bluuebunny/crossref_metadata_2025_split huggingface dataset:
Active vibration control of flexible-joint manipulators using accelerometers
Authors: Zhao Pu , Zhou Yunfei 
Published: November 2019

Purpose
Manipulators are often subjected to joint flexibility caused by various causes in industrial applications, such as shaft windup, harmonic drives and bearing deformation. However, many industrial robots are only equipped with motor-side encoders because link-side encoders and torque transducers are expensive. Because of joint flexibility and resulted slow response rate, control performance of these manipulators is very limited. Based on this, the purpose of this paper is to use easy-to-install and cheap accelerometers to improve control performance of such manipulators.

Design/methodology/approach
First, a novel tip-acceleration feedback method is proposed to avoid amplifications of approximation errors caused by inversion of the Jacobian matrix. Then, a new control scheme, consisting an artificial neural network, a proportional-derivative (PD) controller and a reference model, is proposed to track motor-side position and suppress link-side vibration.

Findings
By using the proposed tip-acceleration feedback method, each link’s vibration can be suppressed correlatively. Through the networks, smaller motor-side tracking errors can be obtained and unknown dynamics can be compensated. Tracking and convergence performance of the network-based system can be improved by using the additional PD controller.

Originality/value
The originality is based on using accelerometers to improve link-side vibration suppression and control performance of flexible-joint manipulators. The previously used methods need expensive link-side sensors or accurate robot model, which is unavailable for many industrial robots only equipped with motor-side encoders. The report proposed a novel acceleration feedback method and used networks to solve such problems.
A proposed model for sustainable business excellence
Authors: Jabnoun Naceur 
Published: November 2019

PurposeThe purpose of this paper is to develop an excellence model that combines noble ends and noble means to achieve sustainable business excellence (SBE).Design/methodology/approachThe general framework of existing excellence models is used to develop the new model. Relevant literature on business excellence and current business and economic trends such as constructive capitalism, conscious capitalism, shared value, values-driven organizations and corporate governance are used to develop the basic concepts of the model. The criteria and the assessment method of the model are then developed based on the basic concepts.FindingsThis paper proposes a model for SBE. This model is aligned with conscious capitalism, constructive capitalism, shared value, values-driven organizations and corporate governance. The paper includes a comparison between this model and the most popular excellence models.Research limitations/implicationsThis paper paves the way for more empirical and theoretical research on stakeholders’ business excellence models.Practical implicationsThis model can be adopted by different national and international excellence awards. The adoption of this model can improve the benefits of shareholders, partners, customers, employees and the society at large. Implementing this model may be effective in transferring knowledge about conscious capitalism, values-driven organization and corporate governance to corporations worldwide.Social implicationsThis may contribute to protecting the environment and reducing economic inequalities that have caused political and social instability.Originality/valueExcellence models have been widely used with significant success all over the world. Although these models paid attention to customers and employees, they still reflect traditional capitalism that focuses on shareholders’ value. This model is aligned to new economic trends that foster sustainability and improve benefits of all stakeholders.
“Just one of the guys” An application of the Occupational Wellbeing framework to graduates of a Men’s Shed Program for young unemployed adult males with intellectual disability
Authors: Milbourn Benjamin , Mahoney Natasha , Trimboli Concettina , Hoey Ciarain , Cordier Reinie , Buchanan Angus , Wilson Nathan J. 
Published: November 2019

AbstractIntroductionConceptualisation of occupation requires understanding of subjective wellbeing and experiences of occupation. Opportunities for participation in productivity activities, such as employment, may be limited for people with intellectual disability (ID). An occupational wellbeing framework was recently re‐imagined to focus on the subjective meaning of a person's occupational life rather than occupational performance. This study analysed experiences and possible benefits to occupational wellbeing of young adult men with ID in an intergenerational mentoring program based on Australian Men's Sheds using this revised occupational wellbeing framework.MethodsA qualitative approach was used to gather individual semi‐structured interviews at the end of an intergenerational mentoring program to explore occupational wellbeing experiences. Eight individual mentees and five parents of mentees (n = 13) from the different Men's Sheds sites agreed to participate in an individual interview about their experiences of the program. All mentees were male aged between 17 and 24 years. Family members included four female mothers and one male father. Data were highlighted, selected and deductively coded using content analysis according to the five occupational wellbeing domains of the framework.ResultsMentees reflected upon their experience with their mentor, the program, activities and environment of the Men's Shed. Findings were organised in relation to each of the five domains of occupational wellbeing, including contentment, competence, belonging, identity and autonomy. Experiences of mentees and their family members reflected the positive impact of participation on each domain and occupational wellbeing, including opportunities for socialisation outside of the program, mastery of skills and knowledge and validation of belief in self.ConclusionMentees involved in an intergenerational mentoring program in Australian Men's Sheds report benefits of participation in activities that foster and increase occupational wellbeing experiences. The experience of such domains should be considered when attempting to understand the quality of life and function for people with disabilities.
Uncertainty work as ontological negotiation: adjudicating access to therapy in clinical psychology
Authors: Pickersgill Martyn 
Published: November 2019

AbstractAcross the UK, wide‐ranging efforts have been made to enhance citizen access to psychological therapy. Clinical psychologists are key providers of and gatekeepers for therapy. This article is concerned with how clinical psychologists foster access (or not) to psychological care. More specifically, it interrogates how psychologists manage, and make decisions around, patient referrals. Following a referral, psychologists must resolve an uncertain situation: should they accept a referral and continue with an assessment? Thereafter, they must decide whether a patient is suitable for their service – and for therapy more generally. Certainty is synthesised against a backdrop of sometimes powerful pressures to meet service targets. Taking cues from medical sociology and science and technology studies (STS), this article interrogates some of the uncertainties around access to psychological therapy, and how decisions made by clinical psychologists involve negotiations of patient, service and professional ontologies. To do so, it draws on interviews with 40 psychologists across England and Scotland. The paper spotlights a professional group that is often absent from or only dimly lit within sociological observation and analysis: clinical psychology. Through attending to the discourses of psychologists, I extend conversations about uncertainty through a distinctive case study.
Modelling multilocus selection in an individual‐based, spatially‐explicit landscape genetics framework
Authors: Landguth Erin L. , Forester Brenna R. , Eckert Andrew J. , Shirk Andrew J. , Menon Mitra , Whipple Amy , Day Casey C. , Cushman Samuel A. 
Published: November 2019

AbstractWe implemented multilocus selection in a spatially‐explicit, individual‐based framework that enables multivariate environmental gradients to drive selection in many loci as a new module for the landscape genetics programs, CDPOP and CDMetaPOP. Our module simulates multilocus selection using a linear additive model, providing a flexible platform to evaluate a wide range of genotype‐environment associations. Importantly, the module allows simulation of selection in any number of loci under the influence of any number of environmental variables. We validated the module with individual‐based selection simulations under Wright‐Fisher assumptions. We then evaluated results for simulations under a simple landscape selection model. Next, we simulated individual‐based multilocus selection across a complex selection landscape with three loci linked to three different environmental variables. Finally, we demonstrated how the program can be used to simulate multilocus selection under varying selection strengths across different levels of gene flow in a landscape genetics framework. This new module provides a valuable addition to the study of landscape genetics, allowing for explicit evaluation of the contributions and interactions between gene flow and selection‐driven processes across complex, multivariate environmental and landscape conditions.
Intraoperative localization of small pulmonary nodules to assist surgical resection: A novel approach using a surgical navigation puncture robot system
Authors: Zhou Gang , Chen Xiangqian , Niu Baolong , Yan Yadong , Shao Fan , Fan Yubo , Wang Yu 
Published: November 2019

AbstractBackgroundLocalization and resection of nonvisible, nonpalpable pulmonary nodules during video‐assisted thoracoscopic surgery is challenging. In this study we developed a surgical navigation puncture robot system in order to locate small pulmonary nodules before thoracoscopic surgery.MethodsFour pigs were divided into group A and group B and underwent positioning puncture with the aid of the robotic system. The pigs in group A breathed freely during the experiment, whilst mechanical ventilation was used on the pigs in group B.ResultsUsing the robotic system to locate nodules achieved good results. For group A, a total of nine simulated nodules were created and successfully localized. The mean positioning accuracy was 9.6 ± 4.9 mm (range, 3.2–17.4 mm), and the time required for system positioning was 7.1 ± 1.0 minutes (range, 5.6–8.2 minutes). For group B, a total of 23 simulated nodules were created and successfully localized. The mean positioning accuracy was 2.9 ± 1.5 mm (range, 0.7–5.9 mm), and the time required for system positioning was 7.8 ± 1.1 minutes (range, 6.3–9.7 minutes).ConclusionsThe new method using a surgical navigation puncture robot system to locate small pulmonary nodules is feasible and safe, and its positioning accuracy is sufficient to meet clinical requirements. In addition, results indicated that breathing had a great influence on the positioning accuracy, mainly in the longitudinal direction. Our surgical navigation puncture robot system has wide future applications for accurately locating small pulmonary nodules in a clinical setting.Key pointsSignificant findings of the study: A new method using a surgical navigation puncture robot system was developed to locate small pulmonary nodules before thoracoscopic surgery. The results indicated that this method can provide accurate localization and permit smaller and more precise resections.What this study adds: A surgical navigation puncture robot system has wide future applications for accurately locating small pulmonary nodules in a clinical setting.
Addiction‐Focused Eye Movement Desensitization and Reprocessing Therapy as an Adjunct to Regular Outpatient Treatment for Alcohol Use Disorder: Results From a Randomized Clinical Trial
Authors: Markus Wiebren , Hornsveld Hellen K. , Burk William J. , de Weert – van Oene Gerdien H. , Becker Eni S. , DeJong Cornelis A.J. 
Published: November 2019

BackgroundThis study examined the feasibility, safety, and efficacy of addiction‐focused eye movement desensitization and reprocessing (AF‐EMDR) treatment, as an add‐on intervention to treatment as usual (TAU).MethodsAdult outpatients with alcohol use disorder (AUD) (N = 109) who already received or had just started with TAU (Community Reinforcement Approach) were recruited at 6 outpatient addiction care facilities. They were randomly assigned to either TAU + 7 weekly 90‐minute sessions of AF‐EMDR (N = 55) or TAU‐only (N = 54). Assessments were made at baseline, after AF‐EMDR therapy (+ 8 weeks in the TAU‐only group), and at 1‐ and 6‐month follow‐up. The primary outcomes were changes in drinking behavior as reported by the participant and biomarker indices.ResultsData were analyzed as intent‐to‐treat with linear mixed models. Additionally, sensitivity analyses were performed. No group or interaction effects were found for any of the outcome variables. Only limited change over time was seen with regard to indices of personal and societal recovery and in some secondary indices of clinical recovery (craving, desire thinking, and rumination). Reliable Change Index calculations showed that more TAU‐only participants showed clinical improvement with regard to alcohol consumption while a somewhat higher proportion of participants in the TAU + AF‐EMDR group experienced less craving. The acceptability, safety, and feasibility of the treatments received in both groups were comparable.ConclusionsThere was no add‐on effect of AF‐EMDR on TAU with regard to drinking behavior in outpatients with an AUD. Possible explanations are discussed. Future studies should first establish proof of principle regarding the potential of AF‐EMDR therapy to disrupt operant learning and habits relevant in addiction.
The Role of State‐Owned Enterprises in an Artificial Monopoly Market: The Case of Turkey
Authors: Coşar Bora , Yilmaz Hakan , Altindağ Erkut 
Published: November 2019

AbstractState‐owned enterprises (SOEs) benefit from many privileges based on their unique structure, their substantial capital, and their position in the economic system. Like all business corporations, they have no fixed duration, which makes them effectively immortal. In addition, they are adjuncts of the state, which enables them to survive in noncompetitive markets with little effort. Therefore, under today's ruthless global market conditions, SOEs engage in unfair competition with privately financed businesses. By relying on their identity as state operations, they do not follow the rules of the market—they define those rules. In addition to SOEs, which are direct arms of the state, some privately financed businesses dominate markets in which the state allows them to develop an artificial monopoly and thus increase their power day by day. These artificial monopolies distort market processes and create conditions that frequently give rise to corruption. This study examines the problems associated with monopolies, with a special emphasis on establishing more efficient market structures for SOEs in Turkey. The original mission of SOEs was to balance markets through regulation and to be transparent and accountable to the public. Simply striving to meet those criteria would go a long way toward preventing the abuse of power and unfair competition. In addition, SOEs and artificial monopoly markets distort public institutions by promoting rent‐seeking behavior that corrupts politics and blocks innovation from potential competitors. Privatization has been employed by international financial institutions in recent decades, but it has mostly transferred monopolies from the public sector to private owners, which has made the problem worse and done little to enhance competition. Establishing genuinely competitive economies will require a new political culture around the world.
The Impact of Monopolies on Small Business Development in Russia
Authors: Mierin L. A. , Korostyshevskaya E. M. , Ragimova N. S. 
Published: November 2019

AbstractThe imposition of economic sanctions on Russia by other countries has raised interest rates, diminished the working capital of small and medium‐sized enterprises (SMEs), and led to the restoration of state‐owned companies in many sectors of the economy. Nevertheless, the Russian Federation continues to make efforts to develop a market‐oriented economy based on open competition. This article considers the current situation with SMEs in Russia from the standpoint of market competition and the influence of monopolies on this process. It analyzes bottlenecks in the interaction of monopolies with SMEs. For example, the wires and pipelines required to distribute energy, heat, and electricity over large geographic areas are natural monopolies: only one company can provides each service efficiently in a given area. The companies that control those natural monopolies are able to extract payments far in excess of cost from small businesses. In this and other ways, monopolies are able to dominate the Russian economy and restrict competition from SMEs.
Extracorporeal carbon dioxide removal requirements for ultraprotective mechanical ventilation: Mathematical model predictions
Authors: Leypoldt John Kenneth , Goldstein Jacques , Pouchoulin Dominique , Harenski Kai 
Published: November 2019

AbstractExtracorporeal carbon dioxide (CO2) removal (ECCO2R) facilitates the use of low tidal volumes during protective or ultraprotective mechanical ventilation when managing patients with acute respiratory distress syndrome (ARDS); however, the rate of ECCO2R required to avoid hypercapnia remains unclear. We calculated ECCO2R rate requirements to maintain arterial partial pressure of CO2 (PaCO2) at clinically desirable levels in mechanically ventilated ARDS patients using a six‐compartment mathematical model of CO2 and oxygen (O2) biochemistry and whole‐body transport with the inclusion of an ECCO2R device for extracorporeal veno‐venous removal of CO2. The model assumes steady state conditions. Model compartments were lung capillary blood, arterial blood, venous blood, post‐ECCO2R venous blood, interstitial fluid and tissue cells, with CO2 and O2 distribution within each compartment; biochemistry included equilibrium among bicarbonate and non‐bicarbonate buffers and CO2 and O2 binding to hemoglobin to elucidate Bohr and Haldane effects. O2 consumption and CO2 production rates were assumed proportional to predicted body weight (PBW) and adjusted to achieve reported arterial partial pressure of O2 and a PaCO2 level of 46 mmHg at a tidal volume of 7.6 mL/kg PBW in the absence of an ECCO2R device based on average data from LUNG SAFE. Model calculations showed that ECCO2R rates required to achieve mild permissive hypercapnia (PaCO2 of 46 mmHg) at a ventilation frequency or respiratory rate of 20.8/min during mechanical ventilation increased when tidal volumes decreased from 7.6 to 3 mL/kg PBW. Higher ECCO2R rates were required to achieve normocapnia (PaCO2 of 40 mmHg). Model calculations also showed that required ECCO2R rates were lower when ventilation frequencies were increased from 20.8/min to 26/min. The current mathematical model predicts that ECCO2R rates resulting in clinically desirable PaCO2 levels at tidal volumes of 5‐6 mL/kg PBW can likely be achieved in mechanically ventilated ARDS patients with current technologies; use of ultraprotective tidal volumes (3‐4 mL/kg PBW) may be challenging unless high mechanical ventilation frequencies are used.
The impact of metamorphosis on the cranial osteology of giant salamanders of the genus Dicamptodon
Authors: Schoch Rainer R. , Pogoda Peter , Kupfer Alexander 
Published: November 2019

AbstractPacific giant salamanders (Dicamptodon) rank among the largest terrestrial caudates. Their ontogeny produces two distinct morphs—larval‐neotenic and metamorphosed—which differ in many morphological traits. We identified changes that are initiated by metamorphosis (distinguishing transformed from neotenic specimens) and also recognized age‐related changes occurring irrespective of transformation. During metamorphosis, specimens remodel the palate, rearrange the vomerine dentition, expand the maxilla, broaden the cheek, foreshorten the posterior skull table and develop specific serrated suture patterns in the dermal bones. Instead, large larvae grow a robust pterygoid sutured with a fully ossified trapezoidal vomer and a short maxilla. Small larvae are readily distinguished by tooth count, morphology and arrangement from more advanced larvae. Age‐related features, irrespective of metamorphosis, include pedicellate teeth, morphological differentiation of parasphenoid, enlargement of the orbitosphenoid, distal expansion of columella, and loss of coronoid teeth.
Mapping soil profile depth, bulk density and carbon stock in Scotland using remote sensing and spatial covariates
Authors: Aitkenhead Matt , Coull Malcolm 
Published: November 2019

AbstractThe spatial distribution of soil organic carbon is an important factor in land management decision making, climate change mitigation and landscape planning. In Scotland, where approximately one‐quarter of the soils are peat, this information has usually been obtained using field survey and mapping, with digital soil mapping only carried out recently. Here a method is presented that integrates legacy survey data, recent monitoring work for peatland restoration surveys, spatial covariates such as topography and climate, and remote sensing data. The aim of this work was to provide estimates of the depth, bulk density and carbon concentration of Scotland's soils in order to allow more effective carbon stock mapping. A neural network model was used to integrate the existing data, and this was then used to generate a map of soil property estimates for carbon stock mapping at 100‐m resolution over Scotland. Accuracy assessment indicated that the depth mapping to the bottom of the organic layer was achieved with anr2of .67, whereas carbon proportion and bulk density were estimated with anr2of .63 and .79, respectively. Modelling of these three properties allowed estimation of soil carbon in mineral and organic soils in Scotland to a depth of 1 m (3,498 megatons) and overall (3,688 megatons).HighlightsScotland's soil organic carbon was mapped using a digital soil mapping approach.This provides a high‐resolution map available for scientists, regulatory bodies and policymakers.The method largely agreed with previous work but improved the spatial resolution of the mapping.Significant soil carbon stocks are held in both organic (peat) and non‐peat soils.