Goal-Conditioned Model Simplification for 1-D and 2-D Deformable Object Manipulation

Motion planning for deformable object manipulation has been a challenge for a long time in robotics due to its high computational cost. In this work, we propose to mitigate this cost by limiting the number of picking points on a deformable object within the action space and simplifying the dynamics model. We do this first by identifying a minimal geometric model that closely approximates the original model at the goal state; specifically, we implement this general approach for 1-D linear deformable objects (e.g., ropes) using a piece-wise line-fitted model, and for 2-D surface deformable objects (e.g., cloth) using a mesh-simplified model. Then a small number of key particles are extracted as the pickable points in the action space which are sufficient to represent and reach the given goal. Additionally, a simplified dynamics model is constructed based on the simplified geometric model, containing much fewer particles and thus being much faster to simulate than the original dynamics model, albeit with some loss of precision. We further refine this model iteratively by adding more details from the actually achieved final state of the original model until a satisfactory trajectory is generated. Extensive simulation experiments are conducted on a set of representative tasks for ropes and cloth, which show a significant decrease in time cost while achieving similar or better trajectory costs. Finally, we establish a closed-loop system of perception, planning, and control with a real robot for cloth folding, which validates the effectiveness of our proposed method

Review Article: Surrogate Endpoints to Assess Treatment Efficacy in Disorders of Gut–Brain Interaction of Lower Gastrointestinal Tract

Background Surrogate endpoints such as laboratory parameters that are not direct measurements of, but predict, clinical benefit are approved by regulatory agencies for initial proof of efficacy. No surrogate endpoints are approved for disorders of gut–brain interaction. Aim To assess the correlation of scintigraphic colonic transit (CT) with response rates according to patient-reported symptom-based endpoints (composite/global symptoms, abdominal pain or stool frequency/consistency) in irritable bowel syndrome (IBS) or chronic idiopathic constipation (CIC). Methods We reviewed available data from, randomised controlled trials (RCTs) reporting effects on CT at 24 h and 48 h with drug versus placebo and extracted the difference in the proportions responding to drug or placebo, using rates from individual RCTs or from meta-analyses when more than one RCT existed for a drug. We analysed associations between differences (drug vs. placebo) in CT and in response rates using Spearman correlation. Additional analyses of CT at 24 h with composite/global symptom or pain endpoints were performed with exclusion of alosetron (the only drug slowing CT). Results CT at 24 h correlated significantly with composite/global symptom endpoints (Rs = −0.755, p = 0.021). CT correlated with stool frequency or consistency (at 24 h, Rs = 0.506, p = 0.074; at 48 h, Rs = 0.631, p = 0.026). CT at 24 h did not correlate with abdominal pain (Rs = −0.054, p = 0.843). With the exclusion of alosetron data, CT at 24 h was non-significantly correlated with the composite/global symptom endpoint (Rs = −0.667, p = 0.073), but not with abdominal pain (Rs = 0.377, p = 0.419). Conclusion Scintigraphic CT measurement fulfils the expectation of a surrogate endpoint for symptom-based outcomes, particularly in IBS-D or IBS-C and CIC

Elephants’ habitat use and behaviour when outside of Gonarezhou National Park

Elephant conservation in Africa occurs within and beyond gazetted protected areas. We collared and tracked 19 male and seven female savanna elephants (Loxodonta africana) in Gonarezhou National Park (GNP), Zimbabwe, between 2016 and 2022. We investigated the extent of elephant activity outside the park and the role that season and diel played in this. We further documented habitat use, including the use of human-dominated landscapes. Our results showed that male elephants were more likely to move outside the GNP than females, dispersing at greater distances than females. Male elephants moved as far as 60 km from Gonarezhou, while females typically did not disperse farther than 15 km. Most movement outside protected area boundaries were during the cool-dry season (April–July). Male and female elephants returned to the GNP during the hot-wet season (December to March). When outside the GNP, male elephants preferred forested land cover types, while females remained in shrublands. Collared elephants avoided areas adjacent to GNP where human population densities were high. Surface water may also play a role in elephant movement outside of Gonarezhou, but we did not have reliable data to validate this. Our results indicate some use of areas neighbouring GNP by elephants, particularly in Mozambique, but not widespread dispersal. Conservation implications: To achieve a stable elephant population growth rate in GNP, conservation planning in the region should consider immediate interventions for addressing barriers to the movement of elephants to Zinave and Banhine National Parks in Mozambique to avoid the risk of escalating fragmentation of the landscape. In addition, the communal area linking Gonarezhou to Kruger National Park should be prioritised for conservation efforts and pilot projects to test the functionality of the Sengwe corridor

Efficacy of gut–brain neuromodulators in irritable bowel syndrome: an updated systematic review and meta-analysis

Background Gut–brain neuromodulators might be efficacious for irritable bowel syndrome (IBS), but there has been no synthesis of evidence from randomised controlled trials (RCTs) of some drug classes, and whether they have pain-modifying properties in IBS is unclear. We updated a previous systematic review and meta-analysis of RCTs examining these questions. Methods We searched MEDLINE (from Jan 1, 1946, to Jan 1, 2025), Embase and Embase Classic (from Jan 1, 1947, to Jan 1, 2025), and the Cochrane Central Register of Controlled Trials (from database inception to Jan 1, 2025). Trials recruiting adults with IBS and that compared gut–brain neuromodulators versus placebo over at least 4 weeks of treatment were eligible. Dichotomous symptom data were pooled using a random effects model to obtain a relative risk (RR) of remaining symptomatic after therapy, with a 95% CI. Findings The search strategy identified 3625 citations. 28 RCTs were eligible containing 2475 patients. Ten RCTs were identified since our previous meta-analysis, containing 1348 patients. The RR of global IBS symptoms not improving with gut–brain neuromodulators versus placebo in 22 RCTs (2222 patients) was 0·77 (95% CI 0·69–0·87). The best evidence in terms of persistence of global IBS symptoms was for tricyclic antidepressants (TCAs) in 11 trials (1144 patients; RR 0·70, 0·62–0·80). The RR of abdominal pain not improving with gut–brain neuromodulators versus placebo in 19 RCTs (1792 patients) was 0·72 (95% CI 0·62–0·83). The best evidence was for TCAs in seven trials (708 patients; RR 0·69, 0·54–0·87), but there was also a benefit of selective serotonin reuptake inhibitors in seven RCTs (324 patients; RR 0·74, 0·56–0·99), and serotonin and norepinephrine reuptake inhibitors in two trials (94 patients; RR 0·22, 0·08–0·59). Adverse events were not significantly more common with gut–brain neuromodulators, although rates of withdrawal due to adverse events were significantly higher. The certainty in the evidence for tricyclic antidepressants for global IBS symptoms was moderate, but it was low to very low for all other endpoints and drug classes studied. Interpretation Some gut–brain neuromodulators are efficacious in reducing global symptoms and abdominal pain in IBS. The findings support guidelines that recommend use of tricyclic antidepressants for ongoing global symptoms or abdominal pain but also highlight a potential for SSRIs to be modestly effective for abdominal pain. More data for SNRIs, azapirones, and tetracyclic antidepressants in IBS are required. Funding None

Examining the roles of body composition, energy expenditure and substrate metabolism in the control of daily energy intake in adolescents with obesity

Background The implication of body composition and energy metabolism in the control of human energy intake (EI) has been well described in adults, remaining however unexplored in adolescents with obesity. The aim of this study was to question the role of body composition, energy expenditure (EE) and substrate metabolism in the control of EI of adolescents with obesity. Methods Ad libitum 24-h EI, body composition (Dual X-ray absorptiometry), Resting Metabolic Rate (RMR, indirect calorimeter) where measured and Total EE obtained during a 36-h stay in metabolic chambers in 26 adolescents (14.1 ± 1.5 years; 14 girls) with severe obesity. Results The mean body weight and Body Mass index were 92.2 ± 17.2 kg and 33.98 ± 4.14 kg.m‾² respectively. 24-h EI was positively correlated with body weight (rho = 0.597, p = 0.014), Fat Free Mass (FFM) kg (rho = 0.576, p = 0.019), 24-h Total EE (TEE (rho =0.675, p < 0.001)), RMR (rho =0.632, p = 0.005), 24-h Carbohydrate (CHO) oxidation rates (rho = 0.716, p < 0.001), and urinary nitrogen excretion (rho =0.28, p < 0.001). According to the path analysis FFM (kg) but not Fat Mass (FM) (kg) was positively correlated with RMR, with direct effects of 0.87 (p < 0.001) and 0.027 (p = 0.74) respectively. The effect of FFM on 24-h EI was mediated by RMR (96% of the effect), while the effect of FM on 24-h EI was also mediated by RMR (67% of the effect). Conclusions The present study provides the first evidence regarding the role of RMR as a main tonic signal of appetite control mediating the effect of body composition and mainly FFM (over FM) on daily EI in adolescents with obesity. It also suggests for the first-time relationships between 24-h CHO and protein oxidation and daily EI in this population

Stuck in the middle: men experience countervailing reactions to discussions about misogyny and violence against women.

Across three pre-registered studies (total N = 1344), we sought to understand how men react to discussions about violence against women. Initially, we expected that highly identified men would react defensively. That is, exposure to anti-violence advocacy would lead highly identified men to engage in outgroup derogation (i.e., minimise the prevalence of violence against women, exaggerate women’s gender-based privilege), ingroup favouritism (i.e., subtype perpetrators of violence, support men’s rights activism); and reduce their willingness to engage in collection action to end violence against women. We further expected that these reactions would be explained by social identity threat over concerns that men were being unfairly derided and negatively stereotyped. However, the findings revealed a more complex pattern of responding. On the one hand, exposure to these discussions (versus a control message) elicited social identity threat which, in turn, predicted higher outgroup derogation and ingroup favouring responses (Studies 1-3) and lower action intentions (Studies 2 and 3). But exposure also elicited collective guilt (Studies 2 and 3) and perceived injustice regarding women’s disadvantage (Study 3), which predicted lower outgroup derogation and ingroup favouritism, and higher action intentions. These opposing reactions fully offset each other and were not moderated by ingroup identification. These findings uncover a paradox in the fight for gender parity by showing that, in the face of messages that highlight inequality, men exhibit countervailing motivations to both protect their group’s interests and better women’s treatment. We discuss the implications of these findings for involving men in gender equality effort

Managing lead times and backlogging in a resilient distribution network under demand uncertainty

In this work, we propose a novel multi-period location-inventory problem that assumes demand uncertainty, periodic review, backlogging, and lead times. The problem stems from the need to strategically manage distribution centers (DCs) to enhance the resilience of the supply chain, while providing a high service level to customers. A trade-off is sought between distribution resilience and stock-out risks on the one hand, and financial resources on the other hand. A progressive phase-in of the DCs is considered. The problem is cast as a two-stage decision-making process under uncertainty. A mixed-integer linear programming model is formulated. Two resilience indicators are adopted to access the results of a series of computational tests. Based on the experiments, it was found that the financial resources required to establish DCs throughout the planning horizon directly affect the long-term resilience of the supply chain. Nevertheless, the model proposed in this study can ensure that the supply chain resilience remains at a satisfactory level within the given financial resources

Global risk of wildfire across timber production systems

Timber is worth $1.5 trillion US Dollars annually with demand rising, but wildfires increasingly threaten production. Plantations occupy 3% of forests globally and produce 33% of the world’s timber, but a critical question is whether they are more vulnerable to stand-replacing wildfires than natural production forests. We combine forest management and wildfire data to estimate that 15.7 (14.7–16.7) million hectares of natural production forests and 1.4 (1.26–1.64) million hectares of plantations suffered stand-replacing wildfires between 2015 and 2022. Using statistical matching for 17 countries representing 50% of global production and 75% of burned timber-producing forest, we find plantations in temperate regions were twice as likely to suffer stand-replacing wildfires than natural production forests, including in vital timber-producing nations like China and Russia. Plantations in tropical regions showed no clear effect, with national differences ranging from 75% lower to 58% higher risk of burning. Given increasing global reliance on plantation timber, preventing wildfires through landscape-level planning, fire management, and increased plantation diversity is critical for global wood security

Natural history of the revised ALS functional rating scale and its association with survival: the PRECISION-ALS Extant Study

Objective To characterize the natural history of the revised ALS functional rating scale (ALSFRS-R) over a 24-month period following initial assessment, and to assess its associations with survival. Methods Longitudinal ALSFRS-R measurements and survival data were obtained from seven population-based, European cohorts. Different models for the ALSFRS-R trajectory were evaluated, including tests for linearity and between-cohort differences. We employed a joint modeling framework to factor in mortality, thereby aiming to derive a more precise estimate of the population’s rate of decline, while simultaneously delineating its relationship with survival. Results In total, 7,030 patients were included who produced 31,746 ALSFRS-R measurements during a follow-up period of 10,285 person-years. There was substantial evidence for a non-linear time trend within all cohorts (all p < 0.001), with faster progression rates at the beginning of follow-up. The average rate over 24 months was 0.89 points per month; 95% of the patients had a rate between 0.04 and 1.96. Overall, two components of the ALSFRS-R trajectory were found to be associated with survival: (1) the actual value of the ALSFRS-R total score and (2) the rate of change at any given time (both p < 0.001). Conclusions Functional loss in ALS follows a decelerating trajectory, where the current functional status and the rate of change have a direct impact on the patient’ s probability of survival. Given the pivotal role of the ALSFRS-R in drug development, these results help to separate treatment benefit from the disease’s natural trajectory and to estimate the impact on survival