More than 179,000 individuals have fallen ill of the Coronavirus disease (COVID-19) caused by the SARS-CoV-2 virus, which first emerged in China less than four months ago in December 2019. As of today, there exist no approved treatments against COVID-19. Vaccines are being developed, but they will take time, at least one year, to reach the population. Drug repositioning represents a fast track because already approved medicines have been broadly tested through multiple trials. We developed a repositioning strategy that mostly leads to candidates that are commonly used. The advantages are that they will facilitate proof of concept in humans through a “real-world evidence” approach and should be rapidly available to the population. We focus on the established research results that the unfolded protein response (UPR) and autophagy pathways of the host cells are essential to the life cycle of previously known coronaviruses. We performed the relevant bioinformatics analysis to understand and confirm if SARS-CoV-2 may interact with these druggable pathways. Based on these considerations, we prioritized two additional druggable pathways, which are important to the viral life cycle and tightly connected to UPR/autophagy signaling: the mitochondrial permeability transition pores (MPTP) and NLRP-3 inflammasome pathways. These four important pathways are perturbed in most major common diseases and have therefore been targeted by numerous broadly prescribed drugs. We have identified 97 approved drugs that are known to modulate these four identified pathways, and which represent, therefore, interesting repositioning candidates. Although it is indisputable that these drugs should never be used for immediate self-medication against COVID-19, we notice that some of them could also be prescribed to individuals who have COVID-19 comorbidities (e.g., hypertension). It is debated if these comorbidities are linked to the pathology itself (e.g., hypertension) or the drugs used to treat the pathology (e.g., sartans). Therefore, relevant preclinical tests and massive electronic health records (i.e., real-world evidence) must be used to pre-screen them and check the COVID-19 prognosis of individuals taking these drugs.

In order for robots to attain more general-purpose utility, grasping is a necessary skill to master. Such general-purpose robots may use their perception abilities in order to visually identify grasps for a given object. A grasp describes how a robotic end-effector can be arranged on top of an object to securely grab it between the robotic gripper and successfully lift it without slippage. Traditionally, grasp detection requires expert human knowledge to analytically form the task-specific algorithm, but this is an arduous and time-consuming approach. During the last five years, deep learning methods have enabled significant advancements in robotic vision, natural language processing, and automated driving applications. The successful results of these methods have driven robotics researchers to explore the application of deep learning methods in task generalised robotic applications. This paper reviews the current state-of-the-art in regards to the application of deep learning methods to generalised robotic grasping and discusses how each element of the deep learning approach has improved the overall performance of robotic grasp detection. A number of the most promising approaches are evaluated and the most successful for grasp detection is identified as the one-shot detection method. The availability of suitable volumes of appropriate training data is identified as a major obstacle for effective utilisation of the deep learning approaches, and the use of transfer learning techniques is identified as a potential mechanism to address this. Finally, current trends in the field and future potential research directions are discussed.

Global teacher shortage is a serious concern with grave implications for the future of education. This calls for novel ways of addressing teacher roles. The economic benefits of tireless labour inspires the need for teachers who are unlimited by natural human demands, highlighting consideration for the affordances of robotics and Artificial Intelligence in Education (AIED) as currently obtainable in other areas of human life. This however demands designing robotic personalities that can take on independent teacher roles despite strong opinions that robots will not be able to fully replace humans in the classroom of the future. In this paper, we argue for a future classroom with independent robot teachers, highlighting the minimum capabilities required of such personalities in terms of personality, instructional delivery, social interaction and affect. We describe our project on the design of a robot teacher based on these. Possible directions for future system development and studies are highlighted.

The greatest pandemic of the century, COVID-19, is an ongoing global public health problem. With a clinically approved treatment available only for those who are acutely ill and are hospitalized, the control of this disease in the general population is still largely dependent on the preventive measures issued by the World Health Organization. Among the general control measures other than immunization with the COVID-19 vaccines, handwashing with soap and water has been emphasized the most because it is cost-effective and easily accessible to the general public. Studies have reported that soaps offer unique chemical properties that can completely destroy enveloped viruses. However, the general public seems to be still uncertain about whether soaps can shield us from a highly contagious disease such as COVID-19. In an attempt to help eliminate the uncertainty, we analyzed the mechanisms underlying the efficacy of soap and its prospect for preventing the spread of COVID-19. In this paper, we provide an overview of the history and characteristics of the SARS-CoV-2 virus, the current global COVID-19 situation, the possible mechanisms of the deactivation of viruses by soaps, and the potential effectiveness of soap in eliminating coronaviruses including SARS-CoV-2.

The important characteristic that could assist in autonomous navigation is the ability of a mobile robot to concurrently construct a map for an unknown environment and localize itself within the same environment. This computational problem is known as Simultaneous Localization and Mapping (SLAM). In literature, researchers have studied this approach extensively and have proposed a lot of improvement towards it. More so, we are experiencing a steady transition of this technology to industries. However, there are still setbacks limiting the full acceptance of this technology even though the research had been conducted over the last 30 years. Thus, to determine the problems facing SLAM, this paper conducted a review on various foundation and recent SLAM algorithms. Challenges and open issues alongside the research direction for this area were discussed. However, towards addressing the problem discussed, a novel SLAM technique will be proposed.

Access to medical care is a global issue. Technology-aided approaches have been applied in addressing this. Interventions have however not focused on medical diagnosis as a fully automated procedure and available applications employ mainly text-based inputs rather than conversation in natural language. We explored the utility of ontology-based chatbot technology for the design of intelligent agents for medical diagnosis through a systematic review of the most recent related literature. English articles published in 2011-2016 returned 233 hits which yielded 11 relevant articles after a 3-stage screening. Findings showed that the creation of expert systems had been the focus of many the studies which utilize the physician-system-patient framework with system training based mostly on expert knowledge for designing web- or mobile phone-based applications that serve assistive purposes. Findings further indicated gaps in the design and evaluation of more effective systems deployable as standalone applications, for example, on an embodied robotic system. The need for technology supporting the physical examination part of diagnosis, connection to data sources on patients’ vitals and medical history are also indicated in addition to the need for more qualitative work on natural language-based interaction. The system should be one that is continuously learning. Future works should also be directed towards the building of more robust knowledge base as well as evaluation of theory-based diagnostic methodological options

Abstract: The aim of this study is to emphasize on the clinical uses of amniotic membrane (AM) in multiple ocular disorders. AM possesses many properties including promotion of epithelialization, anti-fibrotic, anti-apoptotic, anti-angiogenic properties. Epithelial wound healing on the eye surface is promoted due to several epidermal and keratocyte growth factors as well as by its anti-inflammatory and anti-scarring effects due to interleukin-10, interleukin-1 receptor antagonists and inhibition of transforming growth factor- beta (TGF-β) signal transduction by AM in the corneal and conjunctival fibroblasts respectively. It plays a crucial role by functioning as a substitute of basement membrane (BM) and as a temporary graft material. It is not only being used as an eye graft but also its extract can be used as an eye drop for corneal and external eye diseases. So its proper preparation, preservation and clinical application can bring a revolutionary change in the treatment of different ocular disorders.

In this paper, a method is developed for presenting a novel virtual torque sensor based on precise model and position measurements avoids the need of traditional strain gauges and amplifiers. More specifically, the harmonic drive compliance model and the Gaussian process regression (GPR) technique are used together to achieve virtual torque sensor measurement. While the harmonic drive compliance model provides the analytic part, the Gaussian process regression method is used to reconstruct the unmolded part based on motor-side and link-side joint angles as well as motor current. After an automatic offline calibration, the method allows for a lean online implementation. The virtual torque sensor measurement is compared with measurements of a commercial torque sensor, and the results have attested the effectiveness of the proposed method.

Suicide and suicidal behavior are major public health concerns and affect 3-9% of the population worldwide. Despite growing evidence, there are still few effective interventions available to reduce suicide risk. In this article, we describe theoretical models of suicide ideation and behavior and propose to examine the possible effectiveness of a new and innovative preventive strategy. A model of suicidal intrusion (mental imagery related to suicide, also referred to as suicidal flash-forwards) is presented describing one of the assumed mechanisms in the etiology of suicide and the mechanism of therapeutic change. We provide a brief rationale for an Eye Movement Dual Task (EMDT) treatment for suicidal intrusions describing techniques that can be used to target these suicidal mental images and thoughts to reduce overall behavior. Based on the available empirical evidence for the mechanisms of suicidal intrusions, this approach appears to be a promising new treatment to prevent suicidal behavior as it potentially targets one of the linking pins between suicidal ideation and suicidal actions.

Less aligned emphasis has been given to the COVID-19 infodemic coordinating with the COVID-19 outbreak. Global profusion of tangled monikers and hashtags has found their ways in daily communication and contributed to backlash against Chinese. Official naming efforts against infodemic should be meet with a fair share of identification. Based on brief critical reviews on previous multifarious naming practices, we punctuate heuristic introspection in scientific conventions and sociocultural paradigms. Infodemiological analysis promises to articulate that people around the globe are divided in their favor stigmatized monikers in the public and scientific communities because of perceptual bias. There is no positive correlation between the degree of infection in their territories and collective perceptual bias to COVID-19. The official portfolio “COVID-19” and “SARS-CoV-2” has not become de facto standard usages, but full-fledged official names are excepted to duly contribute to the resilience of negative perceptual bias and collective behavioral propensities.

The transition from the Peptide/RNA world to the Protein/RNA world in the hydrothermal vent environment was a major event in the history of life. The advent of proteins utterly changed the conditions of emerging life, representing a watershed in its development. During subsequent translation various protein enzymes emerged driving protocells into a more complex and interconnected system. With their astonishing versatility, the protein enzymes catalyzed crucial biochemical reactions within protocells into more complex biomolecules in diverse metabolic pathways, whereas structural proteins provided strength and permeability in the cell membrane. Four major events followed after availability of various kinds of protein molecules during prebiotic synthesis. These are: (1) the modification of the phospholipid membrane into the plasma membrane; (2) the origin of primitive cytoplasm; (3) the beginnings of the virus world; and (4) the advent of DNA. The first innovation mediated by proteins was the improvement of the cell membrane. The phospholipid membrane was initially evolved in a vent environment from the gradual modification of a fatty acid membrane via an intermediate phosphatidate acid by non-enzymatic reactions. The phospholipid is then synthesized from phosphatidate acid by a series of enzymes. To make the phospholipid membrane more permeable, various protein molecules interacted with the cell membrane. Proteins not only stabilized the wall membrane, but also acted as pumps, preventing some molecules from the protocells from crossing the membrane barriers, while permitting other selected molecules and ions to enter and leave the protocell. The second modification led by proteins is the gradual conversion of the interior of the protocell from a water-like medium into a gel-like cytoplasm, which became the storehouse of a wide range of biomolecules including amino acids, proteins, nucleic acids, ribosomes, as well as salt and water. The third innovation utilizing the newly synthesized proteins was the emergence of the ancient virus world. In the milieu of different kinds of mRNAs in the prebiotic soup, jelly-roll capsid genes originated de novo within genomes of nonviral mRNAs by overprinting. These fragile capsid genes were possibly coated by proteins on the mineral substrate for stability and durability, transforming them into ancient viral particles. These protein coats were random and were not encoded by encased genes. Some protocells might have engulfed these viral particles, when the capsid genes utilized the ribosomes of the host to translate into the appropriate capsid proteins. These capsid proteins then coated the viral genes to make new copies of primordial viruses inside the protocell. Since then, viruses became capsid-encoding organisms. These primordial mRNA viruses parasitized RNA-based protocells, manipulating them to make new copies of themselves. This was the beginning of a relentless war between viruses and their protocellular hosts. The next stage in viral evolution was the emergence of a primitive retrovirus (pre-retrovirus) with a new kind of replicative strategy in a sense that it could turn its RNA into DNA using its own reverse transcriptase enzyme. This is the beginning of the Retro world that facilitated the transition from RNA to DNA genomes. The infection of RNA protocells with pre-retroviruses progressively transferred the RNA genome to a viral DNA genome by retro-transcription. The advent of DNA by the pre-retrovirus marks the fourth innovation, when a number of enzymes had already developed and were utilized by pre-retroviruses. With continued infection, DNA viruses slowly transferred not only their core replication enzymes, such as helicase, primase, and DNA polymerase, to RNA protocells, but also to their DNAs as well. Thus, began the DNA world, when DNA replaced RNA as the major genome of the protocells. With the advent of DNA, replication of information was entirely dissociated from its expression. Because DNA is much more stable than mRNA with more storage capacity, it is a superb archive for information systems in the form of base sequences. DNA progressively took over the replicative storage function of mRNA, leaving the latter for protein synthesis. The new protocell with the DNA genome will diversify into large populations of DNA protocells that will outcompete populations of RNA protocells. Genetic information began to flow from DNA to mRNA to protein in a two-step process involving transcription and translation. In the biological stage, DNA replication was central to the binary fission of the first cell, orchestrated by the duplication of genomes and then the division of the parent cell into two identical daughter cells. It was carried out by a set of enzymes that formed a Z-ring at the site of replication. With the onset of binary fission, the population of primitive cells grew rapidly in the hydrothermal vent environment, undergoing Darwinian evolution and diversification. These primordial hyperthermophiles, presumably the first life, obtained food and energy directly from the vent environment. However, such a situation was self-limiting, so the early cells evolved their own mechanisms for generating metabolic energy and synthesizing the molecules necessary for their reproduction. The earliest fossil record (≥ 3.5 Ga) of biotic activity is preserved in the Archean hydrothermal and sedimentary rocks of the Nuvvuagittuq Craton of Canada, the Isua Craton of Greenland, the Pilbara Craton of Australia, the Kaapvaal Craton of South Africa, and the Singhbhum Craton of India in the form of the carbonaceous remains of microbial cells, cellular microfossils, and stromatolites. These microscopic fossils provide crucial evidence of the origin and early evolution of prokaryotic cells, beginning with hyperthermophiles. Molecular phylogenetic analysis suggests that both domains of life ¬– Bacteria and Archaea probably split from the last universal common ancestor (LUCA), a hyperthermophilic organism. In the younger sequences of these Archean cratons, two kinds of photosynthetic bacteria, anoxygenic green sulfur bacteria, and oxygenic cyanobacteria, appeared in quick succession from the thermophilic ancestor, indicating a shift of niche from a benthic to a planktonic, with reduced thermotolerance. The development of anoxygenic and oxygenic photosynthesis would have allowed life to escape the hydrothermal setting and invade a newly evolved habitat—broad continental shelves to tap solar energy. Cyanobacteria invaded the global ocean, turned it into blue and green, produced oxygen for the first time, and left their signatures in the carbonates and stromatolites.

In pattern recognition domain, deep architectures are widely used nowadays and they have achieved fine grades. However, these deep architectures need special demands, especially big datasets and GPU. Aiming to gain better grades without deep networks, we propose a simplified algorithm framework using fusion features extracted from the salient areas of faces. Furthermore, the proposed algorithm has achieved a better result than some deep architectures. For extracting more effective features, this paper firstly defines the salient areas on the faces. This paper normalizes the salient areas of the same location in the faces to the same size, therefore it can gain more similar features from different subjects. LBP and HOG features are extracted from the salient areas, fusion features’ dimensions are reduced by Principal Component Analysis( PCA) and we apply softmax to classify the six basic expressions at once. This paper proposes a salient areas definitude method which uses peak expressions frames to compare with their neutral faces. This paper also proposes and applies the idea of normalizing the salient areas to align the specific areas which express the different expressions. This makes the salient areas found from different subjects have the same size. Besides, gamma correction method is firstly applied on LBP features in our algorithm framework which improves our recognition rates significantly. By applying this algorithm framework, our research has gained state-of-the-art performances on CK+ database and JAFFE database.

The recognition of a place as a World Heritage Site (WHS) by UNESCO is fundamental to preserve its historical and artistic inheritance and, at the same time, to encourage visits to that area. The purpose of this article is to contribute to the study of the relationship between WHS and cultural tourism, with a marked sustainable character, through the presentation of the results of research conducted in the city of Cordoba (Spain) and which analyses the sociodemographic profile of the tourists, the variables that influence their level of satisfaction and of their loyalty and the classification of the travelers through different variables. The principal results of the research show the significant educational level of the surveyed tourists, as well as the high level of satisfaction with the visit, the high number of countries of origin and the outstanding motivation for knowing the city’s heritage roots.

Gesture recognition has always been a technique to decrease the distance between the physical and the digital world. In this work, we introduce an Arduino based vehicle system which no longer require manual controlling of the cars. The proposed work is achieved by utilizing the Arduino microcontroller, accelerometer, RF sender/receiver, and Bluetooth. Two main contributions are presented in this work. Firstly, we show that the car can be controlled with hand-gestures according to the movement and position of the hand. Secondly, the proposed car system is further extended to be controlled by an android based mobile application having different modes (e.g., touch buttons mode, voice recognition mode). In addition, an automatic obstacle detection system is introduced to improve the safety measurements to avoid any hazards. The proposed systems are designed at lab-scale prototype to experimentally validate the efficiency, accuracy, and affordability of the systems. We remark that the proposed systems can be implemented under real conditions at large-scale in the future that will be useful in automobiles and robotics applications.

The outbreak of recently identified 2019 novel coronavirus (2019-nCOV) infection has become a world-wide health threat. Currently, more information is needed for further understanding the transmission, clinical characteristics, and infection control procedures of 2019-nCOV. Recently, the role of the eye in transmitting 2019-nCOV has been intensively discussed. Previous investigations about other high infectious human COVs, that is, severe acute respiratory syndrome coronavirus (SARS-CoV) and the Middle East respiratory syndrome coronavirus (MERS-CoV), may provide helpful information. In this review, we describe the genomics and morphology of human CoVs, the epidemiology, systemic and ophthalmic manifestations, mechanisms of human CoVs infection, and infection control procedures. The role of the eye in the transmission of SARS-CoV and 2019-nCOV is discussed. Although the conjunctiva is directly exposed to extraocular pathogens, and the mucosa of ocular surface and upper respiratory tract is connected by nasolacrimal duct and share same entry receptors for some respiratory viruses. The eye is rarely involved in human CoVs infection, conjunctivitis is quite rare in patients with SARS-CoV and 2019-nCoV infection, and COV RNA positive rate by RT-PCR test in tears and conjunctival secretions from patients with SARS-CoV and 2019-nCoV infection is also very low, which imply that the eye is neither a preferred organ of human COVs infection, nor is a preferred gateway of entry for human COVs to infect respiratory tract. However, pathogens exposed to the ocular surface might be transported to nasal and nasopharyngeal mucosa by constant tear rinsing through lacrimal duct, and then cause respiratory tract infection. Considering close doctor-patient contact is quite common in ophthalmic practice which are apt to transmit human COVs by droplets and fomites, hand hygiene and personal protection are still highly recommended for health care workers to avoid hospital-related viral transmission during ophthalmic practice.

The global use of alcohol based hand sanitizers (ABHS) as a means of controlling the transmission of infectious disease increased dramatically in 2020 as governments and public health agencies across the world advocated hand hygiene as a preventative measure during the COVID-19 pandemic. Although the performance of these products is most commonly defined as a function of their alcohol concentration, they are multifaceted products in which an interplay of several factors is important in determining efficacy. The hand sanitizer tetrahedron, is a novel concept that considers both ABHS formulation factors and product performance factors from a multi-dimensional perspective. The four faces of the tetrahedron represent input/formulation factors: 1) the type and amount of alcohol, 2) inactive ingredients, 3) the type of formulation/delivery system and 4) manufacturing practices. The four corners of the tetrahedron represent output/product performance factors: 1) efficacy, 2) sensory characteristics, 3) usage, usability and compliance and 4) product safety/adverse effects. All factors are of importance to ensuring the effectiveness and utility of these products.

Hosting FIFA World Cup obviously produce immense socio-economic impacts to a nation. Proximal non-host city perception to mega event was frequently explored, while distal non-host city perception has less investigated. This study assessed the socio-economic impacts of FIFA World Cup Qatar 2022 in Chon Buri Sports City residents. Participants were 422 Chon Buri Sports City residents from eleven districts. Perception on socio-economic impacts of hosting FWC Qatar 2022 was measured from the translated Scale of Perceived Social Impacts. Extracted seven dimensions by confirmatory factor analysis is consistent with empirical data. Positive impact dimensions are Community Development, Community Pride, Economic Benefits. Negative impact dimensions are Traffic Problems, Security Risks, Economic Costs, and Environmental Concerns. Chon Buri Sports City residents perceived fewer negative impacts than other non-host city residents. Positive impacts of hosting FWC Qatar 2022 has more influenced on Chon Buri Sports City residents’ perception than negative impacts. These findings advantage for sport stakeholders to deeper understand the impacts of mega event hosting.

In developed countries, especially the big-sized ones like Australia and the USA, a car is almost an inevitable necessity to carry out daily activities. Due to this, used cars have become a great alternative to brand new cars because of their cost effectiveness. In this work, estimation of prices of used cars based on numerous factors is studied statistically. Data is based on prices of used cars sold across Australia. Statistical methods like correlation and permutation tests using linear regression model, exact tests and non-parametric bootstrapping is implemented to study the relationship of price with mileage and year of manufacture of the car using p-values and null hypothesis. Predictions are also made on the price by calculating a 95% confidence interval (CI) of median prices in small portions of the dataset. The study presents potential ideas for understanding correlation between variables and parameters in business studies.

Wearable technology has been proposed as a potential tool to change the way of human life, such as the smart bracelet and the Google Glass. In the wearable technology, the inertial sensor has great significance in tracking the object movements. The paper focused on detecting the movements of user’s finger based on the inertial sensor to give the control signals. Firstly, the attitude matrix, which represented the transformation relation of carrier coordinate system and the navigation coordinate system, was obtained. Secondly, the attitude matrix was expressed based on the quaternions. Thirdly, the finger gesture was processed by the attitude matrix to get the attitude angle. Finally, the robot was controlled by attitude angle to make the moving action. The experimental results showed the detection of the finger movement is effective.

The emergence of proteins in the prebiotic world was a watershed event at the origin of life. With their astonishing versatility, the protein enzymes catalyzed crucial biochemical reactions within protocells into more complex biomolecules in diverse metabolic pathways, whereas structural proteins provided strength and permeability in the cell membrane. Five major biochemical innovations followed in succession after availability of various kinds of protein molecules during decoding and translation of mRNAs. These are: (1) the modification of the phospholipid membrane into the plasma membrane; (2) the origin of primitive cytoplasm; (3) primitive gene regulation; (4) the beginnings of the virus world; and (5) the advent of DNA. The creative role of viruses during prebiotic synthesis led to the origin of the DNA world, when DNA replaced mRNA as the major genome of the protocells. With the advent of DNA, replication of information was entirely dissociated from its expression. Because DNA is much more stable than mRNA with more storage capacity, it is a superb archive for information systems in the form of base sequences. DNA progressively took over the replicative storage function of mRNA, leaving the latter for protein synthesis. Genetic information began to flow from DNA to mRNA to protein in a two-step process involving transcription and translation. In the biological stage, DNA replication was central to the binary fission of the first cell, orchestrated by the duplication of genomes and then the division of the parent cell into two identical daughter cells. With the onset of binary fission, the population of primitive cells grew rapidly in the hydrothermal vent environment, undergoing Darwinian evolution and diversification by mutation. The habitat of the earliest fossil record (≥ 3.5 Ga) from the Archean sedimentary rocks of Canada, Greenland, Australia, South Africa, and India offers a new window on the early radiation of microbial life. The development of anoxygenic and then oxygenic photosynthesis from early hyperthermophiles would have allowed life to escape the hydrothermal setting to the mesophilic global ocean.

This paper presents ROSGPT, an innovative concept that harnesses the capabilities of large language models (LLMs) to significantly advance human-robot interaction. We develop ROSGPT as a ROS2 package that seamlessly integrates ChatGPT with ROS2-based robotic systems. The core idea is to leverage prompt engineering with LLMs, specifically ChatGPT, utilizing its unique properties such as ability eliciting, chain-of-thought, and instruction tuning. The concept employs ontology development to convert unstructured natural language commands into structured robotic instructions specific to the application context through prompt engineering. We capitalize on LLMs' zero-shots and few-shots learning capabilities by eliciting \textit{structured} robotic commands from \textit{unstructured} human language inputs. To demonstrate the feasibility of this concept, we implemented a proof-of-concept that integrates ChatGPT with ROS2, showcasing the transformation of human language instructions into spatial navigation commands for a ROS2-enabled robot. This versatile concept can be easily adapted to various other robotic missions. ROSGPT serves as a new stride towards Artificial General Intelligence (AGI) and paves the way for the robotics and natural language processing communities to collaborate in creating novel, intuitive human-robot interactions. The open-source implementation of ROSGPT on ROS 2 is available on GitHub.

Sleep is still considered a mystery, despite intense scientific investigation. Here we present the first complete biological theory of sleep. The role of sleep is to restore the optimal homeostatic state, which is essential for tissue performance and health. Non-rapid eye movement sleep (NREMS) restores cortical and most other brain neurons, via relaxed global activity managed by thalamocortical circuits. The role of REM sleep is to restore acetylcholine (ACh) neurons, which support focused responses and hence cannot participate in global oscillations. Sleep enhances learning and memory via state restoration and ACh-affected paths. NREMS induces a lack of consciousness because global synchronous activity prevents focused responses, which are essential for consciousness. Dreams result from focused neural firing during sharp-wave ripples and REMS, and have a sense of reality because they involve the same neurons representing focused perceptual responses during wake. Anesthetics utilize a variety of mechanisms that prevent focused responses.

The existence of a common ancestor to all living organisms in Earth is a necessary corollary of Darwin idea of common ancestry. The Last Universal Common Ancestor (LUCA) has been normally considered as the ancestor of cellular organisms that originated the three domains of life: Bacteria, Archaea and Eukarya. Recent studies about the nature of LUCA indicate that this first organism should present hundreds of genes and a complex metabolism. Trying to bring another of Darwin ideas into the origins of life discussion, we went back into the prebiotic chemistry trying to understand how LUCA could be originated under gradualist assumptions. Along this line of reasoning, it became clear to us that the definition of another ancestral should be of particular relevance to the understanding about the emergence of biological systems. Together with the view of biology as a language for chemical translation, on which proteins are encoded into nucleic acids polymers, we glimpse a point in the deep past on which this Translation mechanism could have taken place. Thus, we propose the emergence of this process shared by all biological systems as a point of interest and propose the existence of this pre-cellular entity named FUCA, as the First Universal Common Ancestor. FUCA was born in the very instant on which RNA-world replicators started to be capable to catalyze the bonding of amino acids into oligopeptides. FUCA has been considered mature when the translation system apparatus has been assembled together with the establishment of a primeval, possibly error-prone genetic code. This is FUCA, the earliest ancestor of LUCA’s lineage.

Positioning is an essential aspect of robot navigation, and visual odometry an important technique for continuous updating the internal information about robot position, especially indoors without GPS. Visual odometry is using one or more cameras to find visual clues and estimate robot movements in 3D relatively. Recent progress has been made, especially with fully integrated systems such as the RealSense T265 from Intel, which is the focus of this article. We compare between each other three visual odometry systems and one wheel odometry, on a ground robot. We do so in 8 scenarios, varying the speed, the number of visual features, and with or without humans walking in the field of view. We continuously measure the position error in translation and rotation thanks to a ground truth positioning system. Our result show that all odometry systems are challenged, but in different ways. In average, ORB-SLAM2 has the poorer results, while the RealSense T265 and the Zed Mini have comparable performance. In conclusion, a single odometry system might still not be sufficient, so using multiple instances and sensor fusion approaches are necessary while waiting for additional research and further improved products.

In deaths and diseases attributed to tobacco smoke cardiovascular events exceed cancer and respiratory diseases. Second hand smoke (SHS) promotes the development of arteriosclerosis and can also trigger acute changes of endothelial function and of blood coagulability. Indoor smoking bans reduced coronary syndrome and myocardial infarction 10-20% within one year and were followed by sustainable decreases of stroke and diabetes. With a smoke-free hospitality industry people recognized tobacco smoke as an air pollutant, smoking in public was denormalized and social acceptance of smoking in front of children and pregnant women decreased also in homes and in cars. Combined effects with ambient air pollution are proven for active smoking and suspected for SHS. Contamination with third hand smoke (THS, “cold smoke”) persists for months in homes and cars, creating secondary pollutants that in some cases are more toxic (e.g., tobacco-specific nitrosamines). Remnants found in air, dust, and on surfaces (carpets, wallpapers, upholstery, soft toys) were associated with their metabolites in saliva and urine of children and with elevated levels of nicotine on hands and cotinine in urine of nonsmokers residing in homes previously occupied by smokers. In animal experiments effects of THS were found on thrombogenesis, insulin resistance through oxidative stress, on the developing immune system, lipid metabolism and alterations in liver, lung, skin and behavior. Much less is known about health effects for bystanders from the aerosols exhaled during “vaping” of e-cigarettes, but nicotine and other toxins from e-cigarettes are certainly a hazard, which should be prevented by the use of dermal and oral nicotine products, which are safer for nicotine replacement and without risk for bystanders.

What is life, what is the difference between something that is alive and something that is not, are viruses living beings, or what would life be like elsewhere in the universe, are questions that still do not have clear-cut answers fully accepted by the scientific community. Based on the fundamental attributes of all living things, I define life as a process that takes place in very ordered organic structures and is characterized by being automatic, interactive and evolutionary. I also define a living being as an organic, highly ordered, automatic, interacting and evolutionary system, and a robot as an ordered automatic and interacting system. Based on this definition and what we know about the biology of viruses, I maintain that they should be considered as living entities. Finally, I explain why if there were life elsewhere in the universe, it would be very similar to what we know on our planet.

Currently there is little doubt left on the symbiogenetic nature of eukaryotes - genomes of archaeon and bacterium participated in shaping a genome of last eukaryotic common ancestor in equal albeit asymmetric manner, while a merger event itself indicated the advent of a new domain of life. The “symbiogenetic” framework of interaction of two partners is proposed, outlining similar steps essential for three major advents: the origin of life, the origin of complex life and the origin of humans. Given the immense importance of proper energy source for the evolution of life it seems plausible that for any principal increase in complexity, a partnership with a novel energy donor is required. Moreover, a “language” elaborated in the course of communication of partners might have been a prerequisite for a subsequent increase in complexity. Transitions, which led to RNA-protein world, eukaryotes and human brain, resulted in advent of complex languages via communication onsets between two entities in close partnership. Accordingly this further facilitated formation of first cells, multicellular organisms and human society.

Designing and development of agricultural robot is always a challenging issue, because of robot intends to work an unstructured environment and at the same time, it should be safe for the surrounded plants. Therefore, traditional robots cannot meet the high demands of modern challenges, such as working in confined and unstructured workspaces. Based on current issues, we developed a new tomato harvesting wire-driven discrete continuum robot arm with a flexible backbone structure for working in confined and extremely constrained spaces. Moreover, we optimized a tomato detaching process by using newly designed gripper with passive stem cutting function. Moreover, by designing the robot we also developed ripe tomato recognition by using machine learning. This paper explains the proposed continuum robot structure, gripper design, and development of tomato recognition system.

Although proposition of “Virtual Reality” (VR) and “Augment Reality” (AR) can be traced back to the 60s, both areas are actually blooming in recent decades. Thanks to the latest deep learning techniques, an enormous advance in computer vision research community has taken place. Since VR and AR are highly related to computer vision tasks, these areas have enjoyed the benefits as well. Yet there is no sufficient survey on such impact and new research areas arising from it. This paper mainly focuses on the latest research progress in ACM Symposium on Eye Tracking Research & Applications (ETRA) 2019, as well as several recent representative paper works. It aims to figure out the influence of deep learning techniques on latest VR/AR research. Meanwhile, new issues have popped up with the development of VR and AR technology, such as privacy and computation efficiency. This paper draws attention to such newly produced topics as well. In addition, this paper also investigates on the effect of latest VR and AR techniques on people, such as level of teamwork in collaborative tasks, assistance and treatment to patients and the disabled, etc.

The alteration of the delicate balance that regulates the secretion and distribution of the tear film determines the dry eye (DE) syndrome, because the tear film represents the interface between the eye and the environment. Despite having a multifactorial origin, the main risk factors for the emergence of the ocular disease are female gender and advanced age. Likewise, morphological changes in several glands and in chemical composition of their secretions such as proteins, mucins, lipidics, aqueous tears, and salinity, are highly relevant factors to maintain a condition of good health of the ocular anterior segment. Another key factor of recurrence and onset of the disease is the presence of local and/or systemic infiammation that reflex on the ocular surface. However, it is one of the most commonly encountered disease in clinical practice and many other causes related to daily life and to lengthen the average life will contribute to the beginning. This review will consider how and what disorders of the ocular surface are responsible for a widespread pathology so. In the end, the most appropriate and new therapies will be briefly exposed according to the specific pathology.

Medical health systems have been concentrating on artificial intelligence techniques for speedy diagnosis. However, the recording of health data in a standard form still requires attention so that machine learning can be more accurate and reliable by considering multiple parameters. The aim of this study is to develop a general framework for recording diagnostic data in an international standard format to facilitate auto-prediction of eye diseases. Efforts were made to ensure error-free data entry by developing a user-friendly interface. Furthermore, different machine learning algorithms were used to analyze patient data based on multiple parameters, including age, illness history, and clinical observations. This data was formatted according to structured hierarchies designed by medical experts, whereas diagnosis was made as per the ICD-10 coding developed by the American Academy of Ophthalmology. Furthermore, the system is designed to evolve through self-learning by adding new classifications for both diagnosis and symptoms. The classification results from tree-based methods demonstrated that the proposed framework performs satisfactorily given a sufficient amount of data. The random forest and decision tree algorithms predicted more accurately as compared to neural networks and the na{\"i}ve Bayes algorithm owing to structured data arrangement.

The emergence of the COVID-19 pandemic has propelled the use of alcohol-based hand sanitizers to the fore as a SARS-CoV-2 control measure. To be effective these products must comply with relevant quality parameters such as alcohol concentration, methanol limits and purity. The current study was designed to determine the quality of alcohol-based hand sanitizer products in the Nairobi metropolitan area. For this purpose, 74 commercially marketed samples were collected and subjected to analysis by gas chromatography. Only three samples (4.1%) complied with the regulatory specifications for alcohol content, methanol limits and pH. Five samples (6.8%) complied with the specification for alcohol content but did not meet methanol or pH limits. A total of 44 (59.5%) samples had methanol levels that exceeded threshold limits. Eleven samples (14.9%) were found with methanol substitution (i.e., methanol, instead of ethanol or isopropanol, was the main alcohol component). The results show that users of alcohol-based hand sanitizers are being exposed to substandard and falsified products which in addition to being non-efficacious pose harm due to unacceptable levels of toxic impurities. Regular, routine post-market surveillance is needed to prevent such products from reaching the market.

The ethics of invertebrate research have largely been ignored compared to the consideration of higher order animals, but more recent focus has questioned this trend. Using biohybrid robotic jellyfish as a case study, we examine the ethical considerations of invertebrate work and provide recommendations for future guidelines. This paper starts with an overview of philosophical views of animal ethics, the current state of knowledge for invertebrate pain and nociception, and current ethical guidelines. Next, we delve into the case study and analogous precedents. Specifically, in prior studies, we developed biohybrid robotic jellyfish, which modified live moon jellyfish with microelectronic swim controllers for future applications in ocean monitoring. Although jellyfish possess no central nervous system, pain receptors, or nociceptors, we closely monitored their stress responses, using the precautionary and minimization principles in consideration of the 4Rs: reduction, replacement, refinement, and reproducibility. We also discuss ethical considerations related to our studies and suggest that public opinion of invertebrate research relies heavily on repugnance, including fears of ‘playing God’ or limiting the ‘free will’ of animals. These issues are also examined for prior bioethics cases, such as the RoboRoach, cyborg beetle, ‘microslavery’ of microbes, biohybrid robots incorporating tissues from sea slugs (which are known to possess nociceptors), and other tissue cutting experiments involving soft-bodied invertebrates. However, biohybrid robotic jellyfish pose further ethical questions of potential ecological consequences as ocean monitoring tools, such as the impact of electronic waste in the ocean. To conclude these evaluations, we recommend that publishers require brief ethical statements for invertebrate research, which can include the following: a scientific justification for the research, discussion of the 4Rs, and cost-benefit analysis. We also delineate the need for more research on pain and nociception in invertebrates, which can then be used to revise or validate current research standards. These actions provide a stronger basis for the ethical study of invertebrate species, with implications for individual, species-wide, and ecological impacts on animals, as well as for interdisciplinary studies in science, engineering, and philosophy.

Pilots can be one of the factors in many air traffic accidents. When one or both pilots are impaired (e.g. fatigue, drunk), disabled, capable but wrong-headed, don’t have sufficient training, distracted, miscommunicate with the air traffic controller, or follow wrong instructions from the air traffic controller, the risk of accident will increase dramatically. In some of these cases, the risk can be mitigated by using big data and machine learning. The system will collect and analyze large amount of data about the state of the aircraft, e.g., the flight path, the immediate environment around the aircraft, the weather and terrain information, and the pilots’ input to control the aircraft. Additional sensors such as eye tracking devices and biological monitor can also be added to determine the condition of the pilots. If the pilots’ input do not match proper reaction to the situation or the pilots are impaired, the learning machine will first provide an advisory to the pilots. If both pilots are impaired or incapable, a warning will be sent to the flight attendants and air traffic controllers so that they can take appropriate actions. The learning machine will be trained by both accident database and an automatic training system.

The active power-assist function greatly expands the potential applications of exoskeleton robots, yet the motion intention estimation (MIE) for active power-assist strategy is quite problematic. Through the analysis of the conduction path and the different stage manifestations of motion intention in human body, we confirmed that the joint torque of human body meets the basic requirements of MIE for the active power-assist that we suggest, namely: (i) it reflects the direction and intensity of the wearer’s efforts; (ii) it precedes the human limb motion; (iii) it generates real-time and continuous output. Thus, an online calculation method of human joint torque was proposed. The sensing system integrated in exoskeleton robots was designed to perceive motion data and foot contact force of a human body. A special inverse dynamics with a parameterized model of the human body was proposed. Contrast experiments were carried out with the motion capture system, which results’ accuracy and similarity were evaluated via the root mean square error and correlation coefficient. The comparative analysis of two synchronous results shows good accuracy of the proposed MIE method, which lays the foundation for the realization of active power-assist.

This paper proposes several LabVIEW applications to accomplish the data acquisition, processing, features extraction and real-time classification of the electroencephalographic (EEG) signal detected by the embedded sensor of the NeuroSky Mindwave Mobile headset. The LabVIEW applications are aimed at the implementation of a Brain-Computer Interface system, which is necessary to people with neuromotor disabilities. It is analyzed a novel approach regarding the preparation and automatic generation of the EEG dataset by identifying the most relevant multiple mixtures between selected EEG rhythms (both time and frequency domains of raw signal, delta, theta, alpha, beta, gamma) and extracted statistical features (mean, median, standard deviation, route mean square, Kurtosis coefficient and others). The acquired raw EEG signal is processed and segmented into temporal sequences corresponding to the detection of the multiple voluntary eye-blinks EEG patterns. The main LabVIEW application accomplished the optimal real-time artificial neural networks techniques for the classification of the EEG temporal sequences corresponding to the four states: 0 - No Eye-Blink Detected; 1 - One Eye-Blink Detected; 2 – Two Eye-Blinks Detected and 3 – Three Eye-Blinks Detected. Nevertheless, the application can be used to classify other EEG patterns corresponding to different cognitive tasks, since the whole functionality and working principle could estimate the labels associated with various classes.

In recent years many different deep neural networks were developed, but due to a large number of layers in deep networks, their training requires a long time and a large number of datasets. Today is popular to use trained deep neural networks for various tasks, even for simple ones in which such deep networks are not required. The well-known deep networks such as YoloV3, SSD, etc. are intended for tracking and monitoring various objects, therefore their weights are heavy and the overall accuracy for a specific task is low. Eye-tracking tasks need to detect only one object - an iris in a given area. Therefore, it is logical to use a neural network only for this task. But the problem is the lack of suitable datasets for training the model. In the manuscript, we presented a dataset that is suitable for training custom models of convolutional neural networks for eye-tracking tasks. Using data set data, each user can independently pre-train the convolutional neural network models for eye-tracking tasks. This dataset contains annotated 10,000 eye images in an extension of 416 by 416 pixels. The table with annotation information shows the coordinates and radius of the eye for each image. This manuscript can be considered as a guide for the preparation of datasets for eye-tracking devices.

In the world city theory, most researchers focus on the service sector in the urban economy and less discuss the role of manufacturing. However, the path of only emphasizing financial and corporate service could not fit the sustainability concept. Compared to Anglo-American world city, Global South’s world cities have distinct pathway to be industrialization, tertiarization and globalization. This paper adopted dynamic historic perspective with first-hand materials including in-depth interviews with managers and government officers and second-hand data including yearbook statics and economic census to closely examine the emerging world city-- ‘World Factory’ in Global South, Guangzhou in China, from 1949 to 2015, to emphasize how manufacturing affects the urban globalization through three dimensions, economic, social and spatial dimensions. To make the confirmation of the role of manufacturing in Guangzhou as sustainable world city, we find manufacturing in Guangzhou builds up the basic foundation of export-oriented economy and makes positive effects on urban economic transformation. In addition, manufacturing remains important source of employment and foreign immigration. Along with urbanization and industrialization, urban spatial expansion and aggregation changes with different urban development concept. We provide new insights on multiple globalization on manufacturing for sustainable world city.

The capabilities of autonomous mobile robotic systems have been steadily improving due to recent advancements in computer science, engineering, and related disciplines such as cognitive science. In controlled environments, autonomous robots have been able to achieve relatively high levels of autonomy. In more unstructured environments, however, the realisation of autonomous mobile robots remains challenging due to limitations in the robots’ external environment understanding. Many autonomous mobile robots use classical, learning-based or hybrid approaches for navigation. The classical navigation approach typically includes robot perception, localisation, environmental mapping, path planning and motion control stages. More recent learning-based methods may replace the complete navigation pipeline or selected stages of the classical approach. For effective deployment, autonomous robots need to be able to understand their external environments at a sophisticated level according to their intended applications. Therefore, in addition to robot perception, scene analysis and higher-level scene understanding (e.g., traversable/non-traversable, and rough or smooth terrain) are required for autonomous robot navigation in unstructured outdoor environments. A wide number of alternative approaches have been proposed in recent years to attempt to address these scene understanding requirements. This paper provides a comprehensive review and critical analysis of these methods in the context of their applications to the problems of robot perception and scene understanding in unstructured environments, and the related problems of localisation, environment mapping and path planning. State-of-the-art sensor fusion methods and multimodal scene understanding approaches are also discussed and evaluated within this context. The paper concludes with an in-depth discussion regarding the current state of the autonomous ground robot navigation challenge in unstructured outdoor environments and the most promising future research directions to overcome these challenges.

Whilst large-scale changes in population behaviour are required to reduce the transmission of the SARS-COV-2 virus, the emergency context is not conducive to the sort of careful communications planning that would normally be required to meet such a task. Rapid strategic communications planning in a pandemic by governments is, however, possible and necessary. Steps include setting up a dedicated communications task force, mobilising partners and resources, developing a creative brief and theory of change and overseeing the creation, testing, roll out and revision of content. In this short guide we argue that a minimum of strategic planning can be undertaken rapidly, and that good use can be made of simple principles of behaviour change, even during pandemics. Our aim here is to provide a blueprint that governments and their partners, especially in low-income settings, can follow to design, coordinate and resource national communications efforts to combat the COVID-19 pandemic immediately and for the longer term.

The Late Heavy Bombardment Period (4.1 to 3.8 billion years ago) of heightened impact cratering activity on young Earth is likely the driving force for the origin of life. During the Eoarchean, asteroids such as carbonaceous chondrites delivered the building blocks of life and water to early Earth. Asteroid collisions created innumerable hydrothermal crater lakes in the Eoarchean crust which inadvertently became the perfect cradle for prebiotic chemistry. These hydrothermal crater lakes were filled with cosmic water and the building blocks of life. forming a thick prebiotic soup. The unique combination of exogenous delivery of extraterrestrial building blocks of life, and the endogenous biosynthesis in hydrothermal impact crater lakes very likely gave rise to life. A new symbiotic model for the origin of life within the hydrothermal crater lakes is here proposed. In this scenario, life arose around four billion years ago through five hierarchical stages of increasing molecular complexity: cosmic, geologic, chemical, information, and biological. During the prebiotic synthesis, membranes first appeared in the hydrothermal crater lakes, followed by the simultaneous origin of RNA and protein molecules, creating the RNA/protein world. These proteins were noncoded protein enzymes that facilitated chemical reactions. RNA molecules formed in the hydrothermal crater basin by polymerization of the nucleotides on the montmorillonite mineral substrate. Similarly, the initial synthesis of abiotic protein enzymes was mediated by the condensation of amino acids on pyrite surfaces. The regular wet-dry cycles within the crater lakes assisted further concentration, condensation, and polymerization of the RNAs and proteins. Lipid membranes randomly encapsulated amino acids, RNA, and protein molecules from the prebiotic soup to initiate a molecular symbiosis inside the protocells, this led to the hierarchical emergence of several cell components. As the role of protein enzymes became essential for catalytic process in the RNA/protein world, Darwinian selection from noncoded to coded protein synthesis led to translation systems and the genetic code, heralding the information stage. In this stage, the biochemical pathways suggest the successive emergence of translation machineries such as tRNAs, aaRS, mRNAs, and of ribosomes for protein synthesis. The molecular attraction between tRNA and amino acid led to the emergence of translation machinery and the genetic code. tRNA is an ancient molecule that created mRNA for the purpose of storing amino acid information like a digital strip. Each mRNA strand became the storage device for genetic information that encoded the amino acid sequences in triplet nucleotides. As information became available in the digital languages of the codon within mRNA, biosynthesis became less random and more organized and directional. The original translation machinery was simpler before the emergence of the ribosome than that of today. We review three main concepts on the origin and evolution of the genetic code: the stereochemical theory, the coevolution theory, and adaptive theory. We believe that these three theories are not mutually exclusive, but are compatible with our coevolution model of translations machines and the genetic code. We suggest biosynthetic pathways as the origin of the translation machine that provided the framework for the origin of the genetic code. During translation, the genetic code developed in three stages coincident with the refinement of the translation machinery: GNC code with four codons and four amino acids during interactions of pre-tRNA/pre-aaRS /pre-mRNA, SNS code consisting of 16 codons and 10 amino acids appeared during the tRNA/aaRS/mRNA interaction, and finally the universal genetic code evolved with the emergence of the tRNA/aaRS/mRNA/ribosome machine. The universal code consists of 64 codons and 20 amino acids, with a redundancy that minimizes errors in translation. To address the question of the origin of the biological information system in the RNA/protein world, we converted letter codons into numerical codons in the Universal Genetic Code Table. We developed a software called CATI (Codon-Amino Acid-Translator-Imitator) to translate randomly chosen numerical codons into corresponding amino acids and vice versa, gaining insight into how translation might have worked in the RNA/protein world. We simulated the likely biochemical pathways for the origin of translation and the genetic code using the Model-View-Controller (MVC) software framework, and the translation machinery step-by-step. We used AnyLogic software to simulate and visualize the evolution of the translation machines and the genetic code. We conclude that the emergence of the information age from the RNA/protein world was a watershed event in the origin of life about four billion years ago.

The article addresses the function of (post)colonial nostalgia in a context of multidirectional memory (Rothberg 2009) in contemporary Europe. How can different cultural memories of the Second Word War be put into respectful dialogue with each other? The text is based on a contrapuntal reading (Said 1994) of British and Egyptian popular narratives, using a qualitative content analysis of 10 British tv documentary films about the North Africa Campaign, and data from qualitative interviews collected during ethnographic fieldwork in Alexandria and Cairo, Egypt, during visits 2013--2015. The study highlights considerable differences between the British and Egyptian narratives, but also significant similarities regarding the use and function of nostalgia. In addition, the Egyptian narrative expresses a profound cosmopolitan nostalgia and a longing for what is regarded as Egypt’s lost, modern Golden Age, identified as the decades before the nation’s fundamental change from western-oriented monarchy to Nasser’s Arab nationalist military state. The common elements between the two national narratives indicate a possibly fruitful way to open up for a shared popular memory culture about the war years, including postcolonial aspects.

Multi-floor environments are usually ignored while designing an autonomous robot for indoor cleaning applications. However, for efficient operation in such environments, the ability of a robotic platform to traverse staircases is crucial. Staircase detection and localization is highly important for planning the traversal on staircases. This paper describes a deep learning approach using Convolutional Neural Networks (CNNs) based Robot Operation System (ROS) to staircase detection and localization. We use an object detection network to detect staircases in images. We also localize these staircases using a contour detection algorithm to detect the target point, a point close to the center of the first step, and the angle of approach to the target point. Experiments are performed with data obtained from images captured on different types of staircases at different view points/angles. Results show that the approach is very accurate in identifying the presence of the staircase in the working environment and is also able to locate the target point with good accuracy.

Bipedal locomotion remains one of the major open challenges of humanoid robotics. The common approaches are based on simple reduced model dynamics to generate walking trajectories, often neglecting the whole-body dynamics of the robots. As motions in nature are often considered as optimal with respect to certain criteria, in this work we present an optimal control based approach that allows us to generate optimized walking motions using a precise whole-body dynamic model of the robot, in contrast with the common approaches. The optimal control problem is formulated to minimize a set of desired objective functions with respect to physical constraints of the robot and contact constraints of the walking phases. We apply the method with combinations of different objective criteria to the model of a reduced version of the iCub humanoid robot of 15 internal DOF. The obtained trajectories are executed on the real robot and we carry out a discussion on the differences between the outcomes of this approach with the classic approaches.

As Christopher Alexander conceived and defined through his life’s work – The Nature of Order – wholeness is a recursive structure that recurs in space and matter and is reflected in human minds and cognition. Based on the definition of wholeness, a mathematical model of wholeness, together with its topological representation, has been developed, and it is able to address not only why a structure is beautiful, but also how much beauty the structure has. Given the circumstance, this paper is attempted to argue for the wholeness as the scientific foundation of sustainable urban design and planning, with the help of the mathematical model and topological representation. We start by introducing the wholeness as a mathematical structure of physical space that pervasively exists in our surroundings, along with two fundamental laws – scaling law and Tobler’s law – that underlie the 15 properties for characterizing and making living structures. We argue that urban design and planning can be considered to be wholeness-extending processes, guided by two design principles of differentiation and adaptation, to transform a space – in a piecemeal fashion – into a living or more living structure. We further discuss several other urban design theories and how they can be justified by and placed within the theory of wholeness. With the wholeness as the scientific foundation, urban design can turn into a rigorous science with creation of living structures as the primary aim.

All life on Earth uses three integrated molecular systems in which genetic information contained in DNA base sequences is transmitted to ribosomes by RNA and a genetic code, then translated into the amino acid sequences of structural and catalytic proteins. Therefore, the most important point for understanding the origin of life is to determine how such systems could emerge from random processes on the early Earth. In this review, two alternatives are compared: the RNA world hypothesis and the [GADV]-protein world hypothesis. [GADV] refers to four amino acids, Gly [G], Ala [A], Asp [D] and Val [V] that are conserved in the amino acid sequences of many common proteins. Here I will argue that the origins of the three primary processes required for life to begin can be better explained by the GADV hypothesis than the RNA world hypothesis. The GADV hypothesis also incorporates a conversion process by which random polymers can evolve into proteins with ordered sequences.

The evolution of manual grooming and its implications have received little attention in the quest to understand the origins of simian primates and their social and technical intelligence. All simians groom manually, whereas prosimians groom orally despite comparable manual dexterity between some members of the two groups. Simians also exhibit a variable propensity for the manipulation of inanimate, non-food objects, which has culminated in tool making and tool use in some species. However, lemuriform primates also seem capable of tool use with training. Furthermore, lemuriforms appear to understand the concept of a tool and use their own body parts as “tools”, despite not using inanimate objects. This suggests that prosimian primates are pre-adapted for proprioceptive object manipulation and tool use, but do not express these cognitive abilities by default. This essay explores the paleontological, anatomical, cognitive, ethological, and neurological roots of these abilities and attempts to explain this behavioural divide between simians and prosimians. Common misconceptions about early primate evolution and captive behaviours are addressed, and chronological inconsistencies with Machiavellian Intelligence are examined. A “licking to picking” hypothesis is also proposed to explain a potential link between manual grooming and object manipulation, and to reconcile the inconsistencies of Machiavellian Intelligence. Bayesian decision theory, the evolution of the parietal cortex and enhanced proprioception, and analogies with behavioural changes resulting from artificial selection may help provide new insights into the minds of both our primate kin and ourselves.

Industrial manipulators and parallel robots are often used for tasks like drilling or milling, that require three translational, but only two rotational degrees of freedom (“3T2R”). While kinematic models for specific mechanisms for these tasks exist, a general kinematic model for parallel robots is still missing. This paper presents the definition of the rotational component of kinematic constraints equations for parallel robots based on two reciprocal sets of Euler angles for the end-effector orientation and the orientation residual. The method allows to completely remove the redundant coordinate in 3T2R tasks and to solve the inverse kinematics for general serial and parallel robots with the gradient-descent algorithm. The functional redundancy of robots with full mobility is exploited using nullspace projection.

The eyes serve as a window into underlying physical and cognitive processes. Although factors such as pupil size have been studied extensively, a less explored yet potentially informative aspect is blinking. Given its novelty, blink detection techniques are far less available compared to eye-tracking and pupil size estimation tools. In this work, we present a new unsupervised machine learning blink detection strategy using existing eye-tracking technology. The method is compared to two existing techniques. All three algorithms make use of eye aspect ratio values for blink detection. Accurate and rapid blink detection complements existing eye-tracking research and may provide a new informative index of physical and mental status.

In-depth research on the rehabilitation mechanism and motion characteristics of a rehabilitation training robot based on 4-UPUS parallel mechanism. The overall design and the working principle of each key component are explained, and the robot rehabilitation scheme is described. The static analysis and modal analysis of the robot bearing structure are carried out to verify whether the static mechanical characteristics of the mechanism meet the application requirements under working conditions.A simplified mathematical model of the six-bar linkage mechanism is established, and the kinematics of the mechanism is solved by the geometric analysis method. The motion characteristic diagram of each key point is obtained through simulation calculation. Establish the motion model of the parallel mechanism, and discuss the working space and motion performance analysis of the mechanism. The forward solution analysis of the mechanism position is carried out by using the numerical analysis method, and the three-dimensional graphics of the attitude angle and linear displacement of the reachable working space are obtained.Taking the UPUS single branch chain as the analysis object, the single open chain analysis method is used to solve the kinematics image of the corresponding surface in the working space of the mechanism, which verifies the correctness of the kinematics theoretical solution and the feasibility of simulation.The research results show that the 4-UPUS parallel mechanism rehabilitation training robot can cooperate with the ankle joint for rehabilitation training. It makes up for the single movement of the current lower limb rehabilitation robot and the unsatisfactory rehabilitation effect, and provides a reference for the practical application of the subsequent ankle joint rehabilitation robot system.

The following guide is aimed at aiding in the curation of herbarium collections in Melastomataceae, with an emphasis on the New World species. It contains a summary of the taxonomic realignments at the tribal and generic level within Neotropical taxa of Melastomataceae, as well as some general comments for other groups. A table with a generic linear sequence is also provided, as well as tables with new and synonymized New World genera since 2005 and all currently accepted species. Lastly, a table with the synonyms of over 1000 accepted Neotropical species that have been impacted by these generic realignments is also provided.

Research on bidirectional human-machine interfaces will enable the smooth interaction with robotic platforms in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. We complement the gesture-based control by means of a tactile-feedback strategy grounding on a spiking artificial neuron model. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user’s hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pick-and-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the effectiveness of a neuronal spiking model for encoding hand displacement and exerted forces in order to promote a fluid embodiment of the haptic interface and control strategy. The main contribution of this paper is in presenting a robotic arm under gesture-based remote control with multisensory telepresence, demonstrating for the first time that a spiking haptic interface can be used to effectively deliver on the skin surface a sequence of stimuli emulating the neural code of the mechanoreceptors beneath.

Artificial Intelligence (AI) is used in our day-to-day life. AI for journalism is a reality. Just like other vital aspects of our life, AI has also entered the world of journalism. Many reputed news organizations have adopted AI in journalism to perform various newsroom tasks. In today’s digital world, several technologies are powering journalism. One such technology that is transforming the journalism field is artificial intelligence. Accuracy is a core value of journalism. With AI and machine learning systems, there’s a statistical element of uncertainty which means it’s impossible to guarantee 100 percent accuracy. AI tools such as OpenAI’s ChatGPT, Microsoft’s Bing chatbot, and Google’s Bard have been subject to debate now. AI tools have the potential to assist in a variety of tasks, such as scraping PDF files, writing code, and translating languages. AI can be a helpful tool for journalism students and media researchers. A main concern among computational journalists is that AI sometimes hallucinates data. This review paper highlights how artificial intelligence can help journalists.

Cognitive scientists have paid very little attention to magic as a distinctly human activity capable of creating situations or events that are considered impossible because they violate expectations and conclude with the apparent transgression of well-established cognitive and natural laws. And even though magic techniques appeal to all known cognitive processes from sensing, attention and perception to memory and decision making, the relation between science and magic has so far been mostly unidirectional, with the primary goal of unraveling how magic works. Building up from the deconstruction of a classic magic trick, we provide here a cognitive foundation for the use of magic as a unique and largely untapped research tool to dissect cognitive processes in tasks arguably more natural than those usually exploited in artificial laboratory settings. Magicians can submerge every spectator into the precise experimental protocol they have previously designed, accounting with ease for both circumstantial and social contexts. Magicians do not base the success of their experiments in statistical measures that smear out the individual in favor of an average spectator that we know never exists in the real world. They target each and everyone in the audience and, often, with a complete accomplishment. Magicians deliver their cognitive manipulations in real-time, in tight closed-loop with the audience, and in a single trial (they cannot afford to repeat the trick if it fails). Magic has also an inherent and strong social component, merging the private cognitive processes of each spectator with the group dynamics. Finally, when combined with the wide range of precise measuring and wearable technologies available today, magic paves the way for a road not taken towards real-world cognitive science. We dare to speculate that some of the mysteries of how the brain works may be trapped in the split realities present in each magic effect.

Acid proteins capable of nucleating Ca2+ and displaying aggregation capacity play key roles in the formation of calcium carbonate biominerals. EF-hands are among the largest Ca2+-binding motif in proteins. Gad m 1, an Atlantic cod β-parvalbumin isoform, is a monomeric EF-hand protein that acts as a Ca2+ buffer in fish muscle and is able to form amyloids under acidic conditions. Since nucleating Ca2+ protein have a propensity to form extended β-strand structures, we wondered whether amyloid assemblies of a protein containing refolded EF-hand motifs were able to influence the in vitro calcium carbonate crystallization. Here we have used the Gad m 1 chain as model to generate monomeric and amyloid assemblies and analyze their effect on in vitro calcite formation. We found that only amyloid assemblies alter calcite morphology.

This paper presents a system developed for the assistance with a collaborative robot in hand-assisted laparoscopic surgery (HALS). The system includes a sensing glove with piezoresistive sensors which capture continuously the flexion degree of the surgeon's fingers. These data are analyzed using an algorithm that detects and recognize the selected movements. This information is sent as commands to the collaborative robot throughout the surgical operation. The bending patterns, speed and execution times of the movements are modelled in a pre-phase in which it will extract all the necessary information for later detection during the motion execution. The results obtained with 10 different volunteers show a high degree of accuracy and a low false discovery rate.

AYUMI EYE is an accelerometer-based gait analysis device that measures the 3D accelerations of the human trunk. This study investigated the measurement accuracy of the AYUMI EYE as hardware as well as the accuracy of the gait cycle extraction program via simultaneous measurements using AYUMI EYE, a ground reaction force (GRF), and an optical motion capture system called VICON. The study was conducted with four healthy individuals as participants. The gait data were obtained by simulating four different patterns for three trials each: normal walking, anterior-tilt walking, hemiplegic walking, and shuffling walking. The AYUMI EYE and VICON showed good agreement for both the acceleration and displacement data. The durations of subsequent stride cycles calculated using the AYUMI EYE and GRF were in good agreement based on the calculated cross-correlation coefficients (CCs) with an r value of 0.896 and p-value less than 0.05, and their accuracies for these results were sufficient.

The oil and gas industry faces increasing pressure to remove people from dangerous offshore environments. Robots present a cost-effective and safe method for inspection, repair and maintenance of topside and marine offshore infrastructure. In this work, we introduce a new immobile multi-sensing robot, the Limpet, which is designed to be low-cost and highly manufacturable, and thus can be deployed in huge collectives for monitoring offshore platforms. The Limpet can be considered an instrument, where in abstract terms, an instrument is a device that transforms a physical variable of interest (measurand) into a form that is suitable for recording (measurement). The Limpet is designed to be part of the ORCA (Offshore Robotics for Certification of Assets) Hub System, which consists of the offshore assets and all the robots (UAVs, drones, mobile legged robots etc.) interacting with them. The Limpet comprises the sensing aspect of the ORCA Hub System. We integrated the Limpet with Robot Operating System (ROS), which allows it to interact with other robots in the ORCA Hub System. In this work, we demonstrate how the Limpet can be used to achieve real-time condition monitoring for offshore structures, by combining remote sensing with signal processing techniques. We show an example of this approach for monitoring offshore wind turbines. We demonstrate the use of four different communication systems (WiFi, serial, LoRa and optical communication) for the condition monitoring process. By processing the sensor data on-board, we reduce the information density of our transmissions, which allows us to substitute short-range high-bandwidth communication systems with low-bandwidth long-range communication systems. We train our classifier offline and transfer its parameters to the Limpet for online classification, where it makes an autonomous decision based on the condition of the monitored structure.

Exoskeleton robots are a rising technology in industrial contexts to assist humans in onerous applications. Mechanical and control design solutions are intensively investigated to achieve a high performance human-robot collaboration (e.g., transparency, ergonomics, safety, etc.). However, the most of the investigated solutions involve high-cost hardware, complex design solutions and standard actuation. In the presented work, an industrial exoskeleton for lifting and transportation of heavy parts is proposed. A low-cost mechanical design solution is proposed, exploiting compliant actuation at the shoulder joint to increase safety and transparency in human-robot cooperation. A hierarchic model-based controller is then proposed (including the modeling of the compliant actuator) to actively assist the human while executing the task. An inner optimal controller is proposed for trajectory tracking, while an outer fuzzy logic controller is proposed to online deform the task trajectory on the basis of the human’s intention of motion. A gain scheduler is also designed to calculate the optimal control gains on the basis of the performed trajectory. Simulations have been performed in order to validate the performance of the proposed device, showing promising results. The prototype is under realization.

A dogma is normally considered as a principle or a belief accepted as an indisputable truth by some individuals and/or groups. Theoretically there can be no dogmas in science, but it has been demonstrated that scientific thought operates by conceptual changes. A dogma therefore can be understood as a concept present at the heart of some contemporary research programmes that need to be altered to overcome paradigms. Here we argue that two ideas relating to emergence of the biological system research need to be re-evaluated. First, is the idea that research programmes about the emergence of the biological system are the same as those of the origin of cells. Cells are strikingly important biological entities, hard core concepts for the entire field of biology. The emergence of the biological system happened much earlier than the origin of cells and thus the First Universal Common Ancestor (FUCA) should be viewed as a great-grandfather to the Last Universal Cellular Ancestor (LUCA); i.e. the latter is the first cellular life form. Second, RNA-world theories are the focus of mainstream research programmes for the origin of life stricto sensu. In the RNA-world view, self-replication of nucleic acids is seen as one of the most relevant events in the pre-biotic world. Without denying the relevance of self-replication, we argue here that the most germane event which occurred in the pre-biotic world was the crosstalk between nucleic acids and peptides. When these two macromolecules started to interact, the singularity that aggregated the complexity required to produce life emerged. Thus, comprehension of the early origins of the translation machinery and the assembly of the genetic code is key. Therefore, the relevance of cell theory and self-replication should be re-evaluated as well as the concept of life itself.

Hand gestures may play an important role in medical applications for health care of elderly people, where providing a natural interaction for different requests can be executed by making specific gestures. In this study we explored three different scenarios using a Microsoft Kinect V2 depth sensor then evaluated the effectiveness of the outcomes. The first scenario utilized the default system embedded in the Kinect V2 sensor, which depth metadata gives 11 parameters related to the tracked body with five gestures for each hand. The second scenario used joint tracking provided by Kinect depth metadata and depth threshold together to enhance hand segmentation and efficiently recognize the number of fingers extended. The third scenario used a simple convolutional neural network with joint tracking by depth metadata to recognize five categories of gestures. In this study, deaf-mute elderly people execute five different hand gestures to indicate a specific request, such as needing water, meal, toilet, help and medicine. Then, the requests were sent to the care provider’s smartphone because elderly people could not execute any activity independently. The system transferred these requests as a message through the global system for mobile communication (GSM) using a microcontroller.

Objective: The Rho GTPase/Rho kinase pathway is an important target in glaucoma treatment. This study investigated the hypotensive effect of RKI-1447, a Rho kinase inhibitor developed for cancer treatment, in a porcine ex vivo pigmentary glaucoma model. Materials and Methods: Twenty-eight fresh porcine anterior chambers were perfused with pigment medium (1.67 × 10⁷ pigment particles/mL) for 48 hours before being subjected to the RKI-1447 (n = 16) or the vehicle control (n = 12). Another twelve eyes with normal medium perfusion served as the control. The intraocular pressure (IOP) was recorded at two-minute intervals and the outflow facility was calculated. To investigate the intracellular mechanism of the IOP reduction, primary trabecular meshwork cells were exposed to RKI-1447 or the vehicle control and then analyzed for changes in cytoskeleton, motility, and phagocytosis. Results: Compared to the baseline, the perfusion of pigment caused a significant increase in IOP in the RKI-1447 group (P = 0.003) at 48 hours. Subsequent treatment with RKI-1447 significantly reduced IOP from 20.14 ± 2.59 mmHg to 13.38 ± 0.91 mmHg (P = 0.02). Pigment perfusion reduced the outflow facility from 0.27 ± 0.03 at baseline to 0.18 ± 0.02 at 48 hours (P < 0.001). This was partially reversed with RKI-1447. RKI-1447 exhibited no apparent changes in the micro- or macroscopic appearance, including histology. Primary TM cells exposed to RKI-1447 showed a significant disruption of the actin cytoskeleton both in the presence and absence of pigment exposure (P < 0.001) but no effect on TM migration was observed. Pigment-treated TM cells exhibited a reduction in TM phagocytosis, which RKI reversed. Conclusions: RKI-1447 is a novel ROCK inhibitor that significantly reduces IOP by disrupting TM stress fibers and increasing TM phagocytosis. These features may make it especially useful for the treatment of secondary glaucomas with an increased phagocytosis load but also for other open angle glaucomas.

This brief essay explores both the social and biological dimensions of human sexuality in light of the possibility of a substantial commerce in sexually-enabled robots, and concludes with some potentially strategic considerations for those who find themselves involved with their design, production, and/or marketing.

Cloud robotics is becoming an alternative to support advanced services of robots with low computing power as network technology advances. Recently, fog robotics has gained attention since the approach has merit relieving latency and security issues over the conventional cloud robotics. In this paper, a Function-as-a-Service based Fog Robotic (FaaS-FR) for cognitive robots is proposed. The model distributes the cognitive functions according to the computational power, latency and security with a public robot cloud and fog robot server. During the experiment with a Raspberry Pi as an edge, the proposed FaaS-FR model shows efficient and practical performance in the proper distribution of the computational work of the cognitive system.

Hand hygiene is among the most important factors of infection control in healthcare settings. Healthcare workers are considered the primary source of hospital acquired infection. We assessed the current state of hand hygiene knowledge, perception and practice among the healthcare workers in Qassim, Saudi Arabia. In this cross-sectional study we used the hand hygiene knowledge and perception questionnaire developed by the World Health Organization. Knowledge and perceptions were classified into good (80 – 100%), moderate (60 – 79%) and poor (<60% score). Majority of the healthcare workers had moderate knowledge (57.8%) and perception (73.4%) of hand hygiene. Males were less likely to have moderate/good knowledge compared to females (OR: 0.52, p<.05). Private healthcare workers were less likely (OR: 0.33, p<0.01) to have moderate/good perception compared to the government healthcare workers. Healthcare workers who received training on hand hygiene were 3.2 times likely (p<.05) to have good/moderate perception and 3.8 times likely (p<0.05) to routinely use alcohol-based hand-rub than the ones without such training. Physicians were 4.9 times likely (p<0.05) to routinely use alcohol-based hand-rub than the technicians. Our research highlighted gaps on hand hygiene knowledge and perception and practice among healthcare workers in Qassim and importance of training in this regard.

Roaming complexity in terrains and unexpected environments poses significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration namely walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates webbed duck feet design to walk on different terrains, swim in water and tackle obstructions on its way. The designed robot is compact and easy-to-use and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Due to the design, the webbed feet are able to open and close with the help of water pressure. The Klann linkage has been used to convert rotational motion to walking and swimming as an animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring the tight caves, closed spaces and moving on uneven challenging terrains such as sand, mud or water. The presented model and design of the amphibious robot has been inspired by the working principle of duck feet. The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in [1]. The direction of movement can be managed, and the speed can be controlled using a larger contact area with water. Since duck is able to roam on both land and water, their feet movement during walking and swimming is adopted in designing the robot’s four legs. Klann linkage is used to mimic such duck feet motion and the control mechanism of the feet is driven by DC motors and DC servo motors which are governed by an Arduino microcontroller. The robot is capable of sensing the presence of water through conductive sensors and detects obstacles using ultrasonic sensor while walking. Due to its amphibian nature and other features in movement, the robot is capable of traversing diversified terrains. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in near future.

Background: To assess the incidence and characteristic of cataract surgery in Poland from 2010 to 2015 and to interpret these findings. Patients and methods: Data from all patients who underwent cataract surgery alone or in combined procedures in Poland between January 2010 and December 2015 were evaluated. Patient data were from the national database of hospitalizations maintained by National Health Fund, data on the population of Poland were obtained from Central Statistical Office of Poland. Results: In total 1,218,777 cataract extractions (alone or combined with other procedures) were performed in 1,081,345 patients during 2010 -2015. Overall, the incidence of cataract surgery increased from 5.22/1000 person-years in year 2010 to 6.17/1000 person-years in year 2015. Phacoemulsification was performed in 97.46% of cataract extractions, and 3.02% of cataract extractions were combined procedures. The rate of one-day procedures increased from 28.3% in year 2010 to 43.1% in year 2015. The probability of second-eye surgery 12 months after the first-eye surgery increased from 44% in 2010 to 73% in 2015 (log-rank test p<0.0001). Conclusion: In Poland, from 2010 to 2015 the total incidence of cataract surgery, the number of people who underwent surgery, and the numbers of one-day and combined cataract surgeries, increased significantly.

Estimation and planning play a vital role in the construction of an autonomous navigation framework. However, these problems are often considered separately, while planning gives robot a free-collision path towards the desired goal, estimation algorithm presents the executed trajectory in the sense that it has to be closed to the ground truth path as much as possible. Recently, a unified probabilistic framework, which supports solving these problems simultaneously, dubbed STEAP has been proposed. Nevertheless, its current version is only designated for an omni wheels robot, which allows robot to move and turn in vertical direction. Differential drive robot, on the other hand, though limited to move along only one direction, has been used in various situations due to its flexibility and lower cost in hardware designing. Thus, in this extension, our aim is to control a differential drive robot via STEAP. Moreover, in a more complicated environment such as labyrinth or maze, the original STEAP sometimes fails to find a path. Indeed, this problem is mainly caused by the poor initialization and the non-linearity in optimizer constraints. In our implementation, instead of dealing with these constraints, we employ a global planner algorithm such as Dijkstra or RRT to treat STEAP as an effective local planner module that focus on following the global path. Consequently, the experimental results show that the extended STEAP not only able to navigate a differential drive robot but also in a more complicated and unstructured environment.

George Satayana stated that “those who do not learn from history are doomed to repeat it”. As our UK “good outcome” death toll of 20,000 from coronavirus (SARS CoV -2/ COVID -19) in 2020 has sadly been surpassed; never has a phrase been more pertinent. The last major pandemic on a similar scale to COVID-19 is “Spanish Flu” from 1918. We aim to delineate the timeline of events in response to the 1918 Spanish flu pandemic and compare this to the timeline of COVID 19 response, given that the NHS and WHO have since both been long established. In the last 102 years many changes have occurred. Health services across the world have significantly improved, with the advent of mechanical ventilation and antimicrobial treatments. Vaccination programmes against common pathogens have prevented many large-scale disease threats, however novel illnesses have also emerged. Worldwide communication through the Internet and many agencies including the World Health Organisation has improved, and the awareness and surveillance of disease is more prominent. Despite advances in healthcare and communication, the national and international timeline for public health intervention in the current COVID pandemic in comparison to the Spanish flu pandemic of more than 100 years ago is virtually identical. The World Health Organisation operates to promote global health and prevent spread of disease, with this in mind; should the WHO have intervened earlier?​ We need to learn quickly from this pandemic and improve planning for the future.

Corneal ulcer (CU) is an ophthalmopathy characterized by depression of the corneal surface with at least one stromal loss. CU is common in canine and feline species and is usually caused, among others, by trauma, infections, toxic contamination and endocrine disorders. They usually result from an increased inflammatory response and are associated with some clinical signs such as blepharospasm, photophobia, epiphora, pain and loss of corneal transparency. Despite advances in conventional and pharmacological therapy, in many cases indolent and recurrent ulcer treatments still lead to loss of visual acuity of the animal. This paper aims to report the effect of topical application of canine adipose tissue-derived mesenchymal stem cell (cATMSCs) as treatment of recurrent CU in a Poodle dog breed that showed clear difficulty in the healing process associated with diabetes. The animal was submitted to two applications of cATMSCs and showed improvement in the blepharospasm, conjunctival hyperemia, mucopurulent ocular secretion, photophobia, corneal opacity, chemosis, pigmentation, neovascularization, and pain parameters. Besides, Fluorescein test, Schirmer test and ocular fundus exam also showed improvement in their values concomitantly with lesion resolution. Due this, we showed that cATMSC therapy contribute to the regeneration of corneal tissue in CU and may contribute to the treatment to others ophthalmopathies.

Hand tracking enables controller-free interaction with virtual environments, which can, compared to traditional handheld controllers, make virtual reality (VR) experiences more natural and immersive. As naturalness hinges on both technological and user-based features, fine-tuning the former while assessing the latter can be used to increase usability. For a grab-and-place use case in immersive VR, we compared a prototype of a camera-based hand tracking interface (Leap Motion) with customized design elements to the standard Leap Motion application programming interface (API) and a traditional controller solution (Oculus Touch). Usability was tested in 32 young healthy participants, whose performance was analyzed in terms of accuracy, speed and errors as well as subjective experience. We found higher performance and overall usability as well as overall preference for the handheld controller compared to both controller-free solutions. While most measures did not differ between the two controller-free solutions, the modifications made to the Leap API to form our prototype led to a significant decrease in accidental drops. Our results do not support the assumption of higher naturalness for hand tracking but suggest design elements to improve the robustness of controller-free object interaction in a grab-and-place scenario.

Information is the currency of life, but the origin of prebiotic information remains a mystery. We propose transitional pathways from the cosmic building blocks of life to the complex prebiotic organic chemistry that led to the origin of information systems. The prebiotic information system, specifically the genetic code, is segregated, linear, and digital and probably appeared during biogenesis four billion years ago. In the peptide/RNA world, lipid membranes randomly encapsulated amino acids, RNA, and protein molecules, drawn from the prebiotic soup, to initiate a molecular symbiosis inside the protocells. This endosymbiosis led to the hierarchical emergence of several requisite components of the translation machine: tRNAs, aaRS, mRNAs, and ribosomes. When assembled in the right order, the translation machine created biosynthetic polypeptides, a process that transferred information from mRNAs to proteins. This was the beginning of the prebiotic information age. The molecular attraction between tRNA and amino acids led to different stages of the translation machines and the genetic code. tRNA is an ancient molecule that designed and built mRNA for storing the information of its cognate amino acid. Each mRNA strand became the storage device for the genetic information that encoded the amino acid sequences in triplet nucleotides. As information appeared in the digital languages of the codon within mRNA, and the genetic code for protein synthesis evolved, the prebiotic chemistry then became more organized and directional. The origin of the genetic code is enigmatic; herein we propose an evolutionary explanation: the demand for a wide range of specific enzymes in the peptide/RNA world was the main selective pressure for the origin of information-directed protein synthesis. We review three main concepts on the origin and evolution of the genetic code: the stereochemical theory, the coevolution theory, and the adaptive theory. These three theories are compatible with our coevolution model of the translation machines and the genetic code. We suggest biosynthetic pathways as the origin of the specific translation machines which provided the framework for the origin of the genetic code. During translation, the genetic code developed in three stages coincident with the refinement of the translation machines: GNC code developed by the pre-tRNA/pre-aaRS /pre-mRNA machine, SNS code by the tRNA/aaRS/mRNA machine, and finally the universal genetic code by the tRNA/aaRS/mRNA/ribosome machine. Our hypothesis provides the logical and incremental steps for the origin of the programmed protein synthesis. In order to understand the prebiotic information system better, we converted letter codons into numerical codons in the Universal Genetic Code Table. We have developed a software called CATI (Codon-Amino Acid-Translator-Imitator) to translate randomly chosen numerical codons into corresponding amino acids and vice versa. This conversion has granted us insight into how the translation might have worked in the peptide/RNA world. There is great potential in the application of numerical codons to bioinformatics such as barcoding, DNA mining, or DNA fingerprinting. We constructed the likely biochemical pathways for the origin of translation and the genetic code using the Model-View-Controller (MVC) software framework, and the translation machinery step-by-step. Using AnyLogic software we were able to simulate and visualize the entire evolution of the translation machines and the genetic code. The results indicate that the emergence of the information age from the peptide/RNA world was a watershed event in the origin of life about four billion years ago.

Purpose: The ongoing COVID-19 crisis has created the need for social distancing between medical staff and patients, therefore, healthcare robotics is increasingly important as regards infectious control. The purpose of this study was to design and fabricate a remote controlled transport robot that could provide an optimum technology base for developing countries, having dual functions of telepresence and delivery operations inside or outside buildings, is easy to assemble and also easily able to be cleaned using standard chemical agents.Methods: This machine was designed and fabricated to incorporate two main functions; delivery and telepresence. The robot consists of a base frame, DC motors for driving and steering systems, actuator motor for driving wheel elevation, Wi-Fi AP/Repeater, network camera, and a necessary a back-up power system.Results: This robot can be used both indoors and outdoors. It can carry loads of more than 80 kg. The machine can cross obstacles greater than 3 cm. It can be cleaned by disinfectant agents. An actuator motor can lift the driving wheels above the surface to prevent gear damage. Conclusion: This article demonstrates the concept of a healthcare telepresence and delivery robot that can provide distancing during the present COVID-19 crisis, using optimum technology for low and middle-income countries. In the future, the researcher should consider development of the delivery controls, combined with the telepresence system using the internet of things, to improve the navigation system, the manipulator system for supporting multi-floor transportation, and also other multi-functional purposes.

Cities’ delineation remains a hot topic of debate in a time where comparisons between cities are becoming increasingly based on different issues that address various scales of interventions and thus different concepts of cities. Aiming to compare cities and their insertion into globalization, we suggest that the “urban field of influence” is the best way to approach cities for this specific perspective. However, after reviewing the different existing possible concepts, we replace this concept with four different approaches proposed by Pumain et al. (1992): political entities, morphological agglomerations, functional urban areas and conurbations/Mega city regions. We discuss the top-down and bottom-up existing initiatives launched at the world scale and then use a mixed top-down and bottom-up approach to propose a new delineation of a large urban region (LUR), denoting a concept close to the conurbation or Mega city-region concept. The compositions of these LURs are published as an initial incomplete framework, suggesting the need for further critical comments and contributions to improve them.

The increasing number of robots around us will soon create a demand for connecting these robots in order to achieve goal-driven teamwork in heterogeneous multi-robot systems. In this paper, we focus on robot teamwork specifically in dynamic environments. While the conceptual modeling of multi-agent teamwork has been studied extensively during the last two decades, related engineering concerns have not received the same degree of attention. Therefore, this paper makes two contributions. The analysis part discusses general design challenges that apply to robot teamwork in dynamic application domains. The constructive part presents a review of existing engineering approaches for challenges that arise with dynamically changing runtime conditions. An exhaustive survey of robot teamwork aspects would be beyond the scope of this paper. Instead, we aim at creating awareness for the manifold dimensions of the design space and highlight state-of-the-art technical solutions for dynamically adaptive teamwork, thus pointing at open research questions that need to be tackled in future work.

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enables the robot to walk with simple gait by very few motors. In the paper, the forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrain.

The bacterial wilt pathogen, first known as Bacillus solanacearum, has undergone numerous taxonomic changes since its first description in 1896. The history and significance of this pathogen is covered in this review with an emphasis on the advances in technology that were used to support each reclassification that finally led to the current separation of Ralstonia solanacearum into three genomic species. Frequent name changes occurred as methodology transitioned from phenotypic, biochemical, and molecular studies, to genomics and functional genomics. The diversity, wide host range and geographical distribution of R. solanacearum has resulted in its inclusion in a “species complex” as genomic analyses of elucidated phylogenetic relationships among strains. Current advances in phylogenetics and functional genomics now open new avenues for research into the epidemiology and control of the devastating bacterial wilt disease.

Electromyographic (EMG) signals provide information about a person's muscle activity. For hand movements, in particular, the execution of each gesture involves the activation of different combinations of the forearm muscles, which generate distinct electrical patterns. Conversely, the analysis of these muscle activation patterns, represented by EMG signals, allows recognizing which gesture is being performed. In this study, we aimed to implement an automatic identification system of hand or wrist gestures based on supervised Machine Learning (ML) techniques. We trained different computational models and determined which of these showed the best capacity to identify six hand or wrist gestures and generalize between different subjects. We used an open access database containing recordings of EMG signals from 36 subjects. Among the results obtained, we highlight the performance of the Random Forest model, with an accuracy of 95.39%, and the performance of a convolutional neural network with an accuracy of 94.77%.

Abstract: Mass spectrometry research laboratories reported multiple probes for ambient ionization in the last years. Combining them with a mechanical moving stage enables automated sampling and imaging applications. We developed a robotic platform, which is based on RepRap 3D-printer components, and therefore easy to reproduce and to adopt for custom prototypes. The minimal step width of the Open LabBot is 12.5 μm, and the sampling dimensions (x, y, z) are 18 × 15 × 20 cm. Adjustable rails in an aluminium frame construction facilitate the mounting of additional parts such as sensors, probes, or optical components. The Open LabBot uses industry-standard G-code for its control. The simple syntax facilitates the programming of the movement. We developed two programs: 1) LABI-Imaging, for direct control via a USB connection and the synchronization with MS data acquisition. 2) RmsiGUI, which integrates all steps of mass spectrometry imaging: The creation of G-code for robot control, the assembly of imzML files from raw data and the analysis of imzML files. We proved the functionality of the system by the automated sampling and classification of essential oils with a PlasmaChip probe. Further, we performed an ambient ionization mass spectrometry imaging (AIMSI) experiment of a lime slice with laser desorption low-temperature plasma (LD-LTP) ionization, demonstrating the integration of the complete workflow in RmsiGUI. The design of the Open LabBot and the software are released under open licenses to promote their use and adoption in the instrument developers’ community.

The World economy after global crisis of 2008–2009 entered a restructuring era. It defines relevance of researches of its directions and patterns. The principles of determinism and systemic analysis are methodological basis of article. In research were used the methods of processing Big Date, as of continuous changes and the symmetric analysis of macroeconomic indicators according to databases of the IMF, WB, BIS, the Central banks and treasuries. As a result of the research it is proved that depth and globalism of recessionary processes are caused by a combination of crisis of world financial system and civilization problems. Intrinsic signs of risks in the modern economy caused by the duality of the nature of global crises have been identified. There are analyzes: the deficit of resources of the international financial institutions, a negative role of a fixed rate of Yuan, a big share of derivatives and off-balance obligations of banks, use of SPV in structures of deals, growth of debt obligations, trade wars, slowdown in the growth of the Chinese economy, aggravation of contradictions between global and national finances. The thesis is reasonable that deglobalization and dedollarization deepened this conflict, started the rollback mechanism from achievements of globalization, led to tariff wars. By means of a systematization it is proved the key directions of the restructuring of global economy: legal basis, leadership and reserve currency. On the basis of SWOT-analysis of the USA and China it was concluded that the question of leadership of one country should be excluded, but slow transition to use SDR (with a basket from 15–20 currencies) as a reserve.

Aim: To develop an index for quantitative assessment of the upper limb motor function in children with cerebral palsy before and after robot-assisted therapy. Method: An upper limb motor function index was developed using kinematic, surface electromyography and three-axis inertial measurements unit data collected from 15 children with cerebral palsy (CP) and 15 typically developed children. Children with CP underwent 18 robot-assisted therapy sessions with the REAplan device. All children were evaluated, using kinematic data from the REAplan, electromyography and three-axis inertial measurements unit readings from its accelerometer. A principal component analysis was conducted to produce an evaluation index, which is able to detect the deviation from the upper limb motor function of typically developing children group. Children with CP were evaluated twice before and after the intervention with Box and Blocks test and Finger-To-Nose test. The discriminative and concurrent validity of the upper limb motor function index were investigated. Results: The upper limb motor function index was higher in children with CP post therapy (p<0.001). Finger-To-Nose test values improved after robot-assisted therapy (p<0.03). A weak but positive correlation was observed between upper limb motor function index and clinical tests (r=0.012, p=0.95 and r=0.13, p= 0.54 for Box and Blocks test and Finger-To-Nose test respectively). Interpretation: The upper limb motor function index successfully differentiated between the typically developing children and children with CP and was effective in assessing the improvement of the upper limb motor function after robot-assisted therapy. The upper limb motor function index could be extended to assess and monitor rehabilitation therapies of other populations, such as those with stroke and Parkinson’s disease.

Wire-driven hyper-redundant continuum manipulators are gaining more popularity and finding more applications in industry and in minimally invasive surgery. Unlike traditional rigid link manipulators, continuum robots with a flexible backbone structure are able to work in a highly constrained workspace and in an unstructured environment. However, in spite of a possible wide range of reachability, continuum manipulators have some issues related to payload capacity, accuracy and control. Therefore, in this research, we propose a novel hyper-redundant continuum robot with a passive sliding disc mechanism to improve payload capacity and accuracy. To prove the sliding mechanism concept, we demonstrate a comparison analysis with a conventional non-sliding continuum robot arm in a payload test, a bending test and a reachability test. Moreover, with this novel design, we are proposing robot kinematics and kinetic formulation and simulation results to validate the effectiveness of the sliding disc mechanism.

It is time that universities reexamine what is meant by globalization. Contemporary researchers in science and the humanities (Critchley, Chomsky, Mumford, Ostrom, Eisenstein, Ferry, Orr, Shiva, Klein, Margulis, Meadows, Capra and Tolba, just to name a few) have aptly redefined the concept of « world » as a biological and cultural ecosystem. This paper seeks ways to integrate the theory and practice of eco-citizenship into various cross-disciplinary aspects of higher education, with a focus on curricular adjustments that may be steered by World Languages and Cultures programs. While "global citizenship" is still often understood today as a form of supranational citizenship that may find its actualization through the valuable, yet often arrested efforts of the United Nations, or as the individualistic result of a neoliberal economic emancipation of markets and capital throughout the world, this notion must rather be embedded within a radically cultural, natural and ethical bedrock from which a more potent world citizenry will stem. Departments of World Languages and Cultures and cultures are ideally positioned in the academic landscape to foster the development of a greater eco-civic and biospheric awareness that can permeate new curricular orientations of universities in the US and abroad.

The concept of using eye-tracking in virtual reality for education has been researched in various fields over the past years. With this review, we aim to discuss the recent advancements and applications in this area, explain the technological aspects, highlight the advantages of this approach and inspire interest in the field. Eye-tracking has already been used in science for many decades and now has been substantially reinforced by the addition of virtual and augmented reality technologies. The first part of the review is a general overview of eye-tracking concepts and its applications. In the second part, the focus shifted towards application of eye-tracking in virtual reality. The third part is the description of the recently emerged concept of eye-tracking in virtual reality when applied to education and studying, which has not been thoroughly described before. We describe the main findings, technological aspects and advantages of this approach.

The current SARS- CoV-2 pandemic underscores the importance of understanding the evolution of RNA genomes. While RNA is subject to the formation of similar lesions as DNA, the evolutionary and physiological impacts RNA lesions have on viral genomes are yet to be characterized. Lesions that may drive the evolution of RNA genomes can induce breaks that are repaired by recombination or can cause base substitution mutagenesis, also known as base editing. Over the past decade or so, base editing mutagenesis of DNA genomes has been subject to many studies, revealing that exposure of ssDNA is subject to hypermutation that is involved in the etiology of cancer. However, base editing of RNA genomes has not been studied to the same extent. Recently hypermutation of single-stranded RNA viral genomes have also been documented though its role in evolution and population dynamics. Here, we will summarize the current knowledge of key mechanisms and causes of RNA genome instability covering areas from the RNA world theory to the SARS- CoV-2 pandemic of today. We will also highlight the key questions that remain as it pertains to RNA genome instability, mutations accumulation, and experimental strategies for addressing these questions.

The cooperation between humans and robots is becoming increasingly important in our society. Consequently, there is a growing interest in the development of models that can enhance the interaction between humans and robots. A key challenge in the Human-Robot Interaction (HRI) field is to provide robots with cognitive and affective capabilities, developing architectures that let them establish empathetic relationships with users. Several models have been proposed in recent years to solve this open-challenge. This work provides a survey of the most relevant attempts/works. In details, it offers an overview of the architectures present in literature focusing on three specific aspects of HRI: the development of adaptive behavioural models, the design of cognitive architectures, and the ability to establish empathy with the user. The research was conducted within two databases: Scopus and Web of Science. Accurate exclusion criteria were applied to screen the 1007 articles found (at the end 30 articles were selected). For each work, an evaluation of the model is made. Pros and cons of each work are detailed by analysing the aspects that can be improved so that an enjoyable interaction between robots and users can be established.

The paper presents the possibility of using KINECT v2 module to control an industrial robot by means of gestures and voice commands. It describes elements of creating software for off-line and on-line robot control. The application for KINECT module was developed in C# language in Visual Studio environment, while the industrial robot control program was developed in RAPID language in RobotStudio environment. The development of a two-threaded application in RAPID language allowed to separate two independent tasks for the IRB120 robot. The main task of the robot is performed in thread no. 1 (responsible for movement). Simultaneously working thread no. 2 ensures continuous communication with the KINECT system and provides information about the gesture and voice commands in real time without any interference in thread no. 1. The applied solution allows the robot to work in industrial conditions without negative impact of communication task on the time of robot’s work cycles. Thanks to the development of a digital twin of the real robot station, tests of proper application functioning in off-line mode (without using a real robot) were conducted. Obtained results were verified online (on the real test station). Tests of correctness of gesture recognition were carried out, the robot recognized all programmed gestures. Another test carried out was the recognition and execution of voice commands. A difference in the time of task completion between the actual and virtual station was noticed - the average difference was 0.67 s. The last test carried out was to examine the impact of interference on the recognition of voice commands. With a 10dB difference between the command and noise, the recognition of voice commands was equal to 91.43%. The developed computer programs have a modular structure, which enables easy adaptation to process requirements.

Over the last decade, a significant literature has emerged that advocates the potential of different Additive manufacturing (AM) technologies and printable polymeric materials. Nevertheless, large scale printing and complex geometric shapes, with curvatures and non-planar layer deposition, are a challenging process for the traditional gantry-based machine. The 3 degrees of freedom cartesian configuration restricted their capability to planar layered printing and restricted part dimensions. To date, many researchers have used industrial robots to overcomes this limitation. This review gives the reader a good overview of the FDM technique due to its scalability, cost efficiency and a wide range of material printability. A strong emphasis is laid on the PLA and PLA-based composites as promising materials for the FDM process applications. The second part of this paper links the successful use of these materials in the traditional printing process to large scale printing using the robot-based FDM process. This survey presents representative setups for robot-based AM and works that have been used these setups for non-planar material deposition. Finally, we conclude this paper by identifying opportunities for realizing new functional capabilities by exploiting robot-based AM, and we also present the future trends in this area.

Tuberculosis cause of death worldwide and the leading cause from a single infectious agent, ranking above Human immunodeficiency virus (HIV) and Acquired Immune Deficiency Syndrome (AIDS). The aim of this study is to ascertain the trend of tuberculosis prevalence and the effect of HIV prevalence onl Tuberculosis case in some West African countries from 2000 to 2016 using count panel data regression models. The data used annual HIV and Tuberculosis cases spanning from 2000 to 2016 extracted from online publication of World health Organization (WHO). Panel Poisson regression model and Negative binomial regression model for fixed and random effects were used to analyzed the count data, the result revealed a positive trend in TB cases while increased in HIV cases leads to increase in TB cases in West African countries. Among the competing models used in this study, Panel Negative Binomial Regression Model with fixed effect emerged the best model with log likelihood value of -1336.554. This study recommended that Government and NGOs need more strategies to fight against HIV menace in West Africa as this will in turn reduced TB cases in West Africa.

In situations of uncertainty, scenarios serve as input for evidence-based decision making. However, past experience shows that not all scenarios are treated equally, and we hypothise that only those based ion a world view shared by decision makers are perceived as credible and receive full attention. While intuitively plausible, this hypothesis has not been analysed by quantitative correlation analyses, so instead of drawing on quantitative data the paper analyses the archetypical scenarios developed in the ALARM project to substantiate the plausibility by a comparative analysis of world views, value systems and policy orientations. Shock scenarios are identified as a means to explore the possibility space of future developments beyond the linear developments models and most scenario storylines suggest. The analysis shows that the typical scenarios are based on mutually exclusive assumptions. In conclusion, a comparison of storyline and empirical data can reveal misperceptions, policy failures and the need to rethink world views as a necessary step to open up to new challenges. Deeply held beliefs will make this a transition unlikely to happen without severs crises, if not dedicated efforts to reveal the role of world views for scenarios and policies are undertaken.

In the last decades there has been a progressive aging of the population, known as “demographic revolution” or “demographic transition”. As a consequence of the worldwide progressive aging of population and of the increasing of general life expectancy, the relationship between aging and disability became a very important one and received a huge interest in research for its consequences on participation, inclusion and quality of life of ageing people and for its consequences on socio-sanitary organizations. The aim of this paper is to analyze this relationship and to discuss consequences on participation, inclusion and quality of life of ageing people, according to recent conceptual models of disability and active ageing. According to previous papers this relationship could be considered in two ways: ageing with disability (which refers to people living with long-term effects of disabling conditions acquired from birth to middle age) and disability with ageing (which refers to people which disabling conditions acquired later or age-related conditions), but newer papers proposed a convergence of these two approaches, taking into account the similarities and the differences between the two ways.

We report on an exploratory study conducted at a graduate school in Sweden with a humanoid robot, Baxter. First, we describe a list of potentially useful capabilities for a robot teaching assistant derived from brainstorming and interviews with faculty members, teachers, and students. These selected capabilities consist of reading, greeting, alerting, remote operation, clarification, and motion. Second, we present feedback on how the robot's capabilities, demonstrated in part with the Wizard of Oz approach, were perceived, and iteratively adapted over the course of several lectures, using the \EP tool. Third, we discuss observations and findings regarding the capabilities and the development process. Our findings suggest that using a social robot as a teaching assistant is promising using the chosen capabilities. We find that personalizing the capabilities and the role of embodiment are important topics to be considered in future work.

Present paper is dealing with the adaptive static balancing of robot or other mechatronic arms that are moving in vertical plane and whose static loads are variable, by using counterweights and springs. Some simple passive and approximate solutions are proposed and an example is shown. The active and exact solutions by using adaptive real time control in the case of unknown variation of static loads are simulated on VIPRO platform developed at Institute of Solid Mechanics of Romanian Academy.

The urgency to develop vaccines against Covid-19 is putting pressure on the long and expensive development timelines which are normally required for development of lifesaving vaccines. There is a unique opportunity to take advantage of new technologies, smart and flexible design of clinical trials, and evolving regulatory science to speed up vaccine development against Covid-19 and transform vaccine development altogether.

In this study, we asked participants to answer an online questionnaire about videos showing animal epimeletic behaviours: an individual (a sparrow, an elephant and a macaque) displayed behaviours towards an inanimate conspecific who suddenly got back to conscious at the end of the footage. A fourth video showed a dog-robot kicked by an engineer to demonstrate its stability. After each video, questions were asked to score the degree of anthropomorphism of participants, from mentophobia (no attribution whatever the species) to full anthropomorphism and to measure how close participants are to biological reality (actual scientific knowledge). A first important result is that there is a negative correlation (about 61%) between the anthropomorphism score (AS) and the biological reality one (BRS) showing a wrong statement. The heterogeneity of responses proved that all levels of anthropomorphism are covered from mentaphobia to full anthropomorphism. However, the scores participants attributed to animals differ according to the species shown in the video and to human characteristics. Understanding how one can play with these factors can conduct to better relationships with animals as encourage human-robot interactions. Finally, such reflective anthropomorphism can lead to an increase of human empathy and sociality, finally increasing our humanity.

Most traditional theories of intelligence have little to do with the question of whether people with high intelligence can successfully address real world problems. A high IQ is correlated with many important outcomes (e.g., academic prominence, reduced crime), but it does not protect against cognitive biases, partisan thinking, reactance, confirmation bias, and even falling for discredited beliefs such as alchemy, cold fusion, and astrology. There are several newer theories that directly address the question about solving real-world problems. Prominent among them is Sternberg’s adaptive intelligence with “adaptation to the environment” as the central premise, a construct that does not exist on standardized IQ tests (e.g., Sternberg, 2019). Similarly, Stanovich and West (2014) argue that standardized tests of intelligence are not measures of rational thought—the sort of skill/ability that would be needed to address complex real-world problems. Halpern and Butler (2020) advocate for critical thinking as a better model of intelligence for addressing real-world problems than those that are based on psychometric properties of general intelligence. Yes, intelligence (i.e., critical thinking) can be enhanced and used for solving a real-world problem like Covid-19, which we use as an example of contemporary problems that need a new approach. Critical thinking may be an antidote for the chaos of the modern world.

Modelling errors, robust stabilization/tracking problems under parameter and model uncertainties complicate the control of the flexible underactuated systems. Chattering-free sliding-mode based input-output control law realizes robustness against the structured and unstructured uncertainties in the system dynamics and avoids excitation of unmodeled dynamics. The main purpose is to propose a robust adaptive solution for stabilizing and tracking direct-drive (DD) flexible robot arms under parameter and model uncertainties, as well as external disturbances. A lightweight robot arm subject to external and internal dynamic effects was taken into consideration. The challenges are compensating actuator dynamics with the inverter switching effects and torque ripples, stabilizing the zero dynamics under parameter/model uncertainties and disturbances while precisely track the predefined reference position. The precise control of this kind of system demands an accurate system model and knowledge of all sources that excite unmodeled dynamics. For this purpose, equations of motion for a flexible robot arm were derived and formulated for the large motion via Lagrange’s method. The goals were determined to achieve high-speed, precise position control, and satisfied accuracy by compensating the unwanted torque ripple and friction that degrades performance through an adaptive robust control approach. The actuator dynamics and their effect on the torque output were investigated due to the transmitted torque to the load side. The high-performance goals, precision&robustness issues, and stability concerns were satisfied by using robust-adaptive input-output linearization-based control law combining chattering-free sliding mode control (SMC) while avoiding the excitation of unmodeled dynamics.

This work addresses the problem of automatic head pose estimation and its application in 3D gaze estimation using low quality RGB--D sensors without any subject cooperation or manual intervention. The previous works on 3D head pose estimation using RGB--D sensors require either an offline step for supervised learning or 3D head model construction which may require manual intervention or subject cooperation for complete head model reconstruction. In this paper, we propose a 3D pose estimator based on low quality depth data, which is not limited by any of the aforementioned steps. Instead, the proposed technique relies on modeling the subject's face in 3--D rather than the complete head, which in turn, relaxes all of the constraints with the previous works. The proposed method is robust, highly accurate and fully automatic. Moreover, it does not need any offline step. Unlike some of the previous works, the method only uses depth data for pose estimation. The experimental results on the Biwi head pose database confirm the efficiency of our algorithm in handling large pose variations and partial occlusion. We also evaluate the performance of our algorithm on IDIAP database for 3D head pose and eye gaze estimation.

Objective: To perform a systematic review of real-world outcomes for anti-CGRP-mAbs. Methods: Following the PRISMA guidelines, we searched PubMed for real-world data of Erenumab, Galcanezumab, Fremanezumab, or Eptinezumab in patients with migraine. Results: We identified 104 publications (73 retrospective), comprising 8 pharmaco-epidemiologic and 63 clinic-based studies, 30 case reports and 3 other articles. None of the clinic-based studies provided follow-up data over more than one year in more than 200 patients. Findings suggest reductions in health insurance claims and days with sick-leave as well as better treatment adherence with anti-CGRP-mAbss. Effectiveness, reported in 59 clinic-based studies, was comparable to randomized controlled trials. A treatment pause was associated with an increase in migraine frequency and switching to another antibody resulted in a better response in some of the patients. Adverse events and safety issues were addressed in 70 papers including 22 single case reports. Conclusion: Real-world data on anti-CGRP-mAbs are limited by retrospective data collection, small patient numbers and short follow-up periods. The majority of papers seem to support good effectiveness and tolerability of anti-CGRP-mAbs in the real-world setting. There is an unmet need for large prospective real-world studies providing long-term follow-up of patients treated with anti-CGRP-mAbs.

Fires pose a significant threat to human life and property. An autonomous fire detection and fighting robot has the potential to mitigate the challenges associated with firefighting. This paper presents the implementation of an autonomous fire detection and fighting robot equipped with sensors, algorithms, and actuators to detect, locate, and suppress fires autonomously. The robot's mechanical and electrical components were designed, prototyped, and tested in a controlled environment to evaluate its ability to navigate through obstacles, detect fires, and suppress them autonomously. The results show that the robot effectively detects and suppresses fires, making it a promising solution for firefighting applications. The study contributes to the development of autonomous robots for firefighting, enhancing the safety of firefighters and the effectiveness of firefighting operations.