1,097 research outputs found

    A Survey on Socially Aware Robot Navigation: Taxonomy and Future Challenges

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    Socially aware robot navigation is gaining popularity with the increase in delivery and assistive robots. The research is further fueled by a need for socially aware navigation skills in autonomous vehicles to move safely and appropriately in spaces shared with humans. Although most of these are ground robots, drones are also entering the field. In this paper, we present a literature survey of the works on socially aware robot navigation in the past 10 years. We propose four different faceted taxonomies to navigate the literature and examine the field from four different perspectives. Through the taxonomic review, we discuss the current research directions and the extending scope of applications in various domains. Further, we put forward a list of current research opportunities and present a discussion on possible future challenges that are likely to emerge in the field

    Effects of municipal smoke-free ordinances on secondhand smoke exposure in the Republic of Korea

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    ObjectiveTo reduce premature deaths due to secondhand smoke (SHS) exposure among non-smokers, the Republic of Korea (ROK) adopted changes to the National Health Promotion Act, which allowed local governments to enact municipal ordinances to strengthen their authority to designate smoke-free areas and levy penalty fines. In this study, we examined national trends in SHS exposure after the introduction of these municipal ordinances at the city level in 2010.MethodsWe used interrupted time series analysis to assess whether the trends of SHS exposure in the workplace and at home, and the primary cigarette smoking rate changed following the policy adjustment in the national legislation in ROK. Population-standardized data for selected variables were retrieved from a nationally representative survey dataset and used to study the policy action’s effectiveness.ResultsFollowing the change in the legislation, SHS exposure in the workplace reversed course from an increasing (18% per year) trend prior to the introduction of these smoke-free ordinances to a decreasing (−10% per year) trend after adoption and enforcement of these laws (β2 = 0.18, p-value = 0.07; β3 = −0.10, p-value = 0.02). SHS exposure at home (β2 = 0.10, p-value = 0.09; β3 = −0.03, p-value = 0.14) and the primary cigarette smoking rate (β2 = 0.03, p-value = 0.10; β3 = 0.008, p-value = 0.15) showed no significant changes in the sampled period. Although analyses stratified by sex showed that the allowance of municipal ordinances resulted in reduced SHS exposure in the workplace for both males and females, they did not affect the primary cigarette smoking rate as much, especially among females.ConclusionStrengthening the role of local governments by giving them the authority to enact and enforce penalties on SHS exposure violation helped ROK to reduce SHS exposure in the workplace. However, smoking behaviors and related activities seemed to shift to less restrictive areas such as on the streets and in apartment hallways, negating some of the effects due to these ordinances. Future studies should investigate how smoke-free policies beyond public places can further reduce the SHS exposure in ROK

    Understanding Agreement and Disagreement in Listeners’ Perceived Emotion in Live Music Performance

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    Emotion perception of music is subjective and time dependent. Most computational music emotion recognition (MER) systems overlook time- and listener-dependent factors by averaging emotion judgments across listeners. In this work, we investigate the influence of music, setting (live vs lab vs online), and individual factors on music emotion perception over time. In an initial study, we explore changes in perceived music emotions among audience members during live classical music performances. Fifteen audience members used a mobile application to annotate time-varying emotion judgments based on the valence-arousal model. Inter-rater reliability analyses indicate that consistency in emotion judgments varies significantly across rehearsal segments, with systematic disagreements in certain segments. In a follow-up study, we examine listeners' reasons for their ratings in segments with high and low agreement. We relate these reasons to acoustic features and individual differences. Twenty-one listeners annotated perceived emotions while watching a recorded video of the live performance. They then reflected on their judgments and provided explanations retrospectively. Disagreements were attributed to listeners attending to different musical features or being uncertain about the expressed emotions. Emotion judgments were significantly associated with personality traits, gender, cultural background, and music preference. Thematic analysis of explanations revealed cognitive processes underlying music emotion perception, highlighting attributes less frequently discussed in MER studies, such as instrumentation, arrangement, musical structure, and multimodal factors related to performer expression. Exploratory models incorporating these semantic features and individual factors were developed to predict perceived music emotion over time. Regression analyses confirmed the significance of listener-informed semantic features as independent variables, with individual factors acting as moderators between loudness, pitch range, and arousal. In our final study, we analyzed the effects of individual differences on music emotion perception among 128 participants with diverse backgrounds. Participants annotated perceived emotions for 51 piano performances of different compositions from the Western canon, spanning various era. Linear mixed effects models revealed significant variations in valence and arousal ratings, as well as the frequency of emotion ratings, with regard to several individual factors: music sophistication, music preferences, personality traits, and mood states. Additionally, participants' ratings of arousal, valence, and emotional agreement were significantly associated to the historical time periods of the examined clips. This research highlights the complexity of music emotion perception, revealing it to be a dynamic, individual and context-dependent process. It paves the way for the development of more individually nuanced, time-based models in music psychology, opening up new avenues for personalised music emotion recognition and recommendation, music emotion-driven generation and therapeutic applications

    International consensus statement on allergy and rhinology: Allergic rhinitis – 2023

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    Background In the 5 years that have passed since the publication of the 2018 International Consensus Statement on Allergy and Rhinology: Allergic Rhinitis (ICAR-Allergic Rhinitis 2018), the literature has expanded substantially. The ICAR-Allergic Rhinitis 2023 update presents 144 individual topics on allergic rhinitis (AR), expanded by over 40 topics from the 2018 document. Originally presented topics from 2018 have also been reviewed and updated. The executive summary highlights key evidence-based findings and recommendation from the full document. Methods ICAR-Allergic Rhinitis 2023 employed established evidence-based review with recommendation (EBRR) methodology to individually evaluate each topic. Stepwise iterative peer review and consensus was performed for each topic. The final document was then collated and includes the results of this work. Results ICAR-Allergic Rhinitis 2023 includes 10 major content areas and 144 individual topics related to AR. For a substantial proportion of topics included, an aggregate grade of evidence is presented, which is determined by collating the levels of evidence for each available study identified in the literature. For topics in which a diagnostic or therapeutic intervention is considered, a recommendation summary is presented, which considers the aggregate grade of evidence, benefit, harm, and cost. Conclusion The ICAR-Allergic Rhinitis 2023 update provides a comprehensive evaluation of AR and the currently available evidence. It is this evidence that contributes to our current knowledge base and recommendations for patient evaluation and treatment

    Genetic Mutations of K\u3csub\u3eCa\u3c/sub\u3e2.3 and K\u3csub\u3eCa\u3c/sub\u3e3.1 Channels Affect Ca2+ Sensitivity

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    The Ca2+-activated potassium channels KCa channels are a unique family of potassium channels activated by intracellular calcium. KCa channels are critical for maintaining K+ homeostasis and modulate several physiological processes, from the firing properties of neurons to the control of the transmitter release. The Ca2+ sensitivity of these channels allows intracellular Ca2+ to regulate the electrical activity of the cell membrane. Increased Ca2+ sensitivity of KCa channels caused by gain of function mutations (GOF) in the KCNN genes results in a broad spectrum of human channelopathies, including Zimmermann- Laband syndrome (ZLS), idiopathic non-cirrhotic portal hypertension (INCPH), and hereditary xerocytosis (HX). The impact of dysfunctional KCa2.3/KCa3.1 channels on human health has not been well documented. In this dissertation, I used inside-out patch clamp recordings to measure the apparent Ca2+ sensitivity of KCa2.3 and KCa3.1 heterologously expressed in HEK293 cells. Wild-type KCa2.3 channels have a Ca2+ EC50 value of ∼0.3 μM, while the apparent Ca2+ sensitivity of wild-type KCa3.1 channels is ∼0.27 μM. The equivalent mutations related to the ZLS and INCPH in the S45A/S45B helices increased the apparent Ca2+ sensitivity of both KCa2.3 & KCa3.1 channel subtypes. However, the equivalent mutations related to the HX in HA/HB helices of KCa2.3 and KCa3.1 affected their apparent Ca2+ sensitivity differently. AP14145 reduced the apparent Ca2+ sensitivity of the hypersensitive mutant KCa2.3 channels. The results of my Ph.D. project would suggest the potential therapeutic usefulness of negative gating modulators as a novel target in these channelopathy-causing mutations. At the same time would guide us to design more potent and subtype-selective positive modulators targeting these channels

    Modeling Emotion Dynamics in Song Lyrics with State Space Models

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    Most previous work in music emotion recognition assumes a single or a few song-level labels for the whole song. While it is known that different emotions can vary in intensity within a song, annotated data for this setup is scarce and difficult to obtain. In this work, we propose a method to predict emotion dynamics in song lyrics without song-level supervision. We frame each song as a time series and employ a State Space Model (SSM), combining a sentence-level emotion predictor with an Expectation-Maximization (EM) procedure to generate the full emotion dynamics. Our experiments show that applying our method consistently improves the performance of sentence-level baselines without requiring any annotated songs, making it ideal for limited training data scenarios. Further analysis through case studies shows the benefits of our method while also indicating the limitations and pointing to future directions

    Metaverse. Old urban issues in new virtual cities

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    Recent years have seen the arise of some early attempts to build virtual cities, utopias or affective dystopias in an embodied Internet, which in some respects appear to be the ultimate expression of the neoliberal city paradigma (even if virtual). Although there is an extensive disciplinary literature on the relationship between planning and virtual or augmented reality linked mainly to the gaming industry, this often avoids design and value issues. The observation of some of these early experiences - Decentraland, Minecraft, Liberland Metaverse, to name a few - poses important questions and problems that are gradually becoming inescapable for designers and urban planners, and allows us to make some partial considerations on the risks and potentialities of these early virtual cities

    Multimodal Assessment of Cognitive Decline: Applications in Alzheimer’s Disease and Depression

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    The initial diagnosis and assessment of cognitive decline are generally based around the judgement of clinicians, and commonly used semi-structured interviews, guided by pre-determined sets of topics, in a clinical set-up. Publicly available multimodal datasets have provided an opportunity to explore a range of experiments in the automatic detecting of cognitive decline. Drawing on the latest developments in representation learning, machine learning, and natural language processing, we seek to develop models capable of identifying cognitive decline with an eye to discovering the differences and commonalities that should be considered in computational treatment of mental health disorders. We present models that learn the indicators of cognitive decline from audio and visual modalities as well as lexical, syntactic, disfluency and pause information. Our study is carried out in two parts: moderation analysis and predictive modelling. We do some experiments with different fusion techniques. Our approaches are motivated by some of the recent efforts in multimodal fusion for classifying cognitive states to capture the interaction between modalities and maximise the use and combination of each modality. We create tools for detecting cognitive decline and use them to analyze three major datasets containing speech produced by people with and without cognitive decline. These findings are being used to develop multimodal models for the detection of depression and Alzheimer’s dementia
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