Assistive forces transmitted from wearable robots to the robot’s users are often defined by controllers that rely on the accurate estimation of the human posture. The compliant nature of the human–robot interface can negatively affect the robot’s ability to estimate the posture. In this article, we present a novel algorithm that uses machine learning to correct these errors in posture estimation. For that, we recorded motion capture data and robot performance data from a group of participants (n = 8; 4 females) who walked on a treadmill while wearing a wearable robot, the Myosuit. Participants walked on level ground at various gait speeds and levels of support from the Myosuit. We used optical motion capture data to measure the relative displacement between the person and the Myosuit. We then combined this data with data derived from the robot to train a model, using a grading boosting algorithm (XGBoost), that corrected for the mechanical compliance errors in posture estimation. For the Myosuit controller, we were particularly interested in the angle of the thigh segment. Using our algorithm, the estimated thigh segment’s angle RMS error was reduced from 6.3° (2.3°) to 2.5° (1.0°), mean (standard deviation). The average maximum error was reduced from 13.1° (4.9°) to 5.9° (2.1°). These improvements in posture estimation were observed for all of the considered assistance force levels and walking speeds. This suggests that ML-based algorithms provide a promising opportunity to be used in combination with wearable-robot sensors for an accurate user posture estimation.

A two-step framework to analyze local microstructure variations of paper sheets based on 3D image data is presented. First, a multi-stage workflow efficiently acquires a large set of highly resolved tomographic image data, which enables—in combination with statistical image analysis—the quantification of local variations and pairwise correlations of morphological microstructure characteristics on length scales ranging from micrometers to centimeters. Secondly, the microstructure is analyzed in terms of the local behavior of porosity, thickness, and further descriptors related to transportation paths. The power of the presented framework is demonstrated, showing that it allows one (i) to quantitatively reveal the difference in terms of local structural variations between a model paper before and after unidirectional compression via hard-nip calendering and that (ii) the field of view which is required to reliably compute the probability distributions of the considered local microstructure characteristics is at least 20 mm$^{2}$. The results elucidate structural differences related to local densification. In particular, it is shown how calendering transforms local variations in sheet thickness into marked local mass density variations. The obtained results are in line with experimental measurements of macroscopic properties (basis weight, Bekk smoothness parameters, thickness, and Gurley retention times).

Each year our Clinical and Translational Science Award pilot projects program awards approximately $500,000 in translational pilot funding to advance health in South Texas. We identified needs to improve the timeliness, transparency, and efficiency of the review process by surveying applicants. Lean six sigma methodologies, following a “Define, Measure, Analyze, Improve, Control” approach, were used to streamline the pilot project application and review by identifying and removing bottlenecks from process flows. We evaluated the impact of our reorganized review process by surveying applicants and reviewers. Process mapping identified pilot project review as the main source of delay, leading to the implementation of a study section-style review mechanism. After one cycle, 90.3% of pilot applicants and 100% of reviewers were highly satisfied with the new processes and time to award notice was reduced by 2 months. All reviewers familiar with both review processes preferred the study section. We demonstrated how lean six sigma, a methodology not commonly applied in research administration, can be used to evaluate processes in translational science in academic health centers. Through our efforts, we were able to improve timeliness, transparency, and efficiency of the review process.

Excavations at several locations in Verteba Cave have uncovered a large amount of human skeletal remains in association with faunal bones and Tripolye material culture. We aim to establish radiocarbon (14C) dates for eight sites and to evaluate whether these deposits are singular events, or slow accumulations over time. 14C measurements, along with stable carbon and nitrogen isotope data from human and faunal remains, were collected from 18 specimens. Stable isotope values were used to evaluate human and animal diet, and whether freshwater reservoir effects offset measured dates. We found diets of the sampled species had limited to no influence from freshwater resources. Human diet appears to be dominated by terrestrial plants and herbivores. Four new sites were identified as Eneolithic. Comparisons of dates from top and bottom strata for two sites (7 and 20) reveal coeval dates, and we suggest that these deposits represent discrete events rather than slow continuous use. Lastly, we identified dates from the Mesolithic (8490±45 BP, 8765±30 BP), Iron Age (2505±20 BP), Slavic state era (1315±25 BP), and Medieval Period (585±15 BP), demonstrating periodic use of the cave by humans prior to and after the Eneolithic.

14C-labeled 4-amino-6-(1,1-dimethylethyl)-3-(ethylthio)-1,2,4-triazin-5(4H)-one (ethiozin)3 was metabolized more rapidly in tolerant than in sensitive wheat, Triticum aestivum L., cultivars. After a 6-h herbicidal pulse, the main metabolites were conjugates at all incubation times up to 48 h. The levels of deaminated and dethioethylated metabolites never exceeded 4% of the extractable radioactivity and also did not differ between tolerant and sensitive plants. On the contrary, 92% of the extractable radioactivity was in conjugates after 24 h in the leaves of tolerant plants compared to 25% in the leaves of sensitive plants. The differently sensitive wheat cultivars conjugated metribuzin, 4-amino-6-(1,1-dimethylethyl)-3-(methylthio)-1,2,4-triazin-5(4H)-one, at about half the rate that was observed with ethiozin. This finding may explain the fact that most wheat cultivars are more sensitive to metribuzin compared with ethiozin.

Hairworms (Nematomorpha) are a little-known group of parasites, and despite having been represented in the taxonomic literature for over a century, the implementation of molecular genetics in studies of hairworm ecology and evolution lags behind that of other parasitic taxa. In this study, we characterize the genetic diversity of the New Zealand nematomorph fauna and test for genetic structure within the most widespread species found. We provide new mitochondrial and nuclear ribosomal sequence data for three previously described species from New Zealand: Gordius paranensis, Parachordodes diblastus and Euchordodes nigromaculatus. We also present genetic data on a previously reported but undescribed Gordius sp., as well as data from specimens of a new Gordionus sp., a genus new for New Zealand. Phylogenetic analyses of CO1 and nuclear rDNA regions correspond with morphological classification based on scanning electron microscopy, and demonstrate paraphyly of the genus Gordionus and the potential for cryptic species within G. paranensis. Population-level analyses of E. nigromaculatus showed no genetic differentiation among sampling locations across the study area, in contrast to previously observed patterns in known and likely definitive hosts. Taken together, this raises the possibility that factors such as definitive host specificity, intermediate host movement, and passive dispersal of eggs and larvae may influence host–parasite population co-structure in hairworms.

We have used a sample of 263 Parkes half-Jansky flat-spectrum radio sources to measure the spatial correlation function of radio galaxies and radio-loud quasars on scales up to 1000 h−1 Mpc. We do not detect any clustering in the sample. If any undetected clustering is described by a power-law spatial correlation function [ξ(r) = (r/r0)−1·8], we can rule out clustering with scales r0 ≥ 50 h−1 Mpc at the 99·9% confidence level. We have also used the sample to test for the ‘possible’ large concentration of quasars in the direction of the microwave background dipole found by Shaver (1987). There is no evidence for such a concentration in our data and we show that the earlier result was probably biased by the use of non-uniform image classifications.

Design can be viewed as a complex and on-going social accomplishment, a product of everyday trajectories between a milieu of human and material registers. Seen in this way the design practice serves as an arena for these quotidian activities. We seek to construct a more dynamic picture of architecture by connecting process and product, supplementing a project narrative with one of practice, highlighting the context in which the outcome was created. We address the research question: how does practice culture become intertwined within the designed product?

A research model emerged from the review of the literature and evolved as a loose framework to discuss the practices and projects at hand. The research focused on the particular design consideration of adaptability in an effort to direct and ground the study. The research was conducted in two stages –at first a set of interviews were conducted to gain broader insights into the everyday accounts of the practices and secondly, project case studies were selected to further investigate the topic.

The narratives reveal the culture of each practice to stress a particular meaning in each context: for Make it is about a beautiful object; for ABA a piece of social infrastructure and; for CGL a business asset. Adaptability finds itself subdued, promoted, compromised and sold as part of the design process and the resultant architecture. Our contribution extends the argument that design is entangled within its socio-cultural surroundings and grounds the culture of practice in the designed artefacts - the way in which a practice handles decision-making contingencies, both endogenous and exogenous forces, will together shape a practice disposition towards design (adaptability). Design that is driven by a strong culture that embeds exogenous influences in the approach tends to provide more adaptable solutions as part of a quest to satisfy long-term, societal concerns.

Thyroid hormones (THs) have been shown to improve in vitro embryo production in cattle by increasing blastocyst formation rate, and the average cell number of blastocysts and by significantly decreasing apoptosis rate. To better understand those genetic aspects that may underlie enhanced early embryo development in the presence of THs, we characterized the bovine embryonic transcriptome at the blastocyst stage, and examined differential gene expression profiles using a bovine-specific microarray. We found that 1212 genes were differentially expressed in TH-treated embryos when compared with non-treated controls (>1.5-fold at P < 0.05). In addition 23 and eight genes were expressed uniquely in control and treated embryos, respectively. The expression of genes specifically associated with metabolism, mitochondrial function, cell differentiation and development were elevated. However, TH-related genes, including those encoding TH receptors and deiodinases, were not differentially expressed in treated embryos. Furthermore, the over-expression of 52 X-chromosome linked genes in treated embryos suggested a delay or escape from X-inactivation. This study highlights the significant impact of THs on differential gene expression in the early embryo; the identification of TH-responsive genes provides an insight into those regulatory pathways activated during development.

Many private emergency medical service operators are discontinuing ambulance service, which the public sector then is forced to provide. Because of the high cost of providing emergency medical service, a large subsidy often is required which the public sector in many rural areas, already under severe financial stress, cannot afford. To assist in solving this problem, Oklahoma legislators passed a law in 1976 which allows the formation of special emergency medical service districts. The usual procedure is for a district to be established along county lines. If the voters in the district approve support for an emergency medical service system, the district collects up to 3 mills annually from property owners to support the system. By October 1, 1977, voters of three counties in Oklahoma had approved creation of special emergency medical service districts. In addition, leaders of several other counties are discussing the issue and probably will take advantage of the enabling legislation.