A remote-controlled automatic chest compression device capable of moving compression position during CPR: A pilot study in a mannequin and a swine model of cardiac arrest.

BACKGROUND: Recently, we developed a chest compression device that can move the chest compression position without interruption during CPR and be remotely controlled to minimize rescuer exposure to infectious diseases. The purpose of this study was to compare its performance with conventional mechanical CPR device in a mannequin and a swine model of cardiac arrest. MATERIALS AND METHODS: A prototype of a remote-controlled automatic chest compression device (ROSCER) that can change the chest compression position without interruption during CPR was developed, and its performance was compared with LUCAS 3 in a mannequin and a swine model of cardiac arrest. In a swine model of cardiac arrest, 16 male pigs were randomly assigned into the two groups, ROSCER CPR (n = 8) and LUCAS 3 CPR (n = 8), respectively. During 5 minutes of CPR, hemodynamic parameters including aortic pressure, right atrial pressure, coronary perfusion pressure, common carotid blood flow, and end-tidal carbon dioxide partial pressure were measured. RESULTS: In the compression performance test using a mannequin, compression depth, compression time, decompression time, and plateau time were almost equal between ROSCER and LUCAS 3. In a swine model of cardiac arrest, coronary perfusion pressure showed no difference between the two groups (p = 0.409). Systolic aortic pressure and carotid blood flow were higher in the LUCAS 3 group than in the ROSCER group during 5 minutes of CPR (p < 0.001, p = 0.008, respectively). End-tidal CO2 level of the ROSCER group was initially lower than that of the LUCAS 3 group, but was higher over time (p = 0.022). A Kaplan-Meier survival analysis for ROSC also showed no difference between the two groups (p = 0.46). CONCLUSION: The prototype of a remote-controlled automated chest compression device can move the chest compression position without interruption during CPR. In a mannequin and a swine model of cardiac arrest, the device showed no inferior performance to a conventional mechanical CPR device.

Ocean fronts as decadal thermostats modulating continental warming hiatus.

Over the past decade, an unexpected cooling trend has been observed in East Asia and North America during winter. Climate model simulations suggest that this pattern of stalled warming, besides accelerated warming, will repeat throughout the course of global warming, influenced by the natural decade-long variations in the climate system. However, understanding the exact factors affecting the pace of warming remains a challenge. Here we show that a pause in warming over continental areas-namely, local warming hiatus-can be accompanied by excessive heat accumulation north of the ocean fronts. This oceanic condition, often manifesting in the form of marine heatwaves, constrains the subseasonal growth of atmospheric planetary waves, significantly increasing the likelihood of cold extremes in downstream continents. Our results underscore the importance of closely monitoring changing ocean fronts in response to human-induced warming, which can potentially reshape the inherent decade-long fluctuations within regional climates over the long term.

Accurate Visual Simultaneous Localization and Mapping (SLAM) against Around View Monitor (AVM) Distortion Error Using Weighted Generalized Iterative Closest Point (GICP).

Accurately estimating the pose of a vehicle is important for autonomous parking. The study of around view monitor (AVM)-based visual Simultaneous Localization and Mapping (SLAM) has gained attention due to its affordability, commercial availability, and suitability for parking scenarios characterized by rapid rotations and back-and-forth movements of the vehicle. In real-world environments, however, the performance of AVM-based visual SLAM is degraded by AVM distortion errors resulting from an inaccurate camera calibration. Therefore, this paper presents an AVM-based visual SLAM for autonomous parking which is robust against AVM distortion errors. A deep learning network is employed to assign weights to parking line features based on the extent of the AVM distortion error. To obtain training data while minimizing human effort, three-dimensional (3D) Light Detection and Ranging (LiDAR) data and official parking lot guidelines are utilized. The output of the trained network model is incorporated into weighted Generalized Iterative Closest Point (GICP) for vehicle localization under distortion error conditions. The experimental results demonstrate that the proposed method reduces localization errors by an average of 39% compared with previous AVM-based visual SLAM approaches.

Measuring small-scale plasma irregularities in the high-latitude E- and F-regions simultaneously.

The ionosphere, Earth's space environment, exhibits widespread turbulent structuring, or plasma irregularities, visualized by the auroral displays seen in Earth's polar regions. Such plasma irregularities have been studied for decades, but plasma turbulence remains an elusive phenomenon. We combine scale-dependent measurements from a ground-based radar with satellite observations to characterize small-scale irregularities simultaneously in the bottomside and topside ionosphere and perform a statistical analysis on an aggregate from both instruments over time. We demonstrate the clear mapping of information vertically along the ionospheric altitude column, for field-perpendicular wavelengths down to 1.5 km. Our results paint a picture of the northern hemisphere high-latitude ionosphere as a turbulent system that is in a constant state of growth and decay; energy is being constantly injected and dissipated as the system is continuously attempting an accelerated return to equilibrium. We connect the widespread irregularity dissipation to Pedersen conductance in the E-region, and discuss the similarities between irregularities found in the polar cap and in the auroral region in that context. We find that the effects of a conducting E-region on certain turbulent properties (small-scale spectral index) is near ubiquitous in the dataset, and so we suggest that the electrodynamics of a conducting E-region must be considered when discussing plasma turbulence at high latitudes. This intimate relationship opens up the possibility that E-region conductivity is associated with the generation of F-region irregularities, though further studies are needed to assess that possibility.

Autonomous driving using imitation learning with look ahead point for semi structured environments.

Semi-structured environments are difficult for autonomous driving because there are numerous unknown obstacles in drivable area without lanes, and its width and curvature considerably change. In such environments, searching for a path on a real-time is difficult, and localization data are inaccurate, reducing path tracking accuracy. Instead, alternative methods that reactively avoid obstacles in real-time using candidate paths or an artificial potential field have been studied. However, these require heuristics to identify specific parameters for handling various environments and are vulnerable to inaccurate input data. To address these limitations, this study proposes a method in which a vehicle drives toward drivable area using vision and deep learning. The proposed imitation learning method learns the look-ahead point where the vehicle should reach on a vision-based occupancy grid map to obtain a safe policy with a clear state action pattern relationship. Furthermore, using this point, the data aggregation (DAgger) algorithm with weighted loss function is proposed, which imitates expert behavior more accurately, especially in unsafe or near-collision situations. Experimental results in actual semi-structured environments demonstrated the limitations of general model-based methods and the effectiveness of the proposed imitation learning method. Moreover, simulation experiments showed that DAgger with the weight obtains a safer policy than existing DAgger algorithms.

Increased Indian Ocean-North Atlantic Ocean warming chain under greenhouse warming.

Over the past half a century, both the Indian Ocean (IO) and the North Atlantic Ocean (NA) exhibit strong warming trends like a global mean surface temperature (SST). Here, we show that not only simply as a result of increased greenhouse gases, but the IO-NA interaction through atmospheric teleconnection boosts up their warming trends. Climate model simulations demonstrate that the IO warming increases the NA SST by enhancing the longwave radiation through atmospheric teleconnection, subsequently, the warmer NA SST-induced atmospheric teleconnection leads to IO warming by reducing evaporative cooling with weakened surface winds. This two-way interaction (i.e., IO-NA warming chain) acts as positive feedback that reinforces warming over both ocean basins. The Pacific Ocean is partly involved in this warming chain as a modulator in an interdecadal timescale. These results highlight the importance of understanding ocean-basin interactions that may provide a more accurate future projection of warming.

Exospheric Temperature Measured by NASA-GOLD Under Low Solar Activity: Comparison With Other Data Sets.

Exospheric temperature is one of the key parameters in constructing thermospheric models and has been extensively studied with in situ observations and remote sensing. The Global-scale Observations of the Limb and Disk (GOLD) at a geosynchronous vantage point provides dayglow limb images for two longitude sectors, from which we can estimate the terrestrial exospheric temperature since 2018. In this paper, we investigate climatological behavior of the exospheric temperature measured by GOLD. The temperature has positive correlations with solar and geomagnetic activity and exhibits a morning-afternoon asymmetry, both of which agree with previous studies. We have found that the arithmetic sum of F10.7 (solar) and Ap (geomagnetic) indices is highly correlated with the exospheric temperature, explaining ∼64% of the day-to-day variability. Furthermore, the exospheric temperature has good correlation with thermospheric parameters (e.g., neutral temperature, O2 density, and NO emission index) sampled at various heights above ∼130 km, in spite of the well-known thermal gradient below ∼200 km. However, thermospheric temperature at altitudes around 100 km is not well correlated with the GOLD exospheric temperature. The result implies that effects other than thermospheric heating by solar Extreme Ultraviolet and geomagnetic activity take control below a threshold altitude that exists between ∼100 and ∼130 km.

Temporal Evolution of Low-Latitude Plasma Blobs Identified From Multiple Measurements: ICON, GOLD, and Madrigal TEC.

Low-latitude plasma blobs have been studied since their first being reported in 1986. However, investigations on temporal evolution of a blob or on continental scale (>2,000 km) ionospheric contexts around it are relatively rare. Overcoming these limitations can help elucidate the blob generation mechanisms. On 21 January 2021, the Ionospheric Connection Explorer satellite encountered a typical low-latitude blob near the northeastern coast of South America. The event was collocated with a local enhancement in 135.6 nm nightglow at the poleward edge of an equatorial plasma bubble (EPB), as observed by the Global-scale Observations of the Limb and Disk (GOLD) imager. Total electron content maps from the Global Navigation Satellite System confirm the GOLD observations. Unlike typical medium-scale traveling ionospheric disturbances (MSTIDs), the blob had neither well-organized wavefronts nor moved in the southwest direction. Neither was the blob a monotonically decaying equatorial ionization anomaly crest past sunset. Rather, the blob varied following latitudinal expansion/contraction of EPBs at similar magnetic longitudes. The observational results support that mechanisms other than MSTIDs, such as EPBs, can also contribute to blob generation.

Tropical origins of the record-breaking 2020 summer rainfall extremes in East Asia.

The East Asian countries have experienced heavy rainfalls in boreal summer 2020. Here, we investigate the dynamical processes driving the rainfall extremes in East Asia during July and August. The Indian Ocean basin warming in June can be responsible for the anticyclonic anomalies in the western North Pacific (WNP), which modulate the zonally-elongated rainfalls in East Asia during July through an atmospheric Rossby wave train. In August, the East Asian rainfall increase is also related to the anticyclonic anomalies in the subtropical WNP, although it is located further north. The north tropical Atlantic warming in June partly contributes to the subtropical WNP rainfall decrease in August through a subtropical teleconnection. Then the subtropical WNP rainfall decrease drives the local anticyclonic anomalies that cause the rainfall increase in East Asia during August. The tropical Indian Ocean anomalously warmed in June and the subtropical WNP rainfall decreased in August 2020, which played a role in modulating the WNP anticyclonic anomalies. Therefore, the record-breaking rainfall extremes in East Asia that occurred during summer 2020 can be explained by the teleconnections associated with the tropical origins among the Indian, Pacific, and Atlantic Oceans and their interbasin interactions.

Advanced Compliant Anti-Gravity Robot System for Lumbar Stabilization Exercise Using Series Elastic Actuator.

Background: The lumbar stabilization exercise is one of the most recommended treatments in medical professionals for patients suffering from low back pain. However, because lumbar stabilization exercise is calisthenics, it is challenging to perform because of the body load of the elderly, disabled, and patients that lack muscle strength. Additionally, it interferes with the effect of exercise because it can strain parts of the body. Methods: To overcome them, a compliant anti-gravity rehabilitation proto-type device using the Series Elastic Actuator (SEA) was developed previously to provide quantitative assist force to the person, producing similar exercise effects with calisthenics. From an exercise experiment with 20 participants, it caused discomfort to participants during exercise owing to the non-ergonomic design of the previous device. Different muscle activation tendencies were observed between calisthenics and exercise using the device. For advanced technical solutions to clinical needs, which is exercise using the rehabilitation robot to produce a similar effect to calisthenics, the mechanical design of the rehabilitation robot was improved based on the previous device after receiving feedback from clinical trials and static analysis. For the safety of exercise using the robot, a cascade PID-PI controller was used to reduce the influence of friction and disturbance due to the external movement. Results: Surface electromyography(sEMG) signal from lumbar muscles showed desired monotonic reduction ratio and higher similarity results compared to the previous device, which proved the exercise effectiveness using the robot. Conclusion: The proposed robot is considered as a solution to a clinical need of lumbar rehabilitation for the elderly, disabled, and patients.

Isolated Peak of Oxygen Ion Fraction in the Post-Noon Equatorial F-Region: ICON and SAMI3/WACCM-X.

In the equatorial region, the fraction of oxygen ions (O+) in the topside ionosphere contains information on the source altitude of the plasma, which is controlled, in part, by the vertical plasma motion in the F-region. Previous studies on this topic are restricted by limited coverage of local time, latitude, and season, leaving a significant knowledge gap in the distribution of the topside ionospheric composition. In this study, we statistically investigate the O+ fraction measured by ICON/IVM over all the local time sectors and seasons at low/midlatitudes. For the first time, we have found that an isolated peak in the O+ fraction emerges in the post-noon equatorial region. The peak is most prominent during equinoxes, while during solstices it is connected to the O+ fraction bulges in the local summer midlatitudes. Simulations with SAMI3 coupled with thermospheric parameters from WACCM-X reproduce the peak of the O+ fraction. The post-noon equatorial peak can be explained by the net vertical motion of plasma consisting of transports either parallel or perpendicular to geomagnetic field lines.

Ion Velocity and Temperature Variation Around Topside Nighttime Irregularities: Contrast Between Low- and Mid-Latitude Regions.

Studies on low-/mid-latitude ionospheric irregularities have a long history, but ion temperature and drift velocity variations within the irregularities have been rarely investigated, especially at mid-latitudes. To fill this knowledge gap, we statistically investigate ion temperature and velocity of mid-latitude ionospheric irregularities and compare them to those of low-latitude ones. This study mainly relies on in situ plasma moment data from the newly launched Ionospheric Connection Explorer (ICON) satellite and is supplemented by Republic of China Satellite 1 (ROCSAT-1) data in 2000-2004. At low latitudes (|MLAT|<10°) plasma density irregularities encountered by ICON have the following properties: lower-density regions have cooler ions and more poleward/westward/outward velocity than (|MLAT| = 10°âˆ¼30°), the opposite trends are observed: lower-density regions have hotter ions and more the ambient plasma, which agrees with previous reports on equatorial plasma bubbles. At mid-latitudes equatorward/eastward/inward drift than the ambient, which is a new finding in this study. The mid-latitude observations can be put into the context of Medium-Scale Traveling Ionospheric Disturbance (MSTID) properties reported previously, which evidences that topside irregularities at nighttime mid-latitudes generally represent MSTIDs. ROCSAT-1 data support the contrast between low- and mid-latitude ionospheric irregularities.

Mean sea surface temperature changes influence ENSO-related precipitation changes in the mid-latitudes.

El Niño profoundly impacts precipitation in high-population regions. This demands an advanced understanding of the changes in El Niño-induced precipitation under the future global warming scenario. However, thus far, consensus is lacking regarding future changes in mid-latitude precipitation influenced by El Niño. Here, by analyzing the Coupled Model Intercomparison Project simulations, we show that future precipitation changes are tightly linked to the response of each type of El Niño to the tropical Pacific mean sea surface temperature (SST) change. A La Niña-like mean SST change intensifies basin-wide El Niño events causing approximately 20% more precipitation over East Asia and North America via enhancing moisture transport. Meanwhile, an El Niño-like mean SST change generates more frequent eastern Pacific El Niño events, enhancing precipitation in North American. Our findings highlight the importance of the mean SST projection in selectively influencing the types of El Niño and their remote impact on precipitation.

Reactive Self-Collision Avoidance for a Differentially Driven Mobile Manipulator.

This paper introduces a reactive self-collision avoidance algorithm for differentially driven mobile manipulators. The proposed method mainly focuses on self-collision between a manipulator and the mobile robot. We introduce the concept of a distance buffer border (DBB), which is a 3D curved surface enclosing a buffer region of the mobile robot. The region has the thickness equal to buffer distance. When the distance between the manipulator and mobile robot is less than the buffer distance, which means the manipulator lies inside the buffer region of the mobile robot, the proposed strategy is to move the mobile robot away from the manipulator in order for the manipulator to be placed outside the border of the region, the DBB. The strategy is achieved by exerting force on the mobile robot. Therefore, the manipulator can avoid self-collision with the mobile robot without modifying the predefined motion of the manipulator in a world Cartesian coordinate frame. In particular, the direction of the force is determined by considering the non-holonomic constraint of the differentially driven mobile robot. Additionally, the reachability of the manipulator is considered to arrive at a configuration in which the manipulator can be more maneuverable. In this respect, the proposed algorithm has a distinct advantage over existing avoidance methods that do not consider the non-holonomic constraint of the mobile robot and push links away from each other without considering the workspace. To realize the desired force and resulting torque, an avoidance task is constructed by converting them into the accelerations of the mobile robot. The avoidance task is smoothly inserted with a top priority into the controller based on hierarchical quadratic programming. The proposed algorithm was implemented on a differentially driven mobile robot with a 7-DOFs robotic arm and its performance was demonstrated in various experimental scenarios.

Effects of body movement on yaw motion in bipedal running lizard by dynamic simulation.

Lizards run quickly and stably in a bipedal gait, with their bodies exhibiting a lateral S-shaped undulation. We investigate the relationship between a lizard's bipedal running and its body movement with the help of a dynamic simulation. In this study, a dynamic theoretical model of lizard is assumed as a three-link consisting of an anterior and posterior bodies, and a tail, with morphometrics based on Callisaurus draconoides. When a lizard runs straight in a stable bipedal gait, its pelvic rotation is periodically synchronized with its gait. This study shows that the S-shaped body undulation with the yaw motion is generated by minimizing the square of joint torque. Furthermore, we performed the biomechanical simulation to figure out the relationship between the lizard's lateral body undulation and the bipedal running locomotion. In the biomechanical simulation, all joint torques significantly vary by the waist and tail' motions at the same locomotion. Besides, when the waist and tail joint angles increase, the stride length and duration of the model also increase, and the stride frequency decreases at the same running speed. It means that the lizard's undulatory body movements increase its stride and help it run faster. In this study, we found the benefits of the lizard's undulatory body movement and figured out the relationship between the body movement and the locomotion by analyzing the dynamics. In the future works, we will analyze body movements under different environments with various simulators.

Parking Line Based SLAM Approach Using AVM/LiDAR Sensor Fusion for Rapid and Accurate Loop Closing and Parking Space Detection.

Parking is a challenging task for autonomous vehicles and requires a centimeter level precision of distance measurement for safe parking at a destination to avoid collisions with nearby vehicles. In order to avoid collisions with parked vehicles while parking, real-time localization performance should be maintained even when loop closing occurs. This study proposes a simultaneous localization and mapping (SLAM) method, using around view monitor (AVM)/light detection and ranging (LiDAR) sensor fusion, that provides rapid loop closing performance. We extract the parking line features by utilizing the sensor fusion data for sparse feature-based pose graph optimization that boosts the loop closing speed. Hence, the proposed method can perform the loop closing within a few milliseconds to compensate for the accumulative errors even in a large-scale outdoor environment, which is much faster than other LiDAR-based SLAM algorithms. Therefore, it easily satisfies real-time localization performance. Furthermore, thanks to the parking line features, the proposed method can detect a parking space by utilizing the accumulated parking lines in the map. The experiment was performed in three outdoor parking lots to validate the localization performance and parking space detection performance. All of the proposed methods can be operated in real-time in a single-CPU environment.

Effect of heel base area and walking speed on the utilized coefficient of friction during high-heeled walking.

BACKGROUND: The utilized coefficient of friction (uCOF) and the risk of slipping are known to increase as the heel height of shoes increases. The heel base area of shoes can also affect the uCOF. OBJECTIVE: The purpose of this study is to investigate the effect of the heel base area of high heels and walking speed on the uCOF during walking and their interaction effect. METHODS: The walking experiment was conducted at the speed of 1.0 m/s and 1.25 m/s using four 9-cm high heels having different heel areas (narrow, moderate, wide, and wedge heels). RESULTS: The peak uCOF was significantly lower when wearing the wide heels than when wearing the other heels. Wearing the narrow and moderate heels reduced the vertical ground reaction force (GRF) owing to the early timing of the peak anterior-posterior GRF and increased the peak uCOF. As the walking speed became faster, the peak uCOF became greater with more increases by the interaction effect when wearing the narrow and moderate heels than when wearing the wide and wedge heels. CONCLUSIONS: These results imply that wearing narrow high heels should be considered carefully, as the potential for a slip could be high owing to the increase in the peak uCOF. If it is inevitable to wear narrow high heels, it is critical to walk at a slower speed than usual. It is better to wear high heels with a wide heel area, e.g., 3 cm*3 cm, rather than narrow high heels or even wedge heels to reduce the possibility of slipping.

Three-Dimensional Visualization System with Spatial Information for Navigation of Tele-Operated Robots.

This study describes a three-dimensional visualization system with spatial information for the effective control of a tele-operated robot. The environmental visualization system for operating the robot is very important. The tele-operated robot performs tasks in a disaster area that is not accessible to humans. The visualization system should perform in real-time to cope with rapidly changing situations. The visualization system should also provide accurate and high-level information so that the tele-operator can make the right decisions. The proposed system consists of four fisheye cameras and a 360° laser scanner. When the robot moves to the unknown space, a spatial model is created using the spatial information data of the laser scanner, and a single-stitched image is created using four images from cameras and mapped in real-time. The visualized image contains the surrounding spatial information; hence, the tele-operator can not only grasp the surrounding space easily, but also knows the relative position of the robot in space. In addition, it provides various angles of view without moving the robot or sensor, thereby coping with various situations. The experimental results show that the proposed method has a more natural appearance than the conventional methods.

Predicting El Niño Beyond 1-year Lead: Effect of the Western Hemisphere Warm Pool.

Due to the profound impact of El Niño-Southern Oscillation (ENSO) on global climate and weather, extensive research has been devoted to its prediction. However, prediction accuracy based on observation is still insufficient and largely limited to less than one year of lead time. In this study, we demonstrate the possibility that anomalous sea surface temperature (SST) warming (cooling) in the Western Hemisphere Warm Pool (WHWP, a.k.a. Atlantic Warm Pool) near the Intra-Americas Sea (IAS), which is the second largest warm pool on the planet, contributes to the initiation of La Niña (El Niño) with a 17-month lag time. SST anomalies in WHWP in late boreal summer contribute significantly to the emergence of the Pacific meridional mode (PMM) via interaction between the ocean and atmosphere over the subtropical North Pacific during the subsequent winter and spring. Near-equatorial surface wind anomalies associated with the PMM can further trigger ENSO through the dynamics of the equatorial oceanic waves. Thus, this observational analysis presents a clear step-by-step explanation about the influence of WHWP on ENSO development with a 17-month lead time.

End-tidal CO2-guided automated robot CPR system in the pig. Preliminary communication.

BACKGROUND: Our aim was to compare the efficacy of the end-tidal CO2-guided automated robot CPR (robot CPR) system with manual CPR and mechanical device CPR. METHODS: We developed the algorithm of the robot CPR system which automatically finds the optimal compression position under the guidance of end-tidal CO2 feedback in swine models of cardiac arrest. Then, 18 pigs after 11 min of cardiac arrest were randomly assigned to one of three groups, robot CPR, LUCAS CPR, and manual CPR groups (n = 6 each group). Return of spontaneous circulation (ROSC) and Neurological Deficit Score 48 h after ROSC were compared. RESULTS: A ROSC was achieved in 5 pigs, 4 pigs, and 3 pigs in the robot CPR, LUCAS CPR, and manual CPR groups, respectively (p = 0.47). Robot CPR showed a significant difference in Neurological Deficit Score 48 h after ROSC compared to manual CPR, whereas LUCAS CPR showed no significant difference over manual CPR. (p = 0.01; Robot versus Manual adjusted p = 0.04, Robot versus LUCAS adjusted p = 0.07, Manual versus LUCAS adjusted p = 1.00). CONCLUSIONS: The end-tidal CO2-guided automated robot CPR system did not significantly improve ROSC rate in a swine model of cardiac arrest. However, robot CPR showed significant improvement of Neurological Deficit Score 48 h after ROSC compared to Manual CPR while LUCAS CPR showed no significant improvement compared to Manual CPR.