Event-Driven Technologies for Reactive Motion Planning: Neuromorphic Stereo Vision and Robot Path Planning and Their Application on Parallel Hardware

Die Robotik wird immer mehr zu einem Schlüsselfaktor des technischen Aufschwungs. Trotz beeindruckender Fortschritte in den letzten Jahrzehnten, übertreffen Gehirne von Säugetieren in den Bereichen Sehen und Bewegungsplanung noch immer selbst die leistungsfähigsten Maschinen. Industrieroboter sind sehr schnell und präzise, aber ihre Planungsalgorithmen sind in hochdynamischen Umgebungen, wie sie für die Mensch-Roboter-Kollaboration (MRK) erforderlich sind, nicht leistungsfähig genug. Ohne schnelle und adaptive Bewegungsplanung kann sichere MRK nicht garantiert werden. Neuromorphe Technologien, einschließlich visueller Sensoren und Hardware-Chips, arbeiten asynchron und verarbeiten so raum-zeitliche Informationen sehr effizient. Insbesondere ereignisbasierte visuelle Sensoren sind konventionellen, synchronen Kameras bei vielen Anwendungen bereits überlegen. Daher haben ereignisbasierte Methoden ein großes Potenzial, schnellere und energieeffizientere Algorithmen zur Bewegungssteuerung in der MRK zu ermöglichen. In dieser Arbeit wird ein Ansatz zur flexiblen reaktiven Bewegungssteuerung eines Roboterarms vorgestellt. Dabei wird die Exterozeption durch ereignisbasiertes Stereosehen erreicht und die Pfadplanung ist in einer neuronalen Repräsentation des Konfigurationsraums implementiert. Die Multiview-3D-Rekonstruktion wird durch eine qualitative Analyse in Simulation evaluiert und auf ein Stereo-System ereignisbasierter Kameras übertragen. Zur Evaluierung der reaktiven kollisionsfreien Online-Planung wird ein Demonstrator mit einem industriellen Roboter genutzt. Dieser wird auch für eine vergleichende Studie zu sample-basierten Planern verwendet. Ergänzt wird dies durch einen Benchmark von parallelen Hardwarelösungen wozu als Testszenario Bahnplanung in der Robotik gewählt wurde. Die Ergebnisse zeigen, dass die vorgeschlagenen neuronalen Lösungen einen effektiven Weg zur Realisierung einer Robotersteuerung für dynamische Szenarien darstellen. Diese Arbeit schafft eine Grundlage für neuronale Lösungen bei adaptiven Fertigungsprozesse, auch in Zusammenarbeit mit dem Menschen, ohne Einbußen bei Geschwindigkeit und Sicherheit. Damit ebnet sie den Weg für die Integration von dem Gehirn nachempfundener Hardware und Algorithmen in die Industrierobotik und MRK

Why are Generic Drugs Being Held Up in Transit? Intellectual Property Rights, International Trade, and the Right to Health in Brazil and Beyond

Access to medicines faces a new legal threat: “border enforcement” of drug patents. Using Brazil as an example, this article shows how the right to health depends on international trade. Border seizures of generic drugs present human rights and trade institutions with a unique challenge. Can public health advocates rise to meet it

What IAPT CBT high-intensity trainees do after training

Background: The UK Department of Health Improving Access to Psychological Therapies (IAPT) initiative set out to train a large number of therapists in cognitive behaviour therapies (CBT) for depression and anxiety disorders. Little is currently known about the retention of IAPT CBT trainees, or the use of CBT skills acquired on the course in the workplace after training has finished. Aims: This study set out to conduct a follow-up survey of past CBT trainees on the IAPT High Intensity CBT Course at the Institute of Psychiatry, Psychology and Neuroscience (IoPPN), King's College London (KCL), one of the largest IAPT High Intensity courses in the UK. Method: Past trainees (n = 212) across 6 cohorts (2008-2014 intakes) were contacted and invited to participate in a follow-up survey. A response rate of 92.5% (n = 196) was achieved. Results: The vast majority of IAPT trainees continue to work in IAPT services posttraining (79%) and to practise CBT as their main therapy modality (94%); 61% have become CBT supervisors. A minority (23%) have progressed to other senior roles in the services. Shortcomings are reported in the use of out-of-office CBT interventions, the use of disorder-specific outcome measures and therapy recordings to inform therapy and supervision. Conclusions: Past trainees stay working in IAPT services and continue to use CBT methods taught on the course. Some NICE recommended treatment procedures that are likely to facilitate patients’ recovery are not being routinely implemented across IAPT services. The results have implications for the continued roll out of the IAPT programme, and other future large scale training initiatives

Long-Period Giant Companions to Three Compact, Multiplanet Systems

Understanding the relationship between long-period giant planets and multiple smaller short-period planets is critical for formulating a complete picture of planet formation. This work characterizes three such systems. We present Kepler-65, a system with an eccentric (e = 0.28 ± 0.07) giant planet companion discovered via radial velocities (RVs) exterior to a compact, multiply transiting system of sub-Neptune planets. We also use precision RVs to improve mass and radius constraints on two other systems with similar architectures, Kepler-25 and Kepler-68. In Kepler-68 we propose a second exterior giant planet candidate. Finally, we consider the implications of these systems for planet formation models, particularly that the moderate eccentricity in Kepler-65\u27s exterior giant planet did not disrupt its inner system

Changes of Self-Rated Health Status, Overweight and Physical Activity During Childhood and Adolescence—The Ratchet Effect of High Parental Socioeconomic Status

Childhood and adolescence are important life periods for the development of health status and physical activity (PA) behaviours. This study analyses the stability and potential changes of self-rated health status, overweight and PA behaviour over time, specifically focusing on the age and the socioeconomic status of children and adolescents. We employ representative longitudinal data for German children and adolescents from the Motorik-Modul Study and the German Health Interview and Examination Survey. Using four different dichotomous health status and PA indicators (self-rated health status [SRHS]; overweight; moderate-to-vigorous PA; and leisure sports engagement), we report within-person transition rates across the panel waves when the survey was taken (2003–2006, 2009–2012, and 2014–2017). Additionally, we report results of logistic regressions estimating the impact of children\u27s age, gender, migration background, and their parents\u27 socioeconomic status on these transition rates. The transition rates show mixed results. While children and adolescents from highly problematic states reporting bad SRHS and no leisure sports engagement at an early stage tend to improve later on, overweight children mostly stay overweight. Age and social inequality indicators correlate with some of the chances of improving or worsening the health and PA states. Most clearly, high parental status prevents the health status and PA from worsening over all transitions, particularly becoming overweight, representing a ratchet effect. The results of the present study underline that health policy needs to target specific groups to reduce social inequality in the health status and PA of children and adolescents

Mouse Dendritic Cells Pulsed with Capsular Polysaccharide Induce Resistance to Lethal Pneumococcal Challenge: Roles of T Cells and B Cells

Mice are exceedingly sensitive to intra-peritoneal (IP) challenge with some virulent pneumococci (LD50 = 1 bacterium). To investigate how peripheral contact with bacterial capsular polysaccharide (PS) antigen can induce resistance, we pulsed bone marrow dendritic cells (BMDC) of C57BL/6 mice with type 4 or type 3 PS, injected the BMDC intra-foot pad (IFP) and challenged the mice IP with supra-lethal doses of pneumococci. We examined the responses of T cells and B cells in the draining popliteal lymph node and measured the effects on the bacteria in the peritoneum and blood. We now report that: 1) The PS co-localized with MHC molecules on the BMDC surface; 2) PS-specific T and B cell proliferation and IFNγ secretion was detected in the draining popliteal lymph nodes on day 4; 3) Type-specific resistance to lethal IP challenge was manifested only after day 5; 4) Type-specific IgM and IgG antibodies were detected in the sera of only some of the mice, but B cells were essential for resistance; 5) Control mice vaccinated with a single injection of soluble PS did not develop a response in the draining popliteal lymph node and were not protected; 6) Mice injected with unpulsed BMDC also did not resist challenge: In unprotected mice, pneumococci entered the blood shortly after IP inoculation and multiplied exponentially in both blood and peritoneum killing the mice within 20 hours. Mice vaccinated with PS-pulsed BMDC trapped the bacteria in the peritoneum. The trapped bacteria proliferated exponentially IP, but died suddenly at 18–20 hours. Thus, a single injection of PS antigen associated with intact BMDC is a more effective vaccine than the soluble PS alone. This model system provides a platform for studying novel aspects of PS-targeted vaccination

Tumor cytotoxicity and immunogenicity of a novel V-jet neon plasma source compared to the kINPen

Recent research indicated the potential of cold physical plasma in cancer therapy. The plethora of plasma-derived reactive oxygen and nitrogen species (ROS/RNS) mediate diverse antitumor effects after eliciting oxidative stress in cancer cells. We aimed at exploiting this principle using a newly designed dual-jet neon plasma source (Vjet) to treat colorectal cancer cells. A treatment time-dependent ROS/RNS generation induced oxidation, growth retardation, and cell death within 3D tumor spheroids were found. In TUM-CAM, a semi in vivo model, the Vjet markedly reduced vascularized tumors' growth, but an increase of tumor cell immunogenicity or uptake by dendritic cells was not observed. By comparison, the argon-driven single jet kINPen, known to mediate anticancer effects in vitro, in vivo, and in patients, generated less ROS/RNS and terminal cell death in spheroids. In the TUM-CAM model, however, the kINPen was equivalently effective and induced a stronger expression of immunogenic cancer cell death (ICD) markers, leading to increased phagocytosis of kINPen but not Vjet plasma-treated tumor cells by dendritic cells. Moreover, the Vjet was characterized according to the requirements of the DIN-SPEC 91315. Our results highlight the plasma device-specific action on cancer cells for evaluating optimal discharges for plasma cancer treatment