On the use of haptic tablets for UGV teleoperation in unstructured environments: system design and evaluation

Teleoperation of Unmanned Ground Vehicles (UGVs), particularly for inspection of unstructured and unfamiliar environments still raises important challenges from the point of view of the operator interface. One of these challenges is caused by the fact that all information available to the operator is presented to the operator through a computer interface, providing only a partial view of the robot situation. The majority of existing interfaces provide information using visual, and, less frequently, sound channels. The lack of Situation Awareness (SA), caused by this partial view, may lead to an incorrect and inefficient response to the current UGV state, usually confusing and frustrating the human operator. For instance, the UGV may become stuck in debris while the operator struggles to move the robot, not understanding the cause of the UGV lack of motion. We address this problem by studying the use of haptic feedback to improve operator SA. More precisely, improving SA with respect to the traction state of the UGV, using a haptic tablet for both commanding the robot and conveying traction state to the user by haptic feedback. We report (1) a teleoperating interface, integrating a haptic tablet with an existing UGV teleoperation interface, and (2) the experimental results of a user study designed to evaluate the advantage of this interface in the teleoperation of a UGV, in a search and rescue scenario. Statistically significant results were found supporting the hypothesis that using the haptic tablet elicits a reduction in the time that the UGV spends in states without traction.info:eu-repo/semantics/publishedVersio

Dietary intakes of women with Type 1 diabetes before and during pregnancy: A pre‐specified secondary subgroup analysis among CONCEPTT participants

Aim To describe the dietary intakes of women with Type 1 diabetes before and during pregnancy. Methods This was a pre‐specified subgroup analysis of CONCEPTT involving 63 women planning pregnancy and 93 pregnant women from 14 sites in England, Scotland and Ireland. Two hundred and forty‐six 3‐day food diaries (104 planning pregnancy, 142 pregnant) were matched to data source and food reference codes, and analysed using dietary software. Participants were informed that food diaries would be de‐identified and used only for research purposes. Results Mean (sd) daily energy intake was 1588 (346) kcal and 1673 (384) kcal in women planning pregnancy and pregnant women respectively. Total carbohydrate intake was consistent with dietary guideline recommendations [180 (52) g planning pregnancy, 198 (54) g pregnant], but non‐recommended sources (e.g. sugars, preserves, confectionery, biscuits, cakes) contributed to 46% of total daily carbohydrate intake. Fat consumption exceeded guideline recommendations [70 (21) g planning pregnancy, 72 (21) g pregnant]. Fibre [15.5 (5.3) g planning pregnancy, 15.4 (5.1) g pregnant], fruit and vegetable intakes [3.5 (2.2) and 3.1 (1.8) serves/day] were inadequate. Twelve women planning pregnancy (19%) and 24 pregnant women (26%) did not meet micronutrient requirements. Conclusions The diets of pregnant women from England, Scotland and Ireland are characterized by high fat, low fibre and poor‐quality carbohydrate intakes. Fruit and vegetable consumption is inadequate, with one in four women at risk of micronutrient deficiencies. Further research is needed to optimize maternal nutrition for glycaemic control and for maternal and offspring health

The intra-cellular localization of the vanillin biosynthetic machinery in pods of Vanilla planifolia

Vanillin is the most important flavor compound in the vanilla pod. Vanilla planifolia vanillin synthase (VpVAN) catalyzes the conversion of ferulic acid and ferulic acid glucoside into vanillin and vanillin glucoside, respectively. Desorption electrospray ionization mass spectrometry imaging (DESI-MSI) of vanilla pod sections demonstrates that vanillin glucoside is preferentially localized within the mesocarp and placental laminae whereas vanillin is preferentially localized within the mesocarp. VpVAN is present as the mature form (25 kDa) but, depending on the tissue and isolation procedure, small amounts of the immature unprocessed form (40 kDa) and putative oligomers (50, 75 and 100 kDa) may be observed by immunoblotting using an antibody specific to the C-terminal sequence of VpVAN. The VpVAN protein is localized within chloroplasts and re-differentiated chloroplasts termed phenyloplasts, as monitored during the process of pod development. Isolated chloroplasts were shown to convert [14C]phenylalanine and [14C]cinnamic acid into [14C]vanillin glucoside, indicating that the entire vanillin de novo biosynthetic machinery converting phenylalanine to vanillin glucoside is present in the chloroplast

The evolution of the Milky Way's thin disc radial metallicity gradient with K2 asteroseismic ages

The radial metallicity distribution of the Milky Way's disc is an important observational constraint for models of the formation and evolution of our Galaxy. It informs our understanding of the chemical enrichment of the Galactic disc and the dynamical processes therein, particularly radial migration. We investigate how the metallicity changes with guiding radius in the thin disc using a sample of red-giant stars with robust astrometric, spectroscopic and asteroseismic parameters. Our sample contains $668$ stars with guiding radii $4$ kpc < $R_\mathrm{g}$ < $11$ kpc and asteroseismic ages covering the whole history of the thin disc with precision $\approx 25\%$. We use MCMC analysis to measure the gradient and its intrinsic spread in bins of age and construct a hierarchical Bayesian model to investigate the evolution of these parameters independently of the bins. We find a smooth evolution of the gradient from $\approx -0.07$ dex/kpc in the youngest stars to $\approx -0.04$ dex/kpc in stars older than $10$ Gyr, with no break at intermediate ages. Our results are consistent with those based on asteroseismic ages from CoRoT, with that found in Cepheid variables for stars younger than $1$ Gyr, and with open clusters for stars younger than $6$ Gyr. For older stars we find a significantly lower metallicity in our sample than in the clusters, suggesting a survival bias favouring more metal-rich clusters. We also find that the chemical evolution model of Chiappini (2009) is too metal-poor in the early stages of disc formation. Our results provide strong new constraints for the growth and enrichment of the thin disc and radial migration, which will facilitate new tests of model conditions and physics.Comment: 15 pages, 16 figures. Accepted for publication in MNRA

An asteroseismic age estimate of the open cluster NGC 6866 using Kepler and Gaia

Asteroseismology of solar-like oscillations in giant stars allow the derivation of their masses and radii. For members of open clusters this allows an age estimate of the cluster which should be identical to the age estimate from the colour-magnitude diagram, but independent of the uncertainties that are present for that type of analysis. Thus, a more precise and accurate age estimate can be obtained. We aim to measure asteroseismic properties of oscillating giant members of the open cluster NGC 6866 and utilise these for a cluster age estimate. Model comparisons allow constraints on the stellar physics, and here we investigate the efficiency of convective-core overshoot and effects of rotation during the main-sequence, which has a significant influence on the age for these relatively massive giants. We identify six giant members of NGC 6866 and derive asteroseismic measurements for five of them. This constrains the convective-core overshoot and enables a more precise and accurate age estimate than previously possible. Asteroseismology establishes the helium-core burning evolutionary phase for the giants, which have a mean mass of 2.8 $M_{\odot}$. Their radii are significantly smaller than predicted by current 1D stellar models unless the amount of convective-core overshoot on the main sequence is reduced to $\alpha_{ov} \leq 0.1 H_p$ in the step-overshoot description. Our measurements also suggest that rotation has affected the evolution of the stars in NGC 6866 in a way that is consistent with 3D simulations but not with current 1D stellar models. The cluster age is estimated to be 0.43 $\pm$ 0.05 Gyr, significantly younger and more precise than most previous estimates. We derive a precise cluster age while constraining convective-core overshooting and effects of rotation in the models. We uncover potential biases for automated age estimates of helium-core burning stars.Comment: Accepted on 21/08/2023 for publication in Section 7. Stellar structure and evolution of Astronomy & Astrophysics. 20 Pages, 11 Figures + appendi

K2 results for "young" α\alpha-rich stars in the Galaxy

The origin of apparently young $\alpha$-rich stars in the Galaxy is still a matter of debate in Galactic archaeology, whether they are genuinely young or might be products of binary evolution and merger/mass accretion. We aim to shed light on the nature of young $\alpha$-rich stars in the Milky Way by studying their distribution in the Galaxy thanks to an unprecedented sample of giant stars that cover different Galactic regions and have precise asteroseismic ages, chemical, and kinematic measurements. We analyze a new sample of $\sim$ 6000 stars with precise ages coming from asteroseismology. Our sample combines the global asteroseismic parameters measured from light curves obtained by the K2 mission with stellar parameters and chemical abundances obtained from APOGEE DR17 and GALAH DR3, then cross-matched with Gaia DR3. We define our sample of young $\alpha$-rich stars and study their chemical, kinematic, and age properties. We investigate young $\alpha$-rich stars in different parts of the Galaxy and we find that the fraction of young $\alpha$-rich stars remains constant with respect to the number of high-$\alpha$ stars at $\sim$ 10%. Furthermore, young $\alpha$-rich stars have kinematic and chemical properties similar to high-$\alpha$ stars, except for [C/N] ratios. This suggests that these stars are not genuinely young, but products of binary evolution and merger/mass accretion. Under that assumption, we find the fraction of these stars in the field to be similar to that found recently in clusters. This fact suggests that $\sim$ 10% of the low-$\alpha$ field stars could also have their ages underestimated by asteroseismology. This should be kept in mind when using asteroseismic ages to interpret results in Galactic archaeology.Comment: 13 pages, 7 figures. Accepted by A&

K2 results for “young” α-rich stars in the Galaxy

Context. The origin of apparently young α-rich stars in the Galaxy is still a matter of debate in Galactic archaeology, whether they are genuinely young or might be products of binary evolution, and mergers or mass accretion.Aims: Our aim is to shed light on the nature of young α-rich stars in the Milky Way by studying their distribution in the Galaxy thanks to an unprecedented sample of giant stars that cover different Galactic regions and have precise asteroseismic ages, and chemical and kinematic measurements.Methods: We analyzed a new sample of ∼6000 stars with precise ages coming from asteroseismology. Our sample combines the global asteroseismic parameters measured from light curves obtained by the K2 mission with stellar parameters and chemical abundances obtained from APOGEE DR17 and GALAH DR3, then cross-matched with Gaia DR3. We define our sample of young α-rich stars and study their chemical, kinematic, and age properties.Results: We investigated young α-rich stars in different parts of the Galaxy and we find that the fraction of young α-rich stars remains constant with respect to the number of high-α stars at ∼10%. Furthermore, young α-rich stars have kinematic and chemical properties similar to high-α stars, except for [C/N] ratios.Conclusions: Thanks to our new K2 sample, we conclude that young α-rich stars have similar occurrence rates in different parts of the Galaxy, and that they share properties similar to the normal high-α population, except for [C/N] ratios. This suggests that these stars are not genuinely young, but are products of binary evolution, and mergers or mass accretion. Under that assumption, we find the fraction of these stars in the field to be similar to that found recently in clusters. This suggests that ∼10% of the low-α field stars could also have their ages underestimated by asteroseismology. This should be kept in mind when using asteroseismic ages to interpret results in Galactic archaeology

Using choir conducting to improve leadership practice

fi=vertaisarvioitu|en=peerReviewed

Neurophysiological evidence for rapid processing of verbal and gestural information in understanding communicative actions

During everyday social interaction, gestures are a fundamental part of human communication. The communicative pragmatic role of hand gestures and their interaction with spoken language has been documented at the earliest stage of language development, in which two types of indexical gestures are most prominent: the pointing gesture for directing attention to objects and the give-me gesture for making requests. Here we study, in adult human participants, the neurophysiological signatures of gestural-linguistic acts of communicating the pragmatic intentions of naming and requesting by simultaneously presenting written words and gestures. Already at ~150 ms, brain responses diverged between naming and request actions expressed by word-gesture combination, whereas the same gestures presented in isolation elicited their earliest neurophysiological dissociations significantly later (at ~210 ms). There was an early enhancement of request-evoked brain activity as compared with naming, which was due to sources in the frontocentral cortex, consistent with access to action knowledge in request understanding. In addition, an enhanced N400-like response indicated late semantic integration of gesture-language interaction. The present study demonstrates that word-gesture combinations used to express communicative pragmatic intentions speed up the brain correlates of comprehension processes – compared with gesture-only understanding – thereby calling into question current serial linguistic models viewing pragmatic function decoding at the end of a language comprehension cascade. Instead, information about the social-interactive role of communicative acts is processed instantaneously