666 research outputs found

    Kinematically redundant arm formulations for coordinated multiple arm implementations

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    Although control laws for kinematically redundant robotic arms were presented as early as 1969, redundant arms have only recently become recognized as viable solutions to limitations inherent to kinematically sufficient arms. The advantages of run-time control optimization and arm reconfiguration are becoming increasingly attractive as the complexity and criticality of robotic systems continues to progress. A generalized control law for a spatial arm with 7 or more degrees of freedom (DOF) based on Whitney's resolved rate formulation is given. Results from a simulation implementation utilizing this control law are presented. Furthermore, results from a two arm simulation are presented to demonstrate the coordinated control of multiple arms using this formulation

    The lived experience of mirror-touch synaesthesia: a qualitative investigation of empathy and social life

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    This report discusses the findings of the first ever study dedicated to the qualitative exploration of mirror-touch synaesthesia from a first-person perspective. As part of a project investigating the cross-disciplinary resonances of mirror-touch in the context of the broader social trait of empathy, this study aimed to document the lived experiences of people with this form of synaesthesia in order to offer insights into existing and new theoretical models for mirror-touch. Through examination of quotes drawn from first-hand accounts given by participating mirror-touch synaesthetes concerning their unique perceptual, interpersonal, and social experiences, this report demonstrates the value of experimental research, in particular first-person reporting, to enhancing the understanding of the way mirror-touch relates to empathy and social functioning beyond its quantitiavely measurable characteristics. The descriptions point to mirror-touch synaesthetes' automatic feeling into the emotional lives of others and their deliberate attempts to regulate this

    A multi-sensor system for robotics proximity operations

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    Robots without sensors can perform only simple repetitive tasks and cannot cope with unplanned events. A multi-sensor system is needed for a robot to locate a target, move into its neighborhood and perform operations in contact with the object. Systems that can be used for such tasks are described

    Orbit Transfer by Means of a Ward Spiral

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    The Ward spiral occurs as a result of the study of the effects of drag on the orbit of a satellite. The Ward spiral is also suitable as a climb path when transferring from a lower to a higher orbit, if both orbits are circular. A Ward transfer to a larger orbit is described in detail and compared to the well-known Hohmann transfer, and it is shown that a Ward transfer can have the advantage of a shorter transfer time

    The Collinearity Principle and Minimum Energy Orbits

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    This paper presents two important aspects for application of the Collinearity Principle, viz.: the orbital energyof a point satellite of constant angular momentum as a function od its orbit eccentricity, and satellite collision

    Catch-up growth in children with chronic kidney disease started on enteral feeding after 2 years of age

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    BACKGROUND: Enteral feeding by tube in chronic kidney disease (CKD) before 2 years of age improves growth. Whether it is effective after this age is unknown. We assessed whether height and weight SDS changed after tube feeding was started in children with CKD above 2 years of age. METHODS: Retrospective study of pre-transplant, pre-pubertal children (< 11 years) with CKD stages 2–5 started on nasogastric tube or gastrostomy feeds for the first time after age 2 years. Children were identified by searching dietetic records and the renal database. Children on growth hormone were excluded. Height, weight, and BMI were documented 1 year prior to and at the start of tube feeds, and after 1 and 2 years. Data collection ceased at transplantation. RESULTS: Fifty children (25 male) were included. The median (range) age at start of tube feeds was 5.6 (2.1–10.9) years. Sixteen children were dialysed (1 haemodialysis, 15 peritoneal dialysis); 34 predialysis patients had a median (range) eGFR of 22 (6–88) ml/min/1.73 m2. Overall height SDS (Ht SDS) improved from − 2.39 to − 2.27 at 1 year and − 2.18 after 2 years (p = 0.02). BMI SDS improved from − 0.72 to 0.23 after 1 year and was 0.09 after 2 years of enteral feeding (p < 0.0001). Height SDS improved more in children aged 2–6 years (− 2.13 to − 1.68, p = 0.03) and in children not on dialysis (− 2.33 to − 1.99, p = 0.002). CONCLUSIONS: Enteral tube feeding commenced after 2 years of age in prepubertal children with CKD improves height and weight SDS, with stability of BMI during the second year. Younger children and those not on dialysis had the greatest benefit

    “I often have to explain to school staff what she needs”. School experiences of non-autistic siblings growing up with an autistic brother or sister

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    BACKGROUND: Recent autism research has evidenced a shift from psychological outcomes to contextualised approaches to understanding the varying needs of non autistic siblings of autistic children across different systems. Yet, there is limited research exploring the lived experiences of siblings in their school context. METHODS: First, a group of school aged sibling advisors worked with the first author to codesign research aims, methods and dissemination practices around the topic of the school experiences of siblings who grow up with an autistic brother or sister in the UK. Then, 28 school-aged siblings of autistic children completed adapted photo-elicitation interviews, to discuss their school experiences. A background questionnaire was also administered to their parents and carers. RESULTS: Thematic analysis was employed. The master themes included: (i) Impact of home experiences in schoolwork, including limited personal time and sleep disruptions (ii) Siblings’ school interactions impact on overall school experience, including a wide range of both typical and difficult experiences such as school day disruptions, (iii) Varied perceived levels of support and understanding, including emotional and/or educational support by family members and a sense of connectedness with peers and teachers who are autistic themselves or connected to someone with a diagnosis of autism. IMPLICATIONS: The results underline the ways home experiences can have an impact on school life of siblings, the positive contribution of the autistic school staff and/or staff who have an autistic family member and the need for an organisational culture of inclusivity and widespread acceptance and awareness around issues of neurodiversity. Our findings suggest several implications for school psychologists in core functions of the educational psychologists’ role including training, consultation, assessment, and whole school support. DATA AVAILABILITY STATEMENT: The datasets generated for this study are not readily available because they include sensitive data (photos of siblings’ houses, family members, personal objects, and school timetables). Requests to access the datasets should be directed to corresponding author

    Occurrence of mite Ophionyssus natricis (Acari: Macronyssidae) on captive snakes from Panama

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    We report for the first time the presence of the snake mite, Ophionyssus natricis (Gervais) (Mesostigmata: Macronyssidae) on captive snakes kept at Panama City, Panama. This occurrence adds a new record to the geographical distribution of O. natricis as well as confirms its high prevalence on captive reptiles. Several Boidae species, Boa constrictor, Epicrates maurus, Corallus ruschenbergerii, Corallus caninus and a Pythonidae, Python regius were found infested with intensities varying from 10 to 2200 mites each. These findings represent the second record of O. natricis for Central America

    MARIE Measurements and Model Predictions of Solar Modulation of Galactic Cosmic Rays at Mars

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    Recent data from the MARIE (Martian Radiation Environment Experiment) instrument on board the 2001 Mars Odyssey spacecraft currently in Mars orbit are presented. It is shown that the short-term modulations of galactic cosmic rays (GCR) are well described by correlating the so lar modulation parameter, , with Earth-based neutron monitor counts using a 85-day time lag and the NASA Models - HZETRN (High Z and Energy Transport) and QMSFRG (Quantum Multiple Scattering theory of nuclear Fragmentation). The dose rates observed by the MARIE instrument are within 10% of the model calculations
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