Precise and efficient performance in remote robotic teleoperation relies on intuitive interaction. This requires both accurate control actions and complete perception (vision, haptic, and other sensory feedback) of the remote environment. Especially in immersive remote teleoperation, the complete perception of remote environments in 3D allows operators to gain improved situational awareness. Color and Depth (RGB-D) cameras capture remote environments as dense 3D point clouds for real-time visualization. However, providing enough situational awareness needs fast, high-quality data transmission from acquisition to virtual reality rendering. Unfortunately, dense point-cloud data can suffer from network delays and limits, impacting the teleoperator’s situational awareness. Understanding how the human eye works can help mitigate these challenges. This paper introduces a solution by implementing foveation, mimicking the human eye’s focus by smartly sampling and rendering dense point clouds for an intuitive remote teleoperation interface. This provides high resolution in the user’s central field, which gradually reduces toward the edges. However, this systematic visualization approach in the peripheral vision may benefit or risk losing information and burdening the user’s cognitive load. This work investigates these advantages and drawbacks through an experimental study and describes the overall system, with its software, hardware, and communication framework. This will show significant enhancements in both latency and throughput, surpassing 60% and 40% improvements in both aspects when compared with state-of-the-art research works. A user study reveals that the framework has minimal impact on the user’s visual quality of experience while helping to reduce the error rate significantly. Further, a 50% reduction in task execution time highlights the benefits of the proposed framework in immersive remote telerobotics applications.

This paper deals with the optimization of a new redundant spherical parallel manipulator (New SPM). This manipulator consists of two spherical five-bar mechanisms connected by the end-effector, providing three degrees of freedom, and has an unlimited self-rotation capability. Three optimization procedures based on the genetic algorithm method were carried out to improve the dexterity of the New SPM. The first and the second optimizations were applied to a symmetric New SPM structure, while the third was applied to an asymmetric New SPM structure. In both cases, the optimization was performed using an objective function defined by the quadratic sum of link angles. In addition, certain criteria and constraints were implemented. The obtained results demonstrate significant improvements in the dexterity of the New SPM and its capability of an unlimited self-rotate in an extended workspace. A comparison of the self-rotation performances between the classical 3-RRR SPM (R for revolute joint) and the New SPM is also presented.

In this paper, I question the argument from human dignity found in the Universal Declaration on the Human Genome and Human Rights (UDHGHR) and in the recent views of the International Bioethics Committee (IBC). I focus on what this argument says about the permissibility of two broad categories of reprogenetic choices that may be available to prospective parents in the genomic era. The argument from human dignity holds that non-medical genetic selection and somatic enhancements ought to be prohibited because they violate the principle of human dignity. I argue that human dignity need not be violated by the enterprise of human genetic selection/somatic enhancement if reasonable social safeguards are established. In particular, I argue that respecting the reprogenetic choices of the decision-maker is paramount within the boundaries of (i) prohibiting the infliction of a shortened lifespan or pain upon the child; (ii) prohibiting the actualization of demeaning beliefs or intentions such as viewing certain groups as inferior; (iii) prohibiting the choice resulting from an expression of unwillingness to love and care for the child; and, with respect to somatic gene enhancements in particular, (iv) the potentially unjustified effects of the enhancement on others, if any, are reasonably addressable (and addressed) via social modifications so as to ensure the enhancement no longer risks adversely affecting them. With these limits, reprogenetic autonomy cannot be said to undermine the dignity of humans by creating unjustified harms or expressing demeaning ideas.

From 1972 to 1991, a network of Chicago Police detectives used torture to force confessions from over 100 criminal suspects. Almost all were Black men, and many were wrongly convicted, some for capital offenses. I synthesize insights from comparative research on human rights, state abuse, and police violence in democracies to explain why, for nearly two decades, liberal institutions in Chicago failed to stop the torture. I argue that the nature of state violence in this case—targeting marginalized individuals uninvolved in political activity—intensified the practical, affective, and informational obstacles that are inherent to activating liberal institutions—courts, elected officials, media, and civil society—to fulfill their roles as rights enforcers. Applying these literatures to a type of case they typically overlook—a wealthy liberal democracy—contributes to understanding why state violence persists in such states and why it tends to concentrate on marginalized populations.

The UK government launched a two-component sugar-reduction programme in 2016, one component is the taxation of sugar-sweetened beverages, the Soft Drinks Industry Levy, and the second is a voluntary sugar reduction programme for products contributing most to children’s sugar intakes. These policies provided incentives both for industry to change the products they sell and for people to change their food and beverage choices through a ‘signalling’ effect that has raised awareness of excess sugar intakes in the population. In this study, we aimed to identify the relative contributions of the supply- and demand-side drivers of changes in the sugar density of food and beverages purchased in Great Britain. While we found that both supply- and demand-side drivers contributed to decreasing the sugar density of beverage purchases (reformulation led to a 19 % reduction, product renewal 14 %, and consumer switching between products 8 %), for food products it was mostly supply-side drivers (reformulation and product renewal). Reformulation contributed consistently to a decrease in the sugar density of purchases across households, whereas changes in consumer choices were generally in the opposite direction, offsetting benefits of reformulation. We studied the social gradient of sugar density reduction for breakfast cereals, achieved mostly by reformulation, and found increased reductions in sugar purchased by households of lower socio-economic status. Conversely, there was no social gradient for soft drinks. We conclude that taxes and reformulation incentives are complementary and combining them in a programme to improve the nutritional quality of foods increases the probability of improvements in diet quality.

Activation policies, especially formal upskilling, can strengthen social inequality among long-term unemployed people. Also, receiving skill-enhancing activities may be at odds with the ‘work first’ principle. Drawing on interviews with frontline workers in the Norwegian employment and welfare service (NAV), this article analyses how frontline workers handle the challenging aspects arising from activation policies in providing enabling activities to claimants who need comprehensive support. The findings suggest that frontline workers face claimants who expect to embark on an education, and on the contrary, claimants who lack motivation or capability to do so. In both cases, frontline workers are challenged in terms of experiencing contradictory expectations from policies and users and in assessing future outcomes and suitability of the services. Education activities provided by the public employment agency (PES) involves multiple policy fields and require specific competency on the part of frontline workers.

Ebstein’s anomaly is rarely accompanied by coarctation of the aorta, although patients with Ebstein’s anomaly have a relatively small left ventricle. Here, we report a rare case of Ebstein’s anomaly with coarctation of the aorta and a bicuspid aortic valve. We compared the foetal echocardiographic parameters of five previous cases with Ebstein’s anomaly without left heart obstruction to explore the association between left ventricular volume, Ebstein’s anomaly severity, and left heart obstruction.

In recent years, unmanned aerial vehicles (UAVs) have been applied in underground mine inspection and other similar works depending on their versatility and mobility. However, accurate localization of UAVs in perceptually degraded mines is full of challenges due to the harsh light conditions and similar roadway structures. Due to the unique characteristics of the underground mines, this paper proposes a semantic knowledge database-based localization method for UAVs. By minimizing the spatial point-to-edge distance and point-to-plane distance, the relative pose constraint factor between keyframes is designed for UAV continuous pose estimation. To reduce the accumulated localization errors during the long-distance flight in a perceptual-degraded mine, a semantic knowledge database is established by segmenting the intersection point cloud from the prior map of the mine. The topological feature of the current keyframe is detected in real time during the UAV flight. The intersection position constraint factor is constructed by comparing the similarity between the topological feature of the current keyframe and the intersections in the semantic knowledge database. Combining the relative pose constraint factor of LiDAR keyframes and the intersection position constraint factor, the optimization model of the UAV pose factor graph is established to estimate UAV flight pose and eliminate the cumulative error. Two UAV localization experiments conducted on the simulated large-scale Edgar Mine and a mine-like indoor corridor indicate that the proposed UAV localization method can realize accurate localization during long-distance flight in degraded mines.