bluuebunny/crossref_metadata_2025 huggingface dataset:
Библейские параллели в чеховском рассказе «Убийство»
Authors: Юрачек Ката
Published: September 2024

Der Artikel erforscht biblische Anspielungen in der Kurzgeschichte Der Mord von Anton Pawlowitsch Tschechow. Unser Ziel ist nicht nur die bloße Identifizierung bestimmter biblischer Handlungsmuster, sondern durch die Analyse der Texte von Tschechow und ihrer biblischen Parallelen versuchen wir, ein tieferes Verständnis des sich wandelnden Weltbildes des Helden zu vermitteln (eine Frage, die von Forschern des Werkes des Schriftstellers oft auf unterschiedliche, oft widersprüchliche Weise interpretiert wurde). Wir zeigen motivische und semantische Verbindungen zwischen dem biblischen Text und dem inneren Glaubenskampf auf, der Tschechows Helden beeinflusst. Einerseits sollen zwei alttestamentarische Geschichten aus dem Buch Genesis untersucht werden: der Brudermord Abels durch seinen Bruder Kain sowie Jakobs Erwerb des Erstgeburtsrechts und des väterlichen Segens von seinem Bruder Esau sowie sein Kampf mit dem Engel. Andererseits erforschen wir bestimmte Abschnitte des Matthäusevangeliums aus dem Neuen Testament, auf die in Der Mord Bezug genommen wird, die auf zwei Gruppen von Ideen hinweisen: den Streit zwischen Jesus und den Pharisäern über die richtige religiöse Praxis und die wahre Essenz des Glaubens, sowie Jesus‘ Gleichnis vom Kamel sowie seine Worte über Mord, die die Zehn Gebote bekräftigen und ändern. Durch das Prisma dieser Verweise können wir die innere Reise von Jacow (und auch Matwej) als einen Wechsel zwischen dem Gesetz des Alten Testaments und den Lehren des Neuen Testaments interpretieren.
Художественная интерпретация биографических фактов в сборнике «Девятый том» Л. Петрушевской
Authors: Калафатич Жужанна
Published: September 2024

Die Studie befasst sich mit der Durchlässigkeit der Grenzen zwischen künstlerischer Prosa, Autobiographie und Dokumentation. Anhand der Analyse von Petruschewskajas Neuntem Band wird untersucht, wie die rhetorischen Tropen der Fiktion in einem im Wesentlichen autobiografischen Text funktionieren, der verschiedene Genres vermischt, und wie archetypische, psychologische oder literarische Muster auf biografisches Material projiziert werden. Die zyklische Anordnung von Schriften aus verschiedenen Epochen, ihre Aneinanderreihung und die Vermischung verschiedener Diskurse lassen die Figur eines autobiografischen Helden entstehen, derüber das Werkr flektiert.
Венгеро-южнославянские связи в области киноисскуства – введение
Authors: Сиярто Имре
Published: September 2024

Diese Studie ist Teil einer größeren Studie über die ungarisch-südslawischen Filmbeziehungen und stellt eine Einführung in die bevorstehende Arbeit dar. Nach einer Bestandsaufnahme der theoretischen und konzeptionellen Überlegungen wird in der Studie versucht, die Begriffe nationaler Film und transnationaler Film zu interpretieren und die Typen der ungarisch–slowenischen, ungarisch–kroatischen und ungarisch–serbischen Filmbeziehungen zu skizzieren. Aus der südslawischen Gemeinschaft werden also die slowenische, kroatische und serbische Kultur und der Film dieser Länder hervorgehoben. Es wird auf die Filmszene in Bosnien und Herzegowina, Bulgarien und Nordmazedonien sowie auf die ungarischen Aspekte der Filme dieser Länder verwiesen, der Schwerpunkt liegt jedoch auf der Filmkultur der drei Nachbarländer Ungarns.
Россия и Венгрия: диалог культур в пространстве художественного текста
Authors: Седельникова Ольга , Шатохина Анастасия
Published: September 2024

Die Monografie „Durch „Fremdes” zum „Eigenen”. Dialog zwischen russischer und ungarischer Kultur" stellt die Ergebnisse eines gemeinsamen interdisziplinären Projekts russischer und ungarischer Philologen vor, die die Fakten der Interaktion zwischen der russischen und der ungarischen Kultur im Raum künstlerischer Texte untersuchen. Sie betrachtet verschiedene Erscheinungsformen kultureller Interaktion von der Untersuchung von Fällen direkter Beeinflussung bis zu intertextuellen Formen der Assimilation und Interpretation von Elementen einer fremden Kultur, sowie die aktuellen Trends in der Übersetzungsrezeption. Es wird ein breites Spektrum von Autorennamen vorgestellt, deren Texte das Material der Studie bilden (von F. M. Dostojewski und S. Weöres bis Je. Wodolaskin und Ju. Berg).
FEATURES OF THE ANTHECOLOGY OF SOME RARE PLANTS OF THE CRIMEA
Authors:   Nikita Botanical Gardens, Shevchenko S.V. , Kuzmina T.N. ,   Nikita Botanical Gardens
Published: September 2024

The paper presents the results of a study of the processes of flowering and pollination of a number of rare species of flora of the Crimea. Some features of the development of flowers of the studied species and the mechanism of pollen extraction from anthers are described. It has been revealed that, depending on the method of pollination, its syndrome in various species is represented by various and very specific adaptations that ensure successful pollination. The conjugacy of the processes of flower development and pollination agents is shown, the effectiveness of the interaction of which provides the potential for effective fertilization, reproduction and conservation of the species.
COMPREHENSIVE USE OF GAS CHROMATOGRAPHY-MASS SPECTROMETRY AND DISSOCIATIVE ELECTRON ATTACHMENT SPECTROSCOPY METHODS TO DETERMINE THE ISOMERIC COMPOSITION OF SAMPLES
Authors:   Institute of Molecule and Crystal Physics – Subdivision of the Ufa Federal Research Centre of the Russian Academy of Sciences, Tayupov M.M. , Abdullin M.F. ,   Ufa Institute of Chemistry – Subdivision of the Ufa Federa1 Research Centre of the Russian Academy of Sciences, Markova A.V. ,   Institute of Molecule and Crystal Physics – Subdivision of the Ufa Federal Research Centre of the Russian Academy of Sciences, Safronov A.M. ,   Institute of Molecule and Crystal Physics – Subdivision of the Ufa Federal Research Centre of the Russian Academy of Sciences
Published: September 2024

Due to the fact that in environmental and biomedical sciences there is an ever-growing need to detect traces of toxins (xenobiotics) and analyze specific target substances in complex test samples, various types of equipment related to analytical chemistry are growing and multiplying. The paper shows the possibility of using gas chromatography-mass spectrometry and spectroscopy of dissociative electron attachment in conjunction with quantum mechanical calculations using the density functional theory method to refine the results of the analysis of the isomeric composition of the studied samples. This is achieved due to the fact that substances with overlapping chromatographic peaks are distinguished by their mass spectra, and isomers with similar or identical mass spectra are distinguished by retention indices and resonances arising on the curves of effective electron yield during dissociative electron attachment. The main difference between the isomers of phthalide and itself was that they did not form negative molecular ions. Impurity molecules were detected in the studied samples. Chromatographic analysis and analysis of the mass spectra of positive ions suggested candidates for this role. By comparing the data obtained with the spectra of dissociative electron capture and calculated thermodynamic thresholds for the formation of fragmentary ions, it was possible to more accurately determine the composition of the impurity.
HE INFLUENCE OF VALUES, GOALS AND LIFE ORIENTATIONS OF YOUNG PEOPLE ON THEIR ECONOMIC DEVELOPMENT: ANALYSIS AND PROSPECTS
Authors:   Institute of Social and Economic Researches – Subdivision of the Ufa Federal Research Center of the Russian Academy of Sciences, Fatkullina G.R.
Published: September 2024

This scientific work is devoted to the study of the influence of values, goals and life orientations of the youth of the Republic of Bashkortostan on its economic development. In connection with the challenges faced by modern youth, as well as taking into account the prospects for development, empirical data and analytical methods are used in the work to conduct a detailed analysis of the factors determining the influence of the environment in which young people function on the economic potential of the republic. The purpose of the study is to identify the links between the values, goals and life orientations of young people, and their economic situation. The study covers various aspects of youth's life, such as educational level, employment, consumer behavior, entrepreneurial activity and participation in public life. The results of the work provide a new understanding of how the values and orientations of youth can influence economic development. The following research methods were used: 1. Collection and analysis of empirical data: conducting a sociological survey. In 2021, the Institute of SocioEconomic Research of the Russian Academy of Sciences surveyed over 5,000 young people aged 14 to 35 using a representative sample. 62.5% of women and 37.5% of men were interviewed. At the time of the study, 34.8% of the respondents studied and 73.9% worked; 65.2% had completed their studies at the time of the study, 82.6% of them have higher education. Among those who have not yet completed their studies, 25% of schoolchildren, 37.5% receive higher education at the university and the same number are now improving their qualifications in graduate school [1, p. 32]. 2. The study of scientific research and publications on the research topic. The study offers recommendations and approaches for the development and implementation of policies aimed at creating conditions conducive to the development of the economic potential of young people. In general, this work has practical significance for policy makers, specialists in the field of youth policy and the entire scientific and practical community interested in the development of youth entrepreneurship and economic development of the region.
Designing a scenario of unilateral climate intervention
Authors: Keys Patrick , Bell Curtis
Published: September 2024

Climate change is causing increasingly alarming global impacts, such as rising temperatures and more severe storms. Despite this, current multilateral initiatives and agreements to systematically reduce greenhouse gas emissions are completely incommensurate with the scale of the problem. Thus, we explore the potential that some unilateral actor, finding present and near-future climate changes intolerable, may seek to respond to these changes through its own deliberate intervention in the climate. Focusing specifically on stratospheric aerosol injection (SAI), which is the dispersal of reflective particles in the stratosphere to reflect some of the sun’s energy away from Earth, we seek to identify the characteristics of states that might be most likely to modify the climate without broad international consensus. We develop a framework of geopolitically-relevant conditions that progressively reduce the number of candidate states, with the aim of identifying plausible unilateral SAI initiators. These conditions consider the state’s capacity to deploy SAI, variability in states’ motivations to change their local climates, the confidence that a deployment could be sustained and might produce the intended effects, and the state’s insensitivity to global condemnation, should the international community disapprove of this action. We provide a detailed explanation of each of these conditions along with discussion of potential candidate states. Our results highlight a concentration of states meeting all or most of these conditions in the vicinity of the Arabian Sea. Based on this finding, we conclude with a discussion of how this type of geopolitical scenario development can be integrated into social-physical simulations of geopolitically plausible climate intervention scenarios.
The Emergence of a New Pilgrimage as an Assurance Game
Authors: Restrepo Ochoa Nicolas Restrepo , Moya Cristina
Published: September 2024

Pilgrimage has received longstanding scholarly attention, but most theoretical work focuses on how these rituals can be maintained, rather than the bigger puzzle of how they emerge. Using empirical inspiration from a new pilgrimage in Peru, we address this gap by outlining a theoretical framework more capable of accounting for how these phenomena get off the ground. We contend that the framework of an assurance game (a type of coordination game) captures the challenge of a collective ritual like pilgrimage emerging. By combining this assurance game with a model of Bayesian learning under uncertainty we illustrate how pilgrimage can be institutionalized on occasion. We further argue that our approach sheds light on the relationship between rituals and uncertainty, without having to make strong assumptions about individuals' psychological needs.
Simulating Subjects: The Promise and Peril of AI Stand-ins for Social Agents and Interactions
Authors: Kozlowski Austin C , Evans James
Published: September 2024

Large Language Models (LLMs), through their exposure to massive collections of online text, learn to reproduce the perspectives and linguistic styles of diverse social and cultural groups. This capability suggests a powerful social scientific application – the simulation of empirically realistic, culturally situated human subjects. Synthesizing recent research in artificial intelligence and computational social science, we outline a methodological foundation for simulating human subjects and their social interactions. We then identify nine characteristics of current models that are likely to impair realistic simulation human subjects, including atemporality, social acceptability bias, uniformity, and poverty of sensory experience. For each of these areas, we discuss promising approaches for overcoming their associated shortcomings. Given the rate of change of these models, we advocate for an ongoing methodological program on the simulation of human subjects that keeps pace with rapid technical progress.
Adaptation study of Haricot bean (Phaseolus vulgaris L.) varieties in moisture stress areas of Abergelle, Northern Ethiopia
Authors:   Tigray Agricultural Research Institute (TARI), Abergelle Agricultural Research Center, P.O. Box 44 Abi-Adi, Ethiopia., Belay Fantaye , Meresa Hintsa ,   Tigray Agricultural Research Institute (TARI), Abergelle Agricultural Research Center, P.O. Box 44 Abi-Adi, Ethiopia.
Published: September 2024

The haricot bean (Phaseolus vulgaris L.), locally known as ‘Boleqe’ also known as a dry bean, common bean and kidney bean is an important source of protein, calories and cash for smallholder farmers of Ethiopia. The national and regional research institutions in the country have released many varieties for commercial production. However, these improved varieties have not been tested for their adaptability potential under the Abergelle condition. Therefore, a field experiment was conducted during the 2013 and 2014 main cropping seasons using a randomized complete block design with three replications. The objectives of the study were to evaluate the performance and select the best and well-adapted haricot bean varieties. The data of 12 different agronomic traits subjected to combined analysis of variance revealed significant (p≤0.05) differences among the common bean varieties for most of the characters (days to 50% emergence, flowering, seed filling period and 90% physiological maturity, pod length, plant height, number of pods per plant, number of seeds per pod, seed yield, biomass yield, harvest index and thousand seed weight) studied. In conclusion, the present study entails the presence of significant variations among common bean varieties. Awash melka had better performance than the other varieties for yield (1.9 t ha-1) and yield related traits. Therefore, it is recommended as a promising variety to increase the source of cash crops for farmers in the study area and foreign currency as the export crop of the country, Ethiopia.
Soil salinization under irrigated farming: A threat to sustainable food security and environment in semi-arid tropics
Authors:   Tanzania Agricultural Research Institute (TARI), Department of research and Innovation, Makutupora Centre, P. O. Box 1676, Dodoma, Tanzania., Sanga Daines L. , Mwamahonje Andekelile S. ,   Tanzania Agricultural Research Institute (TARI), Department of research and Innovation, Makutupora Centre, P. O. Box 1676, Dodoma, Tanzania., Mahinda Athuman J. ,   University of Dar es salaam, College of Agriculture and Food Technology (CoAF), P. O. Box 35091, Dar es salaam, Tanzania., Kipanga Emmanuel A. ,   Tanzania Agricultural Research Institute (TARI), Department of research and Innovation, Makutupora Centre, P. O. Box 1676, Dodoma, Tanzania.
Published: September 2024

Soil salinization is a major challenge of irrigated agriculture with substantial impact on the sustainability of crop and food security. World-widely, salinization has been a major bottleneck to the expansion and advancement of irrigated farming, resulting in a significant environmental degradation, lower yields and food insecurity. The problem of soil salinity varies across the regions and it has more extensive implications in arid and semi-arid regions where the rate of evaporation is higher than precipitation. To minimize the problem, it is necessary to adopt effective management practices that reduce salinization process in irrigated agriculture. However, the effective management options need a thorough understanding of the problem itself, the way it occurs, and their contributory effects to various aspects of development. This review therefore, presents an ample description on soil salinization as a threat to the sustainability of crop production and food security in the semi-arid tropics. The review focuses on the causes, extent and distribution of salt affected soils under irrigated agriculture, influence of irrigation water on soil salinization, the effects of salinization on plant growth, crop production and soil productivity. Furthermore, the review highlights the impact of salinization on food security and social economic aspects. It also proposes management options that should be adopted to either minimize or remedy soil salinity to the desired level and increase soil quality in semi-arid areas.
Design of an expandable multi-chamber suction gripper for minimally invasive surgery
Authors:   Department of BioMechanical Engineering, Delft University of Technology, Kortman V.G. ,   Department of Maritime and Transport Technology, Delft University of Technology, Van Loo L. , Jovanova J. , Sakes A.
Published: September 2024

A-traumatically gripping slippery and delicate tissues during Minimally Invasive Surgery (MIS) presents a frequent challenge. Current grippers during MIS usually consist of two hinged jaws, that are used to apply a pinch force on the tissue, attached to a rigid shaft and handle. To compensate for the low friction coefficient between the jaws of MIS grippers and the tissue surface, serrated surfaces in combination with high pinch forces are often applied, which can lead to undesired tissue trauma. Furthermore, with the added challenge of limited force feedback when using these grippers, the risk of excessive force application during surgery increases. To prevent unwanted tissue damage in future, it is a necessity to rethink how tissues are gripped during MIS. Instead of using serrated surfaces and pinch forces, we propose to use an expandable suction gripper design for tissue grasping. Suction grippers exert pull forces directly in line with the instrument shaft, eliminating the need to enclose the tissue to apply pinch forces for sufficient grip. A major downside for these types of grippers is, however, that the gripping force is limited by the cross-sectional area of the cup, which in turn is constrained by the incision size. Furthermore, if leakage occurs at the edge of the cup, the gripping force is rapidly decreased. Therefore, in this study, we developed an expandable suction gripper for use during MIS containing multiple suction discs.
Investigating Neural Network Modeling of Hysteretic Forward Kinematics in Tendon-Actuated Continuum Robots
Authors:   Boston Children’s Hospital, Harvard Medical School, Wang Yuan , Dupont Pierre E.
Published: September 2024

While mechanics-based models of continuum robots are intuitive and easy to interpret, they often neglect complex factors like non-linear elasticity, mechanical hysteresis, and friction, which are crucial for accurate modeling [1]. For instance, variations in joint space paths can significantly impact the positioning accuracy in continuum robots [2]. While nonlinearities can be addressed by using functional approximations and non-parametric models, modeling hysteretic effects is relatively unexplored. Neu- ral networks, such as Feed-forward Neural Networks (FNNs) and Recurrent Neural Networks (RNNs) like Long Short-Term Memory (LSTM) models, are adept at handling the nonlinear and hysteretic aspects neglected in traditional models [3]. This paper presents a comparison of three neural networks for modeling the hysteresis in the forward kine- matics of a tendon-actuated cardiac catheter. Training factors including the selection of input trajectories and the loss function are also investigated.
Wasp-Inspired Steerable Needle for Transperineal Focal Laser Ablation
Authors:   Bio-Inspired Technology (BITE) Group, Department of BioMechanical Engineering, Faculty of Mechanical Engineering, Delft University of Technology, Bloemberg J. , Sakes A , Breedveld P.
Published: September 2024

In Transperineal Focal Laser Ablation (TPLA), needles are used to position an optical fibre near a tumour to treat prostate cancer. Commonly used needles are rigid and bound to linear trajectories, which might lead to access restriction because of pubic arch interference or targeting errors because of needle deflection caused by needle- tissue interaction. To minimise both access restriction to the target site and needle targeting errors, steerable needles can be used. Steerable needles can modify needle-tissue interactions during the insertion to control the needle trajectory and accurately reach the target site. In nature, parasitic wasps possess a thin and steerable needle-like structure called the ovipositor to deposit eggs in a host. The parasitic wasp can move its ovipositor through solid substrates such as wood by reciprocally moving its parallel valves [1]. The protrusion-retraction motion of the ovipositor’s valves produces a zero external push force due to the valves’ friction with the surrounding material, enabling a self-propelling steerable movement. The mechanism of the ovipositor to advance and steer inside solid substrates has inspired the design of several needles and probes [2]. However, the implementation of an optical fibre in a wasp-inspired steerable needle at a submillimetre scale has not been shown yet. This study illustrates an ovipositor-inspired needle that can successfully steer and propel through a tissue phantom to position an optical fibre during TPLA with zero external push force and without buckling.
UltraGelBot: Autonomous Gel Dispenser for Robotic Ultrasound
Authors:   Purdue University, Raina Deepak ,   Indian Institute of Technology Delhi,   AIIMS Delhi, Zhao Ziming , Voyles Richard , Wachs Juan , Saha Subir K. , Chandrashekhara S. H.
Published: September 2024

Robotic Ultrasound Systems (RUSs) have gained in- creasing prominence in recent years to alleviate prob- lems concerning operator-dependability in free-hand ul- trasound examinations [1]. These robotic systems op- erate either in teleoperated [2] or autonomous [3], [4], [5] mode. These systems can increase ultrasound ac- cessibility in underserved regions and ensure the safety of the operator during the COVID-19 pandemic [2], [6]. However, in these robotic systems, the gel is still applied by the human attendant. This human intervention between the procedure results in the acquisition of sub- optimal images due to inappropriate acoustic coupling [7]. Further, the procedure time also increases as RUS needs to be halted several times in between the proce- dure for manual gel application. Moreover, the presence of humans near the patient’s vicinity did not achieve the complete safety of the operator, as promised by RUS. Thus, an automated method for dispensing of ultrasound gel is the immediate requirement of RUS. In this paper, we proposed a new end-of-arm tool for RUS, referred to as ‘UltraGelBot’. This robot can detect and dispense the gel autonomously. A deep learning model is developed to detect the gel region from real- time images acquired using an onboard camera. A mo- torized mechanism is developed, which uses this feed- back and dispenses the gel. In addition, sonographers often utilize multiple ultrasound probes, such as linear, curvilinear, etc., to visualize different anatomies up to a specific depth. The existing gripping methods for RUS are specific to the design profiles of the probe. Thus, this gripper features a modular mechanism to grip ultrasound probes with varying profiles. This mechanism will also allow the operator to easily change different probes during the procedure without using mechanical tools. The performance of the UltraGelBot was compared to that of manual gel application for ultrasound of artery in human’s forearm. In addition, for assessment of user experience, the NASA Task Load Index (TLX) was used.
A Novel MR Safe Needle Insertion Robot for Abdominal Interventions
Authors:   Wellcome / EPSRC Centre for Interventional and Surgical Sciences, University College London, Liang Ziting ,   The Hamlyn Centre for Robotic Surgery, Imperial College London,   School of Biomedical Engineering and Imaging Sciences, King’s College London, Yang Haoqian , Lu Chuang , Abdelaziz Mohamed E. M. K. , Lindenroth Lukas , Bandula Steve , Stoyanov Danail , Stilli Agostino
Published: September 2024

Liver and kidney tumours are among the most common and fatal abdominal cancers, posing a substantial threat to both life and quality of living. Image-guided minimally invasive percutaneous interventions, including biopsy and ablation, have become effective and popular diagnostic and therapeutic approaches due to significant advantages such as greatly reducing perioperative complications and recovery time [1]. In conventional interventions, surgeons navigate needle probes to lesions guided by medical imaging techniques such as Computed Tomography (CT) and Ultrasound (US) Imaging. However, Magnetic Resonance Imaging (MRI) guidance is also of significant interest for this clinical application as it can deliver enhanced soft tissue contrast, allowing surgeons to outline tumour margins precisely for effective ablation while also offering multi-angle imaging and intraoperative monitoring of the tissues [2]. However, several challenges persist in MRI-guided interventions. Patients typically undergo multiple movements in and out of the scanning bore to enable the clinician to achieve precise needle insertion, resulting in time- consuming procedures. Furthermore, the confined space within the MRI scanning bore and the accompanying noise levels further increase the complexity of these procedures. With the advancement of robotics, MRI- guided needle insertion robots have the potential to tackle these challenges. To align with the application demands, the materials employed in such robots should be non-conductive, non-metallic, etc., according to the MR safe requirements [3], and the robot should be optimally designed to minimise its spatial footprint when placed inside the MRI bore, ensuring that it does not pose an impediment for the standard operation of the MRI scan. While several MRI-compatible robotic systems have been proposed [4], challenges still remain in terms of workspace optimisation of these robotic systems. In this work, a five-degree-of-freedom (DoF) table-mounted parallel MR safe robot is proposed.
An Effectiveness Study Across Baseline and Neural Network-based Force Estimation Methods on the da Vinci Research Kit Si System
Authors:   Department of Computer Science, Vanderbilt University, Yang Hao ,   Department of Computer Science, Johns Hopkins Universit, Acar Ayberk , Xu Keshuai , Deguet Anton , Kazanzides Peter , Ying Wu Jie
Published: September 2024

Robot-assisted minimally invasive surgery enhances sur- gical precision and brings benefits to patients. For in- stance, the da Vinci Surgical System (Intuitive Surgical Inc., CA) enables teleoperation, which improves sur- geons’ ergonomics [1]. However, compared to a manual laparoscopic operation where the forces are transmitted directly, the da Vinci (except the newest version) lack a force-sensing mechanism. In our previous works, we have addressed this challenge with data-driven, neural network (NN) based torque prediction and force estimation meth- ods [2], [3] based on the da Vinci Research Kit (dVRK classic), an open-source mechatronic system built upon the retired first-generation da Vinci system [4]. Moreover, Yilmaz et. al. have demonstrated the potential of transfer learning, as an identification tool across different dVRK classic robots, tools, and configurations [5]. In this study, we further investigate the robustness and generalization ability of this method, using the new generation of dVRK, the da Vinci Research Kit Si (dVRK-Si). To evaluate our method’s performance, we compare the force estimation accuracy with several baseline methods. We assess and benchmark the effectiveness and transferability of these approaches by conducting comparative studies between the dVRK classic and dVRK-Si systems. This comparative study is a step towards a force estimation pipeline for various downstream applications and tasks, such as enabling haptic feedback or estimating force applied to tissue during surgery [6].
Effect of Reconfiguration on the Workspace and Stiffness of a Parallel, Fluid-driven Soft Robotic Mechanism
Authors:   School of Biomedical Engineering & Imaging Sciences, King’s College London, Alabdullah Basma ,   Department of Interventional Radiology, Guy’s and St Thomas’ NHS Foundation Trust, Diamantopoulos Athanasios , Granados Alejandro , Lindenroth Lukas
Published: September 2024

Soft robots have shown great promise across a wide range of clinical procedures, such as colonoscopy and catheterization [1]. In contrast with traditional rigid robots, soft robots exhibit compliance and thus have the potential to reduce harm that could inadvertently be caused by the robot during surgery. Moreover, soft robots are able to reach confined spaces due to their ability to twist and bend with high curvature [2]. Despite their advantages, the deformation of a soft robot, which is leveraged to generate motion, significantly affects its mechanical characteristics. This is particularly the case for the stiffness of a soft robot, which varies across its workspace [3][4]. This variation introduces profound control challenges and limits performance [3]. To ad- dress this challenge, researchers have steered towards the development of variable stiffness mechanisms which are typically embedded in the structure of the soft robot. Despite the success of these methods, they are often difficult to fabricate and integrate into existing systems. As an alternative to embedding stiffening mechanisms, stiffness variation can be achieved by adjusting the geometry or topology of the robotic device. This has been successfully demonstrated for rigid robots across a number of research works, for instance by Simaan et al. [5] for a double planar parallel robot where the robot’s stiffness is tuned by adjusting the legs’ location across a fixed platform. To-date, such approaches have only been applied in rigid robotic systems [6].
An adaptable robotic arm-based research platform for the capture of multi-view datasets
Authors:   Wellcome/EPSRC Centre for Interventional and Surgical Sciences, University College London, Saikia Alexander , He Chloe , Bano Sophia , Stoyanov Danail
Published: September 2024

Accurate and reliable depth reconstruction within surgical scenes is essential to downstream computer- assisted tasks ranging from pre-operative planning to augmented reality (AR) surgical guidance and simultaneous Localization and Mapping (SLAM) [1]. However, in surgical settings, several challenges hinder the acquisition of multi-view datasets essential for depth reconstruction systems. These include, in addition to ethical issues, several domain-specific technical challenges such as dynamic surfaces, the presence of occlusions such as blood, smoke, and surgical instruments, and the presence of specular reflections. As a result, the vast majority of research considering depth information in a surgical context avoids multi-view data capture completely, mostly due to its inability to be used in minimally invasive surgery (MIS). Instead, many existing approaches for capturing depth data in a surgical setting often involve complex acquisition techniques, such as utilizing a CT scanner for obtaining ground truth depth for comparison [2]. This severely limits the scalability of the method, as well as the volume of data that can be captured. Other approaches have used structured light systems [3] or structure from motion techniques [1], [4] for depth reference, though the data captured through such systems sometimes exhibit unacceptable levels of noise. When developing optical systems or algorithms for depth imaging in both open-field surgery (OFS) and MIS, it is difficult to assess and evaluate the effectiveness of those systems without solving the logistical and ethical issues of using the system on animals or humans. It would be beneficial to have a system that can have any camera attached to it for the ability to quickly create datasets for testing.Therefore, in this work, we present a simple, cost- effective, and camera-agnostic robotic arm system for the acquisition of multi-view data. The system can be used to capture large quantities of data for developing surgical depth estimation systems and, with further development, may have the potential to be used in real-time settings.
Calibration Framework for Positioning Accuracy Improvement of da Vinci Surgical Instruments
Authors:   Department of Mechanical Engineering, Imperial College London, Cui Zejian , Baena Ferdinando Rodriguez Y
Published: September 2024

The da Vinci surgical robot is the most widely-used surgical robotics platform in the world thus far. Its intrinsic cable-driven properties lead to an end-effector positioning error in the order of millimeters [1], which can hinder its deployment in a shared control setup. To address this problem, we propose a calibration frame- work, which we test on the first generation da Vinci Research Kit (dVRK) [2]. Our statistical analysis shows that, after calibration, positioning accuracy has been improved. In addition, our method demonstrates bet- ter performance than model-based calibration methods when the training data set available is small.
Force Sensing along Continuum Robots using Compliance Matrix and Shape Acquisition
Authors:   ICube, UMR7357, University of Strasbourg-CNRS-INSERM, Lods Guillaume , Nageotte Florent , Bayle Bernard , Rosa Benoit
Published: September 2024

Continuum robots are promising for minimally invasive surgery. They consist of thin and flexible structures whose shape can be continuously deformed using re- mote actuators, allowing them to be inserted in small tubular cavities. For safety reasons, it is important to be aware of the forces applied to surrounding tissue during deployment. Because common force sensors are too cumbersome to be embedded into continuum robots, alternative shape-based force estimation methods have been developed. Such methods estimate the contact location and the corresponding force based on the com- parison between a measured robot shape (for instance using Fiber Braggs Gratings sensors or vision sensors) and the one predicted from robot modeling (typically computed using Cosserat rod modeling and actuator po- sitions [1]). The applied force is then estimated through optimization procedures, with [2] or without [3], [4] explicit knowledge of the force application point. These algorithms have shown promising performance but are restricted to passive Cosserat rods models, whereas in practice continuum robots are active structures. Recently, Aloi et al. extended the work from [4] in the case of a 2- DOF tendon-driven robot, for which they experimentally validated their method [5]. All the previous solutions have two limitations. First, they assume contact forces to be perpendicular to the robot’s curvilinear axis: hypothesis (H1). Since con- tinuum robot shapes can be highly curved, one might question how strongly the tangential component of the force can affect the global deformation of the robot. Second, they consist of iterative optimizations during which the whole robot model is computed at each iteration using convex optimization routines. Such an approach can be computationally time-consuming and does not necessarily yield a global optimum. The present paper introduces a new Compliance-based approach to estimate an external force applied to a continuum robot in any direction. Results obtained with a simulated Concentric Tubes Continuum Robot (CTCR) are presented and discussed.
Ultra-thin Fiber Distance Sensors for Robotic Microsurgery
Authors:   Applied Optics Group, School of Physics & Astronomy, University of Kent, Stancu R. F. ,   King’s College London, Robotics and Vision in Medicine Lab, School of Biomedical Engineering & Imaging Sciences, Marques M. J. , Seneci C. , Henry R. , da Cruz L. , Bergeles C. , Hughes M. , Podoleanu A.
Published: September 2024

In microsurgical procedures, including retinal surgery, precise localization of the tool tip with respect to the tissue would be beneficial for safety, surgical guidance and for closed-loop control. To this end, it has been proposed that fiber-optic distance sensors be integrated into robotic surgical devices [1, 2]. For high-resolution position sensing over distances of a few millimeters, low coherence interferometry (LCI) is a particularly promising technology. LCI is the basis of Optical Coherence Tomography (OCT), an imaging technique widely used for ophthalmic diagnostics as well as for other emerging applications. An LCI based distance sensor essentially collects one depth resolved column (an A-scan) of an OCT image. This A-scan records the intensity of light reflected as a function of the distance of the reflecting tissue layers from the probe. Hence, by identifying the first reflection corresponding to the surface of the tissue, the distance to the tissue is obtained. The tip of the probe requires only a single lens, which can be fabricated directly onto the tip of the fiber, resulting in a probe that can be as narrow as 125 μm in its diameter and flexible along its entire length, suitable for integration into highly miniaturized tools. In this paper, we describe the fabrication of lensed LCI fiber distance sensing probes and demonstrate their ability to track distance to the surface of the tissue.
ANS 490A: Summary of Current Guidelines for Management of Internal Parasites in Horses
Authors: Carlo Adriana , Ferwerda Nicole S. , Howard Joan
Published: September 2024

Parasite control has traditionally involved regular rotation of dewormers to treat large strongyles (bloodworms), which were the main equine internal parasite of concern in the past. The treatment was effective, and today, large strongyles are a rare occurrence in horses. Many horses no longer require frequent treatment for parasite control. Today, the most significant parasite infection in adult horses has changed from large strongyles to small strongyles. The roundworm, or ascarid, continues to be the primary concern in foals and yearlings. New recommendations are available for improved management of parasites in horses. These recommendations aim to treat and maintain parasitic infection at a threshold where it does not cause physical illness to the animal. With the past practice of regular rotation, parasites began to develop resistance to all the available types of dewormers. Today, there is evidence which indicates that dewormers are losing effectiveness in treating internal parasite infections. The aim of current recommendations is to reduce the spread of resistance, avoid physical illness in horses,  and to limit parasite egg shedding in horse populations. Implementing a parasite management plan requires a general understanding of parasites, dewormers, and resistance. This paper aims to explain these terms for horse owners so they can build an effective management plan in treating parasites in horses while mitigating resistance to dewormers.
Influence of Price and Timeliness of Delivery Towards Customer Satisfaction (Shopee Express, Hub Koja, Plumpang, Semper, North Jakarta)
Authors: Nurkhoiriyah Syiffa , Hidayat Yusup Rachmat
Published: September 2024

The existence of customer dissatisfaction on the price and timeliness of delivery of goods carried out by Shopee Express Hub Koja, and in the last 3 months experienced price instability and timeliness in delivery of goods. This study aims to determine how much influence the price and timeliness of delivery to customer satisfaction on Shopee Express, Hub Koja, Plumpang, Semper, North Jakarta. The independent variables in this study are the price (X1) and timeliness of delivery (X2), and the dependent variable is customer satisfaction (Y). This study uses quantitative methods with a population that is not known to ensure the number of customers. The sample size was 108 respondents. Sampling is done by Accidental Sampling method. Data analysis techniques used in this study are research instrument test and hypothesis test. The results showed that based on the correlation test variable price and delivery timeliness together have a very strong relationship of 0.810 or 81%. And known by the test coefficient of determination of 65.6% while the remaining 34.4% is influenced by other variables not studied in this study. In addition, based on the results of the simultaneous Test (Test F) has a value Fcount > Ftable is equal to (99.903 > 3.08) which means that the price and timeliness of delivery simultaneously positive effect on customer satisfaction variables. H0 is rejected and H3 is accepted
The Influence of Work Motivation, Compensation, Work Discipline and Work Environment on the Performance of Education Staff Employees
Authors: Adiwinata Novie Nostalgia , Ahmad Aldi , Susana Nuryani
Published: September 2024

The purpose of this research is to determine the influence of work motivation, compensation, work discipline and work environment on the performance of educational staff.  The results of the linear regression test show that the independent variables work motivation, compensation, work environment and work discipline together influence the dependent variable of employee work performance at FEM IPB University Bogor by 39.1% while the remaining 61.9% is influenced by other variables which are not included in this study. Meanwhile, the F test results show that the calculated F value processed using SPSS is 7.256, while the F table value seen from the Table of Values for the F Distribution is 2.63. Thus, it can be said that the Fcount = 7.256 > Ftable = 2.63. This means that the independent variables consisting of work motivation, compensation, work environment and work discipline have a significant effect on employee work performance. The results of the t test (partial) show that two variables, namely compensation and work environment, have a significant effect on employee work performance, two more, namely work motivation and work discipline, do not have a significant effect on employee work performance at FEM IPB University Bogor.
Upaya Komersialisasi IRT Karya Tani Pontianak melalui Pendampingan Manajemen Tanaman Perilla (Tanaman Shiso)
Authors: Steven Steven , Barata Juliahir , Sapira Mokalistiani , Jesichapramanda Jesichapramanda
Published: September 2024

Perilla plant (shiso plant) is still very foreign and rarely heard of by Indonesian people, but in Asian countries, especially Japan and Korea, the perilla plant has become an addition to food, especially perilla leaves which have a distinctive taste and have become an addition to side dishes in Japan and Korea. In Korea the fresh leaves of the plant can be used as fresh vegetables for Korean barbecue. The STIE Indonesia Pontianak PKM team saw an opportunity from this perilla plant, so the STIE Indonesia PKM team gathered housewives who had free time, wanted to gain knowledge and earn a little income. The IRT Karya Tani group has been formed for approximately 6 months and has started planting perilla plants starting from seed and is still in the process of growing these perilla plants. Based on this condition and awareness of applying knowledge to the community, the PKM Implementation Team always provides development and training to get to know this perilla plant first so that in the future it can be used as a commercialization business. The aim of this activity is that the perilla plant can grow and be used for commercialization.
Material Handling Equipment Selection Using Analytical Hierarchy Process (AHP) Method
Authors: Ramadhan Setiyani Denok , Sukarno Iwan
Published: September 2024

This study discusses alternative decisions to choose a material handling equipment by considering various criteria according to PT. Semen Indonesia (Persero) needed. The purpose of this research is to obtain a decision regarding an effective and efficient forklift for handling goods at PT. Semen Indonesia (Persero), Tuban Factory. The method that will be used is the Analytical Hierarchy Process (AHP) to produce a decision regarding the forklift that is worth buying based on the weighting of the criteria for fuel, depreciation, and capacity using Expert Choice (EC) software. The results of this study are the ranking of forklift alternatives from the highest, namely the alternative type C forklift with a value of 0.607, the alternative type B forklift with a value of 0.218, and the alternative type A forklift with a value of 0.177. So it can be concluded that a good forklift to choose is a type C forklift which is a sit down counterbalance forklift with gas fuel, capacity of 5 tons and a residual value of Rp. 25,628,906.25.
Dedicated Storage pada Gudang Penyimpanan PT. ATS Inti Sampoerna
Authors: Hidayat Yusup Rachmat , Yanto Andre Juli
Published: September 2024

Pengelolaan gudang terkait layout, penentuan lokasi penyimpanan dan cara penempatan barang menjadi sangat penting bagi perusahaan dalam memgoptimalkan kapasitas gudang untuk mencapai operasional yang efektif dan efisien. Dalam penelitian ini didasari dari fenomena masalah gudang penyimpanan pada PT. ATS Inti Sampoerna. Dimana dalam melakukan penyimpanan dan penempatan barang belum maksimal. Penempatan dilakukan secara acak, tercampur bahkan barang bertumpuk satu dengan yang lainnya.
Penelitian ini mengkaji penerapan metode pengelolaan gudang dalam hal peningkatan kapasitas gudang dengan cara kombinasi beberapa metode pengelolaan gudang, yaitu: (1) Perubahan Layout Gudang menjadi Model U-Flow); (2)penentuan lokasi penyimanan dengan Metode Dedicated Storage; (3) penempatan barang dengan mengelompokkan barang berdasarkan karakteristik kecepatan perputaran barang persediaan serta, (4) bedasarkan karakteristik ukuran dimensi barang.Penelitain ini bertujuan sebagai usulan bagi PT. ATS Inti Sampoerna dan pihak lainnya dalam pengelolaan gudang. Data yang dikumpulkan dilakukan secara observasi. Hasil penelitian akan dijadiakn evaluasi dan usulan dalam melakukan pengelolaan gudang.
Hasil penelitian menunjukkan layout yang ada saat ini dapat dilakukan perubahan dan sekaligus diterapkan beberapa metode pengelolaan gudan secara kombinasi bersama. Perbandingan hasil perhitungan menunjukkan terjadi peningkatan kapasitas penyimpanan sebesar 32%. Selain itu terdapat perluasan area sebagai mobilitas kegiatan, yang sebelumnya hanya untuk mobilitas orang, dengan usulan perubahan terdapat perluasan area hingga dapat dijadikan area mobilitas forklift sampai lokasi penyimpanan gudang paling belakang.