bluuebunny/crossref_metadata_2025_split huggingface dataset:
Robot 10 parameter compensation method based on Newton–Raphson method
Authors: Chen Lin , Nie Pinguang , Meng Chengqi , Chen Xuhong , Jia Bingqi , Pan Haihong 
Published: September 2023

AbstractIn this study, a novel kinematic calibration method is proposed to improve the absolute positioning accuracy of 6R robot. This method can achieve indirect compensation of the 25 parameters of modified Denavit–Hartenberg (MDH). The procedures of the method are threefold. Firstly, the 25-parameter errors model of MDH is initially established. However, only the errors of 10 parameters can be directly compensated in the 25-parameter errors model, since the inverse kinematics algorithm has to meet Pieper criterion. Subsequently, a calibration method is proposed to improve accuracy of the absolute position, which uses the Newton–Raphson method to transform the 25-parameter errors into 10-parameter errors (namely T-10 parameter model). Finally, the errors corresponding to 10 parameters in the T-10 parameters model are identified through the least square method. The calibration performances of T-10 parameters model are comprehensively validated by experimentation on two ER6B-C60 robots and one RS010N robot. After kinematic calibration, the average absolute positioning accuracy of the three robots can be improved by about 90%. The results indicate that the proposed calibration method can achieve more precise absolute positioning accuracy and has a wider range of universality.
Vibrations of cable-suspended rehabilitation robots
Authors: Zuccon Giacomo , Doria Alberto , Bottin Matteo , Minto Riccardo , Rosati Giulio 
Published: September 2023

AbstractRehabilitation robots help the treatment of diseases by performing cyclic exercises for a long period of time. These exercises must perform movements of the patient’s limbs; thus, the robots are required to be flexible and safe. Among rehabilitation robots, cable robots are widely used due to their unique properties, such as being lightweight and the possibility of being equipped with magnetic hooks to improve both safety and ease of use. However, the elasticity and flexibility of cables result in vibrations of the payload and hooks. In this paper, the forced vibrations due to rehabilitation exercises are studied. Since the previous studies of the authors showed a weak coupling between longitudinal and transverse vibrations, a two-cable planar model for the study of transverse vibrations is developed. The model makes it possible to study the forced transverse vibrations due to both cable motion and robot motion. Stiffness and damping of the patient’s arm are considered. Results show that the cable system exhibits a simple linear behavior when excited by robot motion and a non-linear behavior when excited by cable motion.
An adaptive impedance control method for polishing system of an optical mirror processing robot
Authors: Tian Xujing , Lv Mengyao , Sun Jiazheng , Zhao Hongzheng , Jiang Ziyuan , Han Jinshuo , Gu Wei , Cheng Gang 
Published: September 2023

AbstractTo solve the constant contact force control problem between the end tool of a 5 degrees of freedom hybrid optical mirror processing robot and a workpiece, an adaptive impedance control method for the pneumatic servo-polishing system of the robot is designed. Firstly, the pneumatic servo-polishing control system at the end of the robot is set up. Secondly, the impedance control method for contact force is investigated based on the mathematical model of the pneumatic servo-polishing control system. Additionally, the causes of steady-state error of impedance control are analyzed theoretically, and the calculation method for steady-state error of impedance control is deduced. Finally, an indirect adaptive impedance controller based on Lyapunov Stability Principle is developed to estimate the environmental stiffness and position online, so as to reduce steady-state error and realize the tracking of polishing contact force. The simulation and experimental results suggest that the adaptive impedance control method not only recognizes that the contact force of the robot is relatively constant during the polishing process but also has high control accuracy for the force, fast-tracking response for the abrupt force, and considerable adaptability to the variable environmental stiffness.
Probabilistic robotic logic programming with hybrid Boolean and Bayesian inference
Authors: Post Mark A. 
Published: September 2023

AbstractBayesian inference provides a probabilistic reasoning process for drawing conclusions based on imprecise and uncertain data that has been successful in many applications within robotics and information processing, but is most often considered in terms of data analysis rather than synthesis of behaviours. This paper presents the use of Bayesian inference as a means by which to perform Boolean operations in a logic programme while incorporating and propagating uncertainty information through logic operations by inference. Boolean logic operations are implemented in a Bayesian network of Bernoulli random variables with tensor-based discrete distributions to enable probabilistic hybrid logic programming of a robot. This enables Bayesian inference operations to coexist with Boolean logic in a unified system while retaining the ability to capture uncertainty by means of discrete probability distributions. Using a discrete Bayesian network with both Boolean and Bayesian elements, the proposed methodology is applied to navigate a mobile robot using hybrid Bayesian and Boolean operations to illustrate how this new approach improves robotic performance by inclusion of uncertainty without increasing the number of logic elements required. As any logical system could be programmed in this manner to integrate uncertainty into decision-making, this methodology can benefit a wide range of applications that use discrete or probabilistic logic.
Legal technologies: Conceptualizing the legacy of the 1923 Hague Rules of Aerial Warfare
Authors: Wilke Christiane , Doutaghi Helyeh 
Published: September 2023

AbstractMany contemporary armed conflicts are shaped by the reliance on airstrikes using traditional fighter planes or remotely piloted drones. As accounts of civilian casualties from airstrikes abound, the ethics and legality of individual airstrikes and broader targeting practices remain contested. Yet these concerns and debates are not new. In fact, a key attempt to regulate aerial warfare was made 100 years ago. In this article, we approach the regulation of aerial warfare through an examination of the 1923 Hague Draft Rules of Aerial Warfare and the contemporary scholarly discussion of these rules. While the Draft Rules have never been converted into a treaty, they embody logics of thinking about civilians, technologies of aerial warfare, and targeting that are still resonating in contemporary discussions of aerial warfare. This article argues for a contextualized understanding of the Draft Rules as an attempt to adapt International Humanitarian Law (IHL) to the new technological realities while maintaining distinctions between different kinds of spaces and non-combatants. We argue that the Draft Rules prefigure later debates about the legality of aerial bombing by tacitly operating with a narrow understanding of the civilian and by offering a range of excuses and justifications for bombing civilians.
Benefits of Super Skills for Life in a randomized controlled trial in clinical settings for Spanish children with comorbid conditions
Authors: Diego Sara , Morales Alexandra , Orgilés Mireia 
Published: September 2023

AbstractEmotional disorders in children are often associated with low self-concept and problems with peers, and in many cases externalizing symptoms. Super Skills for Life (SSL) is a transdiagnostic treatment for emotional problems in children that has also shown benefits in other comorbid symptoms. This study aimed to examine, for the first time, the effect of SSL on a clinical sample of Spanish children aged 8–12 years with a major emotional disorder and comorbid externalizing symptoms and low self-concept. A quasi-experimental design with two groups, pretest and posttest, was carried out. Thirty-eight children received the SSL intervention, and 36 children were assigned to a wait-list control (WLC) group. Children in SSL showed statistically fewer posttest emotional symptoms (p < .001), peer problems (p = .002), and overall internalizing and externalizing difficulties (p = .005) compared to children in WLC, in addition to higher posttest self-concept (p = .002). There were no differences in the postinterventional changes between boys and girls in internalizing and externalizing symptoms. However, significant differences were found in some facets of self-concept. The results of this study suggest that the SSL protocol may be useful in Spanish clinical contexts. Still, more research is needed to overcome some of the inherent limitations.
The establishment of the police office in mid-eighteenth-century Altona: new opportunities for privacy in transitional times?
Authors: Ljungberg Johannes , Jakobsen Jesper 
Published: September 2023

AbstractThis article demonstrates how the introduction of a police office in mid-eighteenth-century Altona, a free town in the Holy Roman Empire as well as the Danish monarchy, catalysed practices and arguments in favour of privacy. By examination of police logs and correspondence from Altona to Copenhagen between 1759 and 1766, which included reports of conflicts over the implementation of the police instruction issued in 1754, we show how the process of establishing police regulation resulted in a greater emphasis on the outer door as a demarcation between street and house. Drawing specifically on a key conflict between a young merchant with his intended wife, their landlord and the chief of police, in which the supreme president also intervened, we demonstrate how arguments for and against the protection of the outer door helped to create room for privacy in the shifting landscape of bureaucratic opportunities offered by town and state.
Effectiveness of teleneuropsychological rehabilitation: Systematic review of randomized controlled trials
Authors: Naamanka Elina , Salakka Ilja , Parkkila Minna , Hotti Joona , Poutiainen Erja 
Published: September 2023

AbstractObjective:The effectiveness of neuropsychological rehabilitation is supported by the evidence found in previous reviews, but there is a lack of research regarding the effectiveness of remotely conducted neuropsychological rehabilitation. This review aimed to identify and evaluate the results of studies investigating the effectiveness of teleneuropsychological rehabilitation.Methods:Relevant articles were extracted from electronic databases and filtered to include studies published in 2016 or later to focus on recent practices. Data were synthesized narratively.Results:A total of 14 randomized controlled studies were included in the synthesis (9 for children/adolescents, 5 for adults). The most common type of intervention was computerized cognitive training with regular remote contact with the therapist (seven studies). Regarding children and adolescents, the evidence for the effectiveness was found only for these types of interventions with improvements in cognitive outcomes. The results regarding the family-centered interventions were mixed with improvements only found in psychosocial outcomes. No support was found for the effectiveness of interventions combining cognitive and motor training. Regarding adults, all included studies offered support for the effectiveness, at least to some extent. There were improvements particularly in trained cognitive functions. Long-term effects of the interventions with generalization to global functioning remained somewhat unclear.Conclusion:Remote interventions focused on computerized cognitive training are promising methods within teleneuropsychological rehabilitation. However, their impact on long-term meaningful, everyday functioning remained unclear. More research is needed to reliably assess the effectiveness of teleneuropsychological interventions, especially with more comprehensive approaches.
Social Policy Responses to Rising Inflation in Canada and the United States
Authors: Béland Daniel , Dinan Shannon , Rocco Philip , Waddan Alex 
Published: September 2023

AbstractSocial policies’ responsiveness to rising inflation depends in large part on whether they contain automatic indexation mechanisms, which ensure that the real value of wages and benefits expands during inflationary periods. Here we compare how the indexation of Canadian and U.S. policies on pensions, minimum wages, and food security have affected their responsiveness to the recent cost-of-living crisis. Three main conclusions emerge from our analysis. First, automatic indexation is not necessarily a silver bullet to avoid policy drift. Second, automatic indexation and its design are not the only factors that matter to determine whether high inflation leads to policy drift. Finally, in times of higher inflation, social programs that lack automatic indexation can avoid policy drift, as long as a strong political consensus allows for ad hoc social policy expansion capable of offsetting the negative effects of inflations on social benefits.
Support given by health professionals before and after a patient’s death to relatives involved in general palliative care at home in Sweden: Findings from the Swedish Register of Palliative Care
Authors: Mikaelsson Midlöv Elina , Lindberg Terese , Sterner Therese , Skär Lisa 
Published: September 2023

AbstractObjectivesGeneral palliative care (PC) is provided more at home, leading to increased involvement of relatives. Although support for relatives is a fundamental component of PC, there are deficiencies in the support provided to relatives when general PC is provided at home. This study aimed to describe the support provided by health professionals before and after a patient’s death to relatives involved in general PC at home.MethodsA cross-sectional register study was implemented, with data from the Swedish Register of Palliative care. The sample consisted of 160 completed surveys from relatives who had been involved in general PC at home, with 160 related surveys answered by health professionals. Only the questions about support to relatives were used from the surveys.ResultsThe findings showed that although many relatives appear to receive support in general PC at home, not all relatives receive optimal support before or after a patient’s death. The findings also indicated differences in whether relatives received some support before and after a patient’s death depending on the type of relative. There were also differences in responses between health professionals and relatives regarding if relatives received counseling from a doctor about whether the patient was dying.Significance of resultsThere is potential for improvements regarding support for relatives, especially after a patient’s death, which has been confirmed in previous studies. The differences in whether relatives received support before and after a patient’s death depending on the type of relative highlight the need for future research on how to support different types of relatives before and after a patient’s death when general PC is provided at home.
Fast Gaussian Process Emulation of Mars Global Climate Model
Authors: Tunnell Marc , Bowman Nathaniel , Carrier Erin 
Published: September 2023

AbstractThe NASA Ames Mars Global Climate Model (MGCM) software has been in steady use at NASA for decades and was recently released to the public. This model simulates the complex interactions of various weather cycles that exist on Mars, namely the Dust Cycle, the CO2 Cycle, and the Water cycle. Utilized by NASA, the MGCM is used to help understand their empirically observed data through the use of sensitivity studies. However, these sensitivity studies are computationally taxing, requiring weeks to run. To address this issue, we have trained a surrogate model using Gaussian processes (GP) that can emulate the output of this model with relatively small amounts of data in a reduced amount of time (on the order of minutes). We demonstrate the effectiveness of our emulator using backward error.
Single-molecule RNA capture-assisted droplet digital loop-mediated isothermal amplification for ultrasensitive and rapid detection of infectious pathogens
Authors: Jiang Liying , Lan Xianghao , Ren Linjiao , Jin Zhiyuan , Shan Xuchen , Yang Mingzhu , Chang Lingqian 
Published: September 2023

AbstractTo minimize and control the transmission of infectious diseases, a sensitive, accurate, rapid, and robust assay strategy for application on-site screening is critical. Here, we report single-molecule RNA capture-assisted digital RT-LAMP (SCADL) for point-of-care testing of infectious diseases. Target RNA was captured and enriched by specific capture probes and oligonucleotide probes conjugated to magnetic beads, replacing laborious RNA extraction. Droplet generation, amplification, and the recording of results are all integrated on a microfluidic chip. In assaying commercial standard samples, quantitative results precisely corresponded to the actual concentration of samples. This method provides a limit of detection of 10 copies mL−1 for the N gene within 1 h, greatly reducing the need for skilled personnel and precision instruments. The ultrasensitivity, specificity, portability, rapidity and user-friendliness make SCADL a competitive candidate for the on-site screening of infectious diseases.
REPIN1 regulates iron metabolism and osteoblast apoptosis in osteoporosis
Authors: Xia Yu , Ge Gaoran , Xiao Haixiang , Wu Mingzhou , Wang Tianhao , Gu Chengyong , Yang Huilin , Geng Dechun 
Published: September 2023

AbstractOsteoporosis is not well treated due to the difficulty of finding commonalities between the various types of it. Iron homeostasis is a vital component in supporting biochemical functions, and iron overload is recognized as a common risk factor for osteoporosis. In this research, we found that there is indeed evidence of iron accumulation in the bone tissue of patients with osteoporosis and REPIN1, as an origin specific DNA binding protein, may play a key role in this process. We revealed that sh-Repin1 therapy can rescue bone loss in an iron-overload-induced osteoporosis mouse model. Knockdown of Repin1 can inhibit apoptosis and enhance the resistance of osteoblasts to iron overload toxicity. REPIN1 promoted apoptosis by regulating iron metabolism in osteoblasts. Mechanistically, knockdown of Repin1 decreased the expression of Lcn2, which ameliorated the toxic effects of intracellular iron overload. The anti-iron effect of lentivirus sh-Repin1 was partially reversed or replicated by changing LCN2 expression level via si-RNA or plasmid, which indirectly verified the key regulatory role of LCN2 as a downstream target. Furthermore, the levels of BCL2 and BAX, which play a key role in the mitochondrial apoptosis pathway, were affected. In summary, based on the results of clinical specimens, animal models and in vitro experiments, for the first time, we proved the key role of REPIN1 in iron metabolism-related osteoporosis.
Strong signature of electron-vibration coupling in molecules on Ag(111) triggered by tip-gated discharging
Authors: Li Chao , Kaspar Christoph , Zhou Ping , Liu Jung-Ching , Chahib Outhmane , Glatzel Thilo , Häner Robert , Aschauer Ulrich , Decurtins Silvio , Liu Shi-Xia , Thoss Michael , Meyer Ernst , Pawlak Rémy 
Published: September 2023

AbstractElectron-vibration coupling is of critical importance for the development of molecular electronics, spintronics, and quantum technologies, as it affects transport properties and spin dynamics. The control over charge-state transitions and subsequent molecular vibrations using scanning tunneling microscopy typically requires the use of a decoupling layer. Here we show the vibronic excitations of tetrabromotetraazapyrene (TBTAP) molecules directly adsorbed on Ag(111) into an orientational glassy phase. The electron-deficient TBTAP is singly-occupied by an electron donated from the substrate, resulting in a spin 1/2 state, which is confirmed by a Kondo resonance. The TBTAP•− discharge is controlled by tip-gating and leads to a series of peaks in scanning tunneling spectroscopy. These occurrences are explained by combining a double-barrier tunneling junction with a Franck-Condon model including molecular vibrational modes. This work demonstrates that suitable precursor design enables gate-dependent vibrational excitations of molecules on a metal, thereby providing a method to investigate electron-vibration coupling in molecular assemblies without a decoupling layer.
Driving forces behind phase separation of the carboxy-terminal domain of RNA polymerase II
Authors: Flores-Solis David , Lushpinskaia Irina P. , Polyansky Anton A. , Changiarath Arya , Boehning Marc , Mirkovic Milana , Walshe James , Pietrek Lisa M. , Cramer Patrick , Stelzl Lukas S. , Zagrovic Bojan , Zweckstetter Markus 
Published: September 2023

AbstractEukaryotic gene regulation and pre-mRNA transcription depend on the carboxy-terminal domain (CTD) of RNA polymerase (Pol) II. Due to its highly repetitive, intrinsically disordered sequence, the CTD enables clustering and phase separation of Pol II. The molecular interactions that drive CTD phase separation and Pol II clustering are unclear. Here, we show that multivalent interactions involving tyrosine impart temperature- and concentration-dependent self-coacervation of the CTD. NMR spectroscopy, molecular ensemble calculations and all-atom molecular dynamics simulations demonstrate the presence of diverse tyrosine-engaging interactions, including tyrosine-proline contacts, in condensed states of human CTD and other low-complexity proteins. We further show that the network of multivalent interactions involving tyrosine is responsible for the co-recruitment of the human Mediator complex and CTD during phase separation. Our work advances the understanding of the driving forces of CTD phase separation and thus provides the basis to better understand CTD-mediated Pol II clustering in eukaryotic gene transcription.
Hydrolase mimic via second coordination sphere engineering in metal-organic frameworks for environmental remediation
Authors: Yuan Xin , Wu Xiaoling , Xiong Jun , Yan Binhang , Gao Ruichen , Liu Shuli , Zong Minhua , Ge Jun , Lou Wenyong 
Published: September 2023

AbstractEnzymes achieve high catalytic activity with their elaborate arrangements of amino acid residues in confined optimized spaces. Nevertheless, when exposed to complicated environmental implementation scenarios, including high acidity, organic solvent and high ionic strength, enzymes exhibit low operational stability and poor activity. Here, we report a metal-organic frameworks (MOFs)-based artificial enzyme system via second coordination sphere engineering to achieve high hydrolytic activity under mild conditions. Experiments and theoretical calculations reveal that amide cleavage catalyzed by MOFs follows two distinct catalytic mechanisms, Lewis acid- and hydrogen bonding-mediated hydrolytic processes. The hydrogen bond formed in the secondary coordination sphere exhibits 11-fold higher hydrolytic activity than the Lewis acidic zinc ions. The MOFs exhibit satisfactory degradation performance of toxins and high stability under extreme working conditions, including complicated fermentation broth and high ethanol environments, and display broad substrate specificity. These findings hold great promise for designing artificial enzymes for environmental remediation.