Collaboration Development through Interactive Learning between Human and Robot

In this paper, we investigated interactive learning between human subjects and robot experimentally, and its essential characteristics are examined using the dynamical systems approach. Our research concentrated on the navigation system of a specially developed humanoid robot called Robovie and seven human subjects whose eyes were covered, making them dependent on the robot for directions. We compared the usual feed-forward neural network (FFNN) without recursive connections and the recurrent neural network (RNN). Although the performances obtained with both the RNN and the FFNN improved in the early stages of learning, as the subject changed the operation by learning on its own, all performances gradually became unstable and failed. Results of a questionnaire given to the subjects confirmed that the FFNN gives better mental impressions, especially from the aspect of operability. When the robot used a consolidation-learning algorithm using the rehearsal outputs of the RNN, the performance improved even when interactive learning continued for a long time. The questionnaire results then also confirmed that the subject's mental impressions of the RNN improved significantly. The dynamical systems analysis of RNNs support these differences and also showed that the collaboration scheme was developed dynamically along with succeeding phase transitions

Ordovician 40Ar/39Ar phengite ages from the blueschist-facies Ondor Sum subduction-accretion complex (Inner Mongolia) and implications for the early Paleozoic history of continental blocks in China and adjacent areas

We obtained 453.2 ± 1.8 Ma and 449.4 ± 1.8 Ma (2{sigma}) laser step-heating 40Ar/39Ar plateau ages for phengite from quartzite mylonites from the blueschist-facies Ondor Sum subduction-accretion complex in Inner Mongolia (northern China). These ages are within error of the inverse isochron ages calculated using the plateau steps and the weighted mean ages of total fusion of single grains. The compositional change from glaucophane in the cores to crossite in the rims of blue amphiboles, as revealed by electron microprobe analysis, points to decompression, probably caused by progressive exhumation of the subducted material. The Late Ordovician ages were not affected by excess argon incorporation because in all likelihood the oceanic sediments were wet on arrival at the trench and free of older detrital mica. The ca. 450 Ma ages are, hence, interpreted as the time of crystallization during mylonitization under high fluid activity at fairly low temperatures. This means that accretion of the quartzite mylonite unit occured about 200 Ma before final closure of the Paleo-Asian Ocean, amalgamation of the Siberian, Tarim and North China cratons, and formation of the end-Permian Solonker suture zone. We argue that the Early Paleozoic evolution of the Ondor Sum complex occurred along the northeastern Cimmerian margin of Gondwana, which was composed of micro-continents fringed by subduction-accretion complexes and island arcs. The later evolution took place during the building of the Eurasian continent following middle Devonian and younger rifting along the East Gondwanan margin and northward drift of the detached North China craton. An extensive review shows that this type of two-stage scenario probably also applies to the geodynamic evolution of other micro-continents like, South China, Tarim, a number of Kazakh terranes, Alashan, Qaidam and Kunlun, as well as South Kitakami and correlatives in Japan, and probably Indochina. Like the North China craton, these were bordered by Early Paleozoic subduction-accretion complexes, island arcs or contained calc-alkaline volcanic margins, like for example, the central Tienshan, North Qinling, North Qaidam-Altun, North Qilian and Kunlun belts in China, as well as the Oeyama and Miyamori ophiolites and Matsugadaira-Motai blueschist belt of Japan and the dismembered Sergeevka ophiolite of the southern part of the Russian Far East. This implies that a vast orogenic system, comprising an archipelago of micro-continents, seems to have existed along the Cimmerian margin of East Gondwana in Early Paleozoic time in which the ultrahigh-pressure metamorphism that characterizes the early evolution of many of the Asian micro-continents occurred

Customized chemotherapy based on epidermal growth factor receptormutation status for elderly patients with advanced non-small-cell lung cancer: a phase II trial

BACKGROUND: Elderly patients are more vulnerable to toxicity from chemotherapy. Activating epidermal growth factor receptor (EGFR) mutations in non-small-cell lung cancer (NSCLC) are associated with enhanced response to EGFR tyrosine-kinase inhibitors. We studied patients with advanced NSCLC for whom treatment was customized based on EGFR mutation status. METHODS: We screened 57 chemotherapy-naïve patients with histologically or cytologically confirmed NSCLC, stage IIIB or IV, aged 70 years or older, and with an Eastern Cooperative Oncology Group performance status 0 or 1, for EGFR exon 19 codon 746–750 deletion and exon 21 L858R mutation. Twenty-two patients with EGFR mutations received gefitinib; 32 patients without mutations received vinorelbine or gemcitabine. The primary endpoint was the response rate. RESULTS: The response rate was 45.5% (95% confidence interval [CI]: 24.4%, 67.8%) in patients with EGFR mutations and 18.8% (95% CI: 7.2%, 36.4%) in patients without EGFR mutations. The median overall survival was 27.9 months (95%CI: 24.4 months, undeterminable months) in patients with EGFR mutations and 14.9 months (95%CI: 11.0 months, 22.4 months) in patients without EGFR mutations. In the gefitinib group, grade 3/4 hepatic dysfunction and dermatitis occurred in 23% and 5% of patients, respectively. In patients treated with vinorelbine or gemcitabine, the most common grade 3 or 4 adverse events were neutropenia (47%; four had febrile neutropenia), anemia (13%), and anorexia (9%). No treatment-related deaths occurred. CONCLUSIONS: Treatment customization based on EGFR mutation status deserves consideration, particularly for elderly patients who often cannot receive second-line chemotherapy due to poor organ function or comorbidities. TRIAL REGISTRATION: This trial is registered at University hospital Medical Information Network-clinical trial registration (http://www.umin.ac.jp/ctr/index/htm) with the registration identification number C000000436

NanTroSEIZE Stage 1 expeditions: introduction and synthesis of key results

Integrated Ocean Drilling Program Expeditions 314, 315, and 316 were carried out as a unified program of drilling collectively known as Stage 1 of the Nankai Trough Seismogenic Zone Experiment, a multistage complex drilling project. A transect of eight sites was selected for riserless drilling to target the frontal thrust region, midslope megasplay fault region, and Kumano forearc basin region. Two of these sites are preparatory pilot holes for planned deep riser drilling operations, whereas the others targeted fault zone material in the shallow, presumed aseismic zone. Expedition 314 was dedicated to in situ measurement of physical properties and borehole imaging through logging while drilling in holes dedicated to that purpose. Expedition 315 was devoted to core sampling and downhole temperature measurements at one site in the megasplay region and one site in the forearc basin. Expedition 316 targeted the frontal and out-of-sequence megasplay fault region in the mid-slope environment. Results on accretionary complex structure, lithology and age, physical properties, and state of stress, which are documented in full in the site chapters of this volume, are here synthesized across the expeditions

Ionic high-pressure form of elemental boron

Boron is an element of fascinating chemical complexity. Controversies have shrouded this element since its discovery was announced in 1808: the new 'element' turned out to be a compound containing less than 60-70 percent of boron, and it was not until 1909 that 99-percent pure boron was obtained. And although we now know of at least 16 polymorphs, the stable phase of boron is not yet experimentally established even at ambient conditions. Boron's complexities arise from frustration: situated between metals and insulators in the periodic table, boron has only three valence electrons, which would favour metallicity, but they are sufficiently localized that insulating states emerge. However, this subtle balance between metallic and insulating states is easily shifted by pressure, temperature and impurities. Here we report the results of high-pressure experiments and ab initio evolutionary crystal structure predictions that explore the structural stability of boron under pressure and, strikingly, reveal a partially ionic high-pressure boron phase. This new phase is stable between 19 and 89 GPa, can be quenched to ambient conditions, and has a hitherto unknown structure (space group Pnnm, 28 atoms in the unit cell) consisting of icosahedral B12 clusters and B2 pairs in a NaCl-type arrangement. We find that the ionicity of the phase affects its electronic bandgap, infrared adsorption and dielectric constants, and that it arises from the different electronic properties of the B2 pairs and B12 clusters and the resultant charge transfer between them.Comment: Published in Nature 453, 863-867 (2009

Molecular profiling of signet ring cell colorectal cancer provides a strong rationale for genomic targeted and immune checkpoint inhibitor therapies

We would like to thank all patients whose samples were used in this study. We are also thankful to the Northern Ireland Biobank and Grampian Biorepository for providing us with tissue blocks and patient data; and Dr HG Coleman (Queen’s University Belfast) for her advice on statistical analyses. This work has been carried out with financial support from Cancer Research UK (grant: C11512/A18067), Experimental Cancer Medicine Centre Network (grant: C36697/A15590 from Cancer Research UK and the NI Health and Social Care Research and Development Division), the Sean Crummey Memorial Fund and the Tom Simms Memorial Fund. The Northern Ireland Biobank is funded by HSC Research and Development Division of the Public Health Agency in Northern Ireland and Cancer Research UK through the Belfast CRUK Centre and the Northern Ireland Experimental Cancer Medicine Centre; additional support was received from Friends of the Cancer Centre. The Northern Ireland Molecular Pathology Laboratory which is responsible for creating resources for the Northern Ireland Biobank has received funding from Cancer Research UK, Friends of the Cancer Centre and Sean Crummey Foundation.Peer reviewedPublisher PD

Pattern of Salivary Gland Tumours among Patients Attending Otorhinolaryngology and Maxillofacial Services at Tertiary Hospital in Tanzania, A Cross-Sectional Study

The proportion of neoplasms of the salivary gland in the study population accounted for 10% of all head & neck and 3% of all neoplasms in the body. There is a scarcity of information regarding salivary gland tumours in Tanzania; therefore, this study addresses important issues in prevalence, histological, demographic characteristics, co-morbidities and treatment of salivary gland tumours. This study aimed to determine the pattern of salivary gland tumours among patients attending Otorhinolaryngology and Maxillofacial services at a tertiary hospital. This was a cross-sectional study done on patients diagnosed with salivary gland tumours. A total of 276 patients were recruited. Pre-tested coded questionnaires were used to collect data which were later analysed using SPSS statistical computer software version 20.0. Of the studied 276 participants, 156 (56.5%) were males, and 120 (43.5%) were females. Their age group ranged between 0 to 90 years with a mean age of 49.47 years, SD ±15.7. Most of them, 69 (28.6 %) aged above 60 years, and 31 (26.1 %) were in the age group of 40-49 and 60+ years. Mostly affected were males, 64 (55.1%) and 52 (44.8%) were females, P=0.76. The most commonly affected site was the parotid gland (75%), and the least affected sites were submandibular and sublingual (7.5%). Among 116 patients, malignant and benign types accounted for 76 (66%) and 40 (34%), respectively. Both benign and malignant salivary gland tumours (SGT) had male preponderance. Pleomorphic adenoma was high in males (28.1%) compared to females (25.0%); mucoepidermoid carcinoma was commonly found, accounting for 23.4% in males and 28.9% in females. More males were commonly affected, particularly the 40-49 age group, although the differences were statistically insignificant (p-value= 0.07).             In conclusion, the majority of salivary gland tumours were malignant type and mucoepidermoid carcinoma being the most common histological type, while pleomorphic adenoma was the most frequently encountered benign type, and both had male preponderance, mostly seen at the age of 40 years and above. The majority of patients with malignant tumours presented late to the hospital; therefore, there is a need for advocacy for early health-seeking behaviour to the community and early detection of the disease by health personnel in the primary health centres

Comparative Pandemic Mitigation Measures in Ancient Christian, Islamic and Contemporary (Covid-19) Periods

Pandemics have long existed and have caused disastrous effects on humans. They have caused deaths and paralysis in different sectors of life. Ancient Christian and Islamic religious textshave had teachings on measures to contain variousdiseasesThe main aim of this study was to review the relationship between these pandemicmeasures. Pandemic mitigation measures in ancient Christian, Islamic andcontemporary eras have some similarities and differences. A desktop review was done regarding the content and citations from The Holy Bible, The Holy Quran and Hadiths and, research papers on pandemic containment measures. The study focused on the washing of hands and maintenance of hygiene,the use of pharmaceuticals, drugs, and vaccines, isolation and quarantine, and, lockdown restrictions. The study concluded that there exists a strong relationship between Christian, Islamic and modern pandemic containment measures