Abstract Robotic literature widely addresses deformable object manipulation, but few studies analyzed human manipulation accounting for different levels of deformability and task properties. We asked ...participants to grasp and insert rigid and deformable objects into holes with varying tolerances and depths, and we analyzed the grasping behavior, the reaching velocity profile, and completion times. Results indicated that the more deformable the object is, the nearer the grasping point is to the extremity to be inserted. For insertions in the long hole, the selection of the grasping point is a trade-off between task accuracy and the number of re-grasps required to complete the insertion. The compliance of the deformable object facilitates the alignment between the object and the hole. The reaching velocity profile when increasing deformability recalls the one observed when task accuracy and precision decrease. Identifying human strategy allows the implementation of human-inspired high-level reasoning algorithms for robotic manipulation.
We present a comprehensive statistical analysis of Swift X-ray light curves of gamma-ray bursts (GRBs) collecting data from more than 650 GRBs discovered by Swift and other facilities. The ...unprecedented sample size allows us to constrain the rest-frame
X-ray properties of GRBs from a statistical perspective, with particular reference to intrinsic time-scales and the energetics of the different light-curve phases in a common rest-frame 0.3-30 keV energy band. Temporal variability episodes are also studied and their properties constrained. Two fundamental questions drive this effort: (i) Does the X-ray emission retain any kind of 'memory' of the prompt γ-ray phase? (ii) Where is the dividing line between long and short GRB X-ray properties? We show that short GRBs decay faster, are less luminous and less energetic than long GRBs in the X-rays, but are interestingly characterized by similar intrinsic absorption. We furthermore reveal the existence of a number of statistically significant relations that link the X-ray to prompt γ-ray parameters in long GRBs; short GRBs are outliers of the majority of these two-parameter relations. However and more importantly, we report on the existence of a universal three-parameter scaling that links the X-ray and the γ-ray energy to the prompt spectral peak energy of both long and short GRBs: E
X, iso∝E
1.00 ± 0.06
γ, iso/E
0.60 ± 0.10
pk.
We present a homogeneous X-ray analysis of all 318 gamma-ray bursts detected by the X-ray telescope (XRT) on the Swift satellite up to 2008 July 23; this represents the largest sample of X-ray GRB ...data published to date. In Sections 2–3, we detail the methods which the Swift-XRT team has developed to produce the enhanced positions, light curves, hardness ratios and spectra presented in this paper. Software using these methods continues to create such products for all new GRBs observed by the Swift-XRT. We also detail web-based tools allowing users to create these products for any object observed by the XRT, not just GRBs. In Sections 4–6, we present the results of our analysis of GRBs, including probability distribution functions of the temporal and spectral properties of the sample. We demonstrate evidence for a consistent underlying behaviour which can produce a range of light-curve morphologies, and attempt to interpret this behaviour in the framework of external forward shock emission. We find several difficulties, in particular that reconciliation of our data with the forward shock model requires energy injection to continue for days to weeks.
In order to evaluate the possibility of reducing energy input in giant reed (
Arundo donax L.) as a perennial biomass crop, a field experiment was carried out from 1996 to 2001 in central Italy. Crop ...yield response to fertilisation (200–80–200
kg
ha
−1 N–P–K), harvest time (autumn and winter) and plant density (20,000 and 40,000 plants per ha) was evaluated. The energy balance was assessed considering the energy costs of production inputs and the energy output obtained by the transformation of the final product. The crop yield increased by +50% from the establishment period to the 2nd year of growth when it achieved the highest dry matter yield. The mature crop displayed on average annual production rates of 3
kg dry matter m
−2, with maximum values obtained in fertilised plot and during winter harvest time.
Fertilisation mainly enhanced dry matter yield in the initial period (+0.7
kg dry matter m
−2 as years 1–6 mean value). The biomass water content was affected by harvest time, decreasing by about 10% from autumn to winter. With regard to plant density, higher dry matter yields were achieved with 20,000 plants per ha (+0.3
kg dry matter m
−2 as years 1–6 mean value).
The total energy input decreased from fertilised (18
GJ
ha
−1) to not fertilised crops (4
GJ
ha
−1). The higher energetic input was represented by fertilisation which involved 14
GJ
ha
−1 (fertilisers plus their distribution) of total energy costs. This value represents 78% of total energy inputs for fertilised crops.
Giant reed biomass calorific mean value (i.e., the calorific value obtained from combustion of biomass sample in an adiabatic system) was about 17
MJ
kg
−1 dry matter and it was not affected by fertilisation, or by plant density or harvest time. Fertilisation enhanced crop biomass yield from 23 to 27 dry tonnes per ha (years 1–6 mean value). This 15% increase was possible with an energy consumption of 70% of the overall energy cost. Maximum energy yield output was 496
GJ
ha
−1, obtained with 20,000 plants per ha and fertilisation. From the establishment period to 2nd–6th year of growth the energy production efficiency (as ratio between energy output and energy input per ha) and the net energy yield (as difference between energy output and energy input per ha) increased due to the low crop dry biomass yield and the high energy costs for crop planting. The energy production efficiency and net energy yield were also affected by fertilisation and plant density. In the mature crop the energy efficiency was highest without fertilisation both with 20,000 (131
GJ
ha
−1) and 40,000 plants per ha (119
GJ
ha
−1).
Background and purpose
Essential tremor (ET) is a movement disorder primarily characterized by upper limb postural and kinetic tremor. Although still under‐investigated, bradykinesia may be part of ...the phenotypic spectrum of ET. The aim was to evaluate bradykinesia features in ET through clinical examination and kinematic analysis of repetitive finger movements. Data collected in ET patients were compared with those recorded in Parkinson’s disease patients and healthy controls.
Methods
Overall, 258 subjects participated in the study (90 ET patients, 84 Parkinson’s disease patients and 84 healthy controls). Repetitive finger tapping was kinematically recorded using a motion analysis system. Movement velocity, amplitude and decrement (sequence effect) were measured. The three groups were first compared by one‐way analysis of variance. A cluster analysis was also performed to better address the data variability observed in ET patients. Possible relationships between kinematic and clinical data were assessed in ET patients.
Results
Essential tremor patients were slower than healthy controls. Movement slowness in ET did not correlate with postural or kinetic tremor severity. It was also found that movement slowness in ET was not associated with a sequence effect, which instead is a common feature in Parkinson’s disease. Cluster analysis showed that a proportion of ET patients may have movement abnormalities similar to those observed in Parkinson’s disease.
Conclusions
Movement slowness without sequence effect is a common feature in ET patients. The present findings are relevant when interpreted in the context of the new tremor classification system and in the development of a more accurate bradykinesia definition.
Previous detections of an X-ray emission line near 3.5 keV in galaxy clusters and other dark-matter-dominated objects have been interpreted as observational evidence for the decay of sterile neutrino ...dark matter. Motivated by this, we report on a search for a 3.5 keV emission line from the Milky Way's galactic dark matter halo with HaloSat. As a single pixel, collimated instrument, HaloSat observations are impervious to potential systematic effects due to grazing incidence reflection and CCD pixelization, and thus may offer a check on possible instrumental systematic errors in previous analyses. We report nondetections of a ~3.5 keV emission line in four HaloSat observations near the Galactic center. In the context of the sterile neutrino decay interpretation of the putative line feature, we provide 90% confidence level upper limits on the 3.5 keV line flux for a field centered 18.6 degrees from the Galactic center and the corresponding 7.1 keV sterile neutrino mixing angle: F ≤ 0.077 ph/((sq. cm)(s)(sr)) and sin^2(2θ) ≤ 4.25 x 10^(-11). The HaloSat mixing angle upper limit was calculated using a modern parameterization of the Milky Way's dark matter distribution, and in order to compare with previous limits, we also report the limit calculated using a common historical model. The HaloSat mixing angle upper limit places constraints on a number of previous mixing angle estimates derived from observations of the Milky Way's dark matter halo and galaxy clusters, and excludes several previous detections of the line. The upper limits cannot, however, entirely rule out the sterile neutrino decay interpretation of the 3.5 keV line feature.
The development of negative behavioral and psychosocial factors (depression, anxiety, apathy, etc) is associated with poor well-being, which can contribute to health issues in ageing, especially in ...the context of COVID-19. Despite its relative novelty, fully immersive virtual reality (VR) interventions through 360° immersive videos are becoming more accessible and flexible and constitute an emerging method to potentially enhance well-being. The aim of this scoping review is to assess the effectiveness of 360° interventions on well-being in older adults with or without cognitive impairment, as well as cybersickness and attitudes toward this technology.
Scoping review.
Older adults with or without cognitive impairment.
The PRISMA-SR guideline was followed. Four databases were used, and we selected articles published until April 2022. We have analyzed the effect of 360° videos on the well-being of older adults with respect to the study design, the population, the contents, the duration of intervention, and the outcomes.
A total of 2262 articles were screened, of which 10 articles were finally included in this review. Most of them are pilot studies and used mixed methods including scales and interviews. The material and content of VR are diversified. Many behavioral and psychological outcomes were assessed, including anxiety, apathy, loneliness, depression, social engagement, quality of life, and emotions. The results were positive or mixed, according to the outcomes. We recorded few adverse events, and the interviews show contrasting results concerning the participants' feelings (ie, degree of immersion, familiarity with technology, and VR content).
The use of VR 360° videos seems feasible in community-dwelling older adults or residential aged care facilities, as they are safe and provide enjoyment. It constitutes an emerging and promising therapeutic tool to manage psychosocial disorders. This review provides key considerations for the design and implementation of interventions using VR 360° video in clinical practice.
In this study we investigated the characteristics of a commercial ion chamber array and its performance in the verification of radiotherapy plans. The device was the 2D Array Seven29 model (PTW, ...Freiburg, Germany). This is a two-dimensional detector array with 729 ionization chambers uniformly arranged in a 27 x 27 matrix with an active area of 27 x 27 cm(2). The detector short-, medium- and long-term reproducibility have been tested through an extensive set of repeated measurements. Short-term reproducibility was well within 0.2%. Medium- and long-term reproducibility were within 1%, including set-up reproducibility errors and linac output fluctuations. Dose linearity was also assessed. The system response to dose was verified to be linear within the range 2-500 MU. Output factors matched very well pinpoint chamber measurements performed in the same experimental conditions with a maximum local percentage difference of 0.4%. Furthermore, the 2D Array sensitivity to millimetric collimator positional changes and to perturbation effect of irradiated area was tested. The comparison with ion chamber data carried out in water was very satisfying. Finally, measurements of wedge-modulated fields and IMRT beam sequence matched very well ion chamber dose profiles acquired in a water tank. The extensive tests performed in this investigation show that the 2D Array Seven29 is a reliable and accurate dosimeter and that it could be a useful tool for the quality assurance and the verification of radiotherapy plans.
We consider the formalism of information decomposition of target effects from multisource interactions, i.e., the problem of defining redundant and synergistic components of the information that a ...set of source variables provides about a target, and apply it to the two-dimensional Ising model as a paradigm of a critically transitioning system. Intuitively, synergy is the information about the target variable that is uniquely obtained by taking the sources together, but not considering them alone; redundancy is the information which is shared by the sources. To disentangle the components of the information both at the static level and at the dynamical one, the decomposition is applied respectively to the mutual information and to the transfer entropy between a given spin, target, and a pair of neighboring spins (taken as the drivers). We show that a key signature of an impending phase transition (approached from the disordered size) is the fact that the synergy peaks in the disordered phase, both in the static and in the dynamic case: The synergy can thus be considered a precursor of the transition. The redundancy, instead, reaches its maximum at the critical temperature. The peak of the synergy of the transfer entropy is far more pronounced than those of the static mutual information. We show that these results are robust with respect to the details of the information decomposition approach, as we find the same results using two different methods; moreover, with respect to previous literature rooted in the notion of global transfer entropy, our results demonstrate that considering as few as three variables is sufficient to construct a precursor of the transition, and provide a paradigm for the investigation of a variety of systems prone to crisis, such as financial markets, social media, or epileptic seizures.
In 2012, Colletotrichum isolates were collected from field‐grown safflower (Carthamus tinctorius) crops in central Italy from plants exhibiting typical anthracnose symptoms. Colletotrichum isolates ...were also collected from seed surfaces and from within seeds. The genetic variability of these isolates was assessed by a multilocus sequencing approach and compared with those from Colletotrichum chrysanthemi and Colletotrichum carthami isolates from different geographic areas and other Colletotrichum acutatum sensu lato‐related isolates. Phylogenetic analysis revealed that all of the strains isolated from C. tinctorius belonged to the species described as C. chrysanthemi, whereas all of the strains belonging to C. carthami had been isolated from Calendula officinalis. Phenotypic characterization of isolates was performed by assessing growth rates at different temperatures, morphology of colonies on potato dextrose agar (PDA) and the size of conidia. All C. chrysanthemi isolates from safflower had similar growth rates at different temperatures, comparable colony morphologies when grown on PDA and conidial sizes consistent with previously described C. chrysanthemi isolates. Pathogenicity tests were performed by artificially inoculating both seeds and plants and confirmed the seedborne nature of this pathogen. When inoculated on plants, C. chrysanthemi caused the typical symptoms of anthracnose on leaves. This is the first record of this pathogen on C. tinctorius in Italy, and it presents an updated characterization of Colletotrichum isolates pathogenic to safflowers in Europe.
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