Prediction of Human Trajectory Following a Haptic Robotic Guide Using Recurrent Neural Networks

Social intelligence is an important requirement for enabling robots to collaborate with people. In particular, human path prediction is an essential capability for robots in that it prevents potential collision with a human and allows the robot to safely make larger movements. In this paper, we present a method for predicting the trajectory of a human who follows a haptic robotic guide without using sight, which is valuable for assistive robots that aid the visually impaired. We apply a deep learning method based on recurrent neural networks using multimodal data: (1) human trajectory, (2) movement of the robotic guide, (3) haptic input data measured from the physical interaction between the human and the robot, (4) human depth data. We collected actual human trajectory and multimodal response data through indoor experiments. Our model outperformed the baseline result while using only the robot data with the observed human trajectory, and it shows even better results when using additional haptic and depth data.Comment: 6 pages, Submitted to IEEE World Haptics Conference 201

Sample-Efficient Training of Robotic Guide Using Human Path Prediction Network

Training a robot that engages with people is challenging, because it is expensive to involve people in a robot training process requiring numerous data samples. This paper proposes a human path prediction network (HPPN) and an evolution strategy-based robot training method using virtual human movements generated by the HPPN, which compensates for this sample inefficiency problem. We applied the proposed method to the training of a robotic guide for visually impaired people, which was designed to collect multimodal human response data and reflect such data when selecting the robot's actions. We collected 1,507 real-world episodes for training the HPPN and then generated over 100,000 virtual episodes for training the robot policy. User test results indicate that our trained robot accurately guides blindfolded participants along a goal path. In addition, by the designed reward to pursue both guidance accuracy and human comfort during the robot policy training process, our robot leads to improved smoothness in human motion while maintaining the accuracy of the guidance. This sample-efficient training method is expected to be widely applicable to all robots and computing machinery that physically interact with humans

Assessment of Allergic Rhinitis Websites in Korea

Objectives. The internet has become an important source of medical information and a great amount of information related to allergic rhinitis (AR) is available on the internet. However, the quality of this information is still a matter of debate. Therefore, this study was conducted to assess the AR-related information on Korean websites. Methods. The key word "allergic rhinitis" was entered into 4 popular search engines, and this led to identifying 40 websites. After being categorized according to authorship, the informational value of these websites was evaluated using 4 different assessment tools such as the Journal of the American Medical Association (JAMA) benchmarks, the DISCERN questionnaire, the Allergic Rhinitis and its Impact on Asthma (ARIA) 2008 Update and the Health On the Net (HON) code. Results. The 40 websites containing AR-related information were categorized according to their authorship as Western physician: 20, Oriental physician: 14, commercial: 1, and others: 5. The mean citation frequencies of the JAMA benchmarks and the ARIA 2008 Update concepts was 1.23 out of 4 and 4.33 out of 8, respectively, while the mean DISCERN score was 1.92 out of 5. When the websites were evaluated based on the type of authorship, the mean citation frequencies of the AMA 2008 Update concepts were Western physician: 5.35, Oriental physician: 2.64. Additionally, three websites authored by Western physicians and 13 authored by Oriental physicians contained unreliable information. Among these 16 websites, only 3 websites met the requirements for the HON code "Justification". Conclusion. AR-related information available on Korean websites is of variable quality and not all of the information provided is justifiable. Thus, performing surveillance of the medical information on these websites is necessary. Furthermore, common criteria that can be used to evaluate the websites created by both Western and Oriental physicians are also needed.Bousquet J, 2008, ALLERGY, V63, P8*HLTH NET FDN, 2006, HLTH NET COD COND VESILVA LVE, 2005, BRAZILIAN J OTHORHIN, V71, P590Park HW, 2004, J KOREAN MED SCI, V19, P364Winker MA, 2000, JAMA-J AM MED ASSOC, V283, P1600Charnock D, 1999, J EPIDEMIOL COMMUN H, V53, P105Silberg WM, 1997, JAMA-J AM MED ASSOC, V277, P1244

Phytohormone abscisic acid control RNA-dependent RNA polymerase 6 gene expression and post-transcriptional gene silencing in rice cells

RNA-dependent RNA polymerase 6 (RDR6) catalyses dsRNA synthesis for post-transcriptional gene silencing (PTGS)-associated amplification and the generation of endogeneous siRNAs involved in developmental determinations or stress responses. The functional importance of RDR6 in PTGS led us to examine its connection to the cellular regulatory network by analyzing the hormonal responses of RDR6 gene expression in a cultured cell system. Delivery of dsRNA, prepared in vitro, into cultured rice (Oryza sativa cv. Japonica Dongjin) cells successfully silenced the target isocitrate lyase (ICL) transcripts. Silencing was transient in the absence of abscisic acid (ABA), while it became persistent in the presence of ABA in growth medium. A transcription assay of the OsRDR6 promoter showed that it was positively regulated by ABA. OsRDR6-dependent siRNA(ICL) generation was also significantly up-regulated by ABA. The results showed that, among the five rice OsRDR isogenes, only OsRDR6 was responsible for the observed ABA-mediated amplification and silencing of ICL transcripts. We propose that ABA modulates PTGS through the transcriptional control of the OsRDR6 gene

A 4-year-old girl presenting with facial palsy, found to have increased delta neutrophil index, and diagnosed with acute myeloid leukemia with extramedullary infiltration

Although Bell’s palsy is the most common cause of facial palsy in children, some cases have potentially fatal causes. We report a rare case of isolated facial palsy in a 4-year-old girl whose diagnosis was acute myeloid leukemia with extramedullary infiltration. The findings of laboratory investigations were nonspecific at presentation except that the delta neutrophil index was 34.5% (reference range, 0%-5%). To avoid hasty diagnosis of Bell’s palsy in children with isolated facial palsy, vigilant differential diagnosis and workup are recommended

Site-directed mutagenesis of the amino acid residues in β-strand III [Val30-Val36] of d-amino acid aminotransferase of Bacillus sp. YM-1

AbstractThe β-strand III formed by amino acid residues Val30-Val36 is located across the active site of the thermostable d-amino acid aminotransferase (d-AAT) from thermophilic Bacillus sp. YM-1, and the odd-numbered amino acids (Tyr31, Val33, Lys35) in the strand are revealed to be directed toward the active site. Interestingly, Glu32 is also directed toward the active site. We first investigated the involvement of these amino acid residues in catalysis by alanine scanning mutagenesis. The Y31A and E32A mutant enzymes showed a marked decrease in kcat value, retaining less than 1% of the wild-type enzyme activity. The kcat values of V33A and K35A were changed slightly, but the Km of K35A for α-ketoglutarate was increased to 35.6 mM, compared to the Km value of 2.5 mM for the wild-type enzyme. These results suggested that the positive charge at Lys35 interacted electrostatically with the negative charge at the side chain of α-ketoglutarate. Site-directed mutagenesis of the Glu32 residue was conducted to demonstrate the role of this residue in detail. From the kinetic and spectral characteristics of the Glu32-substituted enzymes, the Glu32 residue seemed to interact with the positive charge at the Schiff base formed between the aldehyde group of pyridoxal 5′-phosphate (PLP) and the ε-amino group of the Lys145 residue

Oldenlandia diffusa Promotes Antiproliferative and Apoptotic Effects in a Rat Hepatocellular Carcinoma with Liver Cirrhosis

Oldenlandia diffusa (OD) is commonly used with various diseases such as cancer, arthritis, and autoimmune disease. Liver cirrhosis is a predominant risk factor for hepatocellular carcinoma (HCC). Here, we show that the therapeutic effect of OD, which was investigated both in vitro and chemically, induced HCC model. OD significantly enhanced apoptosis and antiproliferative activity and reduced migration ability of HCC cells. In vivo, OD was treated twice a day for 28 days after confirmed HCC model through 2-[(18)F]-fluoro-2-deoxy-D-glucose ((18)F-FDG) imaging. The survival in OD treated groups was shown to have a greater therapeutic effect than the control group. 28 days after OD treatment, OD treated groups resulted in a significant reduction in tumor number, size, (18)F-FDG uptake, and serum levels such as alanine transaminase, aspartate transaminase, and alkaline phosphate compared to the control group. Also, proliferated cells in tumor sites by OD were reduced compared to the control group. Furthermore, several rats in OD treated group survived over 60 days and liver morphology of these rats showed the difference between tumor mass and normal tissue. These results suggest that OD may have antiproliferative activity, inhibition of metastasis, and apoptotic effects in chemically induced HCC model and can have the potential use for clinical application as anticancer drug of the herbal extract