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NMPC Design for a Self-Aligning Compliant Gait Rehabilitation Robot
No full textThe application of robotic devices in rehabilitation is proliferating. Such devices’ mechanism design, actuation, and control strategy are essential for effective and successful rehabilitation treatment. This paper investigates the effectiveness of a self-aligning mechanism for a multi-DOFs (Degrees of Freedom) rehabilitation robot. The actuation is provided by lightweight albeit powerful Pneumatic Muscle Actuators (PMA). Although the mechanism design and the actuation system provide a safe, secure, and efficient platform for rehabilitation, they increase the complexity of the system modeling and, subsequently, the control system’s design. Furthermore, the mechanism has three active and five passive DOFs, which further increase the intricacies of system identification. Hence, this paper presents an autodidactic approach to identify the system dynamics using the Koopman operator. The learned operator is then integrated with the Nonlinear Model Predictive Controller (NMPC) to guide the robot along the predefined path while adapting to the nonlinear dynamics of the physical human-robot interaction. Finally, the rehabilitation robot and the control scheme were experimentally validated with healthy human subjects. The results demonstrate that the NMPC controller could successfully manipulate the gait rehabilitation robot with the subject to achieve the desired orientation during the entire gait cycle
A novel uncertainty-aware point cloud approach for geometric quality monitoring in construction
No full textOur research aims to address the following research question: How can we estimate and quantify the uncertainty in the predicted segmentation results to improve the accuracy of geometric quality monitoring? In addressing this research question, we develop a novel uncertainty-aware point cloud approach to evaluate segmentation quality without the access of ground truth labels. The developed approach consists of: (1) mask 3D-based instance segmentation; (2) estimation and quantification of uncertainty; (3) planar structures detection; and (4) geometric information extraction. A commercial office project is selected as a case to examine the effectiveness and feasibility of the proposed approach. The AP@25 for our Mask 3D segmentation was computed and found to be 0.83 (dropout 0), 0.87 (dropout 0.2) and 0.85 (dropout 0.4). The correlation coefficient for our proposed approach between the performance metric and the uncertainty of predicted results has demonstrated a strong relation. The findings presented in this research demonstrated that our developed approach can effectively capture and estimate model uncertainty and improve the segmentation performance
Navigating Kkondae bullying and power distance: generational perspectives and workplace dynamics in South Korean higher education
Get PDFSouth Korean workplaces are hierarchical and intergenerational, often leading to a unique form of bullying call Kkondae. Kkondae is a term for older individuals who behave in an authoritarian and dismissive way. This study first explored the experiences of Kkondae bullying among South Korean tertiary educators, focusing on how power distance (PD) influences its impact on job satisfaction and work stress, and how bullying by older vs. younger individuals affects intergenerational dynamics. Adopting a pragmatist approach, this study integrated Mannheim’s Generational Cohort Theory with Hofstede’s Power Distance through an exploratory sequential mixed method design with three generational cohorts of educators (N=23, Gen X, Gen Y and Gen Z). Thematic analysis revealed that power distance (PD) played a key role and impacted participants’ workplace experiences. A subsequent survey of 156 Gen Z using PD as a moderator found that high PD moderated the relationships between experiences of Kkondae bullying and workplace outcomes such as job satisfaction and work stress. The integration of Generational Cohort Theory with Hofstede’s power distance dimension makes a significant contribution by offering a comprehensive understanding of Kkondae as a complex socialcultural phenomenon with both positive effects and negative consequences
Racism Undermines High-Performance Democracies
Get PDFRacism is a chronic problem for fifteen of the world’s top scoring democracies (Denmark serves as a case study). This evidence—which we draw from academic research, government and non-government body reports, journalistic reports, and polling data published between 2013 and 2023—troubles doctrines of representative, liberal, electoral, and participatory theories of democracy. In this article, we apply an aspect of Graefrath and Jahn’s ontological coherence rule—this being a comparison of the ontic commitments required by each theory against ontic commitments of racism as defined by the Australian Human Rights Commission—to conceptually demonstrate this claim. This leads us to the conclusion that real-existing democracies experiencing racism are also likely experiencing a constraint on their democratic capacities. Racism, in short, undermines at least four types of democracy. We end our analysis with a suggestion to adapt International IDEA’s 2024 PODS methodology so that it may capture and contrast the opinions of racialized minorities, alongside the opinions of experts, the statistically average person, and other marginalized persons, as the next step in this line of research.</p
Quality literacy education: A celebration of practices:50 years Australian Literacy Educators Association. Edited by Katina Zammit, Narelle A. Daffurn and Jantiena Batt.
Get PDFGenerative optimization of building blocks for density, solar and structural performance
No full textThis study addresses the challenge of performance-informed building blocks generation by developing a generative design framework that simultaneously optimizes building massing, density distribution, and solar and structural performance. As energy consumption, carbon emissions, and material efficiency become increasingly critical in building engineering, there is a growing need for integrated methodologies that combine architectural form exploration with quantifiable performance objectives. The aim of this research is to formulate and validate a modular, cell-based algorithm that generates building configurations optimized for solar gain, thermal comfort, and structural efficiency. The methodology employs parametric design tools, including Grasshopper and Python, alongside simulation engines such as Ladybug for solar radiation analysis and Karamba for finite element structural evaluation. Multi-objective optimization is conducted using the Octopus application to identify Pareto-optimal solutions across competing criteria. The proposed approach is validated using a mid-rise residential block case in Tehran, demonstrating its effectiveness under real-world regulatory and climatic constraints. Findings show significant improvements in seasonal solar performance and reductions in structural deflection, with up to 248 % more winter solar gain and 4.6 % lower displacement compared to conventional designs. The key contribution of this research lies in its integration of environmental and structural simulation within an automated generative workflow that ensures both design adaptability and engineering feasibility. The novelty of the study is in bridging early-stage form generation with detailed performance feedback, providing a scalable method for sustainable and structurally sound building design. The proposed framework is adaptable to various site contexts and can inform future advances in computational building engineering.</p
Co-designed behavioural nudges to encourage university students to sit less (UC30):Findings from a mixed-methods pilot study
No full textObjective: University students are highly sedentary, increasing their risk of poor health outcomes. This study aimed to co-design and pilot a behavioural gain-framed nudge-based intervention to reduce university students’ sedentary behaviour by breaking up long periods of sitting every 30 minutes. Methods: Experienced-based co-design was used to conduct three workshops with university students and staff (n = 11) to develop and create the intervention (UC30). A mixed-methods pilot pre-post study investigated the effectiveness of the intervention in a university cohort (n = 60) over one semester. Semi-structured interviews (staff, n = 6; students, n = 3) and student survey responses (n = 43) were used to determine the primary outcomes of acceptability and feasibility. The secondary outcome measure was self-reported sedentary time (Past-day Adults’ Sedentary Time-University questionnaire, minutes/day). Results: Co-designed resources were simple to implement for staff and informative and influential for students. The qualitative analysis revealed three themes relevant to both students and staff: ‘delivery mode’, ‘academic engagement’ and ‘education and impact’. Total self-reported sedentary time did not decrease among students; however, there was a 51-minute daily reduction (95% confidence interval: −121, 19) in sitting-for-study post-intervention. Conclusion: Co-designed behavioural nudge-based resources as part of learning activities to reduce sedentary behaviour in university students may be effective in reducing sedentary time during study, improving health and learning outcomes, indicating a larger trial is warranted. Trial registration: Australia New Zealand Clinical Trials Register (ANZCTR): ACTRN126210006698971, https://www.anzctr.org.au/ACTRN12621000669897.aspx Registered 2 June 2021.</p
Conceptualising good mental health for people with intellectual disabilities:An inclusive delphi study
No full textBackground: Currently, there is no conceptualisation of good mental health for people with intellectual disabilities (ID). To develop an initial shared understanding of good mental health in this population, an inclusive Delphi study with two survey rounds was conducted. Methods: The Delphi study comprised a total of N = 60 participants in the first round, and 53 in the second round. In sum, 23 experts with ID and 37 mental health experts were included. The Delphi questionnaire applied a universal design, maximising accessibility for experts with and without ID. Participants were asked to rate the relevance of each item for good mental health of people with ID. People with ID served as co-researchers throughout the research process. Results: In both survey rounds, all items were rated as important for good mental health of people with ID (weighted median ≥ 3 out of 5). In a structural synthesis, the following factors were found to be important: (1) being part of the community, (2) adequate support, (3) social contacts, (4) communication, (5) working and living environment, (6) keeping the body healthy, (7) no mental disorders, (8) healthcare, (9) psychosocial functioning. As the broadest theme, psychosocial functioning included six subthemes, such as emotions, autonomy and self-concept, and doing something meaningful. Conclusions: This study provides a foundational step towards developing a more inclusive understanding of good mental health for people with ID. The active involvement of co-researchers underscores the value of participatory methods in shaping research outcomes.</p
Geospatial patterns of multiple environmental exposures and socioeconomic status in Australian cities
No full textBackground: The urban built environment influences population health. Environmental inequity occurs when features of the built environment are unequally distributed in cities, which may lead to health disparities between socioeconomically advantaged and disadvantaged communities. Urban planning and population health policy can benefit from an improved understanding of spatial distributions and patterns of environmental exposures. Methods: We calculated prevalence ratios of the lowest and highest tertiles of six environmental exposures (walkability, blue space, tree cover, parklands, nitrogen dioxide, and major road density) within quintiles of socioeconomic advantage and disadvantage for Adelaide, Sydney, and Brisbane, Australia. We included 550 neighbourhoods, covering 92.5–97.4 % of the city populations. We overlaid tertiles of each environmental exposure to create combinations of health-promoting environmental variables (defined as ‘sweet’) and health-harming environmental variables (defined as ‘sour’). Maps were created using the tertile combinations. Results: Walkability was more prevalent in socioeconomically advantaged areas in each city (e.g., high walkability was 23–64 % more prevalent in the highest socioeconomic quintiles compared to city-wide prevalence in all cities). This was also the case for high tree cover in Adelaide (130 % higher prevalence) and Sydney (74 % higher prevalence). In contrast, low socioeconomic areas in each city had lower prevalence of high tree cover. However, we did observe high prevalence of undesirable environmental exposures in the most advantaged neighbourhoods (e.g., 82 % higher prevalence of nitrogen dioxide in Brisbane's highest socioeconomic quintile compared to city-wide prevalence). Although only a small percentage of neighbourhoods were considered ‘sweet’ or ‘sour’, we generally found that ‘sour’ areas were located towards the city outskirts, whilst ‘sweet’ areas were more common in the inner-city. Conclusions: By creating visual maps and assessing the prevalence of environmental exposures across a socioeconomic gradient, we were able to identify areas where there are inequities in health-promoting or health-harming urban environments. These areas could be targeted for urban interventions to improve liveability.</p
Proof of concept studies in mental health systems research:strategy and steps
No full textBACKGROUND: The implementation of interventions, digital tools, and policy plans in health systems research is highly complex. Proof-of-Concept (PoC) studies facilitate the development of these applications although they are rarely conducted or reported in mental health research. This paper describes the principles and processes to conduct PoC studies in mental health systems research.METHOD: The Technology Readiness Level in Implementation Sciences (TRL-IS) serves as the reference framework for this study. A 'lessons learned' process was applied to refine the concepts and develop a research strategy based on previous experiences with PoC studies. This process incorporated insights gained from a scoping review, case studies and discussion with both a core group and an extended group of experts.RESULTS: PoC studies assess the workability of an application, formulating the basic concept and determining whether its functionality can be transformed into a real prototype to be tested as intended via a pilot study and later demonstrated in the real world. The strategy to conduct PoC studies should be part of the analysis of readiness of any application in health system's research. The first four levels of readiness in the TRL-IS scale include (1) foundational knowledge, (2) formalised prior knowledge base, (3) completion of a workable PoC, and (4) prototyping. It's design requires input from experts in all four levels. Twenty-three main elements relevant to PoC have been identified in these four phases.DISCUSSION: PoC is generally omitted (or not reported) in mental health systems research. Researchers should be actively encouraged to overcome this omission. A common language, classification and vocabulary is needed for implementation science which incorporate this domain. The description of the specific activities conducive to PoC and prototyping should be provided. Training on the use of the TRL-IS framework including expert knowledge should also be promoted in mental health system research.</p