Empowerment through participation in community-based participatory research — effects of a physical activity promotion project among socially disadvantaged women

Introduction: Community-based participatory research (CBPR) approaches are associated with a range of positive impacts on empowerment. However, only a few studies have investigated the influence of different modes of target group participation on empowerment. The present study examined the empowerment processes and outcomes of women in difficult life situations through their participation as co-researchers in the form of Photovoice in “Stark durch Bewegung” (English: “Strong through Movement”), a CBPR project for physical activity (PA) promotion. The extent to which women’s participation as co-researchers leads to empowerment was compared with other forms of participation. Methods: The Photovoice approach consisted of three components: (1) photo task, (2) focus group interviews, and (3) exhibition of photos. It was then extended through participant observation. A total of 18 women took part in Photovoice. They took photos, were involved in four focus groups, helped in the analysis of data, and supported their exhibition. Two additional short focus group interviews in which four more women participated were conducted at the end of the project. The interview guideline was based on the SHOWeD questions proposed within the framework of Photovoice and enriched with various other questions (e.g., self-efficacy, social contacts, and community involvement). The data were analyzed based on a grounded theory approach. Results: “Stark durch Bewegung” contributed to women’s empowerment in several ways. By participating in the project’s PA programs, the women reported numerous empowerment effects, such as improved self-efficacy, perceived competencies like swimming and language skills, and social networks. By participating as co-researchers, they perceived empowering processes on organizational and community levels that are comparable with other forms of participation (e.g., participation in a cooperative planning group) but also differ from them at relevant points (e.g., encouraging them to reflect on their own PA behaviors). The willingness to get involved in Photovoice was estimated to be significantly higher than in other possible forms of participation. Conclusion: Our findings support the notion that health promotion interventions with marginalized groups can contribute to their empowerment on multiple levels when participants become equal partners in the CBPR project. Involving women as co-researchers has advantages over other forms of participation in terms of their empowerment

Trajectory Optimization and Following for a Three Degrees of Freedom Overactuated Floating Platform

Space robotics applications, such as Active Space Debris Removal (ASDR), require representative testing before launch. A commonly used approach to emulate the microgravity environment in space is air-bearing based platforms on flat-floors, such as the European Space Agency's Orbital Robotics and GNC Lab (ORGL). This work proposes a control architecture for a floating platform at the ORGL, equipped with eight solenoid-valve-based thrusters and one reaction wheel. The control architecture consists of two main components: a trajectory planner that finds optimal trajectories connecting two states and a trajectory follower that follows any physically feasible trajectory. The controller is first evaluated within an introduced simulation, achieving a 100 % success rate at finding and following trajectories to the origin within a Monte-Carlo test. Individual trajectories are also successfully followed by the physical system. In this work, we showcase the ability of the controller to reject disturbances and follow a straight-line trajectory within tens of centimeters.Comment: Accepted to IROS2022, code at https://gitlab.com/anton.bredenbeck/ff-trajectorie

Finding and Following Optimal Trajectories for an Overactuated Floating Robotic Platform

The recent increase in yearly spacecraft launches and the high number of planned launches have raised questions about maintaining accessibility to space for all interested parties. A key to sustaining the future of space-flight is the ability to service malfunctioning - and actively remove dysfunctional spacecraft from orbit. Robotic platforms that autonomously perform these tasks are a topic of ongoing research and thus must undergo thorough testing before launch. For representative system-level testing, the European Space Agency (ESA) uses, among other things, the Orbital Robotics and GNC Lab (ORGL), a flat-floor facility where air-bearing based platforms exhibit free-floating behavior in three Degrees of Freedom (DoF). This work introduces a representative simulation of a free-floating platform in the testing environment and a software framework for controller development. Finally, this work proposes a controller within that framework for finding and following optimal trajectories between arbitrary states, which is evaluated in simulation and reality.Comment: 16th Symposium on Advanced Space Technologies in Robotics and Automation 202

Cyano-tryptophans as dual infrared and fluorescence spectroscopic labels to assess structural dynamics in proteins

The steady state and time-resolved fluorescence and infrared (IR) properties of 4- and 5-cyanotryptophan (CNTrp) are investigated and compared, and the tryptophan (Trp) analogs are found to be very attractive to study structural and dynamic properties of proteins. The position of the nitrile substitution as well as the solvent environment influences the spectroscopic properties (solvatochromism). Similar to native Trp, electronic (nanosecond) lifetime and emission spectra are modulated by the environment, making CNTrps attractive fluorescent probes to study the structural dynamics of proteins in complex media. The nitrile absorption in the IR region can provide local structural information as it responds sensitively to changes in electrostatics and hydrogen bond (HB) interactions. Importantly, we find that 4CNTrp exhibits a single absorption in the nitrile stretch region, while the model compound 4CN-indole (4CNI) shows two. Even though the spectrum of the model compound is perturbed by a Fermi resonance, we find that 4CNTrp itself is a useful IR label. Moreover, if the nitrile group is substituted at the 5 position, the Trp analog predominantly reports on its HB status. Because the current literature on similar compounds is too limited for a detailed solvatochromic analysis, we extend the available data significantly. Only now are microscopic details such as the mentioned sensitivity to electrostatics coming to light. The vibrational lifetime of the CN moiety (acting on a picosecond time scale in contrast to the nanosecond time scale for fluorescent emission) allows for its application in 2D-IR spectroscopy in the low picosecond range. Taken together, the benefits of CNTrps are that they absorb and emit separately from the naturally occurring Trp and that in these dual fluorescence/vibrational labels, observables of IR and fluorescence spectroscopy are modulated differently by their surroundings. Because IR absorption and fluorescence operate on different time and length scales, they thus provide complementary structural information.</p

Unconventional Trajectories for Mobile 3D Scanning and Mapping

State-of-the-art LiDAR-based 3D scanning and mapping systems focus on scenarios where good sensing coverage is ensured, such as drones, wheeled robots, cars, or backpack-mounted systems. However, in some scenarios more unconventional sensor trajectories come naturally, e.g., rolling, descending, or oscillating back and forth, but the literature on these is relatively sparse. As a result, most implementations developed in the past are not able to solve the SLAM problem in such conditions. In this chapter, we propose a robust offline-batch SLAM system that is able to address more challenging trajectories, which are characterized by weak angles of incidence and limited FOV while scanning. The proposed SLAM system is an upgraded version of our previous work and takes as input the raw points and prior pose estimates, yet the latter are subject to large amounts of drift. Our approach is a two-staged algorithm where in the first stage coarse alignment is fast achieved by matching planar polygons. In the second stage, we utilize a graph-based SLAM algorithm for further refinement. We evaluate the mapping accuracy of the algorithm on our own recorded datasets using high-resolution ground truth maps, which are available from a TLS