We present a survey of recent work on robot manipulation and sensing of deformable objects, a field with relevant applications in diverse industries such as medicine (e.g. surgical assistance), food ...handling, manufacturing, and domestic chores (e.g. folding clothes). We classify the reviewed approaches into four categories based on the type of object they manipulate. Furthermore, within this object classification, we divide the approaches based on the particular task they perform on the deformable object. Finally, we conclude this survey with a discussion of the current state-of-the-art approaches and propose future directions within the proposed classification.
•This study contributed to the field of human exposure to poly- and perfluoroalkyl substances.•Dietary exposure from the ingestion of food and drinks was the predominant exposure pathway.•Measured ...and modelled serum concentrations were in the same order of magnitude.•The estimated daily intakes of PFASs in this study were lower than the health-based guidance values.
Exposure to PFASs may result in adverse health effects. This study aimed to characterise the exposure to PFASs from diet, house dust, indoor air, and dermal contact and the relative contribution from different external exposure pathways to human serum concentrations. Daily intakes of 18 perfluoroalkyl acids (PFAAs) and 12 PFAA precursors from diet, dust ingestion, inhalation of indoor air and dermal absorption were estimated using a comprehensive dataset comprising 61 adults from the Oslo area, Norway. Concentrations of PFAAs and PFAA precursors in house dust, indoor air, hand wipes, foods and drinks were utilised to estimate the daily intakes. Perfluorooctanesulfonate (PFOS) was the predominant PFAS in serum for this study group. On a median level, perfluorooctanoate (PFOA) contributed most to the total estimated daily intake of PFAAs, with a median intake of 280 (range: 72–1810) pg·kg bw−1·day−1, covering both direct and indirect (precursors) exposure. Out of this, only 3% (range: <1–48%) of the total PFOA intake came from indirect exposure. Dietary exposure from ingestion of food and drinks was in general the predominant exposure pathway, followed by exposure from ingestion of house dust, inhalation of indoor air, and dermal absorption, but considerable variations were observed among individuals. House dust ingestion and indoor air inhalation contributed most to the total intakes for some participants, for which most of them were among the 20% participants with the highest total estimated intakes. Some statistical significant associations between concentrations of PFASs measured in serum and estimated intakes were observed. Measured serum concentrations and modelled serum concentrations based on external exposure estimates were in the same order of magnitude for PFOS, PFHxS, PFOA, and PFNA, but only PFOA concentrations were comparable, 1.9 and 2.0 ng mL−1 for observed and modelled serum concentrations, respectively. The estimated daily intakes of PFASs in this study were lower than the health-based guidance values, e.g. the tolerable weekly intakes derived by EFSA. This study underlines the importance of performing studies considering multiple exposure pathways on an individual basis.
The indoor environment contributes considerably to human exposure to poly- and perfluoroalkyl substances (PFASs). This study estimated the human exposure to PFASs from the indoor environment through ...hand-to-mouth and dermal contacts using hand wipes. An analytical method was developed to determine 25 PFASs in hand wipe samples collected as a composite sample from both hands of 60 adults. Polyfluoroalkyl phosphate esters (PAPs) were the predominant PFASs in the hand wipe samples (medians between 0.21 and 0.54 ng per sample). Positive and significant correlations were observed between PAPs, perfluorooctanesulfonate (PFOS), and perfluorooctanoate (PFOA) in hand wipes. Low frequency of daily hand washing (≤8 times day–1) was associated with 30–50% higher concentrations of PFOS, PFOA, and 8:2diPAP in hand wipes. Further, significant correlations between paired hand wipes and house dust samples were observed for PFOS, PFOA, and 6:2diPAP. Also, a significant correlation between PFOS in hand wipes and EtFOSE in indoor air was found. This finding indicates either a common source of exposure or a transformation of EtFOSE to PFOS in the environment or on the hands. The contributions of direct and indirect exposure to perfluoroalkyl acids (PFAAs) showed that PFOA contributed the highest exposure to adults via hand-to-mouth and dermal contacts, followed by PFOS. The median of estimated daily intakes via hand-to-mouth and dermal contacts (for hands only) for PFOA were 0.83 and 0.50 pg·kg bw–1·day–1, respectively. This study gives a first indication that PFAS concentrations in hand wipes can be used as a proxy for the exposure to PFASs from indoor environments, but further studies are needed to confirm this.
Aims and objectives
To determine the feelings of safety among patients taken to hospital after requesting urgent care, based on their experiences and those of their carers and prehospital emergency ...care professionals.
Background
Little research has been performed into the perception of safety in prehospital emergency care settings worldwide, from either the perspective of the patients or from that of healthcare professionals.
Design
Exploratory qualitative study using focus groups in Spain.
Methods
The participants were patients that requested care through the emergency telephone service, their carers and the professionals of the emergency care teams. The structured sampling design was based on an intentional, nonprobability selection following pragmatic criteria. Seven groups of patients/carers and two groups of professionals were formed (65 participants). The recordings were fully transcribed before their validation and codes were assigned to ensure anonymity. The ATLAS.ti software was used for the analysis. The authors took into account the COREQ checklist for qualitative studies.
Findings
Neither group provided a clear definition of the meaning of feeling safe. It appeared easier to give examples that had a positive or negative influence on their perception of feeling safe. During the analysis of the discourse, six categories were detected after grouping the related codes.
Conclusions
For most of the patients’ feeling of being safe or very safe arose from the perception of calmness, trust and protection. Defining the perception of safety was not easy. The factors with the greatest effect on feeling safe were related to Information and communication, Person‐centred care and Professional competency, without losing sight of other factors such as Accessibility and response times of the emergency teams, Equipment and Healthcare setting.
Relevance to clinical practice
The findings could be used as a knowledge base in future research and for implementing procedures for improving perceptions of safety among patients.
The development of high-temperature PEM fuel cells (working at 150-200 °C) is pursued worldwide in order to solve some of the problems of current cells based on Nafion® (CO tolerance, improved ...kinetics, water management,
etc
.). Polybenzimidazole membranes nanoimpregnated with phosphoric acid have been studied as electrolytes in PEMFCs for more than a decade. Commercially available polybenzimidazole (PBI) has been the most extensively studied and used for this application in membranes doped with all sorts of strong inorganic acids. In addition to this well-known polymer we also review here studies on ABPBI and other polybenzimidazole type membranes. More recently, several copolymers and related derivatives have attracted many researchers' attention, adding variety to the field. Furthermore, besides phosphoric acid, many other strong inorganic acids, as well as alkaline electrolytes have been used to impregnate benzimidazole membranes and are analyzed here. Finally, we also review different hybrid materials based on polybenzimidazoles and several inorganic proton conductors such as heteropoly acids, as well as sulfonated derivatives of the polymers, all of which contribute to a quickly-developing field with many blooming results and useful potential which are the subject of this
critical review
(317 references).
High-performance membranes with high H
+
conductivity at 160-200 ºC are key for the development of commercial PEM fuel cells. Polybenzimidazoles, their derivatives, copolymers and hybrids have grown as a very promising family with a wealth of combinations still in the making.
The article presents a theoretical model of the entrepreneur's capacities and their influence on business performance. Starting from the traditional theory of dynamic capacities, those related to ...entrepreneurship and/or that influence the entrepreneur's capacities are identified, determining factors such as training, experience and confidence. In addition, other factors such as the environmental and institutional environment have been taken into account as they affect the entrepreneurship. For this purpose, a study was carried out with the Smart PLS software in a sample of companies in the tourism sector in the Mar Menor Region (Spain). An essential factor in the development of entrepreneurship in the region is the sustainability of the coastal lagoon. Some considerations are obtained from the study of the factors that determine the model of capacities, in which the confidence of the entrepreneur and the environmental sustainability, exert a positive and significant influence in the business performance. Furthermore, among the mentioned capacities of the entrepreneurial influence, experience and trust are the ones that most influence the success of the tourism business.
Beach handball is a sport that has seen an increase in the number of players in the last decade. The aim of the study was to evaluate the basic measures of body composition, maturation, performance ...outcomes and the adherence to the Mediterranean diet of professional beach handball players, as a function of category (junior vs. senior) and playing positions. Thirty-six professional beach handball players participated in the study: 18 seniors (age: 25.0 ± 5.19) and 18 juniors (age: 16.7 ± 0.46); Each player’s body composition and different sports performance variables were analysed using the CMJ test, the Abalakov test, the Yo-Yo Test IR1 and the handgrip test. The Mediterranean diet Adherence was analysed using the KIDMED questionnaire. Significant differences are observed for all performance variables, with the values of senior players being higher in all cases (p < 0.005). Moreover, the adherence to the Mediterranean diet is moderate. Positive correlations were observed between the CMJ and weight (p = 0.012) and the CMJ and the BMI (p = 0.003). The same was observed for the Abalakov test, with p = 0.004 for weight and p = 0.001 for the BMI. Regarding the dynamometry, it positively correlates with the height (p = 0.002), the sitting height (p = 0.008), wingspan (p < 0.001) and weight (p = 0.011). The opposite occurred with the Yo-Yo Test and the KIDMED variables. Conclusions: One aspect to improve, as a key performance factor, would be the adherence to the Mediterranean diet for both categories. Players with a better adherence, achieved better results in the performance tests.
This paper proposes a novel control strategy for three-level neutral-point-clamped (NPC) power converter. The proposed control scheme consists of three control loops, i.e., instantaneous power ...tracking control loop, voltage regulation loop, and voltage balancing loop. First, in the power tracking control loop, a set of adaptive sliding mode controllers are established to drive the active and reactive power tracking to their desired values via radial basis function neural network technology. In the voltage regulation loop, an efficient but simple adaptive controller is designed to regulate dc-link output voltage where the load is considered as an external disturbance. Moreover, a composite controller is developed in the voltage balancing loop to ensure imbalance voltages between two dc-link capacitors close to zero, in which a reduced-order observer is used to estimate sinusoidal disturbance improving the converter performance. The effectiveness and superiority of the proposed control strategy for the NPC power converter are compared with other control schemes through experimental results.
The visualization of medical images with advanced techniques, such as augmented reality and virtual reality, represent a breakthrough for medical professionals. In contrast to more traditional ...visualization tools lacking 3D capabilities, these systems use the three available dimensions. To visualize medical images in 3D, the anatomical areas of interest must be segmented. Currently, manual segmentation, which is the most commonly used technique, and semi-automatic approaches can be time consuming because a doctor is required, making segmentation for each individual case unfeasible. Using new technologies, such as computer vision and artificial intelligence for segmentation algorithms and augmented and virtual reality for visualization techniques implementation, we designed a complete platform to solve this problem and allow medical professionals to work more frequently with anatomical 3D models obtained from medical imaging. As a result, the Nextmed project, due to the different implemented software applications, permits the importation of digital imaging and communication on medicine (dicom) images on a secure cloud platform and the automatic segmentation of certain anatomical structures with new algorithms that improve upon the current research results. A 3D mesh of the segmented structure is then automatically generated that can be printed in 3D or visualized using both augmented and virtual reality, with the designed software systems. The Nextmed project is unique, as it covers the whole process from uploading dicom images to automatic segmentation, 3D reconstruction, 3D visualization, and manipulation using augmented and virtual reality. There are many researches about application of augmented and virtual reality for medical image 3D visualization; however, they are not automated platforms. Although some other anatomical structures can be studied, we focused on one case: a lung study. Analyzing the application of the platform to more than 1000 dicom images and studying the results with medical specialists, we concluded that the installation of this system in hospitals would provide a considerable improvement as a tool for medical image visualization.
The deposition and manipulation of human remains in natural caves are well known for the Neolithic of Southern Iberia. The cultural meaning of these practices is however still largely unclear. Cueva ...de los Marmoles (CM, Priego-Córdoba) is one of the most important cave contexts from Southern Spain, which returned a large number of commingled skeletal remains suggesting its funerary use from the Neolithic to the Late Bronze Age. Here we discuss CM from a chronological and cultural perspective based on new radiocarbon, anthropological, and taphonomic analyses. These include the estimation of the minimum number of individuals, the exploration of fragmentation patterns characterizing different skeletal regions, and the macroscopic and microscopic analysis of modifications to the remains of possible anthropic origin. Radiocarbon data point to a funerary use of CM between the 5
th
-2
nd
millennium cal. BCE. MNI estimates reveal the presence of at least 12 individuals (seven adults and five nonadults). The low representation of elements from hands and feet suggests that individuals were placed in the cave while partially decomposed. Anthropic traces on the remains (e.g. fresh fractures, marrow canal modifications, and scraping marks) hint at their intentional fragmentation, cleaning from residual soft tissues, and in some cases reutilization. These practices are well-exemplified by the recovery of one "skull cup" and of two long bones used as tools. These data align with those from other cave contexts from the same geographic region, suggesting the presence, especially during the Neolithic period, of shared ideologies centered on the human body.
Celotno besedilo
Dostopno za:
DOBA, IZUM, KILJ, NUK, PILJ, PNG, SAZU, SIK, UILJ, UKNU, UL, UM, UPUK
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