Anomaly Detection Methods in Autonomous Robotic Missions.

Since 2015, there has been an increase in articles on anomaly detection in robotic systems, reflecting its growing importance in improving the robustness and reliability of the increasingly utilized autonomous robots. This review paper investigates the literature on the detection of anomalies in Autonomous Robotic Missions (ARMs). It reveals different perspectives on anomaly and juxtaposition to fault detection. To reach a consensus, we infer a unified understanding of anomalies that encapsulate their various characteristics observed in ARMs and propose a classification of anomalies in terms of spatial, temporal, and spatiotemporal elements based on their fundamental features. Further, the paper discusses the implications of the proposed unified understanding and classification in ARMs and provides future directions. We envisage a study surrounding the specific use of the term anomaly, and methods for their detection could contribute to and accelerate the research and development of a universal anomaly detection system for ARMs.

Use and Trends of Diabetes Self-Management Technologies: A Correlation-Based Study.

Applications and systems for diabetes self-management are growing and involve a vast majority of factors to consider. This study was aimed at examining the integration of portable technologies for diabetes self-management, as well as benefits and issues arising of its use. From a web-based study on several groups of people with diabetes, most of them accustomed to the daily use of devices and applications for self-control, a deeper analysis based on correlations and inference was conducted considering information about the disease, technology knowledge and devices handling, use of technologies for diabetes control and management, and training with devices from a clinical and educational viewpoint. In this study, more than 70% of participants use Continuous Glucose Systems and additional devices (41.85% also use insulin pumps) which impacts positively on the knowledge of incoming technologies. The "easy to use" factor of current apps for diabetes self-management is the most valuable feature. Also, 88.98% of participants did not use gamification-based methods during the initial training sessions, although gamification is a useful technique in learning stages. An inference analysis shows how specific characteristics of diabetes devices and apps should improve. On the basis of the results, we discuss about benefits, shortcomings, and the state of these technologies and patient needs for the future.

Technoeconomic Analysis of Negative Emissions Bioenergy with Carbon Capture and Storage through Pyrolysis and Bioenergy District Heating Infrastructure.

Bioenergy with carbon capture and storage (BECCS) has been identified as a cost-effective negative emission technology that will be necessary to limit global warming to 1.5 °C targets. However, the study of BECCS deployment has mainly focused on large-scale, centralized facilities and geologic sequestration. In this study, we perform technoeconomic analysis of BECCS through pyrolysis technology within a district heating system using locally grown switchgrass. The analysis is based on a unique case study of an existing switchgrass-fueled district heating system in the rural southeastern United States and combines empirical daily energy data with a retrospective analysis of add-on pyrolysis technology with biochar storage. We show that at current heating oil and switchgrass prices, pyrolysis-bioenergy (PyBE) and pyrolysis BECCS (PyBECCS) can each reach economic parity with a fossil fuel-based system when the prices of carbon is $116/Mg CO2-eq and $51/Mg CO2-eq, respectively. In addition, each can reach parity with a direct combustion bioenergy (BE) system when the prices of carbon is $264/Mg CO2-eq and $212/Mg CO2-eq, respectively. However, PyBECCS cannot reach economic parity with BE without revenue from carbon sequestration, while PyBE can, and in some cases, PyBECCS could counterintuitively require more reliance on fossil fuels than both the PyBE case and BE.

Examining privilege and power in US urban parks and open space during the double crises of antiblack racism and COVID-19.

In this perspective, we argue that creating the positive outcomes socio-ecological researchers and practitioners seek for urban areas requires acknowledging and addressing the interactions of race and systemic racism in parks, open and green spaces. Racial experiences are inseparable from physical landscapes and the processes of designing, managing, or studying them. From COVID-19 to the Black Lives Matter movement and protests, the events of 2020 in the United States underscore how considerations of social justice must extend beyond the conventional distributional focus of environmental justice. It must incorporate an understanding of how the built environment is racialized spatially, but not always readily quantified through the proximity-based measurements frequently used in research and practice. The perspective is organized in three main parts. The first part presents a series of vignettes to frame the ways cities and individuals participate, respond, and interact under COVID-19 with racial segregation as the backdrop. The second part suggests a stepwise approach to building an understanding of racial inequities in socio-ecological systems (SES) research and practice including four entry points: (1) racialized spatial distribution of hazards and amenities, (2) racialized qualities of space, (3) racialized people in space, and (4) racialized creation of space. Finally, the third part proposes actions the SES community can take to enhance our commitment to community recovery, improvement, and thrivability. This perspective cautions practitioners and researchers against opportunistic or quick-fix solutions, and instead challenges our colleagues to be inclusive of disenfranchised voices in shaping socio-ecological goals, now more than ever. The goal of this perspective is to spark engagement with power and privilege in parks and open space using the example of COVID-19 and race in the US.

Current Competencies of Game Facilitators and Their Potential Optimization in Higher Education: Multimethod Study.

BACKGROUND: Serious games can be a powerful learning tool in higher education. However, the literature indicates that the learning outcome in a serious game depends on the facilitators' competencies. Although professional facilitators in commercial game-based training have undergone specific instruction, facilitators in higher education cannot rely on such formal instruction, as game facilitation is only an occasional part of their teaching activities. OBJECTIVE: This study aimed to address the actual competencies of occasional game facilitators and their perceived competency deficits. METHODS: Having many years of experience as professional and occasional facilitators, we (n=7) defined requirements for the occasional game facilitator using individual reflection and focus discussion. Based on these results, guided interviews were conducted with additional occasional game facilitators (n=4) to check and extend the requirements. Finally, a group of occasional game facilitators (n=30) answered an online questionnaire based on the results of the requirement analysis and existing competency models. RESULTS: Our review produced the following questions: Which competencies are needed by facilitators and what are their training needs? What do current training courses for occasional game facilitators in higher education look like? How do the competencies of occasional game facilitators differ from other competencies required in higher education? The key findings of our analysis are that a mix of managerial and technical competencies is required for facilitating serious games in higher educational contexts. Further, there is a limited or no general competence model for game facilitators, and casual game facilitators rarely undergo any specific, formal training. CONCLUSIONS: The results identified the competencies that game facilitators require and a demand for specific formal training. Thus, the study contributes to the further development of a competency model for game facilitators and enhances the efficiency of serious games.

An integrated haptic-enabled virtual reality system for orthognathic surgery planning.

Conventional Orthognathic surgery (OGS) planning involves cephalometric analyses and dental casts to be mounted on an articulator. Dental segments are subsequently identified, cut and repositioned to allow the fabrication of intraoral wafers that guide the positioning of the osteotomy bone segments. This conventional planning introduces many inaccuracies that affect the post-surgery outcomes. Although computer technologies have advanced computational tools for OGS planning, they have failed in providing a practical solution. Many focuses only on some specific stages of the planning process, and their ability to transfer preoperative planning data to the operating room is limited. This paper proposes a new integrated haptic-enabled virtual reality (VR) system for OGS planning. The system incorporates CAD tools and haptics to facilitate a complete planning process and is able to automatically generate preoperative plans. A clinical pre-diagnosis is also provided automatically by the system based on the patient's digital data. A functional evaluation based on a real patient case study demonstrates that the proposed virtual OGS planning method is feasible and more effective than the traditional approach at increasing the intuitiveness and reducing errors and planning times.

The evaluation of a novel haptic-enabled virtual reality approach for computer-aided cephalometry.

BACKGROUND AND OBJECTIVE: In oral and maxillofacial surgery, conventional radiographic cephalometry is one of the standard auxiliary tools for diagnosis and surgical planning. While contemporary computer-assisted cephalometric systems and methodologies support cephalometric analysis, they tend neither to be practical nor intuitive for practitioners. This is particularly the case for 3D methods since the associated landmarking process is difficult and time consuming. In addition to this, there are no 3D cephalometry norms or standards defined; therefore new landmark selection methods are required which will help facilitate their establishment. This paper presents and evaluates a novel haptic-enabled landmarking approach to overcome some of the difficulties and disadvantages of the current landmarking processes used in 2D and 3D cephalometry. METHOD: In order to evaluate this new system's feasibility and performance, 21 dental surgeons (comprising 7 Novices, 7 Semi-experts and 7 Experts) performed a range of case studies using a haptic-enabled 2D, 2½D and 3D digital cephalometric analyses. RESULTS: The results compared the 2D, 2½D and 3D cephalometric values, errors and standard deviations for each case study and associated group of participants and revealed that 3D cephalometry significantly reduced landmarking errors and variability compared to 2D methods. CONCLUSIONS: Through enhancing the process by providing a sense of touch, the haptic-enabled 3D digital cephalometric approach was found to be feasible and more intuitive than its counterparts as well effective at reducing errors, the variability of the measurements taken and associated task completion times.

An Effective Neurofeedback Intervention to Improve Social Interactions in Children with Autism Spectrum Disorder.

Neurofeedback training (NFT) approaches were investigated to improve behavior, cognition and emotion regulation in children with autism spectrum disorder (ASD). Thirteen children with ASD completed pre-/post-assessments and 16 NFT-sessions. The NFT was based on a game that encouraged social interactions and provided feedback based on imitation and emotional responsiveness. Bidirectional training of EEG mu suppression and enhancement (8-12 Hz over somatosensory cortex) was compared to the standard method of enhancing mu. Children learned to control mu rhythm with both methods and showed improvements in (1) electrophysiology: increased mu suppression, (2) emotional responsiveness: improved emotion recognition and spontaneous imitation, and (3) behavior: significantly better behavior in every-day life. Thus, these NFT paradigms improve aspects of behavior necessary for successful social interactions.

Brain-computer interface game applications for combined neurofeedback and biofeedback treatment for children on the autism spectrum.

Individuals with autism spectrum disorder (ASD) show deficits in social and communicative skills, including imitation, empathy, and shared attention, as well as restricted interests and repetitive patterns of behaviors. Evidence for and against the idea that dysfunctions in the mirror neuron system are involved in imitation and could be one underlying cause for ASD is discussed in this review. Neurofeedback interventions have reduced symptoms in children with ASD by self-regulation of brain rhythms. However, cortical deficiencies are not the only cause of these symptoms. Peripheral physiological activity, such as the heart rate and its variability, is closely linked to neurophysiological signals and associated with social engagement. Therefore, a combined approach targeting the interplay between brain, body, and behavior could be more effective. Brain-computer interface applications for combined neurofeedback and biofeedback treatment for children with ASD are currently nonexistent. To facilitate their use, we have designed an innovative game that includes social interactions and provides neural- and body-based feedback that corresponds directly to the underlying significance of the trained signals as well as to the behavior that is reinforced.

Emission inventory for PFOS in China: review of past methodologies and suggestions.

Perfluorooctane sulfonate (PFOS) is a persistent, bioaccumulative, and toxic chemical that has the potential for long-range transport in the environment. Its use in a wide variety of consumer products and industrial processes makes a detailed characterization of its emissions sources very challenging. These varied emissions sources all contribute to PFOS' existence within nearly all environmental media. Currently, China is the only country documented to still be producing PFOS, though there is no China PFOS emission inventory available. This study reviews the inventory methodologies for PFOS in other countries to suggest a China-specific methodology framework for a PFOS emission inventory. The suggested framework combines unknowns for PFOS-containing product penetration into the Chinese market with product lifecycle assumptions, centralizing these diverse sources into municipal sewage treatment plants. Releases from industrial sources can be quantified separately using another set of emission factors. Industrial sources likely to be relevant to the Chinese environment are identified.