," "Resistance-training," "Leapfrogging" and "Running" were popular. In addition, there were game-type contents such as "Rock-paper-scissors while hand crafting," "long rope jumping" and "pushing sumo." However, approximately 20 percent answered "not practiced," while approximately 50 percent did not answer. 4) "Leapfrogging" should be noted not only as an "Exercise to enhance physical fitness" but also as a "Karadahogushi (Relaxing and healing) exercise.

Current Status and Future Potential of Robotic Surgery for Gastrointestinal Cancer

　Robotic surgery has built on innovations in areas such as medical engineering and optical technology. Laparoscopic surgery has been successfully adapted for gastric, colon, and rectal cancer surgeries over the past two decades with numerous clinical trials showing oncological results comparable to those of open surgery. These trials have also shown that the laparoscopic approach shortens postoperative recovery time and decreases complication rates. Another advantage of minimally invasive techniques for the resection of gastric, colon, and rectal cancers is improved visualization of the surgical field. Despite the near absence of tactile feedback, robotic surgery has overcome many of the challenges inherent in laparoscopic surgery through features such as 3D vision, stable magnification, EndoWrist instruments, physiological tremor filtering, and motion scaling. Robotic surgery is not yet widely used in esophageal cancer surgery or in a pancreaticoduodenectomy for pancreatic cancer due to anatomical difficulties and the lack of a suitable approach.　Comparative studies of robotic and laparoscopic surgery have shown similar results in terms of perioperative management, oncologic evaluation, and functional outcomes. However, it is also true that the high cost and lack of tactile feedback in robotic surgery are major limitations in terms of current robotic technology becoming the worldwide standard for minimally invasive surgery. The future of robotic surgery will require cost reduction, the development of new platforms and technologies, the creation and validation of curricula and virtual simulators, and confirmation through appropriate randomized controlled clinical trials

What Is True Halving in the Payoff Matrix of Game Theory?

In game theory, there are two social interpretations of rewards (payoffs) for decision-making strategies: (1) the interpretation based on the utility criterion derived from expected utility theory and (2) the interpretation based on the quantitative criterion (amount of gain) derived from validity in the empirical context. A dynamic decision theory has recently been developed in which dynamic utility is a conditional (state) variable that is a function of the current wealth of a decision maker. We applied dynamic utility to the equal division in dove-dove contests in the hawk-dove game. Our results indicate that under the utility criterion, the half-share of utility becomes proportional to a player’s current wealth. Our results are consistent with studies of the sense of fairness in animals, which indicate that the quantitative criterion has greater validity than the utility criterion. We also find that traditional analyses of repeated games must be reevaluated

Circadian rhythms of the mRNA abundances of clock genes and glucose transporters in the jejunum of weanling‐growing pigs

Abstract Background Whether abundance of glucose transporter mRNAs in the small intestine of pigs shows circadian rhythms and its regulation by clock genes was still unknown. Objectives We examined whether the abundance of glucose transporters and clock genes mRNAs in the small intestine of pigs shows circadian rhythms. Methods Twenty barrows (4 weeks old) were reared under 12 h bright and 12 h dark lighting conditions. During the 3‐week feeding trial, pigs were allowed free access to feed. The abundances of the mRNA of glucose transporters (SGLT1 and GLUT2) and clock genes (Bmal1, Per1, Per2, and Cry2) in the intestine were measured at four time points (ZT2, ZT8, ZT14, and ZT20). Results In the jejunum, the abundance of SGLT1 mRNA was higher at ZT20 and ZT2 and lower at ZT8 and ZT14 (p < 0.05). The abundances of GLUT2 mRNA in the jejunum at ZTs 20 and 2 were tended to be higher than those at ZTs 8 and 14 (p = 0.05). In the jejunum, the abundance of Bmal1 mRNA was higher at ZT8 and ZT14 than at ZT20 and ZT2 (p < 0.05). Further, the abundance of Per1 mRNA at ZT2 was higher than those at the other sampling times (p < 0.05). The abundance of Per1 mRNA at ZT8 was higher than that at ZT14 (p < 0.05), while that of Per2 mRNA was higher at ZT2 than those at ZTs 20 and 14 (p < 0.05). Conclusion We speculate that these circadian rhythms of abundances of glucose transporter mRNAs are regulated by the clock genes expressed in the jejunum

The promotion of cooperation by the poor in dynamic chicken games

The evolution of cooperative behavior is one of the most important issues in game theory. Previous studies have shown that cooperation can evolve only under highly limited conditions, and various modifications have been introduced to games to explain the evolution of cooperation. Recently, a utility function basic to game theory was shown to be dependent on current wealth as a conditional (state) variable in a dynamic version of utility theory. Here, we introduce this dynamic utility function to several games. Under certain conditions, poor players exhibit cooperative behavior in two types of chicken games (the hawk-dove game and the snowdrift game) but not in the prisoner\u27s dilemma game and the stag hunt game. This result indicates that cooperation can be exhibited by the poor in some chicken games. Thus, the evolution of cooperation may not be as limited as has been suggested in previous studies