Data-efficient learning of robotic clothing assistance using Bayesian Gaussian process latent variable model

ABSTRACT

Motor-skill learning for complex robotic tasks is a challenging problem due to the high task variability. Robotic clothing assistance is one such challenging problem that can greatly improve the quality-of-life for the elderly and disabled. In this study, we propose a data-efficient representation to encode task-specific motor-skills of the robot using Bayesian nonparametric latent variable models. The effectivity of the proposed motor-skill representation is demonstrated in two ways: (1) through a real-time controller that can be used as a tool for learning from demonstration to impart novel skills to the robot and (2) by demonstrating that policy search reinforcement learning in such a task-specific latent space outperforms learning in the high-dimensional joint configuration space of the robot. We implement our proposed framework in a practical setting with a dual-arm robot performing clothing assistance tasks.     

Chiral selection in supercoiling and wrapping of DNA

This paper gives an account of our recent studies on the mechanisms for chiral selection in super-coiling and wrapping of DNA. We first present a compact model of double-stranded DNA (Model 1), which consists of two elastic chains that mutually intertwine in a right-handed manner to form a double-stranded helix. Numerical analysis of this model suggests an intrinsic propensity of DNA to writhe in the left direction upon bending. Based on this asymmetric elasticity of DNA, we present a further simplified model of DNA (Model 2), which is a single-chained homopolymer with the propensity to writhe in the left direction upon bending. This simplified model is incorporated into a Langevin dynamics study to explore the origin of the uniform left-handed wrapping of DNA around a nucleosome core particle in nature. We finally show that the propensity of DNA to writhe in the left direction upon bending gives rise to the selective left-handed wrapping, provided that the size of the core particle is appropriate. This result suggests the fundamental significance of the asymmetric elasticity of helical biopolymers in their structural dynamics and functions.     

Preparation of bismuth nanowire encased in quartz template for Hall measurements using focused ion beam processing

ABSTRACT: Forming electrodes on opposite sides of an individual bismuth nanowire was attempted to prepare for Hall measurements. Although a 1-mm-long bismuth nanowire which is completely covered with a quartz template has been successfully fabricated to prevent oxidation, it is very difficult to attach Hall electrodes on the opposite sides of the nanowire due to the quartz covering. One side of the cylindrical quartz template was removed by polishing without exposure of the nanowire to the atmosphere; the thickness between the polished template surface and the nanowire was estimated to be several micrometers. Focused ion beam processing was successfully employed to expose both surfaces of the nanowire under high vacuum by removing part of the quartz template. A carbon thin film was then deposited in situ on the wire surface to fabricate an electrical contact on the bismuth nanowire sample. Furthermore, the energy dispersive X-ray analysis was performed to the area processed by focused ion beam, and the bismuth component of the nanowire was successfully detected. It was confirmed that the focused ion beam processing was applicable to attach electrodes to bismuth nanowire for Hall measurement.     

High‐temperature latent heat storage technology to utilize exergy of solar heat and industrial exhaust heat

Latent heat storage (LHS) using phase change materials is quite attractive for utilization of the exergy of solar energy and industrial exhaust heat because of its high‐heat storage capacity, heat storage and supply at constant temperature, and repeatable utilization without degradation. In this article, general LHS technology is outlined, and then recent advances in the uses of LHS for high‐temperature applications (over 100 °C) are discussed, with respect to each type of phase change material (e.g., sugar alcohol, molten salt, and alloy). The prospects of future LHS systems are discussed from a principle of exergy recuperation. In addition, the technologies to minimize exergy loss in the future LHS system are discussed on the basis of the thermodynamic analysis by ‘thermodynamic compass’. Copyright © 2016 John Wiley & Sons, Ltd.     

Correlations of Hepatic Hemodynamics,Liver Function,and Fibrosis Markers in Nonalcoholic Fatty Liver Disease: Comparison with Chronic Hepatitis Related to Hepatitis C Virus

The progression of chronic liver disease differs by etiology. The aim of this study was to elucidate the difference in disease progression between chronic hepatitis C (CHC) and nonalcoholic fatty liver disease (NAFLD) by means of fibrosis markers, liver function, and hepatic tissue blood flow (TBF). Xenon computed tomography (Xe-CT) was performed in 139 patients with NAFLD and 152 patients with CHC (including liver cirrhosis (LC)). The cutoff values for fibrosis markers were compared between NAFLD and CHC, and correlations between hepatic TBF and liver function tests were examined at each fibrosis stage. The cutoff values for detection of the advanced fibrosis stage were lower in NAFLD than in CHC. Although portal venous TBF (PVTBF) correlated with liver function tests, PVTBF in initial LC caused by nonalcoholic steatohepatitis (NASH-LC) was significantly lower than that in hepatitis C virus (C-LC) (p = 0.014). Conversely, the liver function tests in NASH-LC were higher than those in C-LC (p < 0.05). It is important to recognize the difference between NAFLD and CHC. We concluded that changes in hepatic blood flow occurred during the earliest stage of hepatic fibrosis in patients with NAFLD; therefore, patients with NAFLD need to be followed carefully.     

Cytoskeletal Protein 4.1G Is Essential for the Primary Ciliogenesis and Osteoblast Differentiation in Bone Formation

The primary cilium is a hair-like immotile organelle with specific membrane receptors, including the receptor of Hedgehog signaling, smoothened. The cilium organized in preosteoblasts promotes differentiation of the cells into osteoblasts (osteoblast differentiation) by mediating Hedgehog signaling to achieve bone formation. Notably, 4.1G is a plasma membrane-associated cytoskeletal protein that plays essential roles in various tissues, including the peripheral nervous system, testis, and retina. However, its function in the bone remains unexplored. In this study, we identified 4.1G expression in the bone. We found that, in the 4.1G-knockout mice, calcium deposits and primary cilium formation were suppressed in the trabecular bone, which is preosteoblast-rich region of the newborn tibia, indicating that 4.1G is a prerequisite for osteoblast differentiation by organizing the primary cilia in preosteoblasts. Next, we found that the primary cilium was elongated in the differentiating mouse preosteoblast cell line MC3T3-E1, whereas the knockdown of 4.1G suppressed its elongation. Moreover, 4.1G-knockdown suppressed the induction of the cilia-mediated Hedgehog signaling and subsequent osteoblast differentiation. These results demonstrate a new regulatory mechanism of 4.1G in bone formation that promotes the primary ciliogenesis in the differentiating preosteoblasts and induction of cilia-mediated osteoblast differentiation, resulting in bone formation at the newborn stage.     

Heat transfer and flow characteristics of flow boiling of CO2‐oil mixtures in horizontal smooth and micro‐fin tubes

Experiments were carried out on the flow pattern, heat transfer, and pressure drop of flow boiling of pure CO₂ and CO₂‐oil mixtures in horizontal smooth and micro‐fin tubes. The smooth tube is a stainless steel tube with an inner diameter of 3.76 mm. The micro‐fin tube is a copper tube with a mean inner diameter of 3.75 mm. The experiments were carried out at mass velocities from 100 to 500 kg/(m²·s), saturation temperature of 10 °C, and the circulation ratio of lubricating oil (PAG) was from 0 to 1.0 mass%. Flow pattern observations mainly showed slug and wavy flow for the smooth tube, but annular flow for the micro‐fin tube. Compared with the flow patterns in the case of pure CO₂, an increase in frequency of slug occurrence in the slug flow region, and a decrease in the quantity of liquid at the top of the tube in the annular flow region were observed in the case of CO₂‐oil mixtures. With pure CO₂, the flow boiling heat transfer was dominated by nucleate boiling in the low vapor quality region, and the heat transfer coefficients for the micro‐fin tube were higher than those of the smooth tube. With CO₂‐oil mixtures, the flow boiling heat transfer was dominated by convective evaporation, especially in the high vapor quality region. In addition, the heat transfer coefficient decreased significantly when the oil circulation ratio was larger than 0.1 mass%. For the pressure drop characteristics, in the case of pure CO₂, the homogeneous flow model agreed with the experimental results within ±30% for the smooth tube. The pressure drops of the micro‐fin tube were 0–70% higher than those predicted with the homogeneous flow model, and the pressure drops increased for the high oil circulation ratio and high vapor quality conditions. The increases in the pressure drops were considered to be due to the increase in the thickness of the oil film and the decrease in the effective flow cross‐sectional area. © 2010 Wiley Periodicals, Inc. Heat Trans Asian Res; Published online in Wiley InterScience ( www.interscience.wiley.com ). DOI 10.1002/htj.20287     

Synthetic Molecular Gear Based on Double-Decker Porphyrin Complexes

New rotary molecular machines (1 and 2) were synthetically constructed from two distinct porphyrin-based rotors, a cerium(IV) bis(porphyrinate)s double-decker (CeDD) and a porphyrinatorhodium(III)-based rotor. These rotors are adjacently mounted on rotational axes aligned to near vertical as resembling the bevel-gear-shaped structure. Structural study using NMR analysis reveals that these distinct rotors are connected through a coordination bond between rhodium(III) and a pyridyl group. At temperature from 193 to 393 K, each rotor represents rotational motion driven by heat fluctuation without decomposition into the corresponding precursors in dichloromethane-d ₂ and tetrachloroethane-d ₄. Importantly, the mechanical interaction between the teeth of these rotors is strongly dependent on the central metal atom in a DD rotor and the teeth structure in a porphyrinatorhodium(III)-based rotor. Understanding such relationship between the chemical structures and mechanical interaction is of importance for generating cooperative motion in the hybrid machinery system.