50716 research outputs found
Sort by
Assist-as-Needed Control of a Shoulder Rehabilitation Robot Using a Virtual Biomechanical Model and Online Stiffness Adaptation
No full textThis paper presents an adaptive Assist-as-Needed (AAN) control framework for a shoulder rehabilitation robot enhanced by a Virtual Biomechanical Shoulder Robot Model (VBSRM) and an online stiffness adaptation module. The proposed system adapts support levels dynamically based on user interaction and motor effort, ensuring both safety and active participation during rehabilitation training. The VBSRM is first calibrated to each user’s anthropometric dimensions and used to estimate joint torques during movement. Assistance coefficient β(t), is then dynamically updated based on the user’s measured interaction force, increasing support when effort is low and reducing it when active participation improves. The AAN controller features a gradient-based online stiffness learning mechanism, enabling the system to dynamically adjust joint stiffness during movement based on tracking errors and interaction forces. This dual adaptation enhances rehabilitation training individualization. Experiments with ten healthy subjects performing an Activity of Daily Living (ADL) task Activity of Daily Living (ADL) trajectory demonstrated improved torque profiles, effective stiffness modulation, and reduced trajectory tracking errors in active and passive modes. The proposed control scheme demonstrates high potential for patient-specific, responsive rehabilitation training in neurorehabilitation and post-stroke therapy
Rapid relative sea-level fall, 8 – 6 ka, in the Windmill Islands, East Antarctica
No full textRecords of relative sea-level (RSL) change shed light on mechanisms that control ice-sheet evolution and are used to improve estimates of current mass loss. Despite being the largest potential contributor to future sea-level change there are relatively few records of RSL from the margin of the East Antarctic Ice Sheet. We provide new geological data that define the timing of deglaciation and the pattern and rates of subsequent RSL change in the Windmill Islands in Wilkes Land, East Antarctica. Our new data constrain deglaciation by 10.0–9.5 ka. Combining our new data with previously unused sea-level indicators from penguin remains redefines understanding of RSL changes after deglaciation. A high-stand at c. 8.0 ka was followed by rapid sea-level fall with RSL dropping to <15 m at 6.0 ka at a rate of ∼10 m ka−1, more than double that inferred previously. A reinterpretation of an existing marine core provides circumstantial evidence that RSL fell below 5 m ASL at c. 3.6–2.8 ka which would be coincident with a previously inferred retreat-readvance of the ice margin at this time. Overall, the timing of the Holocene sea-level high stand in the Windmill Islands is similar to other sites around East Antarctica. However, the greater magnitude of this high stand and the rapid fall during the period 8 - 6 ka suggests that interactions between the ice sheet and solid Earth in this sector of East Antarctica may be influenced by relatively lower mantle viscosities
But what about the ecological capabilities? Relationality and school-based food gardening in the Australian early years learning framework
Get PDFReflecting on students' personal and social capabilities is essential for individual and societal benefits. Typically, the focus is on emotional awareness, collaboration, resilience, conflict resolution, and learning to function within school settings. However, there is little emphasis on building ecological capabilities. As we face climate uncertainty, understanding how to exist in a changing world is crucial, and developing ecological capabilities is now of utmost importance for our survival. This paper aims to demonstrate that ecological learning (and the accompanying capabilities) is inherently linked to personal-social development and suggests that education should move beyond human-centric approaches. We observed a 10-week gardening program at an Early Childhood School in ACT/Ngunnawal country. Our analysis reveals that students show empathy towards plants, engage confidently with human and non-human participants, understand food sharing, and make autonomous decisions. They also develop self-regulation skills and consider the well-being of non-human participants. Students extend their learning beyond the classroom, showing resilience in diverse multispecies contexts. By integrating ecological understanding with personal-social development, our findings demonstrate the benefits of non-human companionship and ecological connections in education, which are crucial for navigating ecological uncertainty.</p
Engagement of Indigenous peoples in commercial tobacco reform strategies:a scoping review protocol
Get PDFINTRODUCTION: The tobacco and nicotine industry fuels tobacco-related addiction, disease and death. Indigenous peoples experience a disproportionate burden of commercial tobacco-related morbidity and mortality. Over the past two decades, significant progress has been made in reducing smoking prevalence among Indigenous peoples; however, smoking remains a leading contributor to the burden of death and disease. This review will summarise evidence on commercial tobacco resistance and/or eradication strategies, including policy reforms, in relation to Indigenous peoples across Oceania, the Pacific Islands and North America.METHODS AND ANALYSIS: This review will follow guidelines from the Preferred Reporting Items for Systematic reviews and Meta-Analyses extension for Scoping Reviews and will be conducted in accordance with the Joanna Briggs Institute (JBI) methodology for scoping reviews. This review will consider academic and grey literature published since 1 January 2000. The following electronic databases will be searched for relevant primary research articles and commentaries: PubMed, Scopus, Informit, Web of Science and PsycINFO. Additional searches will be conducted in ProQuest to identify relevant grey literature. Papers will be screened by two reviewers to determine eligibility, followed by full-text data extraction. Findings will be synthesised descriptively for each review question and by region. Studies included in the review will be assessed against criteria for Indigenous engagement in research.ETHICS AND DISSEMINATION: This protocol was led by Indigenous interests, needs and rights of Indigenous peoples, consistent with the United Nations Declaration on the Rights of Indigenous Peoples (UNDRIP), the WHO's Framework Convention on Tobacco Control and ethical practice. This review was conceptualised with Indigenous leadership and through engagement, including but not limited to the Indigenous lived experience of the authors (MK, E-ST, HC, PNH, PH, SAM, AW, SW and RM). This review supports the global goal of eradicating commercial tobacco-related harms - reframing commercial tobacco use as a structurally imposed harm sustained by colonial and commercial forces rather than personal choice. Findings from this review will be shared with Indigenous partners and communities who requested this work and will be submitted for peer-reviewed publication.REVIEW REGISTRATION: Open Science Framework https://osf.io/wxqcb.</p
Estimated carbon emissions for PBS-subsidised prescription respiratory inhalers, Australia, 2019-2023 a descriptive analysis
Get PDFThe Australian National Health and Climate Strategy1 identifies reducing the use of pressurised, metered dose inhalers as a high priority for decarbonising health care. These high emissions inhalers contain potent greenhouse gases as propellants, producing ten to thirty times as much in carbon dioxide equivalent (CO2e) emissions as low emissions inhalers (dry powder and soft mist inhalers), which are often clinically equivalent
Femtosecond laser ablation for the conservation of Galician granites
No full textThis paper investigates the femtosecond pulse laser ablation and cleaning of two Galician granites of high cultural significance used for many monuments and infrastructure in Galicia, Spain: Vilachan which is affected by biological colonisation, and an ashlar granite in Vigo affected by a gypsum-rich black crust. The ablation thresholds of the granites were established to be 1.3 ± 0.2 J∙cm−2. The ablation efficiency was determined to be 0.31 ± 0.05 mm3∙(min∙W)−1 for a fluence of 7.8 ± 1.0 J∙cm−2 for Vilachan and 0.33 ± 0.05 mm3∙(min∙W)−1 for a fluence of 8.3 ± 1.0 J∙cm−2 for Vigo ashlar. The damage threshold of both types of granite, when damage may occur without ablation, was then established at 0.8 J∙cm−2 for Vilachan and 0.5 J∙cm−2 for Vigo ashlar, values above which both stones were found to discolour and lose their characteristic yellow colours. Following the determination of these parameters, femtosecond laser cleaning was undertaken on the biological colonisation covering Vilachan, and the gypsum-rich black crust covering Vigo ashlar. Complete removal of the Vilachan biological colonisation was achieved under the ablation threshold of the stone, at 0.5 J∙cm−2, and no damage was induced to the underlying substrate. Acceptable removal of the black crust was reached, at 1.0 J∙cm−2 with limited damage to the substrate. The effects of laser irradiation on both types of granite were investigated using optical and scanning electron microscopy, optical profilometry, colourimetry, and multispectral imaging.</p
Comment on HMV Leathem, 2025 Looting made Legal: Settler coloniual logis of erasure and the making of phantasmal patrimony
No full textMultigenerational effects of metals accumulate over three generations in the amphibian-killing fungus (Batrachochytrium dendrobatidis)
No full textExposure experiments within a single generation assess organisms’ sensitivity to pollutants but don't reveal long-term effects over multiple generations. We studied the multigenerational effects (MGEs) of copper (Cu), zinc (Zn), and their combination (Cu+Zn) on the amphibian-killing fungus Batrachochytrium dendrobatidis (Bd) over three generations. Our goal was to determine if Bd's sensitivity to metals changes with continuous exposure, which should affect its long-term performance at metal-polluted sites. We conducted two experiments: (1) exposing three generations (F0-F2) of Bd to fixed, environmentally relevant metal concentrations, and (2) assessing how first-generation (F0) exposure influenced Bd's response to varying metal concentrations in F1, including no exposure to metals. Experiment 2 allowed us to estimate transgenerational plasticity (TGP), the extent to which F0 exposure influenced offspring performance without metals. We measured Bd's population growth rate, and the numbers of live zoospores, sporangia, and colonies. Continuous exposure to Cu and Zn led to a progressive decline in Bd performance over three generations, indicating accumulating negative effects. TGP was evident, with F0 metal exposure causing a decline in F1 performance without metals. TGP explained 20–80 % of the decline in population growth rate across generations with continuous metal exposure. Our findings suggest that continuous exposure to elevated Cu and Zn levels negatively impacts Bd, indicating that metal-polluted sites could serve as disease refugia for Bd-susceptible amphibians.</p
Adding noise can reduce response biases in addition to improving perceptual performance
No full text“Stochastic resonance” (SR) is a phenomenon whereby adding an “optimal” amount of noise can improve perceptual capabilities. Although this performance enhancement is important, in many tasks we also want to reduce biases, such as the tendency to respond “absent” to an infrequent stimulus. To address this, we designed a perceptual task where we presented six possible letters (“C,”“B,”“H,” “O,”“E,” and “U”) at threshold levels. We induced a response bias by manipulating the frequency of the consonants and vowels at 80% (frequent stimuli) versus 20% (rare stimuli) and induced SR using Gaussian visual luminance noise. We observed SR-based improvements in performance (accuracy and d’) across 22 observers at low to intermediate noise levels. Additionally, response biases (i.e., criterion) decreased due to an increase in correctly identified rare stimuli. Our results suggest that low-to-moderate noise can improve performance and reduce response biases, with potential implications for real-world tasks (such as cancer screening) where target (i.e., tumor) occurrence is rare.</p