Human-robot planar co-manipulation of extended objects: data-driven models and control from human-human dyads.

Human teams are able to easily perform collaborative manipulation tasks. However, simultaneously manipulating a large extended object for a robot and human is a difficult task due to the inherent ambiguity in the desired motion. Our approach in this paper is to leverage data from human-human dyad experiments to determine motion intent for a physical human-robot co-manipulation task.

Leveraging AI for democratic discourse: Chat interventions can improve online political conversations at scale.

Political discourse is the soul of democracy, but misunderstanding and conflict can fester in divisive conversations. The widespread shift to online discourse exacerbates many of these problems and corrodes the capacity of diverse societies to cooperate in solving social problems. Scholars and civil society groups promote interventions that make conversations less divisive or more productive, but scaling these efforts to online discourse is challenging.

A probabilistic view of protein stability, conformational specificity, and design.

Various approaches have used neural networks as probabilistic models for the design of protein sequences. These "inverse folding" models employ different objective functions, which come with trade-offs that have not been assessed in detail before. This study introduces probabilistic definitions of protein stability and conformational specificity and demonstrates the relationship between these chemical properties and the [Formula: see text] Boltzmann probability objective.

Using First Principles for Deep Learning and Model-Based Control of Soft Robots.

Model-based optimal control of soft robots may enable compliant, underdamped platforms to operate in a repeatable fashion and effectively accomplish tasks that are otherwise impossible for soft robots. Unfortunately, developing accurate analytical dynamic models for soft robots is time-consuming, difficult, and error-prone. Deep learning presents an alternative modeling approach that only requires a time history of system inputs and system states, which can be easily measured or estimated.

Model-Based Control of Soft Actuators Using Learned Non-linear Discrete-Time Models.

Soft robots have the potential to significantly change the way that robots interact with the environment and with humans. However, accurately modeling soft robot and soft actuator dynamics in order to perform model-based control can be extremely difficult. Deep neural networks are a powerful tool for modeling systems with complex dynamics such as the pneumatic, continuum joint, six degree-of-freedom robot shown in this paper.

Globally important islands where eradicating invasive mammals will benefit highly threatened vertebrates.

Invasive alien species are a major threat to native insular species. Eradicating invasive mammals from islands is a feasible and proven approach to prevent biodiversity loss. We developed a conceptual framework to identify globally important islands for invasive mammal eradications to prevent imminent extinctions of highly threatened species using biogeographic and technical factors, plus a novel approach to consider socio-political feasibility.

Associations between paternally transmitted fetal IGF2 variants and maternal circulating glucose concentrations in pregnancy.

Objective: To test the hypothesis that polymorphic variation in the paternally transmitted fetal IGF2 gene is associated with maternal glucose concentrations in the third trimester of pregnancy.

Research Design And Methods: A total of 17 haplotype tag single nucleotide polymorphisms in the IGF2 gene region were genotyped in 1,160 mother/partner/offspring trios from the prospective Cambridge Baby Growth Study (n = 845 trios) and the retrospective Cambridge Wellbeing Study (n = 315 trios) (3,480 samples in total). Associations were tested between inferred parent-of-origin fetal alleles, z scores of maternal glucose concentrations 60 min.

Maternally transmitted foetal H19 variants and associations with birth weight.

This study was designed to test the hypothesis that polymorphic variation in maternally transmitted foetal H19 alleles is associated with offspring size at birth and alterations in maternal glucose concentrations in pregnancy. Inferred parent of origins of transmitted alleles from 13 haplotype tag SNPs in the H19 gene region from 845 family (mother, partner, offspring) trios from the prospective Cambridge Baby Growth Study and 315 trios from the retrospective Cambridge Wellbeing Study cohorts were tested for association with offspring size at birth measures, as well as maternal glucose concentrations 1 h after a glucose load at week 28 of pregnancy. The foetal rs2071094 allele inherited from the mother was associated with increased birth weight (p = 0.

Increased placental glucose transport rates in pregnant mice carrying fetuses with targeted disruption of their placental-specific Igf2 transcripts are not associated with raised circulating glucose concentrations.

At the beginning of the third week of pregnancy, mouse fetuses with targeted disruption of their paternally-transmitted insulin-like growth factor 2 gene placental-specific transcripts have growth-restricted placentas but normal body weights due to upregulated placental nutrient transport. We assessed whether increased placental glucose transport rates were associated with raised maternal glucose concentrations by performing intraperitoneal glucose tolerance tests (ipGTT) in pregnant mice carrying knockout pups and comparing them with mice carrying genotype-matched phenotypically wild type pups. Mean ± SD body weights of affected pups were 95 ± 8% of control values at e16 and 73 ± 7% at e18.

Raised late pregnancy glucose concentrations in mice carrying pups with targeted disruption of H19delta13.

Objective: We have hypothesized that variation in imprinted growth-promoting fetal genes may affect maternal glucose concentrations in pregnancy. To test this hypothesis we evaluated the effects of fetal disruption of murine H19(Delta13) on maternal glucose concentrations in pregnancy.

Research Design And Methods: Experimental mice were pregnant females that had inherited the disrupted H19(Delta13) from their fathers and were therefore phenotypically wild type due to imprinting; approximately half of their litters were null for H19(Delta13) through maternal inheritance of the disrupted gene.

Common polymorphic variation in the genetically diverse African insulin gene and its association with size at birth.

The insulin variable number of tandem repeats (INS VNTR) has been variably associated with size at birth in non-African populations. Small size at birth is a major determinant of neonatal mortality, so the INS VNTR may influence survival. We tested the hypothesis, therefore, that genetic variation around the INS VNTR in a rural Gambian population, who experience seasonal variation in nutrition and subsequently birth weight, may be associated with foetal and early growth.

Pregnancy insulin, glucose, and BMI contribute to birth outcomes in nondiabetic mothers.

Objective: We investigated the effects of normal variations in maternal glycemia on birth size and other birth outcomes.

Research Design And Methods: Women in two unselected birth cohorts, one retrospective (n = 3,158) and one prospective (n = 668), underwent an oral glucose challenge at 28 weeks of gestation. In the retrospective study, glycemia was linked to routine birth records.

A 20-year perspective--from Journal of Gastrointestinal Motility to Neurogastroenterology and Motility.

This review traces the origins of this journal as the consequence of a revolution in academic publishing that started in Oxford 50 years ago. It also traces the expansion of the field of gastrointestinal motility by the development of new methodology that prompted both the creation of learned societies and a role for a journal devoted to this field. The problems that arose because the new journal was an 'orphan journal' lacking a parent society are recounted, as are the events that eventually led to its adoption.

Introduced delicacy or native species? A natural origin of Bermudian terrapins supported by fossil and genetic data.

Humans have greatly altered the natural distribution of species, making it difficult to distinguish between natural and introduced populations. This is a problem for conservation efforts because native or introduced status can determine whether a species is afforded protection or persecuted as an invasive pest. Holocene colonization events are especially difficult to discern, particularly when the species in question is a naturally good disperser and widely transported by people.

Lack of association between common polymorphisms in the 17beta-hydroxysteroid dehydrogenase type V gene (HSD17B5) and precocious pubarche.

Background: 17beta-Hydroxysteroid dehydrogenase (type V; HSD17B5) is a key enzyme involved in testosterone production in females. A single nucleotide polymorphism (SNP) in the promoter region of its gene was recently found to be associated with polycystic ovary syndrome (PCOS) and its related hyperandrogenaemia. Precocious pubarche (PP) is a clinical entity pointing to adrenal androgen excess from mid-childhood onward and is associated with ovarian androgen excess from puberty onward.

Is the NHS research ethics committees system to be outsourced to a low-cost offshore call centre? Reflections on human research ethics after the Warner Report.

The recently published Report of the AHAG on the Operation of NHS Research Ethics Committees (the Warner Report) advocates major reforms of the NHS research ethics committees system. The main implications of the proposed changes and their probable effects on the major stakeholders are described.

The nocturnal jejunal migrating motor complex: defining normal ranges by study of 51 healthy adult volunteers and meta-analysis.

Interdigestive human small bowel motility is characterized by the migrating motor complex (MMC). The aims of this study were to: (i) establish the normal range of variables of the nocturnal jejunal MMC and (ii) incorporate these data in a subsequent meta-analysis. Eighty-one recordings were performed by prolonged (24 h) ambulatory manometry in 51 subjects in two centres.

Genetic variation in the type 2 insulin-like growth factor receptor gene and disparity in childhood height.

Objective: The type 2 insulin-like growth factor receptor (IGF2R) is thought to regulate insulin-like growth factor-II (IGF-II) bioavailability by degrading it in the lysosomes after uptake. We hypothesised that polymorphisms in the IGF2R gene could alter size at birth and childhood growth.

Design And Methods: The hypothesis was tested in a normal birth cohort (Avon Longitudinal Study of Parents and Children) by genotyping the IGF2R gene gly1619arg polymorphism, which causes a non-conservative amino acid change in the IGF-II binding region, using PCR and restriction fragment length polymorphism analysis.

Common polymorphism in H19 associated with birthweight and cord blood IGF-II levels in humans.

Background: Common genetic variation at genes that are imprinted and exclusively maternally expressed could explain the apparent maternal-specific inheritance of low birthweight reported in large family pedigrees. We identified ten single nucleotide polymorphisms (SNPs) in H19, and we genotyped three of these SNPs in families from the contemporary ALSPAC UK birth cohort (1,696 children, 822 mothers and 661 fathers) in order to explore associations with size at birth and cord blood IGF-II levels.

Results: Both offspring's and mother's H19 2992C>T SNP genotypes showed associations with offspring birthweight (P = 0.

Association of aromatase (CYP 19) gene variation with features of hyperandrogenism in two populations of young women.

Background: Aromatase catalyses the conversion of androgens to estrogens and thus variation in the aromatase gene could contribute to female syndromes of androgen excess, such as precocious pubarche (PP) and polycystic ovarian syndrome (PCOS).

Methods: Two groups, one case-control containing girls from Barcelona, Spain with PP (n = 186) or healthy controls (n = 71), and the other a population study of young women from Oxford, UK, who volunteered for a study of normal women's health (n = 109), were genotyped at four aromatase gene haplotype-tag single nucleotide polymorphisms (SNP). Clinical features and hormone concentrations relevant to hyperandrogenism were compared across haplotypes or genotypes.

Maternal-fetal interactions and birth order influence insulin variable number of tandem repeats allele class associations with head size at birth and childhood weight gain.

Polymorphism of the insulin gene (INS) variable number of tandem repeats (VNTR; class I or class III alleles) locus has been associated with adult diseases and with birth size. Therefore, this variant is a potential contributory factor to the reported fetal origins of adult disease. In the population-based Avon Longitudinal Study of Pregnancy and Childhood birth cohort, we have confirmed in the present study the association between the INS VNTR III/III genotype and larger head circumference at birth (odds ratio [OR] 1.

Automated quantitative analysis of nocturnal jejunal motor activity identifies abnormalities in individuals and subgroups of patients with slow transit constipation.

Objective: Small bowel dysmotility has previously been demonstrated in some patients with slow transit constipation (STC), suggesting a generalized intestinal disorder. However, no study has addressed whether the incidence of small intestinal dysfunction differs between subgroups of patients in this heterogeneous population. Using appropriate methodology, we aimed to determine prospectively the proportion of individuals with abnormal small bowel motility, and to assess whether heterogeneity in terms of pattern of colonic transit delay (based on (111)In diethylene-triamine-pentaacetic acid (DTPA) isotope scintigraphy), or mode of onset (based on clinical history) is of importance.