Communicating Robot's Intentions while Assisting Users via Augmented Reality

This paper explores the challenges faced by assistive robots in effectively cooperating with humans, requiring them to anticipate human behavior, predict their actions' impact, and generate understandable robot actions. The study focuses on a use-case involving a user with limited mobility needing assistance with pouring a beverage, where tasks like unscrewing a cap or reaching for objects demand coordinated support from the robot. Yet, anticipating the robot's intentions can be challenging for the user, which can hinder effective collaboration. To address this issue, we propose an innovative solution that utilizes Augmented Reality (AR) to communicate the robot's intentions and expected movements to the user, fostering a seamless and intuitive interaction

Challenges and Innovation in Steel Wire Production

Abstract. Products and manufacturing processes of long-product producers are subject to constantly changing requirements, characterized by increasing demands on product quality and the efficient use of resources in production, combined with permanent cost pressures. For these reasons steel wire producers must constantly improve their innovation capacity to be able to meet increasing customer demands more flexibly and more efficiently. This awareness has been anchored at Swiss Steel AG, part of the Schmolz + Bickenbach Group, for many years and leads to more and new solutions in all corporate divisions. This article focuses on practical examples from the areas of process and product innovation. It discusses options for and the potentials and challenges of meeting current and future market needs. The successful implementation of new solutions requires an in-depth understanding as well as the application of knowledge throughout the entire process chain from development, production, sales to further processing and actual use of a product. The technical challenges are addressed as well as the opportunities presented when new approaches are sought

The Unloading Effect of Supramalleolar Versus Sliding Calcaneal Osteotomy for Treatment of Osteochondral Lesions of the Medial Talus: A Biomechanical Study

BACKGROUND In patients with osteochondral lesion, defects of the medial talus, or failed cartilage surgery, a periarticular osteotomy can unload the medial compartment. PURPOSE To compare the effects of supramalleolar osteotomy (SMOT) versus sliding calcaneal osteotomy (SCO) for pressure redistribution and unloading of the medial ankle joint in normal, varus-aligned, and valgus-aligned distal tibiae. STUDY DESIGN Controlled laboratory study. METHODS Included were 8 cadaveric lower legs with verified neutral ankle alignment (lateral distal tibial angle [LDTA] = 0°) and hindfoot valgus within normal range (0°-10°). SMOT was performed to modify LDTA between 5° valgus, neutral, and 5° varus. In addition, a 10-mm lateral SCO was performed and tested in each position in random order. Axial loading (700 N) of the tibia was applied with the foot in neutral alignment in a customized testing frame. Pressure distribution in the ankle joint and subtalar joint, center of force, and contact area were recorded using high-resolution Tekscan pressure sensors. RESULTS At neutral tibial alignment, SCO unloaded the medial joint by a mean of 10% ± 10% or 66 ± 51 N (P = .04) compared with 6% ± 12% or 55 ± 72 N with SMOT to 5° valgus (P = .12). The achieved deload was not significantly different (ns) between techniques. In ankles with 5° varus alignment at baseline, SMOT to correct LDTA to neutral insufficiently addressed pressure redistribution and increased medial load by 6% ± 9% or 34 ± 33 N (ns). LDTA correction to 5° valgus (10° SMOT) unloaded the medial joint by 0.4% ± 14% or 20 ± 75 N (ns) compared with 9% ± 11% or 36 ± 45 N with SCO (ns). SCO was significantly superior to 5° SMOT (P = .017) but not 10° SMOT. The subtalar joint was affected by both SCO and SMOT, where SCO unloaded but SMOT loaded the medial side. CONCLUSION SCO reliably unloaded the medial compartment of the ankle joint for a neutral tibial axis. Changes in the LDTA by SMOT did not positively affect load distribution, especially in varus alignment. The subtalar joint was affected by SCO and SMOT in opposite ways, which should be considered in the treatment algorithm. CLINICAL RELEVANCE SCO may be considered a reliable option for beneficial load-shifting in ankles with neutral alignment or 5° varus malalignment

Mechanisms of Improved Exercise Performance under Hyperoxia

BACKGROUND The impact of hyperoxia on exercise limitation is still incompletely understood. OBJECTIVES We investigated to which extent breathing hyperoxia enhances the exercise performance of healthy subjects and which physiologic mechanisms are involved. METHODS A total of 32 healthy volunteers (43 ± 15 years, 12 women) performed 4 bicycle exercise tests to exhaustion with ramp and constant-load protocols (at 75% of the maximal workload [Wmax] on FiO2 0.21) on separate occasions while breathing ambient (FiO2 0.21) or oxygen-enriched air (FiO2 0.50) in a random, blinded order. Workload, endurance, gas exchange, pulse oximetry (SpO2), and cerebral (CTO) and quadriceps muscle tissue oxygenation (QMTO) were measured. RESULTS During the final 15 s of ramp exercising with FiO2 0.50, Wmax (mean ± SD 270 ± 80 W), SpO2 (99 ± 1%), and CTO (67 ± 9%) were higher and the Borg CR10 Scale dyspnea score was lower (4.8 ± 2.2) than the corresponding values with FiO2 0.21 (Wmax 257 ± 76 W, SpO2 96 ± 3%, CTO 61 ± 9%, and Borg CR10 Scale dyspnea score 5.7 ± 2.6, p < 0.05, all comparisons). In constant-load exercising with FiO2 0.50, endurance was longer than with FiO2 0.21 (16 min 22 s ± 7 min 39 s vs. 10 min 47 s ± 5 min 58 s). With FiO2 0.50, SpO2 (99 ± 0%) and QMTO (69 ± 8%) were higher than the corresponding isotime values to end-exercise with FiO2 0.21 (SpO2 96 ± 4%, QMTO 66 ± 9%), while minute ventilation was lower in hyperoxia (82 ± 18 vs. 93 ± 23 L/min, p < 0.05, all comparisons). CONCLUSION In healthy subjects, hyperoxia increased maximal power output and endurance. It improved arterial, cerebral, and muscle tissue oxygenation, while minute ventilation and dyspnea perception were reduced. The findings suggest that hyperoxia enhanced cycling performance through a more efficient pulmonary gas exchange and a greater availability of oxygen to muscles and the brain (cerebral motor and sensory neurons)

Surgical versus conservative treatment for lumbar disc herniation: a prospective cohort study.

OBJECTIVES Evidence comparing the effectiveness of surgical and conservative treatment of symptomatic lumbar disc herniation is controversial. We sought to compare short-term and long-term effectiveness of surgical and conservative treatment in sciatica symptom severity and quality of life in patients with lumbar disc herniation in a routine clinical setting. METHODS A prospective cohort study of a routine clinical practice registry consisting of 370 patients. Outcome measures were the North American Spine Society questionnaire and the 36-Item Short-Form Health Survey to assess patient-reported back pain, physical function, neurogenic symptoms and quality of life. Primary outcomes were back pain at 6 and 12 weeks. Standard open discectomy was assessed versus conservative interventions at 6, 12, 52 and 104 weeks. We filled in missing outcome variable values with multiple imputation, accounted for repeated measures within patients with mixed-effects models and adjusted baseline group differences in relevant prognostic indicators by inverse probability of treatment weighting. RESULTS Surgical treatment patients reported less back pain at 6 weeks than those receiving conservative therapy (-0.97; 95% CI -1.89 to -0.09), were more likely to report ≥50% decrease in back pain symptoms from baseline to 6 weeks (48% vs 17%, risk difference: 0.34; 95% CI 0.16 to 0.47) and reported less physical function disability at 52 weeks (-3.7; 95% CI -7.4 to -0.1). The other assessments showed minimal between-group differences with CIs, including the null effect. CONCLUSIONS Compared with conservative therapy, surgical treatment provided faster relief from back pain symptoms in patients with lumbar disc herniation, but did not show a benefit over conservative treatment in midterm and long-term follow-up

In situ observations of the Swiss periglacial environment using GNSS instruments

Monitoring of the periglacial environment is relevant for many disciplines including glaciology, natural hazard management, geomorphology, and geodesy. Since October 2022, Rock Glacier Velocity (RGV) is a new Essential Climate Variable (ECV) product within the Global Climate Observing System (GCOS). However, geodetic surveys at high elevation remain very challenging due to environmental and logistical reasons. During the past decades, the introduction of low-cost global navigation satellite system (GNSS) technologies has allowed us to increase the accuracy and frequency of the observations. Today, permanent GNSS instruments enable continuous surface displacement observations at millimetre accuracy with a sub-daily resolution. In this paper, we describe decennial time series of GNSS observables as well as accompanying meteorological data. The observations comprise 54 positions located on different periglacial landforms (rock glaciers, landslides, and steep rock walls) at altitudes ranging from 2304 to 4003 ma.s.l. and spread across the Swiss Alps. The primary data products consist of raw GNSS observables in RINEX format, inclinometers, and weather station data. Additionally, cleaned and aggregated time series of the primary data products are provided, including daily GNSS positions derived through two independent processing tool chains. The observations documented here extend beyond the dataset presented in the paper and are currently continued with the intention of long-term monitoring. An annual update of the dataset, available at https://doi.org/10.1594/PANGAEA.948334 (Beutel et al., 2022),​​​​​​​ is planned. With its future continuation, the dataset holds potential for advancing fundamental process understanding and for the development of applied methods in support of e.g. natural hazard management

Biased Competition in Visual Processing Hierarchies: A Learning Approach Using Multiple Cues

In this contribution, we present a large-scale hierarchical system for object detection fusing bottom-up (signal-driven) processing results with top-down (model or task-driven) attentional modulation. Specifically, we focus on the question of how the autonomous learning of invariant models can be embedded into a performing system and how such models can be used to define object-specific attentional modulation signals. Our system implements bi-directional data flow in a processing hierarchy. The bottom-up data flow proceeds from a preprocessing level to the hypothesis level where object hypotheses created by exhaustive object detection algorithms are represented in a roughly retinotopic way. A competitive selection mechanism is used to determine the most confident hypotheses, which are used on the system level to train multimodal models that link object identity to invariant hypothesis properties. The top-down data flow originates at the system level, where the trained multimodal models are used to obtain space- and feature-based attentional modulation signals, providing biases for the competitive selection process at the hypothesis level. This results in object-specific hypothesis facilitation/suppression in certain image regions which we show to be applicable to different object detection mechanisms. In order to demonstrate the benefits of this approach, we apply the system to the detection of cars in a variety of challenging traffic videos. Evaluating our approach on a publicly available dataset containing approximately 3,500 annotated video images from more than 1 h of driving, we can show strong increases in performance and generalization when compared to object detection in isolation. Furthermore, we compare our results to a late hypothesis rejection approach, showing that early coupling of top-down and bottom-up information is a favorable approach especially when processing resources are constrained

Agricultural residue gasification for low-cost, low-carbon decentralized power:An empirical case study in Cambodia

Abstract not availableJohn L. Field, Paul Tanger, Simon J. Shackley, Stephan M. Haefel

A decade of detailed observations (2008-2018) in steep bedrock permafrost at the Matterhorn Hörnligrat (Zermatt, CH)

The PermaSense project is an ongoing interdisciplinary effort between geo-science and engineering disciplines and started in 2006 with the goals of realizing observations that previously have not been possible. Specifically, the aims are to obtain measurements in unprecedented quantity and quality based on technological advances. This paper describes a unique >10-year data record obtained from in situ measurements in steep bedrock permafrost in an Alpine environment on the Matterhorn Hörnligrat, Zermatt, Switzerland, at 3500ma:s:l. Through the utilization of state-of-the-art wireless sensor technology it was possible to obtain more data of higher quality, make these data available in near real time and tightly monitor and control the running experiments. This data set (https://doi.org/10.1594/PANGAEA.897640,Weber et al., 2019a) constitutes the longest, densest and most diverse data record in the history of mountain permafrost research worldwide with 17 different sensor types used at 29 distinct sensor locations consisting of over 114.5 million data points captured over a period of 10 or more years. By documenting and sharing these data in this form we contribute to making our past research reproducible and facilitate future research based on these data, e.g., in the areas of analysis methodology, comparative studies, assessment of change in the environment, natural hazard warning and the development of process models. Finally, the cross-validation of four different data types clearly indicates the dominance of thawing-related kinematics

Characterisation of age and polarity at onset in bipolar disorder

Background Studying phenotypic and genetic characteristics of age at onset (AAO) and polarity at onset (PAO) in bipolar disorder can provide new insights into disease pathology and facilitate the development of screening tools. Aims To examine the genetic architecture of AAO and PAO and their association with bipolar disorder disease characteristics. Method Genome-wide association studies (GWASs) and polygenic score (PGS) analyses of AAO (n = 12 977) and PAO (n = 6773) were conducted in patients with bipolar disorder from 34 cohorts and a replication sample (n = 2237). The association of onset with disease characteristics was investigated in two of these cohorts. Results Earlier AAO was associated with a higher probability of psychotic symptoms, suicidality, lower educational attainment, not living together and fewer episodes. Depressive onset correlated with suicidality and manic onset correlated with delusions and manic episodes. Systematic differences in AAO between cohorts and continents of origin were observed. This was also reflected in single-nucleotide variant-based heritability estimates, with higher heritabilities for stricter onset definitions. Increased PGS for autism spectrum disorder (β = −0.34 years, s.e. = 0.08), major depression (β = −0.34 years, s.e. = 0.08), schizophrenia (β = −0.39 years, s.e. = 0.08), and educational attainment (β = −0.31 years, s.e. = 0.08) were associated with an earlier AAO. The AAO GWAS identified one significant locus, but this finding did not replicate. Neither GWAS nor PGS analyses yielded significant associations with PAO. Conclusions AAO and PAO are associated with indicators of bipolar disorder severity. Individuals with an earlier onset show an increased polygenic liability for a broad spectrum of psychiatric traits. Systematic differences in AAO across cohorts, continents and phenotype definitions introduce significant heterogeneity, affecting analyses