Pharmacokinetics and safety of candidate tocilizumab biosimilar CT-P47 administered by auto-injector or pre-filled syringe: a randomized, open‑label, single-dose phase I study.

Background: This study compared the pharmacokinetics (PK), immunogenicity, and safety of candidate tocilizumab biosimilar, CT-P47, administered via auto-injector (CT-P47 AI) or pre-filled syringe (CT-P47 PFS), in healthy Asian adults.

Research Design And Methods: In this phase I, multicenter, open-label study, participants were randomized 1:1 to receive a single 162 mg/0.9 mL dose of CT-P47 via AI or PFS.

EEG-controlled tele-grasping for undefined objects.

This paper presents a teleoperation system of robot grasping for undefined objects based on a real-time EEG (Electroencephalography) measurement and shared autonomy. When grasping an undefined object in an unstructured environment, real-time human decision is necessary since fully autonomous grasping may not handle uncertain situations. The proposed system allows involvement of a wide range of human decisions throughout the entire grasping procedure, including 3D movement of the gripper, selecting proper grasping posture, and adjusting the amount of grip force.

Path Planning for Multi-Arm Manipulators Using Deep Reinforcement Learning: Soft Actor-Critic with Hindsight Experience Replay.

Since path planning for multi-arm manipulators is a complicated high-dimensional problem, effective and fast path generation is not easy for the arbitrarily given start and goal locations of the end effector. Especially, when it comes to deep reinforcement learning-based path planning, high-dimensionality makes it difficult for existing reinforcement learning-based methods to have efficient exploration which is crucial for successful training. The recently proposed soft actor-critic (SAC) is well known to have good exploration ability due to the use of the entropy term in the objective function.

Spatial uncertainty model for visual features using a Kinect™ sensor.

This study proposes a mathematical uncertainty model for the spatial measurement of visual features using Kinect™ sensors. This model can provide qualitative and quantitative analysis for the utilization of Kinect™ sensors as 3D perception sensors. In order to achieve this objective, we derived the propagation relationship of the uncertainties between the disparity image space and the real Cartesian space with the mapping function between the two spaces.