Arbitrary Symmetric Running Gait Generation for an Underactuated Biped Model

PubMed Central

Esmaeili, Mohammad; Macnab, Chris

2017-01-01

This paper investigates generating symmetric trajectories for an underactuated biped during the stance phase of running. We use a point mass biped (PMB) model for gait analysis that consists of a prismatic force actuator on a massless leg. The significance of this model is its ability to generate more general and versatile running gaits than the spring-loaded inverted pendulum (SLIP) model, making it more suitable as a template for real robots. The algorithm plans the necessary leg actuator force to cause the robot center of mass to undergo arbitrary trajectories in stance with any arbitrary attack angle and velocity angle. The necessary actuator forces follow from the inverse kinematics and dynamics. Then these calculated forces become the control input to the dynamic model. We compare various center-of-mass trajectories, including a circular arc and polynomials of the degrees 2, 4 and 6. The cost of transport and maximum leg force are calculated for various attack angles and velocity angles. The results show that choosing the velocity angle as small as possible is beneficial, but the angle of attack has an optimum value. We also find a new result: there exist biped running gaits with double-hump ground reaction force profiles which result in less maximum leg force than single-hump profiles. PMID:28118401

Modelling gait transition in two-legged animals

NASA Astrophysics Data System (ADS)

Pinto, Carla M. A.; Santos, Alexandra P.

2011-12-01

The study of locomotor patterns has been a major research goal in the last decades. Understanding how intralimb and interlimb coordination works out so well in animals' locomotion is a hard and challenging task. Many models have been proposed to model animal's rhythms. These models have also been applied to the control of rhythmic movements of adaptive legged robots, namely biped, quadruped and other designs. In this paper we study gait transition in a central pattern generator (CPG) model for bipeds, the 4-cells model. This model is proposed by Golubitsky, Stewart, Buono and Collins and is studied further by Pinto and Golubitsky. We briefly resume the work done by Pinto and Golubitsky. We compute numerically gait transition in the 4-cells CPG model for bipeds. We use Morris-Lecar equations and Wilson-Cowan equations as the internal dynamics for each cell. We also consider two types of coupling between the cells: diffusive and synaptic. We obtain secondary gaits by bifurcation of primary gaits, by varying the coupling strengths. Nevertheless, some bifurcating branches could not be obtained, emphasizing the fact that despite analytically those bifurcations exist, finding them is a hard task and requires variation of other parameters of the equations. We note that the type of coupling did not influence the results.

Biped Robot Gait Planning Based on 3D Linear Inverted Pendulum Model

NASA Astrophysics Data System (ADS)

Yu, Guochen; Zhang, Jiapeng; Bo, Wu

2018-01-01

In order to optimize the biped robot’s gait, the biped robot’s walking motion is simplify to the 3D linear inverted pendulum motion mode. The Center of Mass (CoM) locus is determined from the relationship between CoM and the Zero Moment Point (ZMP) locus. The ZMP locus is planned in advance. Then, the forward gait and lateral gait are simplified as connecting rod structure. Swing leg trajectory using B-spline interpolation. And the stability of the walking process is discussed in conjunction with the ZMP equation. Finally the system simulation is carried out under the given conditions to verify the validity of the proposed planning method.

Kinematics and dynamics analysis of a quadruped walking robot with parallel leg mechanism

NASA Astrophysics Data System (ADS)

Wang, Hongbo; Sang, Lingfeng; Hu, Xing; Zhang, Dianfan; Yu, Hongnian

2013-09-01

It is desired to require a walking robot for the elderly and the disabled to have large capacity, high stiffness, stability, etc. However, the existing walking robots cannot achieve these requirements because of the weight-payload ratio and simple function. Therefore, Improvement of enhancing capacity and functions of the walking robot is an important research issue. According to walking requirements and combining modularization and reconfigurable ideas, a quadruped/biped reconfigurable walking robot with parallel leg mechanism is proposed. The proposed robot can be used for both a biped and a quadruped walking robot. The kinematics and performance analysis of a 3-UPU parallel mechanism which is the basic leg mechanism of a quadruped walking robot are conducted and the structural parameters are optimized. The results show that performance of the walking robot is optimal when the circumradius R, r of the upper and lower platform of leg mechanism are 161.7 mm, 57.7 mm, respectively. Based on the optimal results, the kinematics and dynamics of the quadruped walking robot in the static walking mode are derived with the application of parallel mechanism and influence coefficient theory, and the optimal coordination distribution of the dynamic load for the quadruped walking robot with over-determinate inputs is analyzed, which solves dynamic load coupling caused by the branches’ constraint of the robot in the walk process. Besides laying a theoretical foundation for development of the prototype, the kinematics and dynamics studies on the quadruped walking robot also boost the theoretical research of the quadruped walking and the practical applications of parallel mechanism.

Comparison of kinematic and dynamic leg trajectory optimization techniques for biped robot locomotion

NASA Astrophysics Data System (ADS)

Khusainov, R.; Klimchik, A.; Magid, E.

2017-01-01

The paper presents comparison analysis of two approaches in defining leg trajectories for biped locomotion. The first one operates only with kinematic limitations of leg joints and finds the maximum possible locomotion speed for given limits. The second approach defines leg trajectories from the dynamic stability point of view and utilizes ZMP criteria. We show that two methods give different trajectories and demonstrate that trajectories based on pure dynamic optimization cannot be realized due to joint limits. Kinematic optimization provides unstable solution which can be balanced by upper body movement.

An asymptotic solution to a passive biped walker model

NASA Astrophysics Data System (ADS)

Yudaev, Sergey A.; Rachinskii, Dmitrii; Sobolev, Vladimir A.

2017-02-01

We consider a simple model of a passive dynamic biped robot walker with point feet and legs without knee. The model is a switched system, which includes an inverted double pendulum. Robot’s gait and its stability depend on parameters such as the slope of the ramp, the length of robot’s legs, and the mass distribution along the legs. We present an asymptotic solution of the model. The first correction to the zero order approximation is shown to agree with the numerical solution for a limited parameter range.

Evaluating alternative gait strategies using evolutionary robotics.

PubMed

Sellers, William I; Dennis, Louise A; W -J, Wang; Crompton, Robin H

2004-05-01

Evolutionary robotics is a branch of artificial intelligence concerned with the automatic generation of autonomous robots. Usually the form of the robot is predefined and various computational techniques are used to control the machine's behaviour. One aspect is the spontaneous generation of walking in legged robots and this can be used to investigate the mechanical requirements for efficient walking in bipeds. This paper demonstrates a bipedal simulator that spontaneously generates walking and running gaits. The model can be customized to represent a range of hominoid morphologies and used to predict performance parameters such as preferred speed and metabolic energy cost. Because it does not require any motion capture data it is particularly suitable for investigating locomotion in fossil animals. The predictions for modern humans are highly accurate in terms of energy cost for a given speed and thus the values predicted for other bipeds are likely to be good estimates. To illustrate this the cost of transport is calculated for Australopithecus afarensis. The model allows the degree of maximum extension at the knee to be varied causing the model to adopt walking gaits varying from chimpanzee-like to human-like. The energy costs associated with these gait choices can thus be calculated and this information used to evaluate possible locomotor strategies in early hominids.

Evaluating alternative gait strategies using evolutionary robotics

PubMed Central

Sellers, William I; Dennis, Louise A; Wang, W -J; Crompton, Robin H

2004-01-01

Evolutionary robotics is a branch of artificial intelligence concerned with the automatic generation of autonomous robots. Usually the form of the robot is predefined and various computational techniques are used to control the machine's behaviour. One aspect is the spontaneous generation of walking in legged robots and this can be used to investigate the mechanical requirements for efficient walking in bipeds. This paper demonstrates a bipedal simulator that spontaneously generates walking and running gaits. The model can be customized to represent a range of hominoid morphologies and used to predict performance parameters such as preferred speed and metabolic energy cost. Because it does not require any motion capture data it is particularly suitable for investigating locomotion in fossil animals. The predictions for modern humans are highly accurate in terms of energy cost for a given speed and thus the values predicted for other bipeds are likely to be good estimates. To illustrate this the cost of transport is calculated for Australopithecus afarensis. The model allows the degree of maximum extension at the knee to be varied causing the model to adopt walking gaits varying from chimpanzee-like to human-like. The energy costs associated with these gait choices can thus be calculated and this information used to evaluate possible locomotor strategies in early hominids. PMID:15198699

Stereo vision with distance and gradient recognition

NASA Astrophysics Data System (ADS)

Kim, Soo-Hyun; Kang, Suk-Bum; Yang, Tae-Kyu

2007-12-01

Robot vision technology is needed for the stable walking, object recognition and the movement to the target spot. By some sensors which use infrared rays and ultrasonic, robot can overcome the urgent state or dangerous time. But stereo vision of three dimensional space would make robot have powerful artificial intelligence. In this paper we consider about the stereo vision for stable and correct movement of a biped robot. When a robot confront with an inclination plane or steps, particular algorithms are needed to go on without failure. This study developed the recognition algorithm of distance and gradient of environment by stereo matching process.

Walk-Startup of a Two-Legged Walking Mechanism

NASA Astrophysics Data System (ADS)

Babković, Kalman; Nagy, László; Krklješ, Damir; Borovac, Branislav

There is a growing interest towards humanoid robots. One of their most important characteristic is the two-legged motion - walk. Starting and stopping of humanoid robots introduce substantial delays. In this paper, the goal is to explore the possibility of using a short unbalanced state of the biped robot to quickly gain speed and achieve the steady state velocity during a period shorter than half of the single support phase. The proposed method is verified by simulation. Maintainig a steady state, balanced gait is not considered in this paper.

Progress in Insect-Inspired Optical Navigation Sensors

NASA Technical Reports Server (NTRS)

Thakoor, Sarita; Chahl, Javaan; Zometzer, Steve

2005-01-01

Progress has been made in continuing efforts to develop optical flight-control and navigation sensors for miniature robotic aircraft. The designs of these sensors are inspired by the designs and functions of the vision systems and brains of insects. Two types of sensors of particular interest are polarization compasses and ocellar horizon sensors. The basic principle of polarization compasses was described (but without using the term "polarization compass") in "Insect-Inspired Flight Control for Small Flying Robots" (NPO-30545), NASA Tech Briefs, Vol. 29, No. 1 (January 2005), page 61. To recapitulate: Bees use sky polarization patterns in ultraviolet (UV) light, caused by Rayleigh scattering of sunlight by atmospheric gas molecules, as direction references relative to the apparent position of the Sun. A robotic direction-finding technique based on this concept would be more robust in comparison with a technique based on the direction to the visible Sun because the UV polarization pattern is distributed across the entire sky and, hence, is redundant and can be extrapolated from a small region of clear sky in an elsewhere cloudy sky that hides the Sun.

Walking dynamics of the passive compass-gait model under OGY-based control: Emergence of bifurcations and chaos

NASA Astrophysics Data System (ADS)

Gritli, Hassène; Belghith, Safya

2017-06-01

An analysis of the passive dynamic walking of a compass-gait biped model under the OGY-based control approach using the impulsive hybrid nonlinear dynamics is presented in this paper. We describe our strategy for the development of a simplified analytical expression of a controlled hybrid Poincaré map and then for the design of a state-feedback control. Our control methodology is based mainly on the linearization of the impulsive hybrid nonlinear dynamics around a desired nominal one-periodic hybrid limit cycle. Our analysis of the controlled walking dynamics is achieved by means of bifurcation diagrams. Some interesting nonlinear phenomena are displayed, such as the period-doubling bifurcation, the cyclic-fold bifurcation, the period remerging, the period bubbling and chaos. A comparison between the raised phenomena in the impulsive hybrid nonlinear dynamics and the hybrid Poincaré map under control was also presented.

Modeling, Control and Simulation of Three-Dimensional Robotic Systems with Applications to Biped Locomotion.

NASA Astrophysics Data System (ADS)

Zheng, Yuan-Fang

A three-dimensional, five link biped system is established. Newton-Euler state space formulation is employed to derive the equations of the system. The constraint forces involved in the equations can be eliminated by projection onto a smaller state space system for deriving advanced control laws. A model-referenced adaptive control scheme is developed to control the system. Digital computer simulations of point to point movement are carried out to show that the model-referenced adaptive control increases the dynamic range and speeds up the response of the system in comparison with linear and nonlinear feedback control. Further, the implementation of the controller is simpler. Impact effects of biped contact with the environment are modeled and studied. The instant velocity change at the moment of impact is derived as a function of the biped state and contact speed. The effects of impact on the state, as well as constraints are studied in biped landing on heels and toes simultaneously or on toes first. Rate and nonlinear position feedback are employed for stability of the biped after the impact. The complex structure of the foot is properly modeled. A spring and dashpot pair is suggested to represent the action of plantar fascia during the impact. This action prevents the arch of the foot from collapsing. A mathematical model of the skeletal muscle is discussed. A direct relationship between the stimulus rate and the active state is established. A piecewise linear relation between the length of the contractile element and the isometric force is considered. Hill's characteristic equation is maintained for determining the actual output force during different shortening velocities. A physical threshold model is proposed for recruitment which encompasses the size principle, its manifestations and exceptions to the size principle. Finally the role of spindle feedback in stability of the model is demonstrated by study of a pair of muscles.

Generation of the Human Biped Stance by a Neural Controller Able to Compensate Neurological Time Delay

PubMed Central

Jiang, Ping; Chiba, Ryosuke; Takakusaki, Kaoru; Ota, Jun

2016-01-01

The development of a physiologically plausible computational model of a neural controller that can realize a human-like biped stance is important for a large number of potential applications, such as assisting device development and designing robotic control systems. In this paper, we develop a computational model of a neural controller that can maintain a musculoskeletal model in a standing position, while incorporating a 120-ms neurological time delay. Unlike previous studies that have used an inverted pendulum model, a musculoskeletal model with seven joints and 70 muscular-tendon actuators is adopted to represent the human anatomy. Our proposed neural controller is composed of both feed-forward and feedback controls. The feed-forward control corresponds to the constant activation input necessary for the musculoskeletal model to maintain a standing posture. This compensates for gravity and regulates stiffness. The developed neural controller model can replicate two salient features of the human biped stance: (1) physiologically plausible muscle activations for quiet standing; and (2) selection of a low active stiffness for low energy consumption. PMID:27655271

Agile and dexterous robot for inspection and EOD operations

NASA Astrophysics Data System (ADS)

Handelman, David A.; Franken, Gordon H.; Komsuoglu, Haldun

2010-04-01

The All-Terrain Biped (ATB) robot is an unmanned ground vehicle with arms, legs and wheels designed to drive, crawl, walk and manipulate objects for inspection and explosive ordnance disposal tasks. This paper summarizes on-going development of the ATB platform. Control technology for semi-autonomous legged mobility and dual-arm dexterity is described as well as preliminary simulation and hardware test results. Performance goals include driving on flat terrain, crawling on steep terrain, walking on stairs, opening doors and grasping objects. Anticipated benefits of the adaptive mobility and dexterity of the ATB platform include increased robot agility and autonomy for EOD operations, reduced operator workload and reduced operator training and skill requirements.

Kinematically stable bipedal locomotion using ionic polymer-metal composite actuators

NASA Astrophysics Data System (ADS)

Hosseinipour, Milad; Elahinia, Mohammad

2013-08-01

Ionic conducting polymer-metal composites (abbreviated as IPMCs) are interesting actuators that can act as artificial muscles in robotic and microelectromechanical systems. Various black or gray box models have modeled the electrochemical-mechanical behavior of these materials. In this study, the governing partial differential equation of the behavior of IPMCs is solved using finite element methods to find the critical actuation parameters, such as strain distribution, maximum strain, and response time. One-dimensional results of the FEM solution are then extended to 2D to find the tip displacement of a flap actuator and experimentally verified. A model of a seven-degree-of-freedom biped robot, actuated by IPMC flaps, is then introduced. The possibility of fast and stable bipedal locomotion using IPMC artificial muscles is the main motivation of this study. Considering the actuator limits, joint path trajectories are generated to achieve a fast and smooth motion. The stability of the proposed gait is then evaluated using the ZMP criterion and motion simulation. The fabrication parameters of each actuator, such as length, platinum plating thickness and installation angle, are then determined using the generated trajectories. A discussion on future studies on force-torque generation of IPMCs for biped locomotion concludes this paper.

Optimal bipedal interactions with dynamic terrain: synthesis and analysis via nonlinear programming

NASA Astrophysics Data System (ADS)

Hubicki, Christian; Goldman, Daniel; Ames, Aaron

In terrestrial locomotion, gait dynamics and motor control behaviors are tuned to interact efficiently and stably with the dynamics of the terrain (i.e. terradynamics). This controlled interaction must be particularly thoughtful in bipeds, as their reduced contact points render them highly susceptible to falls. While bipedalism under rigid terrain assumptions is well-studied, insights for two-legged locomotion on soft terrain, such as sand and dirt, are comparatively sparse. We seek an understanding of how biological bipeds stably and economically negotiate granular media, with an eye toward imbuing those abilities in bipedal robots. We present a trajectory optimization method for controlled systems subject to granular intrusion. By formulating a large-scale nonlinear program (NLP) with reduced-order resistive force theory (RFT) models and jamming cone dynamics, the optimized motions are informed and shaped by the dynamics of the terrain. Using a variant of direct collocation methods, we can express all optimization objectives and constraints in closed-form, resulting in rapid solving by standard NLP solvers, such as IPOPT. We employ this tool to analyze emergent features of bipedal locomotion in granular media, with an eye toward robotic implementation.

A Control Framework for Anthropomorphic Biped Walking Based on Stabilizing Feedforward Trajectories.

PubMed

Rezazadeh, Siavash; Gregg, Robert D

2016-10-01

Although dynamic walking methods have had notable successes in control of bipedal robots in the recent years, still most of the humanoid robots rely on quasi-static Zero Moment Point controllers. This work is an attempt to design a highly stable controller for dynamic walking of a human-like model which can be used both for control of humanoid robots and prosthetic legs. The method is based on using time-based trajectories that can induce a highly stable limit cycle to the bipedal robot. The time-based nature of the controller motivates its use to entrain a model of an amputee walking, which can potentially lead to a better coordination of the interaction between the prosthesis and the human. The simulations demonstrate the stability of the controller and its robustness against external perturbations.

Controlling legs for locomotion-insights from robotics and neurobiology.

PubMed

Buschmann, Thomas; Ewald, Alexander; von Twickel, Arndt; Büschges, Ansgar

2015-06-29

Walking is the most common terrestrial form of locomotion in animals. Its great versatility and flexibility has led to many attempts at building walking machines with similar capabilities. The control of walking is an active research area both in neurobiology and robotics, with a large and growing body of work. This paper gives an overview of the current knowledge on the control of legged locomotion in animals and machines and attempts to give walking control researchers from biology and robotics an overview of the current knowledge in both fields. We try to summarize the knowledge on the neurobiological basis of walking control in animals, emphasizing common principles seen in different species. In a section on walking robots, we review common approaches to walking controller design with a slight emphasis on biped walking control. We show where parallels between robotic and neurobiological walking controllers exist and how robotics and biology may benefit from each other. Finally, we discuss where research in the two fields diverges and suggest ways to bridge these gaps.

The basic mechanics of bipedal walking lead to asymmetric behavior.

PubMed

Gregg, Robert D; Degani, Amir; Dhaher, Yasin; Lynch, Kevin M

2011-01-01

This paper computationally investigates whether gait asymmetries can be attributed in part to basic bipedal mechanics independent of motor control. Using a symmetrical rigid-body model known as the compass-gait biped, we show that changes in environmental or physiological parameters can facilitate asymmetry in gait kinetics at fast walking speeds. In the environmental case, the asymmetric family of high-speed gaits is in fact more stable than the symmetric family of low-speed gaits. These simulations suggest that lower extremity mechanics might play a direct role in functional and pathological asymmetries reported in human walking, where velocity may be a common variable in the emergence and growth of asymmetry. © 2011 IEEE

Development of a neuromorphic control system for a lightweight humanoid robot

NASA Astrophysics Data System (ADS)

Folgheraiter, Michele; Keldibek, Amina; Aubakir, Bauyrzhan; Salakchinov, Shyngys; Gini, Giuseppina; Mauro Franchi, Alessio; Bana, Matteo

2017-03-01

A neuromorphic control system for a lightweight middle size humanoid biped robot built using 3D printing techniques is proposed. The control architecture consists of different modules capable to learn and autonomously reproduce complex periodic trajectories. Each module is represented by a chaotic Recurrent Neural Network (RNN) with a core of dynamic neurons randomly and sparsely connected with fixed synapses. A set of read-out units with adaptable synapses realize a linear combination of the neurons output in order to reproduce the target signals. Different experiments were conducted to find out the optimal initialization for the RNN’s parameters. From simulation results, using normalized signals obtained from the robot model, it was proven that all the instances of the control module can learn and reproduce the target trajectories with an average RMS error of 1.63 and variance 0.74.

Adaptive, fast walking in a biped robot under neuronal control and learning.

PubMed

Manoonpong, Poramate; Geng, Tao; Kulvicius, Tomas; Porr, Bernd; Wörgötter, Florentin

2007-07-01

Human walking is a dynamic, partly self-stabilizing process relying on the interaction of the biomechanical design with its neuronal control. The coordination of this process is a very difficult problem, and it has been suggested that it involves a hierarchy of levels, where the lower ones, e.g., interactions between muscles and the spinal cord, are largely autonomous, and where higher level control (e.g., cortical) arises only pointwise, as needed. This requires an architecture of several nested, sensori-motor loops where the walking process provides feedback signals to the walker's sensory systems, which can be used to coordinate its movements. To complicate the situation, at a maximal walking speed of more than four leg-lengths per second, the cycle period available to coordinate all these loops is rather short. In this study we present a planar biped robot, which uses the design principle of nested loops to combine the self-stabilizing properties of its biomechanical design with several levels of neuronal control. Specifically, we show how to adapt control by including online learning mechanisms based on simulated synaptic plasticity. This robot can walk with a high speed (>3.0 leg length/s), self-adapting to minor disturbances, and reacting in a robust way to abruptly induced gait changes. At the same time, it can learn walking on different terrains, requiring only few learning experiences. This study shows that the tight coupling of physical with neuronal control, guided by sensory feedback from the walking pattern itself, combined with synaptic learning may be a way forward to better understand and solve coordination problems in other complex motor tasks.

Trotting, pacing and bounding by a quadruped robot.

PubMed

Raibert, M H

1990-01-01

This paper explores the quadruped running gaits that use the legs in pairs: the trot (diagonal pairs), the pace (lateral pairs), and the bound (front and rear pairs). Rather than study these gaits in quadruped animals, we studied them in a quadruped robot. We found that each of the gaits that use the legs in pairs can be transformed into a common underlying gait, a virtual biped gait. Once transformed, a single set of control algorithms produce all three gaits, with modest parameter variations between them. The control algorithms manipulated rebound height, running speed, and body attitude, while a low-level mechanism coordinated the behavior of the legs in each pair. The approach was tested with laboratory experiments on a four-legged robot. Data are presented that show the details of the running motion for the three gaits and for transitions from one gait to another.

COMPASS Final Report: Low Cost Robotic Lunar Lander

NASA Technical Reports Server (NTRS)

McGuire, Melissa L.; Oleson, Steven R.

2010-01-01

The COllaborative Modeling for the Parametric Assessment of Space Systems (COMPASS) team designed a robotic lunar Lander to deliver an unspecified payload (greater than zero) to the lunar surface for the lowest cost in this 2006 design study. The purpose of the low cost lunar lander design was to investigate how much payload can an inexpensive chemical or Electric Propulsion (EP) system deliver to the Moon s surface. The spacecraft designed as the baseline out of this study was a solar powered robotic lander, launched on a Minotaur V launch vehicle on a direct injection trajectory to the lunar surface. A Star 27 solid rocket motor does lunar capture and performs 88 percent of the descent burn. The Robotic Lunar Lander soft-lands using a hydrazine propulsion system to perform the last 10% of the landing maneuver, leaving the descent at a near zero, but not exactly zero, terminal velocity. This low-cost robotic lander delivers 10 kg of science payload instruments to the lunar surface.

An Algorithm for Pedestrian Detection in Multispectral Image Sequences

NASA Astrophysics Data System (ADS)

Kniaz, V. V.; Fedorenko, V. V.

2017-05-01

The growing interest for self-driving cars provides a demand for scene understanding and obstacle detection algorithms. One of the most challenging problems in this field is the problem of pedestrian detection. Main difficulties arise from a diverse appearances of pedestrians. Poor visibility conditions such as fog and low light conditions also significantly decrease the quality of pedestrian detection. This paper presents a new optical flow based algorithm BipedDetet that provides robust pedestrian detection on a single-borad computer. The algorithm is based on the idea of simplified Kalman filtering suitable for realization on modern single-board computers. To detect a pedestrian a synthetic optical flow of the scene without pedestrians is generated using slanted-plane model. The estimate of a real optical flow is generated using a multispectral image sequence. The difference of the synthetic optical flow and the real optical flow provides the optical flow induced by pedestrians. The final detection of pedestrians is done by the segmentation of the difference of optical flows. To evaluate the BipedDetect algorithm a multispectral dataset was collected using a mobile robot.

A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

NASA Astrophysics Data System (ADS)

Wang, Mingfeng; Ceccarelli, Marco; Carbone, Giuseppe

2016-06-01

A feasibility study on the mechanical design and walking operation of a Cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A threedimensional model is elaborated in SolidWorks® environment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in MSC.ADAMS® environment with the aims of characterizing and evaluating the dynamic walking performance of the proposed design. Simulation results show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on flat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

Design of biped hip simulator using SolidWorks

NASA Astrophysics Data System (ADS)

Zainudin, M. R.; Yahya, A.; Fazli, M. I. M.; Syahrom, A.; Harun, F. K. C.; Nazarudin, M. S.

2017-10-01

The increasing number of people who underwent both hip implant surgery based on World Health Organization (WHO) has received massive attention from researchers lately to develop various types of hip simulators in order to test the hip implant. Various number of hip simulator have been developed with different functions and capabilities. This paper presents the design development of biped hip simulator using SolidWorks software by taking into consideration some improvement and modifications. The finite element method is used to test the design whether it is safe to be used or not. The biped hip simulator has been successfully designed and ready to be fabricated as the endurance testing shown a positive results. The von Mises stress induced in the material is an alloy steel which is 2,975,862.3 N/m2 lower than the yield strength. Thus, the design is safe to be used as it obey the safety criterion.

Stability analysis via the concept of Lyapunov exponents: a case study in optimal controlled biped standing

NASA Astrophysics Data System (ADS)

Sun, Yuming; Wu, Christine Qiong

2012-12-01

Balancing control is important for biped standing. In spite of large efforts, it is very difficult to design balancing control strategies satisfying three requirements simultaneously: maintaining postural stability, improving energy efficiency and satisfying the constraints between the biped feet and the ground. In this article, a proportional-derivative (PD) controller is proposed for a standing biped, which is simplified as a two-link inverted pendulum with one additional rigid foot-link. The genetic algorithm (GA) is used to search for the control gain meeting all three requirements. The stability analysis of such a deterministic biped control system is carried out using the concept of Lyapunov exponents (LEs), based on which, the system stability, where the disturbance comes from the initial states, and the structural stability, where the disturbance comes from the PD gains, are examined quantitively in terms of stability region. This article contributes to the biped balancing control, more significantly, the method shown in the studied case of biped provides a general framework of systematic stability analysis for certain deterministic nonlinear dynamical systems.

Novel Door-opening Method for Six-legged Robots Based on Only Force Sensing

NASA Astrophysics Data System (ADS)

Chen, Zhi-Jun; Gao, Feng; Pan, Yang

2017-09-01

Current door-opening methods are mainly developed on tracked, wheeled and biped robots by applying multi-DOF manipulators and vision systems. However, door-opening methods for six-legged robots are seldom studied, especially using 0-DOF tools to operate and only force sensing to detect. A novel door-opening method for six-legged robots is developed and implemented to the six-parallel-legged robot. The kinematic model of the six-parallel-legged robot is established and the model of measuring the positional relationship between the robot and the door is proposed. The measurement model is completely based on only force sensing. The real-time trajectory planning method and the control strategy are designed. The trajectory planning method allows the maximum angle between the sagittal axis of the robot body and the normal line of the door plane to be 45º. A 0-DOF tool mounted to the robot body is applied to operate. By integrating with the body, the tool has 6 DOFs and enough workspace to operate. The loose grasp achieved by the tool helps release the inner force in the tool. Experiments are carried out to validate the method. The results show that the method is effective and robust in opening doors wider than 1 m. This paper proposes a novel door-opening method for six-legged robots, which notably uses a 0-DOF tool and only force sensing to detect and open the door.

Modeling of R/C Servo Motor and Application to Underactuated Mechanical Systems

NASA Astrophysics Data System (ADS)

Ishikawa, Masato; Kitayoshi, Ryohei; Wada, Takashi; Maruta, Ichiro; Sugie, Toshiharu

An R/C servo motor is a compact package of a DC geard-motor associated with a position servo controller. They are widely used in small-sized robotics and mechatronics by virtue of their compactness, easiness-to-use and high/weight ratio. However, it is crucial to clarify their internal model (including the embedded position servo) in order to improve control performance of mechatronic systems using R/C servo motors, such as biped robots or underactuted sysyems. In this paper, we propose a simple and realistic internal model of the R/C servo motors including the embedded servo controller, and estimate their physical parameters using continuous-time system identification method. We also provide a model of reference-to-torque transfer function so that we can estimate the internal torque acting on the load.

Reinforcement learning: Solving two case studies

NASA Astrophysics Data System (ADS)

Duarte, Ana Filipa; Silva, Pedro; dos Santos, Cristina Peixoto

2012-09-01

Reinforcement Learning algorithms offer interesting features for the control of autonomous systems, such as the ability to learn from direct interaction with the environment, and the use of a simple reward signalas opposed to the input-outputs pairsused in classic supervised learning. The reward signal indicates the success of failure of the actions executed by the agent in the environment. In this work, are described RL algorithmsapplied to two case studies: the Crawler robot and the widely known inverted pendulum. We explore RL capabilities to autonomously learn a basic locomotion pattern in the Crawler, andapproach the balancing problem of biped locomotion using the inverted pendulum.

Posture Control-Human-Inspired Approaches for Humanoid Robot Benchmarking: Conceptualizing Tests, Protocols and Analyses.

PubMed

Mergner, Thomas; Lippi, Vittorio

2018-01-01

Posture control is indispensable for both humans and humanoid robots, which becomes especially evident when performing sensorimotor tasks such as moving on compliant terrain or interacting with the environment. Posture control is therefore targeted in recent proposals of robot benchmarking in order to advance their development. This Methods article suggests corresponding robot tests of standing balance, drawing inspirations from the human sensorimotor system and presenting examples from robot experiments. To account for a considerable technical and algorithmic diversity among robots, we focus in our tests on basic posture control mechanisms, which provide humans with an impressive postural versatility and robustness. Specifically, we focus on the mechanically challenging balancing of the whole body above the feet in the sagittal plane around the ankle joints in concert with the upper body balancing around the hip joints. The suggested tests target three key issues of human balancing, which appear equally relevant for humanoid bipeds: (1) four basic physical disturbances (support surface (SS) tilt and translation, field and contact forces) may affect the balancing in any given degree of freedom (DoF). Targeting these disturbances allows us to abstract from the manifold of possible behavioral tasks. (2) Posture control interacts in a conflict-free way with the control of voluntary movements for undisturbed movement execution, both with "reactive" balancing of external disturbances and "proactive" balancing of self-produced disturbances from the voluntary movements. Our proposals therefore target both types of disturbances and their superposition. (3) Relevant for both versatility and robustness of the control, linkages between the posture control mechanisms across DoFs provide their functional cooperation and coordination at will and on functional demands. The suggested tests therefore include ankle-hip coordination. Suggested benchmarking criteria build on the evoked sway magnitude, normalized to robot weight and Center of mass (COM) height, in relation to reference ranges that remain to be established. The references may include human likeness features. The proposed benchmarking concept may in principle also be applied to wearable robots, where a human user may command movements, but may not be aware of the additionally required postural control, which then needs to be implemented into the robot.

Posture Control—Human-Inspired Approaches for Humanoid Robot Benchmarking: Conceptualizing Tests, Protocols and Analyses

PubMed Central

Mergner, Thomas; Lippi, Vittorio

2018-01-01

Posture control is indispensable for both humans and humanoid robots, which becomes especially evident when performing sensorimotor tasks such as moving on compliant terrain or interacting with the environment. Posture control is therefore targeted in recent proposals of robot benchmarking in order to advance their development. This Methods article suggests corresponding robot tests of standing balance, drawing inspirations from the human sensorimotor system and presenting examples from robot experiments. To account for a considerable technical and algorithmic diversity among robots, we focus in our tests on basic posture control mechanisms, which provide humans with an impressive postural versatility and robustness. Specifically, we focus on the mechanically challenging balancing of the whole body above the feet in the sagittal plane around the ankle joints in concert with the upper body balancing around the hip joints. The suggested tests target three key issues of human balancing, which appear equally relevant for humanoid bipeds: (1) four basic physical disturbances (support surface (SS) tilt and translation, field and contact forces) may affect the balancing in any given degree of freedom (DoF). Targeting these disturbances allows us to abstract from the manifold of possible behavioral tasks. (2) Posture control interacts in a conflict-free way with the control of voluntary movements for undisturbed movement execution, both with “reactive” balancing of external disturbances and “proactive” balancing of self-produced disturbances from the voluntary movements. Our proposals therefore target both types of disturbances and their superposition. (3) Relevant for both versatility and robustness of the control, linkages between the posture control mechanisms across DoFs provide their functional cooperation and coordination at will and on functional demands. The suggested tests therefore include ankle-hip coordination. Suggested benchmarking criteria build on the evoked sway magnitude, normalized to robot weight and Center of mass (COM) height, in relation to reference ranges that remain to be established. The references may include human likeness features. The proposed benchmarking concept may in principle also be applied to wearable robots, where a human user may command movements, but may not be aware of the additionally required postural control, which then needs to be implemented into the robot. PMID:29867428

Locomotion training of legged robots using hybrid machine learning techniques

NASA Technical Reports Server (NTRS)

Simon, William E.; Doerschuk, Peggy I.; Zhang, Wen-Ran; Li, Andrew L.

1995-01-01

In this study artificial neural networks and fuzzy logic are used to control the jumping behavior of a three-link uniped robot. The biped locomotion control problem is an increment of the uniped locomotion control. Study of legged locomotion dynamics indicates that a hierarchical controller is required to control the behavior of a legged robot. A structured control strategy is suggested which includes navigator, motion planner, biped coordinator and uniped controllers. A three-link uniped robot simulation is developed to be used as the plant. Neurocontrollers were trained both online and offline. In the case of on-line training, a reinforcement learning technique was used to train the neurocontroller to make the robot jump to a specified height. After several hundred iterations of training, the plant output achieved an accuracy of 7.4%. However, when jump distance and body angular momentum were also included in the control objectives, training time became impractically long. In the case of off-line training, a three-layered backpropagation (BP) network was first used with three inputs, three outputs and 15 to 40 hidden nodes. Pre-generated data were presented to the network with a learning rate as low as 0.003 in order to reach convergence. The low learning rate required for convergence resulted in a very slow training process which took weeks to learn 460 examples. After training, performance of the neurocontroller was rather poor. Consequently, the BP network was replaced by a Cerebeller Model Articulation Controller (CMAC) network. Subsequent experiments described in this document show that the CMAC network is more suitable to the solution of uniped locomotion control problems in terms of both learning efficiency and performance. A new approach is introduced in this report, viz., a self-organizing multiagent cerebeller model for fuzzy-neural control of uniped locomotion is suggested to improve training efficiency. This is currently being evaluated for a possible patent by NASA, Johnson Space Center. An alternative modular approach is also developed which uses separate controllers for each stage of the running stride. A self-organizing fuzzy-neural controller controls the height, distance and angular momentum of the stride. A CMAC-based controller controls the movement of the leg from the time the foot leaves the ground to the time of landing. Because the leg joints are controlled at each time step during flight, movement is smooth and obstacles can be avoided. Initial results indicate that this approach can yield fast, accurate results.

Long-term dynamics of freshwater red tide in shallow lake in central Japan.

PubMed

Hirabayashi, Kimio; Yoshizawa, Kazuya; Yoshida, Norihiko; Ariizumi, Kazunori; Kazama, Futaba

2007-01-01

The aim of this study is to clarify the long-term dynamics of the red tide occurring in Lake Kawaguchi. The measurement of environmental factors and water sampling were carried out monthly at a fixed station in Lake Kawaguchi's center basin from April 1993 to March 2004. On June 26, 1995, the horizontal distribution ofPeridinium bipes was investigated using a plastic pipe, obtaining 0∼1-m layers of water column samples at 68 locations across the entire lake. P. bipes showed an explosive growth and formed a freshwater red tide in the early summer of 1995, when the nutrient level was higher than those in the other years, particularly the phosphate concentration in the surface layer. The dissolved total phosphorus (DTP) concentration was sufficient forP. bipes growth in that year. In the study of its horizontal distribution,P. bipes was found at all the locations. The numbers of cells per milliliter ranged from 67 to 5360, averaging 1094±987 cells/ml, with particularly high densities along the northern shore. Since then,P. bipes has annually averaged about 25 cells/ml in Lake Kawaguchi. We observed that the red tide caused byP. bipes correlates with a high DTP concentration in Lake Kawaguchi.

Simulated Lidar Images of Human Pose using a 3DS Max Virtual Laboratory

DTIC Science & Technology

2015-12-01

developed in Autodesk 3DS Max, with an animated, biofidelic 3D human mesh biped character ( avatar ) as the subject. The biped animation modifies the digital...character ( avatar ) as the subject. The biped animation modifies the digital human model through a time sequence of motion capture data representing an...AFB. Mr. Isiah Davenport from Infoscitex Corp developed the method for creating the biofidelic avatars from laboratory data and 3DS Max code for

Influence of type D personality on job stress and job satisfaction in clinical nurses: the mediating effects of compassion fatigue, burnout, and compassion satisfaction.

PubMed

Kim, Yeon Hee; Kim, Sung Reul; Kim, Yeo Ok; Kim, Ji Young; Kim, Hyun Kyung; Kim, Hye Young

2017-04-01

To test a hypothetical path model evaluating the influence of type D personality on job stress and job satisfaction and to identify the mediating effects of compassion fatigue, burnout, and compassion satisfaction among clinical nurses in South Korea. Personalities susceptible to stress, compassion fatigue, and burnout in clinical nurses have negative effects on the job stress and job satisfaction. A correlational, cross-sectional design was used. A convenience sample of 875 clinical nurses was recruited between December 2014 - February 2015. The structured questionnaires included the Type D personality scale-14, Professional Quality of Life, job stress, job satisfaction, and general characteristics. To test the hypothetical path model, we performed a path analysis by using the AMOS 18·0 program. Based on the path model, type D personality was significantly associated with compassion fatigue, burnout, and compassion satisfaction in our study subjects. Type D personality was significantly associated with job stress and job satisfaction via the effect of burnout, compassion satisfaction, and job stress. Since type D personality is associated with job stress and job satisfaction, identifying personalities vulnerable to stress would help to address job stress and to enhance job satisfaction when nurses have a high level of compassion fatigue and burnout and a low level of compassion satisfaction. The development of interventions that can reduce negative affect and social inhibition of nurses with type D personality and investigation of methods to decrease their compassion fatigue and burnout and to increase compassion satisfaction should be encouraged. © 2016 John Wiley & Sons Ltd.

Comparison of Human and Humanoid Robot Control of Upright Stance

PubMed Central

Peterka, Robert J.

2009-01-01

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to ~1 Hz) dynamic characteristics of human stance control. These subsystems are 1) a “sensory integration” mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions, and 2) an “effort control” mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions were humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different. PMID:19665564

Comparison of human and humanoid robot control of upright stance.

PubMed

Peterka, Robert J

2009-01-01

There is considerable recent interest in developing humanoid robots. An important substrate for many motor actions in both humans and biped robots is the ability to maintain a statically or dynamically stable posture. Given the success of the human design, one would expect there are lessons to be learned in formulating a postural control mechanism for robots. In this study we limit ourselves to considering the problem of maintaining upright stance. Human stance control is compared to a suggested method for robot stance control called zero moment point (ZMP) compensation. Results from experimental and modeling studies suggest there are two important subsystems that account for the low- and mid-frequency (DC to approximately 1Hz) dynamic characteristics of human stance control. These subsystems are (1) a "sensory integration" mechanism whereby orientation information from multiple sensory systems encoding body kinematics (i.e. position, velocity) is flexibly combined to provide an overall estimate of body orientation while allowing adjustments (sensory re-weighting) that compensate for changing environmental conditions and (2) an "effort control" mechanism that uses kinetic-related (i.e., force-related) sensory information to reduce the mean deviation of body orientation from upright. Functionally, ZMP compensation is directly analogous to how humans appear to use kinetic feedback to modify the main sensory integration feedback loop controlling body orientation. However, a flexible sensory integration mechanism is missing from robot control leaving the robot vulnerable to instability in conditions where humans are able to maintain stance. We suggest the addition of a simple form of sensory integration to improve robot stance control. We also investigate how the biological constraint of feedback time delay influences the human stance control design. The human system may serve as a guide for improved robot control, but should not be directly copied because the constraints on robot and human control are different.

Numerical Estimation of Balanced and Falling States for Constrained Legged Systems

NASA Astrophysics Data System (ADS)

Mummolo, Carlotta; Mangialardi, Luigi; Kim, Joo H.

2017-08-01

Instability and risk of fall during standing and walking are common challenges for biped robots. While existing criteria from state-space dynamical systems approach or ground reference points are useful in some applications, complete system models and constraints have not been taken into account for prediction and indication of fall for general legged robots. In this study, a general numerical framework that estimates the balanced and falling states of legged systems is introduced. The overall approach is based on the integration of joint-space and Cartesian-space dynamics of a legged system model. The full-body constrained joint-space dynamics includes the contact forces and moments term due to current foot (or feet) support and another term due to altered contact configuration. According to the refined notions of balanced, falling, and fallen, the system parameters, physical constraints, and initial/final/boundary conditions for balancing are incorporated into constrained nonlinear optimization problems to solve for the velocity extrema (representing the maximum perturbation allowed to maintain balance without changing contacts) in the Cartesian space at each center-of-mass (COM) position within its workspace. The iterative algorithm constructs the stability boundary as a COM state-space partition between balanced and falling states. Inclusion in the resulting six-dimensional manifold is a necessary condition for a state of the given system to be balanced under the given contact configuration, while exclusion is a sufficient condition for falling. The framework is used to analyze the balance stability of example systems with various degrees of complexities. The manifold for a 1-degree-of-freedom (DOF) legged system is consistent with the experimental and simulation results in the existing studies for specific controller designs. The results for a 2-DOF system demonstrate the dependency of the COM state-space partition upon joint-space configuration (elbow-up vs. elbow-down). For both 1- and 2-DOF systems, the results are validated in simulation environments. Finally, the manifold for a biped walking robot is constructed and illustrated against its single-support walking trajectories. The manifold identified by the proposed framework for any given legged system can be evaluated beforehand as a system property and serves as a map for either a specified state or a specific controller's performance.

Regularity in an environment produces an internal torque pattern for biped balance control.

PubMed

Ito, Satoshi; Kawasaki, Haruhisa

2005-04-01

In this paper, we present a control method for achieving biped static balance under unknown periodic external forces whose periods are only known. In order to maintain static balance adaptively in an uncertain environment, it is essential to have information on the ground reaction forces. However, when the biped is exposed to a steady environment that provides an external force periodically, uncertain factors on the regularity with respect to a steady environment are gradually clarified using learning process, and finally a torque pattern for balancing motion is acquired. Consequently, static balance is maintained without feedback from ground reaction forces and achieved in a feedforward manner.

The Ear and Hearing in Bipes biporus

PubMed Central

Wever, Ernest Glen; Gans, Carl

1972-01-01

The sound conduction system of Bipes biporus is unusual among amphisbaenians, in that the columella does not have a catilaginous or bony extra-columella passing laterally to the labial skin. Instead, the terminal disk of the columella ends in fibrous tissue beneath a deep fold of skin forming the nuchal constriction. The occurrence of an epihyal supports earlier suggestions that the amphisbaenian extracolumella may be homologous to the epihyal. Measurements of cochlear potentials, made by direction of the sound stimuli to the region of the head posteroventral to the quadrate bone, show that Bipes biporus ranks high among amphisbaenians in auditory sensitivity. Images PMID:4506791

Walking on a moving surface: energy-optimal walking motions on a shaky bridge and a shaking treadmill can reduce energy costs below normal.

PubMed

Joshi, Varun; Srinivasan, Manoj

2015-02-08

Understanding how humans walk on a surface that can move might provide insights into, for instance, whether walking humans prioritize energy use or stability. Here, motivated by the famous human-driven oscillations observed in the London Millennium Bridge, we introduce a minimal mathematical model of a biped, walking on a platform (bridge or treadmill) capable of lateral movement. This biped model consists of a point-mass upper body with legs that can exert force and perform mechanical work on the upper body. Using numerical optimization, we obtain energy-optimal walking motions for this biped, deriving the periodic body and platform motions that minimize a simple metabolic energy cost. When the platform has an externally imposed sinusoidal displacement of appropriate frequency and amplitude, we predict that body motion entrained to platform motion consumes less energy than walking on a fixed surface. When the platform has finite inertia, a mass- spring-damper with similar parameters to the Millennium Bridge, we show that the optimal biped walking motion sustains a large lateral platform oscillation when sufficiently many people walk on the bridge. Here, the biped model reduces walking metabolic cost by storing and recovering energy from the platform, demonstrating energy benefits for two features observed for walking on the Millennium Bridge: crowd synchrony and large lateral oscillations.

Walking on a moving surface: energy-optimal walking motions on a shaky bridge and a shaking treadmill can reduce energy costs below normal

PubMed Central

Joshi, Varun; Srinivasan, Manoj

2015-01-01

Understanding how humans walk on a surface that can move might provide insights into, for instance, whether walking humans prioritize energy use or stability. Here, motivated by the famous human-driven oscillations observed in the London Millennium Bridge, we introduce a minimal mathematical model of a biped, walking on a platform (bridge or treadmill) capable of lateral movement. This biped model consists of a point-mass upper body with legs that can exert force and perform mechanical work on the upper body. Using numerical optimization, we obtain energy-optimal walking motions for this biped, deriving the periodic body and platform motions that minimize a simple metabolic energy cost. When the platform has an externally imposed sinusoidal displacement of appropriate frequency and amplitude, we predict that body motion entrained to platform motion consumes less energy than walking on a fixed surface. When the platform has finite inertia, a mass- spring-damper with similar parameters to the Millennium Bridge, we show that the optimal biped walking motion sustains a large lateral platform oscillation when sufficiently many people walk on the bridge. Here, the biped model reduces walking metabolic cost by storing and recovering energy from the platform, demonstrating energy benefits for two features observed for walking on the Millennium Bridge: crowd synchrony and large lateral oscillations. PMID:25663810

Algorithms and Sensors for Small Robot Path Following

NASA Technical Reports Server (NTRS)

Hogg, Robert W.; Rankin, Arturo L.; Roumeliotis, Stergios I.; McHenry, Michael C.; Helmick, Daniel M.; Bergh, Charles F.; Matthies, Larry

2002-01-01

Tracked mobile robots in the 20 kg size class are under development for applications in urban reconnaissance. For efficient deployment, it is desirable for teams of robots to be able to automatically execute path following behaviors, with one or more followers tracking the path taken by a leader. The key challenges to enabling such a capability are (l) to develop sensor packages for such small robots that can accurately determine the path of the leader and (2) to develop path following algorithms for the subsequent robots. To date, we have integrated gyros, accelerometers, compass/inclinometers, odometry, and differential GPS into an effective sensing package. This paper describes the sensor package, sensor processing algorithm, and path tracking algorithm we have developed for the leader/follower problem in small robots and shows the result of performance characterization of the system. We also document pragmatic lessons learned about design, construction, and electromagnetic interference issues particular to the performance of state sensors on small robots.

The Structure, Design, and Closed-Loop Motion Control of a Differential Drive Soft Robot.

PubMed

Wu, Pang; Jiangbei, Wang; Yanqiong, Fei

2018-02-01

This article presents the structure, design, and motion control of an inchworm inspired pneumatic soft robot, which can perform differential movement. This robot mainly consists of two columns of pneumatic multi-airbags (actuators), one sensor, one baseboard, front feet, and rear feet. According to the different inflation time of left and right actuators, the robot can perform both linear and turning movements. The actuators of this robot are composed of multiple airbags, and the design of the airbags is analyzed. To deal with the nonlinear performance of the soft robot, we use radial basis function neural networks to train the turning ability of this robot on three different surfaces and create a mathematical model among coefficient of friction, deflection angle, and inflation time. Then, we establish the closed-loop automatic control model using three-axis electronic compass sensor. Finally, the automatic control model is verified by linear and turning movement experiments. According to the experiment, the robot can finish the linear and turning movements under the closed-loop control system.

A study of the relationship between self-care, compassion satisfaction, compassion fatigue, and burnout among hospice professionals.

PubMed

Alkema, Karen; Linton, Jeremy M; Davies, Randall

2008-01-01

Hospice care professionals (HCPs) experience a large number of stressors in their work settings. The purpose of this study was to investigate the relationship between self-care, compassion fatigue, burnout, and compassion satisfaction among HCPs. Thirty-seven HCPs were surveyed regarding their levels of compassion satisfaction, compassion fatigue, and burnout. Respondents also reported the types of self-care activities in which they took part. Results indicated a relationship between self-care strategies and lower levels of burnout and compassion fatigue, and higher levels of compassion satisfaction. Several suggestions are offered for continued research and practice in the hospice care field.

Qibla Finder and Sholat Times Based on Digital Compass, GPS and Microprocessor

NASA Astrophysics Data System (ADS)

Sanjaya, W. S. M.; Anggraeni, D.; Nurrahman, F. I.; Kresnadjaja, W. G.; Dewi, I. P.; Mira; Aliah, H.; Marlina, L.

2018-01-01

To performing Sholat, Muslims around the world are required to pay attention to the requirements of Sholat, such as; determining the direction of the Qibla (Kaaba) and the time of Sholat. In this research will be made a real time Qibla Finder and Sholat Times named Q-Bot Ver3 to help Muslims find a Qibla direction and Time of Sholat anywhere. This Qibla Finder and Sholat Times are developed with robotic technology based on Digital Compass, GPS and Microcontroller. To determine the Qibla direction and Sholat times, latitude and longitude data form GPS module processed used spherical triangle trigonometry method, while the compass module used to show the Qibla direction. Moreover, this system has a buzzer which can sound if the device facing to the Qibla. This system is reliable and accurate in determining the Qibla Finder and Sholat Times. Thus, the advantage of the system is can correct the Qibla of Masjid and can help blind people to facing Qibla around the world.

Environmental Data Collection Using Autonomous Wave Gliders

DTIC Science & Technology

2014-12-01

Observing System IMU Inertial Measurement Unit LRI Liquid Robotics, Inc. MASFlux Marine-Air-Sea-Flux METOC meteorological and oceanographic...position, velocity, heading, pitch, roll , and six-axis acceleration rates (Figure 11). A separate temperature probe also provides sea surface...Position, Velocity, and Magnetic declination True North Revolution Technologies GS Gyro Stabilized Electronic Compass Heading, Pitch, and Roll

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking.

PubMed

Hamed, Kaveh Akbari; Gregg, Robert D

2016-07-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg.

Decentralized Feedback Controllers for Exponential Stabilization of Hybrid Periodic Orbits: Application to Robotic Walking*

PubMed Central

Hamed, Kaveh Akbari; Gregg, Robert D.

2016-01-01

This paper presents a systematic algorithm to design time-invariant decentralized feedback controllers to exponentially stabilize periodic orbits for a class of hybrid dynamical systems arising from bipedal walking. The algorithm assumes a class of parameterized and nonlinear decentralized feedback controllers which coordinate lower-dimensional hybrid subsystems based on a common phasing variable. The exponential stabilization problem is translated into an iterative sequence of optimization problems involving bilinear and linear matrix inequalities, which can be easily solved with available software packages. A set of sufficient conditions for the convergence of the iterative algorithm to a stabilizing decentralized feedback control solution is presented. The power of the algorithm is demonstrated by designing a set of local nonlinear controllers that cooperatively produce stable walking for a 3D autonomous biped with 9 degrees of freedom, 3 degrees of underactuation, and a decentralization scheme motivated by amputee locomotion with a transpelvic prosthetic leg. PMID:27990059

Tenebrio beetles use magnetic inclination compass

NASA Astrophysics Data System (ADS)

Vácha, Martin; Drštková, Dana; Půžová, Tereza

2008-08-01

Animals that guide directions of their locomotion or their migration routes by the lines of the geomagnetic field use either polarity or inclination compasses to determine the field polarity (the north or south direction). Distinguishing the two compass types is a guideline for estimation of the molecular principle of reception and has been achieved for a number of animal groups, with the exception of insects. A standard diagnostic method to distinguish a compass type is based on reversing the vertical component of the geomagnetic field, which leads to the opposite reactions of animals with two different compass types. In the present study, adults of the mealworm beetle Tenebrio molitor were tested by means of a two-step laboratory test of magnetoreception. Beetles that were initially trained to memorize the magnetic position of the light source preferred, during the subsequent test, this same direction, pursuant geomagnetic cues only. In the following step, the vertical component was reversed between the training and the test. The beetles significantly turned their preferred direction by 180°. Our results brought until then unknown original findings that insects, represented here by the T. molitor species, use—in contrast to another previously researched Arthropod, spiny lobster—the inclination compass.

Multi-Target Single Cycle Instrument Placement

NASA Technical Reports Server (NTRS)

Pedersen, Liam; Smith, David E.; Deans, Matthew; Sargent, Randy; Kunz, Clay; Lees, David; Rajagopalan, Srikanth; Bualat, Maria

2005-01-01

This presentation is about the robotic exploration of Mars using multiple targets command cycle, safe instrument placements, safe operation, and K9 Rover which has a 6 wheel steer rocket-bogey chassis (FIDO, MER), 70% MER size, 1.2 GHz Pentium M laptop running Linux OS, Odometry and compass/inclinometer, CLARAty architecture, 5 DOF manipulator w/CHAMP microscopic camera, SciCams, NavCams and HazCams.

Multi Sensor Fusion Framework for Indoor-Outdoor Localization of Limited Resource Mobile Robots

PubMed Central

Marín, Leonardo; Vallés, Marina; Soriano, Ángel; Valera, Ángel; Albertos, Pedro

2013-01-01

This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments. PMID:24152933

Multi sensor fusion framework for indoor-outdoor localization of limited resource mobile robots.

PubMed

Marín, Leonardo; Vallés, Marina; Soriano, Ángel; Valera, Ángel; Albertos, Pedro

2013-10-21

This paper presents a sensor fusion framework that improves the localization of mobile robots with limited computational resources. It employs an event based Kalman Filter to combine the measurements of a global sensor and an inertial measurement unit (IMU) on an event based schedule, using fewer resources (execution time and bandwidth) but with similar performance when compared to the traditional methods. The event is defined to reflect the necessity of the global information, when the estimation error covariance exceeds a predefined limit. The proposed experimental platforms are based on the LEGO Mindstorm NXT, and consist of a differential wheel mobile robot navigating indoors with a zenithal camera as global sensor, and an Ackermann steering mobile robot navigating outdoors with a SBG Systems GPS accessed through an IGEP board that also serves as datalogger. The IMU in both robots is built using the NXT motor encoders along with one gyroscope, one compass and two accelerometers from Hitecnic, placed according to a particle based dynamic model of the robots. The tests performed reflect the correct performance and low execution time of the proposed framework. The robustness and stability is observed during a long walk test in both indoors and outdoors environments.

A New View on an Old Debate: Type of Cue-Conflict Manipulation and Availability of Stars Can Explain the Discrepancies between Cue-Calibration Experiments with Migratory Songbirds.

PubMed

Sjöberg, Sissel; Muheim, Rachel

2016-01-01

Migratory birds use multiple compass systems for orientation, including a magnetic, star and sun/polarized light compass. To keep these compasses in register, birds have to regularly update them with respect to a common reference. However, cue-conflict studies have revealed contradictory results on the compass hierarchy, favoring either celestial or magnetic compass cues as the primary calibration reference. Both the geomagnetic field and polarized light cues present at sunrise and sunset have been shown to play a role in compass cue integration, and evidence suggests that polarized light cues at sunrise and sunset may provide the primary calibration reference for the other compass systems. We tested whether migratory garden warblers recalibrated their compasses when they were exposed to the natural celestial cues at sunset in a shifted magnetic field, which are conditions that have been shown to be necessary for the use of a compass reference based on polarized light cues. We released the birds on the same evening under a starry sky and followed them by radio tracking. We found no evidence of compass recalibration, even though the birds had a full view of polarized light cues near the horizon at sunset during the cue-conflict exposure. Based on a meta-analysis of the available literature, we propose an extended unifying theory on compass cue hierarchy used by migratory birds to calibrate the different compasses. According to this scheme, birds recalibrate their magnetic compass by sunrise/sunset polarized light cues, provided they have access to the vertically aligned band of maximum polarization near the horizon and a view of landmarks. Once the stars appear in the sky, the birds then recalibrate the star compass with respect of the recalibrated magnetic compass. If sunrise and sunset information can be viewed from the same location, the birds average the information to get a true geographic reference. If polarized light information is not available near the horizon at sunrise or sunset, the birds temporarily transfer the previously calibrated magnetic compass information to the available celestial compasses. We conclude that the type of cue-conflict manipulation and the availability of stars can explain the discrepancies between studies.

A New View on an Old Debate: Type of Cue-Conflict Manipulation and Availability of Stars Can Explain the Discrepancies between Cue-Calibration Experiments with Migratory Songbirds

PubMed Central

Sjöberg, Sissel; Muheim, Rachel

2016-01-01

Migratory birds use multiple compass systems for orientation, including a magnetic, star and sun/polarized light compass. To keep these compasses in register, birds have to regularly update them with respect to a common reference. However, cue-conflict studies have revealed contradictory results on the compass hierarchy, favoring either celestial or magnetic compass cues as the primary calibration reference. Both the geomagnetic field and polarized light cues present at sunrise and sunset have been shown to play a role in compass cue integration, and evidence suggests that polarized light cues at sunrise and sunset may provide the primary calibration reference for the other compass systems. We tested whether migratory garden warblers recalibrated their compasses when they were exposed to the natural celestial cues at sunset in a shifted magnetic field, which are conditions that have been shown to be necessary for the use of a compass reference based on polarized light cues. We released the birds on the same evening under a starry sky and followed them by radio tracking. We found no evidence of compass recalibration, even though the birds had a full view of polarized light cues near the horizon at sunset during the cue-conflict exposure. Based on a meta-analysis of the available literature, we propose an extended unifying theory on compass cue hierarchy used by migratory birds to calibrate the different compasses. According to this scheme, birds recalibrate their magnetic compass by sunrise/sunset polarized light cues, provided they have access to the vertically aligned band of maximum polarization near the horizon and a view of landmarks. Once the stars appear in the sky, the birds then recalibrate the star compass with respect of the recalibrated magnetic compass. If sunrise and sunset information can be viewed from the same location, the birds average the information to get a true geographic reference. If polarized light information is not available near the horizon at sunrise or sunset, the birds temporarily transfer the previously calibrated magnetic compass information to the available celestial compasses. We conclude that the type of cue-conflict manipulation and the availability of stars can explain the discrepancies between studies. PMID:26941631

Analyzing the multiple-target-multiple-agent scenario using optimal assignment algorithms

NASA Astrophysics Data System (ADS)

Kwok, Kwan S.; Driessen, Brian J.; Phillips, Cynthia A.; Tovey, Craig A.

1997-09-01

This work considers the problem of maximum utilization of a set of mobile robots with limited sensor-range capabilities and limited travel distances. The robots are initially in random positions. A set of robots properly guards or covers a region if every point within the region is within the effective sensor range of at least one vehicle. We wish to move the vehicles into surveillance positions so as to guard or cover a region, while minimizing the maximum distance traveled by any vehicle. This problem can be formulated as an assignment problem, in which we must optimally decide which robot to assign to which slot of a desired matrix of grid points. The cost function is the maximum distance traveled by any robot. Assignment problems can be solved very efficiently. Solution times for one hundred robots took only seconds on a silicon graphics crimson workstation. The initial positions of all the robots can be sampled by a central base station and their newly assigned positions communicated back to the robots. Alternatively, the robots can establish their own coordinate system with the origin fixed at one of the robots and orientation determined by the compass bearing of another robot relative to this robot. This paper presents example solutions to the multiple-target-multiple-agent scenario using a matching algorithm. Two separate cases with one hundred agents in each were analyzed using this method. We have found these mobile robot problems to be a very interesting application of network optimization methods, and we expect this to be a fruitful area for future research.

From the elastica compass to the elastica catapult: an essay on the mechanics of soft robot arm.

PubMed

Armanini, C; Dal Corso, F; Misseroni, D; Bigoni, D

2017-02-01

An elastic rod is clamped at one end and has a dead load attached to the other (free) end. The rod is then slowly rotated using the clamp. When the load is smaller than the buckling value, the rod describes a continuous set of quasi-static forms and its end traces a (smooth, convex and simple) closed curve, which would be a circle if the rod were rigid. The closed curve is analytically determined through the integration of the Euler's elastica, so that for sufficiently small loads the mechanical system behaves as an 'elastica compass'. For loads higher than that of buckling, the elastica reaches a configuration from which a snap-back instability occurs, realizing a sort of 'elastica catapult'. The whole quasi-static evolution leading to the critical configuration for snapping is calculated through the elastica and the subsequent dynamic motion simulated using two numerical procedures, one ad hoc developed and another based on a finite-element scheme. The theoretical results are then validated on a specially designed and built apparatus. An obvious application of the present model would be in the development of soft robotic limbs, but the results are also of interest for the optimization analysis in pole vaulting.

Borehole survey instrument

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sharp, H.E.; Lin, J.W. III; Macha, E.S.

1984-12-04

A borehole survey instrument is provided having a meniscus type floating compass member with indicia thereon for indicating azimuth and inclination. A light source is disposed below the indicia for illuminating the indicia upward through the liquid through which the meniscus type floating compass member floats. A lens system is provided for focusing the image of the illuminated compass member upon a film disposed below the compass member. This arrangement permits the centering post for the compass member to be of minimum diameter consistent with rigidity requirements and permits a high angle compass member to indicate angles of inclination approachingmore » ninety degrees. A multiple light bulb light source is utilized and each light bulb is mounted in a manner which permits a single light bulb to illuminate the entire compass member. A hand-held programming and diagnostic unit is provided which may be momentarily electrically mated with the borehole survey tool to input a programmed timed delay and diagnostically test both the condition of the light bulbs utilized as the illumination source and the state of the batteries within the instrument. This hand-held programmable unit eliminates all the mechanical programming switches and permits the instrument to be completely sealed from the pressure, fluids and contaminants normally found in a well bore.« less

Planetary rover robotics experiment in education: carbonate rock collecting experiment of the Husar-5 rover

NASA Astrophysics Data System (ADS)

Szalay, Kristóf; Lang, Ágota; Horváth, Tamás; Prajczer, Péter; Bérczi, Szaniszló

2013-04-01

Introduction: The new experiment for the Husar-5 educational space probe rover consists of steps of the technology of procedure of finding carbonate speci-mens among the rocks on the field. 3 main steps were robotized: 1) identification of carbonate by acid test, 2) measuring the gases liberated by acid, and 3) magnetic test. Construction of the experiment: The basis of the robotic realization of the experiment is a romote-controlled rover which can move on the field. Onto this rover the mechanism of the experiments were built from Technics LEGO elements and we used LEGO-motors for making move these experiments. The operation was coordinated by an NXT-brick which was suitable to programming. Fort he acetic-test the drops should be passed to the selected area. Passing a drop to a locality: From the small holder of the acid using densified gas we pump some drop onto the selected rock. We promote this process by pumpig the atmospheric gas into another small gas-container, so we have another higher pressure gas there. This is pumped into the acid-holder. The effect of the reaction is observed by a wireless onboard camera In the next step we can identify the the liberated gas by the gas sensor. Using it we can confirm the liberation of the CO2 gas without outer observer. The third step is the controll of the paramagnetic properties.. In measuring this feature a LEGO-compass is our instrumentation. We use a electric current gener-ated magnet. During the measurements both the coil and the gas-sensor should be positioned to be near to the surface. This means, that a lowering and an uplifting machinery should be constructed. Summary: The sequence of the measurement is the following. 1) the camera - after giving panorama images - turns toward the soil surface, 2) the dropping onto the rock surface 3) at the same time the gas-sensor starts to move down above the rock 4) the compass sensor also moves down on the arm which holds both the gas-sensor and the compass-sensor 5) evaluation of the gas-sensor data 6) if CO2 is present the magnet-test begins, therefore the rovers moves forward into a good position for the coil lowering 7) after magnetization the rover moves backward in order to be in the position that the compass-sesnsor can measure the angle. 8) the last 2 operations are repeated in a small turned position of the rover 9) final calculation of the paramagnetic measurement 10) summary of the 3 tests

Examining the Relationships Among Self-Compassion, Social Anxiety, and Post-Event Processing.

PubMed

Blackie, Rebecca A; Kocovski, Nancy L

2017-01-01

Post-event processing refers to negative and repetitive thinking following anxiety provoking social situations. Those who engage in post-event processing may lack self-compassion in relation to social situations. As such, the primary aim of this research was to evaluate whether those high in self-compassion are less likely to engage in post-event processing and the specific self-compassion domains that may be most protective. In study 1 ( N = 156 undergraduate students) and study 2 ( N = 150 individuals seeking help for social anxiety and shyness), participants completed a battery of questionnaires, recalled a social situation, and then rated state post-event processing. Self-compassion negatively correlated with post-event processing, with some differences depending on situation type. Even after controlling for self-esteem, self-compassion remained significantly correlated with state post-event processing. Given these findings, self-compassion may serve as a buffer against post-event processing. Future studies should experimentally examine whether increasing self-compassion leads to reduced post-event processing.

Using Acceptance and Commitment Therapy to Increase Self-Compassion: A Randomized Controlled Trial

PubMed Central

Yadavaia, James E.; Hayes, Steven C.; Vilardaga, Roger

2014-01-01

Self-compassion has been shown to be related to several types of psychopathology, including traumatic stress, and has been shown to improve in response to various kinds of interventions. Current conceptualizations of self-compassion fit well with the psychological flexibility model, which underlies acceptance and commitment therapy (ACT). However, there has been no research on ACT interventions specifically aimed at self-compassion. This randomized trial therefore compared a 6-hour ACT-based workshop targeting self-compassion to a wait-list control. From pretreatment to 2-month follow-up, ACT was significantly superior to the control condition in self-compassion, general psychological distress, and anxiety. Process analyses revealed psychological flexibility to be a significant mediator of changes in self-compassion, general psychological distress, depression, anxiety, and stress. Exploratory moderation analyses revealed the intervention to be of more benefit in terms of depression, anxiety, and stress to those with greater trauma history. PMID:25506545

Using Acceptance and Commitment Therapy to Increase Self-Compassion: A Randomized Controlled Trial.

PubMed

Yadavaia, James E; Hayes, Steven C; Vilardaga, Roger

2014-10-01

Self-compassion has been shown to be related to several types of psychopathology, including traumatic stress, and has been shown to improve in response to various kinds of interventions. Current conceptualizations of self-compassion fit well with the psychological flexibility model, which underlies acceptance and commitment therapy (ACT). However, there has been no research on ACT interventions specifically aimed at self-compassion. This randomized trial therefore compared a 6-hour ACT-based workshop targeting self-compassion to a wait-list control. From pretreatment to 2-month follow-up, ACT was significantly superior to the control condition in self-compassion, general psychological distress, and anxiety. Process analyses revealed psychological flexibility to be a significant mediator of changes in self-compassion, general psychological distress, depression, anxiety, and stress. Exploratory moderation analyses revealed the intervention to be of more benefit in terms of depression, anxiety, and stress to those with greater trauma history.

Localization Methods for a Mobile Robot in Urban Environments

DTIC Science & Technology

2004-10-04

Columbia University, Department of Computer Science, 2001. [30] R. Brown and P. Hwang , Introduction to random signals and applied Kalman filtering, 3rd...sensor. An extended Kalman filter integrates the sensor data and keeps track of the uncertainty associated with it. The second method is based on...errors+ compass/GPS errors corrected odometry pose odometry error estimates zk zk h(x)~ h(x)~ Kalman Filter zk Fig. 4. A diagram of the extended

Understanding Compassion Satisfaction, Compassion Fatigue and Burnout: a survey of the hospice palliative care workforce.

PubMed

Slocum-Gori, Suzanne; Hemsworth, David; Chan, Winnie W Y; Carson, Anna; Kazanjian, Arminee

2013-02-01

Despite the increasingly crucial role of the healthcare workforce and volunteers working in hospice and palliative care (HPC), very little is known about factors that promote or limit the positive outcomes associated with practicing compassion. The purpose of this study was to: 1) understand the complex relationships among Compassion Satisfaction, Compassion Fatigue and Burnout within the hospice and palliative care workforce and 2) explore how key practice characteristics - practice status, professional affiliation, and principal institution - interact with the measured constructs of Compassion Satisfaction, Compassion Fatigue and Burnout. Self-reported measures of Compassion Satisfaction, Compassion Fatigue and Burnout, using validated scales, as well as questions to describe socio-demographic profiles and key practice characteristics were obtained. A national survey of HPC workers, comprising clinical, administrative, allied health workers and volunteers, was completed. Respondents from hospital, community-based and care homes informed the results of our study (n = 630). Our results indicate a significant negative correlation between Compassion Satisfaction and Burnout (r = -0.531, p < 0.001) and between Compassion Satisfaction and Compassion Fatigue (r = -0.208, p < 0.001), and a significant positive correlation between Burnout and Compassion Fatigue (r = 0.532, p < 0.001). Variations in self-reported levels of the above constructs were noted by key practice characteristics. Levels of all three constructs are significantly, but differentially, affected by type of service provided, principal institution, practice status and professional affiliation. Results indicate that health care systems could increase the prevalence of Compassion Satisfaction through both policy and institutional level programs to support HPC professionals in their jurisdictions.

Abortion providers, stigma and professional quality of life.

PubMed

Martin, Lisa A; Debbink, Michelle; Hassinger, Jane; Youatt, Emily; Harris, Lisa H

2014-12-01

The Providers Share Workshop (PSW) provides abortion providers safe space to discuss their work experiences. Our objectives were to assess changes in abortion stigma over time and explore how stigma is related to aspects of professional quality of life, including compassion satisfaction, burnout and compassion fatigue for providers participating in the workshops. Seventy-nine providers were recruited to the PSW study. Surveys were completed prior to, immediately following and 1 year after the workshops. The outcome measures were the Abortion Provider Stigma Survey and the Professional Quality of Life (ProQOL) survey. Baseline ProQOL scores were compared to published averages using t tests. Changes in abortion stigma and aspects of professional quality of life were assessed by fitting a two-level random-effects model with repeated measures at level 1 (period-level) and static measures (e.g., demographic data) at level 2 (person-level). Potential covariates included age, parenting status, education, organizational tenure, job type and clinic type (stand-alone vs. hospital-based clinics). Compared to other healthcare workers, abortion providers reported higher compassion satisfaction (t=2.65, p=.009) and lower burnout (t=5.13, p<.0001). Repeated-measures analysis revealed statistically significant decreases in stigma over time. Regression analysis identified abortion stigma as a significant predictor of lower compassion satisfaction, higher burnout and higher compassion fatigue. Participants in PSW reported a reduction in abortion stigma over time. Further, stigma is an important predictor of compassion satisfaction, burnout and compassion fatigue, suggesting that interventions aimed at supporting the abortion providing workforce should likely assess abortion stigma. Stigma is an important predictor of compassion satisfaction, burnout and compassion fatigue among abortion care providers. Therefore, strengthening human resources for abortion care requires stigma reduction efforts. Participants in the PSWs show reductions in stigma over time. Copyright © 2014 Elsevier Inc. All rights reserved.

MW-Class Electric Propulsion System Designs

NASA Technical Reports Server (NTRS)

LaPointe, Michael R.; Oleson, Steven; Pencil, Eric; Mercer, Carolyn; Distefano, Salvador

2011-01-01

Electric propulsion systems are well developed and have been in commercial use for several years. Ion and Hall thrusters have propelled robotic spacecraft to encounters with asteroids, the Moon, and minor planetary bodies within the solar system, while higher power systems are being considered to support even more demanding future space science and exploration missions. Such missions may include orbit raising and station-keeping for large platforms, robotic and human missions to near earth asteroids, cargo transport for sustained lunar or Mars exploration, and at very high-power, fast piloted missions to Mars and the outer planets. The Advanced In-Space Propulsion Project, High Efficiency Space Power Systems Project, and High Power Electric Propulsion Demonstration Project were established within the NASA Exploration Technology Development and Demonstration Program to develop and advance the fundamental technologies required for these long-range, future exploration missions. Under the auspices of the High Efficiency Space Power Systems Project, and supported by the Advanced In-Space Propulsion and High Power Electric Propulsion Projects, the COMPASS design team at the NASA Glenn Research Center performed multiple parametric design analyses to determine solar and nuclear electric power technology requirements for representative 300-kW class and pulsed and steady-state MW-class electric propulsion systems. This paper describes the results of the MW-class electric power and propulsion design analysis. Starting with the representative MW-class vehicle configurations, and using design reference missions bounded by launch dates, several power system technology improvements were introduced into the parametric COMPASS simulations to determine the potential system level benefits such technologies might provide. Those technologies providing quantitative system level benefits were then assessed for technical feasibility, cost, and time to develop. Key assumptions and primary results of the COMPASS MW-class electric propulsion power system study are reported, and discussion is provided on how the analysis might be used to guide future technology investments as NASA moves to more capable high power in-space propulsion systems.

Cost analysis of robotic versus laparoscopic general surgery procedures.

PubMed

Higgins, Rana M; Frelich, Matthew J; Bosler, Matthew E; Gould, Jon C

2017-01-01

Robotic surgical systems have been used at a rapidly increasing rate in general surgery. Many of these procedures have been performed laparoscopically for years. In a surgical encounter, a significant portion of the total costs is associated with consumable supplies. Our hospital system has invested in a software program that can track the costs of consumable surgical supplies. We sought to determine the differences in cost of consumables with elective laparoscopic and robotic procedures for our health care organization. De-identified procedural cost and equipment utilization data were collected from the Surgical Profitability Compass Procedure Cost Manager System (The Advisory Board Company, Washington, DC) for our health care system for laparoscopic and robotic cholecystectomy, fundoplication, and inguinal hernia between the years 2013 and 2015. Outcomes were length of stay, case duration, and supply cost. Statistical analysis was performed using a t-test for continuous variables, and statistical significance was defined as p < 0.05. The total cost of consumable surgical supplies was significantly greater for all robotic procedures. Length of stay did not differ for fundoplication or cholecystectomy. Length of stay was greater for robotic inguinal hernia repair. Case duration was similar for cholecystectomy (84.3 robotic and 75.5 min laparoscopic, p = 0.08), but significantly longer for robotic fundoplication (197.2 robotic and 162.1 min laparoscopic, p = 0.01) and inguinal hernia repair (124.0 robotic and 84.4 min laparoscopic, p = ≪0.01). We found a significantly increased cost of general surgery procedures for our health care system when cases commonly performed laparoscopically are instead performed robotically. Our analysis is limited by the fact that we only included costs associated with consumable surgical supplies. The initial acquisition cost (over $1 million for robotic surgical system), depreciation, and service contract for the robotic and laparoscopic systems were not included in this analysis.

Spatio-temporal features for tracking and quadruped/biped discrimination

NASA Astrophysics Data System (ADS)

Rickman, Rick; Copsey, Keith; Bamber, David C.; Page, Scott F.

2012-05-01

Techniques such as SIFT and SURF facilitate efficient and robust image processing operations through the use of sparse and compact spatial feature descriptors and show much potential for defence and security applications. This paper considers the extension of such techniques to include information from the temporal domain, to improve utility in applications involving moving imagery within video data. In particular, the paper demonstrates how spatio-temporal descriptors can be used very effectively as the basis of a target tracking system and as target discriminators which can distinguish between bipeds and quadrupeds. Results using sequences of video imagery of walking humans and dogs are presented, and the relative merits of the approach are discussed.

The concept of compassion within uk media generated discourse: A corpus informed analysis.

PubMed

Bond, Carmel; Stacey, Gemma; Field-Richards, Sarah; Callaghan, Patrick; Keeley, Philip; Lymn, Joanne; Redsell, Sarah; Spiby, Helen

2018-04-27

To examine how the concept of compassion is socially constructed within UK discourse, in response to recommendations that aspiring nurses gain care experience prior to entering nurse education. Following a report of significant failings in care, the UK government proposed prior care experience for aspiring nurses as a strategy to enhance compassion amongst the profession. Media reporting of this generated substantial online discussion, which formed the data for this research. There is a need to define how compassion is constructed through language as a limited understanding exists, of what compassion means in healthcare. This is important, for any meaningful evaluation of quality, compassionate practices. A corpus-informed discourse analysis. A 62626-word corpus of data was analysed using Laurence Anthony software 'AntCon', a free corpus analysis toolkit. Frequent words were retrieved and used as a focal point for further analysis. Concordance lines were computed and analysed in the context of which frequent word-types occurred. Patterns of language were revealed and interpreted through researcher immersion. Findings identified that compassion was frequently described in various ways as a natural characteristic attribute. A pattern of language also referred to compassion as something that was not able to be taught, but could be developed through the repetition of behaviours observed in practice learning. In the context of compassion, the word-type 'nurse' was used positively. This paper adds to important debates highlighting how compassion is constructed and defined in the context of nursing. Compassion is constructed as both an individual, personal trait and a professional behaviour to be learnt. Educational design could include effective interpersonal skills training, which may help enhance and develop compassion from within the nursing profession. Likewise, ways of thinking, behaving and communicating should also be addressed by established practitioners in order to maintain compassionate interactions between professionals as well as nurse-patient relationships. Future research should focus on how compassionate practice is defined by both health professionals and patients. In order to maintain nursing as an attractive profession to join, it is important that nurses are viewed as compassionate. This holds implications for professional morale, associated with the continued retention and recruitment of the future workforce. Existing ideologies within the practice placement, the prior care experience environment, as well as the educational and organisational design are crucial factors to consider, in terms of their influences on the expression of compassion in practice. This article is protected by copyright. All rights reserved. This article is protected by copyright. All rights reserved.

Quantifying dynamic characteristics of human walking for comprehensive gait cycle.

PubMed

Mummolo, Carlotta; Mangialardi, Luigi; Kim, Joo H

2013-09-01

Normal human walking typically consists of phases during which the body is statically unbalanced while maintaining dynamic stability. Quantifying the dynamic characteristics of human walking can provide better understanding of gait principles. We introduce a novel quantitative index, the dynamic gait measure (DGM), for comprehensive gait cycle. The DGM quantifies the effects of inertia and the static balance instability in terms of zero-moment point and ground projection of center of mass and incorporates the time-varying foot support region (FSR) and the threshold between static and dynamic walking. Also, a framework of determining the DGM from experimental data is introduced, in which the gait cycle segmentation is further refined. A multisegmental foot model is integrated into a biped system to reconstruct the walking motion from experiments, which demonstrates the time-varying FSR for different subphases. The proof-of-concept results of the DGM from a gait experiment are demonstrated. The DGM results are analyzed along with other established features and indices of normal human walking. The DGM provides a measure of static balance instability of biped walking during each (sub)phase as well as the entire gait cycle. The DGM of normal human walking has the potential to provide some scientific insights in understanding biped walking principles, which can also be useful for their engineering and clinical applications.

The role of the sun in the celestial compass of dung beetles

PubMed Central

Dacke, M.; el Jundi, Basil; Smolka, Jochen; Byrne, Marcus; Baird, Emily

2014-01-01

Recent research has focused on the different types of compass cues available to ball-rolling beetles for orientation, but little is known about the relative precision of each of these cues and how they interact. In this study, we find that the absolute orientation error of the celestial compass of the day-active dung beetle Scarabaeus lamarcki doubles from 16° at solar elevations below 60° to an error of 29° at solar elevations above 75°. As ball-rolling dung beetles rely solely on celestial compass cues for their orientation, these insects experience a large decrease in orientation precision towards the middle of the day. We also find that in the compass system of dung beetles, the solar cues and the skylight cues are used together and share the control of orientation behaviour. Finally, we demonstrate that the relative influence of the azimuthal position of the sun for straight-line orientation decreases as the sun draws closer to the horizon. In conclusion, ball-rolling dung beetles possess a dynamic celestial compass system in which the orientation precision and the relative influence of the solar compass cues change over the course of the day. PMID:24395963

The role of the sun in the celestial compass of dung beetles.

PubMed

Dacke, M; el Jundi, Basil; Smolka, Jochen; Byrne, Marcus; Baird, Emily

2014-01-01

Recent research has focused on the different types of compass cues available to ball-rolling beetles for orientation, but little is known about the relative precision of each of these cues and how they interact. In this study, we find that the absolute orientation error of the celestial compass of the day-active dung beetle Scarabaeus lamarcki doubles from 16° at solar elevations below 60° to an error of 29° at solar elevations above 75°. As ball-rolling dung beetles rely solely on celestial compass cues for their orientation, these insects experience a large decrease in orientation precision towards the middle of the day. We also find that in the compass system of dung beetles, the solar cues and the skylight cues are used together and share the control of orientation behaviour. Finally, we demonstrate that the relative influence of the azimuthal position of the sun for straight-line orientation decreases as the sun draws closer to the horizon. In conclusion, ball-rolling dung beetles possess a dynamic celestial compass system in which the orientation precision and the relative influence of the solar compass cues change over the course of the day.

Integration of celestial compass cues in the central complex of the locust brain.

PubMed

Pegel, Uta; Pfeiffer, Keram; Homberg, Uwe

2018-01-29

Many insects rely on celestial compass cues such as the polarization pattern of the sky for spatial orientation. In the desert locust, the central complex (CX) houses multiple sets of neurons, sensitive to the oscillation plane of polarized light and thus probably acts as an internal polarization compass. We investigated whether other sky compass cues like direct sunlight or the chromatic gradient of the sky might contribute to this compass. We recorded from polarization-sensitive CX neurons while an unpolarized green or ultraviolet light spot was moved around the head of the animal. All types of neuron that were sensitive to the plane of polarization ( E -vector) above the animal also responded to the unpolarized light spots in an azimuth-dependent way. The tuning to the unpolarized light spots was independent of wavelength, suggesting that the neurons encode solar azimuth based on direct sunlight and not on the sky chromatic gradient. Two cell types represented the natural 90 deg relationship between solar azimuth and zenithal E -vector orientation, providing evidence to suggest that solar azimuth information supports the internal polarization compass. Most neurons showed advances in their tuning to the E -vector and the unpolarized light spots dependent on rotation direction, consistent with anticipatory signaling. The amplitude of responses and its variability were dependent on the level of background firing, possibly indicating different internal states. The integration of polarization and solar azimuth information strongly suggests that besides the polarization pattern of the sky, direct sunlight might be an important cue for sky compass navigation in the locust. © 2018. Published by The Company of Biologists Ltd.

Compassion fatigue and substance use among nurses.

PubMed

Jarrad, Reem; Hammad, Sawsan; Shawashi, Tagreed; Mahmoud, Naser

2018-01-01

This study aimed to detect if there were differences in compassion fatigue (CF) among nurses based on substance use and demographic variables of gender, marital status, type of health institution and income. Compassion fatigue is considered an outcome of poorly handled stressful situations in which nurses may respond with self-harming behaviours like substance use. Evidence in this area is critically lacking. This study used a descriptive design to survey differences in CF of 282 nurses. The participants completed a demographic survey and indicated whether they consume any of the following substances on a frequent basis: cigarettes, sleeping pills, power drinks, anti-depressant drugs, anti-anxiety drugs, coffee, analgesics, amphetamines and alcohol. Compassion Fatigue scores were surveyed using CF self-test 66 items developed by Stamm and Figely (Compassion satisfaction and fatigue test. http://www.isu.edu/~bhstamm/tests.htm, 1996). There were significant differences in CF scores in favour of nurses who used cigarettes, sleeping pills, power drinks, anti-depressants and anti-anxiety drugs. While no significant differences in CF were found between nurses who used coffee, analgesics, amphetamines and alcohol, significant differences in nurses' CF were found in relation to type of institution, gender and marital status. But nurses' income did not bring differences to CF scores. Nurses who might be lacking resilience cope negatively with CF using maladaptive negative behaviours such as substance use. Nursing management should be aware of the substance use drive among nurses and build organizational solutions to overcome compassion fatigue and potential substance use problems.

Optimal sensor fusion for land vehicle navigation

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morrow, J.D.

1990-10-01

Position location is a fundamental requirement in autonomous mobile robots which record and subsequently follow x,y paths. The Dept. of Energy, Office of Safeguards and Security, Robotic Security Vehicle (RSV) program involves the development of an autonomous mobile robot for patrolling a structured exterior environment. A straight-forward method for autonomous path-following has been adopted and requires digitizing'' the desired road network by storing x,y coordinates every 2m along the roads. The position location system used to define the locations consists of a radio beacon system which triangulates position off two known transponders, and dead reckoning with compass and odometer. Thismore » paper addresses the problem of combining these two measurements to arrive at a best estimate of position. Two algorithms are proposed: the optimal'' algorithm treats the measurements as random variables and minimizes the estimate variance, while the average error'' algorithm considers the bias in dead reckoning and attempts to guarantee an average error. Data collected on the algorithms indicate that both work well in practice. 2 refs., 7 figs.« less

Group-Based Compassion-Focused Therapy as an Adjunct to Outpatient Treatment for Eating Disorders: A Pilot Randomized Controlled Trial.

PubMed

Kelly, Allison Catherine; Wisniewski, Lucene; Martin-Wagar, Caitlin; Hoffman, Ellen

2017-03-01

The current study sought to assess the acceptability and feasibility of a compassion-focused therapy (CFT) group as an adjunct to evidence-based outpatient treatment for eating disorders, and to examine its preliminary efficacy relative to treatment as usual (TAU). Twenty-two outpatients with various types of eating disorders were randomly assigned to 12 weeks of TAU (n = 11) or TAU plus weekly CFT groups adapted for an eating disorder population (CFT + TAU; n = 11). Participants in both conditions completed measures of self-compassion, fears of compassion, shame and eating disorder pathology at baseline, week 4, week 8 and week 12. Additionally, participants receiving the CFT group completed measures assessing acceptability and feasibility of the group. Results indicated that the CFT group demonstrated strong acceptability; attendance was high and the group retained over 80% of participants. Participants rated the group positively and indicated they would be very likely to recommend it to peers with similar symptoms. Intention-to-treat analyses revealed that compared to the TAU condition, the CFT + TAU condition yielded greater improvements in self-compassion, fears of self-compassion, fears of receiving compassion, shame and eating disorder pathology over the 12 weeks. Results suggest that group-based CFT, offered in conjunction with evidence-based outpatient TAU for eating disorders, may be an acceptable, feasible and efficacious intervention. Furthermore, eating disorder patients appear to see benefit in, and observe gains from, working on the CFT goals of overcoming fears of compassion, developing more self-compassion and accessing more compassion from others. Copyright © 2016 John Wiley & Sons, Ltd. Copyright © 2016 John Wiley & Sons, Ltd.

Tactical mobile robots for urban search and rescue

NASA Astrophysics Data System (ADS)

Blitch, John; Sidki, Nahid; Durkin, Tim

2000-07-01

Few disasters can inspire more compassion for victims and families than those involving structural collapse. Video clips of children's bodies pulled from earthquake stricken cities and bombing sties tend to invoke tremendous grief and sorrow because of the totally unpredictable nature of the crisis and lack of even the slightest degree of negligence (such as with those who choose to ignore storm warnings). Heartbreaking stories of people buried alive for days provide a visceral and horrific perspective of some of greatest fears ever to be imagined by human beings. Current trends toward urban sprawl and increasing human discord dictates that structural collapse disasters will continue to present themselves at an alarming rate. The proliferation of domestic terrorism, HAZMAT and biological contaminants further complicates the matter further and presents a daunting problem set for Urban Search and Rescue (USAR) organizations around the world. This paper amplifies the case for robot assisted search and rescue that was first presented during the KNOBSAR project initiated at the Colorado School of Mines in 1995. It anticipates increasing technical development in mobile robot technologies and promotes their use for a wide variety of humanitarian assistance missions. Focus is placed on development of advanced robotic systems that are employed in a complementary tool-like fashion as opposed to traditional robotic approaches that portend to replace humans in hazardous tasks. Operational challenges for USAR are presented first, followed by a brief history of mobiles robot development. The paper then presents conformal robotics as a new design paradigm with emphasis on variable geometry and volumes. A section on robot perception follows with an initial attempt to characterize sensing in a volumetric manner. Collaborative rescue is then briefly discussed with an emphasis on marsupial operations and linked mobility. The paper concludes with an emphasis on Human Robot Interface (HRI) and a call for additional research in this exciting and all too important field.

Patient Perception of Physician Compassion After a More Optimistic vs a Less Optimistic Message: A Randomized Clinical Trial.

PubMed

Tanco, Kimberson; Rhondali, Wadih; Perez-Cruz, Pedro; Tanzi, Silvia; Chisholm, Gary B; Baile, Walter; Frisbee-Hume, Susan; Williams, Janet; Masino, Charles; Cantu, Hilda; Sisson, Amy; Arthur, Joseph; Bruera, Eduardo

2015-05-01

Information regarding treatment options and prognosis is essential for patient decision making. Patient perception of physicians as being less compassionate when they deliver bad news might be a contributor to physicians' reluctance in delivering these types of communication. To compare patients' perception of physician compassion after watching video vignettes of 2 physicians conveying a more optimistic vs a less optimistic message, determine patients' physician preference after watching both videos, and establish demographic and clinical predictors of compassion. Randomized clinical trial at an outpatient supportive care center in a cancer center in Houston, Texas, including English-speaking adult patients with advanced cancer who were able to understand the nature of the study and complete the consent process. Actors and patients were blinded to the purpose of the study. Investigators were blinded to the videos observed by the patient. One hundred patients were randomized to observe 2 standardized, roughly 4-minute videos depicting a physician discussing treatment information (more optimistic message vs less optimistic message) with a patient with advanced cancer. Both physicians made an identical number of empathetic statements (5) and displayed identical posture. After viewing each video, patients completed assessments including the Physician Compassion Questionnaire (0 = best, 50 = worst). Patients' perception of physician compassion after being exposed to a more optimistic vs an equally empathetic but less optimistic message. Patients reported significantly better compassion scores after watching the more optimistic video as compared with the less optimistic video (median [interquartile range], 15 [5-23] vs 23 [10-31]; P < .001). There was a sequence effect favoring the second video on both compassion scores (P < .001) and physician preference (P < .001). Higher perception of compassion was found to be associated with greater trust in the medical profession independent of message type: 63 patients observing the more optimistic message ranked the physician as trustworthy vs 39 after the less optimistic message (P = .03). Patients perceived a higher level of compassion and preferred physicians who provided a more optimistic message. More research is needed in structuring less optimistic message content to support health care professionals in delivering less optimistic news. clinicaltrials.gov Identifier: NCT02357108.

The Linkages among Childhood Maltreatment, Adolescent Mental Health, and Self-Compassion in Child Welfare Adolescents

ERIC Educational Resources Information Center

Tanaka, Masako; Wekerle, Christine; Schmuck, Mary Lou; Paglia-Boak, Angela

2011-01-01

Objectives: Childhood maltreatment is a robust risk factor for poor physical and mental health. Child welfare youths represent a high-risk group, given the greater likelihood of severe or multiple types of maltreatment. This study examined the relationship between childhood maltreatment and self-compassion--a concept of positive acceptance of…

The Role of Compassion in Altruistic Helping and Punishment Behavior

PubMed Central

Weng, Helen Y.; Fox, Andrew S.; Hessenthaler, Heather C.; Stodola, Diane E.; Davidson, Richard J.

2015-01-01

Compassion, the emotional response of caring for another who is suffering and that results in motivation to relieve suffering, is thought to be an emotional antecedent to altruistic behavior. However, it remains unclear whether compassion enhances altruistic behavior in a uniform way or is specific to sub-types of behavior such as altruistic helping of a victim or altruistic punishment of a transgressor. We investigated the relationship between compassion and subtypes of altruistic behavior using third-party paradigms where participants 1) witnessed an unfair economic exchange between a transgressor and a victim, and 2) had the opportunity to either spend personal funds to either economically a) help the victim or b) punish the transgressor. In Study 1, we examined whether individual differences in self-reported empathic concern (the emotional component of compassion) was associated with greater altruistic helping or punishment behavior in two independent samples. For participants who witnessed an unfair transaction, trait empathic concern was associated with greater helping of a victim and had no relationship to punishment. However, in those who decided to punish the transgressor, participants who reported greater empathic concern decided to punish less. In Study 2, we directly enhanced compassion using short-term online compassion meditation training to examine whether altruistic helping and punishment were increased after two weeks of training. Compared to an active reappraisal training control group, the compassion training group gave more to help the victim and did not differ in punishment of the transgressor. Together, these two studies suggest that compassion is related to greater altruistic helping of victims and is not associated with or may mitigate altruistic punishment of transgressors. PMID:26655837

The Role of Compassion in Altruistic Helping and Punishment Behavior.

PubMed

Weng, Helen Y; Fox, Andrew S; Hessenthaler, Heather C; Stodola, Diane E; Davidson, Richard J

2015-01-01

Compassion, the emotional response of caring for another who is suffering and that results in motivation to relieve suffering, is thought to be an emotional antecedent to altruistic behavior. However, it remains unclear whether compassion enhances altruistic behavior in a uniform way or is specific to sub-types of behavior such as altruistic helping of a victim or altruistic punishment of a transgressor. We investigated the relationship between compassion and subtypes of altruistic behavior using third-party paradigms where participants (1) witnessed an unfair economic exchange between a transgressor and a victim, and (2) had the opportunity to either spend personal funds to either economically (a) help the victim or (b) punish the transgressor. In Study 1, we examined whether individual differences in self-reported empathic concern (the emotional component of compassion) was associated with greater altruistic helping or punishment behavior in two independent samples. For participants who witnessed an unfair transaction, trait empathic concern was associated with greater helping of a victim and had no relationship to punishment. However, in those who decided to punish the transgressor, participants who reported greater empathic concern decided to punish less. In Study 2, we directly enhanced compassion using short-term online compassion meditation training to examine whether altruistic helping and punishment were increased after two weeks of training. Compared to an active reappraisal training control group, the compassion training group gave more to help the victim and did not differ in punishment of the transgressor. Together, these two studies suggest that compassion is related to greater altruistic helping of victims and is not associated with or may mitigate altruistic punishment of transgressors.

The linkages among childhood maltreatment, adolescent mental health, and self-compassion in child welfare adolescents.

PubMed

Tanaka, Masako; Wekerle, Christine; Schmuck, Mary Lou; Paglia-Boak, Angela

2011-10-01

Childhood maltreatment is a robust risk factor for poor physical and mental health. Child welfare youths represent a high-risk group, given the greater likelihood of severe or multiple types of maltreatment. This study examined the relationship between childhood maltreatment and self-compassion - a concept of positive acceptance of self. While not applied previously to a child welfare sample, self-compassion may be of value in understanding impairment among maltreatment victims. This may be most pertinent in adolescence and young adulthood, when self-identity is a focal developmental process. The present sample was drawn from the Maltreatment and Adolescent Pathways (MAP) Longitudinal Study, which followed randomly selected adolescents receiving child protection services across two years within an urban catchment area. Child maltreatment was assessed at baseline using the Childhood Trauma Questionnaire (Bernstein et al., 1994, 2003). Mental health, substance and alcohol use problems, suicide attempt, and self-compassion were assessed at the two-year follow-up point. There were 117 youths, aged 16-20 years (45.3% males) who completed the self-compassion scale (Neff, 2003). Bivariate correlations were computed between adolescent self-compassion and each form of self-reported maltreatment (physical abuse, sexual abuse, emotional abuse, emotional neglect, and physical neglect). Finally, hierarchical, stepwise regression was used to examine unique contributions of child maltreatment subtypes in predicting adolescent self-compassion, as well as maltreatment-related impairment. Higher childhood emotional abuse, emotional neglect, and physical abuse were associated with lower self-compassion. Controlling for age and gender, emotional abuse was significantly associated with reduced self-compassion, even when the effects of emotional neglect and physical abuse were taken into account. Youths with low self-compassion were more likely to have psychological distress, problem alcohol use, and report a serious suicide attempt, as compared with those with high self-compassion. A number of maltreatment-related areas of impairment, identified by screening instruments, were significantly associated with lower self-compassion. Self-compassion may be a fruitful aspect of research to pursue in an effort to better understand the impact of childhood emotional abuse on adolescent functioning, particularly considering the under-researched group of those receiving child protective services. Copyright © 2011 Elsevier Ltd. All rights reserved.

Newfound compassion after prostate cancer: a psychometric evaluation of additional items in the Posttraumatic Growth Inventory.

PubMed

Morris, Bronwyn A; Wilson, Bridget; Chambers, Suzanne K

2013-12-01

The most widely used measure of posttraumatic growth (PTG) is the Posttraumatic Growth Inventory (PTGI). Qualitative research indicates the importance of increased compassion as a result of struggling with challenges presented by cancer and treatments. However, current PTG measures may not adequately assess compassion. A cross-sectional survey of 514 prostate cancer survivors assessed the PTGI and Dispositional Positive Emotional Scale (DPES). Five additional PTG items were derived from previous qualitative research to assess increased compassion. After removing eight items with complex loadings, a principal components analysis with oblimin rotation revealed a six-component structure. A clear delineation was seen between components relating to compassion, new possibilities, relating to others, personal strength, appreciation of life and spiritual change. Compassion accounted for 48.9 % of variance in data, with the overall model accounting for 79.9 % of variance. Strong factorability was demonstrated through Kaiser-Meyer-Olkin (0.92) and Bartlett's test of sphericity (approximate χ (2) = 5,791.85, df 153, p < 0.001). The six-component structure was validated with a confirmatory factor analysis. Strong internal consistency was evidenced through Cronbach's alpha coefficients ranging from 0.74 to 0.90 for subscales, and item-to-total correlations and inter-item correlations exceeded accepted thresholds of 0.50 and 0.30, respectively. Convergent validity was acceptable between the PTGI compassion subscale and DPES (r = 0.50). Compassion is a highly salient PTG domain after prostate cancer. Further studies can explore this construct with more heterogeneous samples of cancer types and gender.

Next Generation Simulation Framework for Robotic and Human Space Missions

NASA Technical Reports Server (NTRS)

Cameron, Jonathan M.; Balaram, J.; Jain, Abhinandan; Kuo, Calvin; Lim, Christopher; Myint, Steven

2012-01-01

The Dartslab team at NASA's Jet Propulsion Laboratory (JPL) has a long history of developing physics-based simulations based on the Darts/Dshell simulation framework that have been used to simulate many planetary robotic missions, such as the Cassini spacecraft and the rovers that are currently driving on Mars. Recent collaboration efforts between the Dartslab team at JPL and the Mission Operations Directorate (MOD) at NASA Johnson Space Center (JSC) have led to significant enhancements to the Dartslab DSENDS (Dynamics Simulator for Entry, Descent and Surface landing) software framework. The new version of DSENDS is now being used for new planetary mission simulations at JPL. JSC is using DSENDS as the foundation for a suite of software known as COMPASS (Core Operations, Mission Planning, and Analysis Spacecraft Simulation) that is the basis for their new human space mission simulations and analysis. In this paper, we will describe the collaborative process with the JPL Dartslab and the JSC MOD team that resulted in the redesign and enhancement of the DSENDS software. We will outline the improvements in DSENDS that simplify creation of new high-fidelity robotic/spacecraft simulations. We will illustrate how DSENDS simulations are assembled and show results from several mission simulations.

Occurrence of post traumatic stress symptoms and their relationship to professional quality of life (ProQoL) in nursing staff at a forensic psychiatric security unit: a cross-sectional study.

PubMed

Lauvrud, Christian; Nonstad, Kåre; Palmstierna, Tom

2009-04-16

Violence is frequent towards nurses in forensic mental health hospitals. Implications of this high risk environment have not been systematically explored. This paper explores occurrence of symptoms on post traumatic stress and their relationship to professional quality of life. Self report questionnaires assessing symptoms of post traumatic stress and professional quality of life were distributed among psychiatric nurses in a high security forensic psychiatric unit with high frequency of violent behaviour. Relationships between post traumatic stress symptoms, forensic nursing experience, type of ward and compassion satisfaction, burnout and compassion fatigue were explored. The prevalence of post traumatic stress symptoms was low. Low scores were found on compassion satisfaction. Length of psychiatric nursing experience and low scores on compassion satisfaction were correlated to increased post traumatic stress symptoms. Although high violence frequency, low rate of post traumatic stress symptoms and low compassion satisfaction scores was found. High staff/patient ratio and emotional distance between staff and patients are discussed as protective factors.

Occurrence of post traumatic stress symptoms and their relationship to professional quality of life (ProQoL) in nursing staff at a forensic psychiatric security unit: a cross-sectional study

PubMed Central

Lauvrud, Christian; Nonstad, Kåre; Palmstierna, Tom

2009-01-01

Background Violence is frequent towards nurses in forensic mental health hospitals. Implications of this high risk environment have not been systematically explored. This paper explores occurrence of symptoms on post traumatic stress and their relationship to professional quality of life. Methods Self report questionnaires assessing symptoms of post traumatic stress and professional quality of life were distributed among psychiatric nurses in a high security forensic psychiatric unit with high frequency of violent behaviour. Relationships between post traumatic stress symptoms, forensic nursing experience, type of ward and compassion satisfaction, burnout and compassion fatigue were explored. Results The prevalence of post traumatic stress symptoms was low. Low scores were found on compassion satisfaction. Length of psychiatric nursing experience and low scores on compassion satisfaction were correlated to increased post traumatic stress symptoms. Conclusion Although high violence frequency, low rate of post traumatic stress symptoms and low compassion satisfaction scores was found. High staff/patient ratio and emotional distance between staff and patients are discussed as protective factors. PMID:19371413

Magnetic Orientation in Birds and Other Animals

NASA Astrophysics Data System (ADS)

Wiltschko, Wolfgang

The use of the geomagnetic field for compass orientation is widespread among animals, with two types of magnetic compass mechanisms described: an shape inclination compass in birds, turtles and salamanders and a shape polarity compass in arthropods, fishes and mammals. Additionally, some vertebrates appear to derive positional information from the total intensity and/or inclination of the geomagnetic field. For magnetoreception by animals, two models are currently discussed, the shape Radical Pair model assuming light-dependent processes by specialized photopigments, and the shape Magnetite hypothesis proposing magnetoreception by crystals of magnetite, Fe304. Behavioral experiments with migratory birds, testing them under monochromatic lights and subjecting them to a brief, strong pulse that could reverse the magnetization of magnetite particles, produced evidence for both mechanisms. However, monochromatic lights affect old, experienced and young birds alike, whereas the pulse affects only experienced birds, leaving young, inexperienced birds unaffected. These observations suggest that a radical pair mechanism provides birds with directional information for their innate magnetic compass and a magnetite-based mechanism possibly mediates information about total intensity for indicating position.

The mediating role of self-compassion in the relationship between victimization and psychological maladjustment in a sample of adolescents.

PubMed

Játiva, Raquel; Cerezo, M Angeles

2014-07-01

The objectives of the present study were to analyze the relationship between victimization and psychological maladjustment in adolescents and the role of self-compassion as a mediator in this relationship. The sample was composed of 109 adolescents aged from 15 to 18 years old with poor school performance. The participants filled out a battery of questionnaires made up of: a socio-demographic data questionnaire; the Juvenile Victimization Questionnaire (JVQ); the Youth Self-Report (YSR); and the Self-Compassion Scale (SCS). Results indicated that victimization was positively associated with psychological maladjustment. Moreover, adolescents reporting poly-victimization showed significantly higher level of psychological maladjustment and different types of victimization show different effects on adolescents' psychological maladjustment. Self-compassion partially mediated the relationship between victimization and psychological maladjustment and reduced negative consequences in adolescents who reported having been victimized. Adolescence is a time of development and search for identity in which strengthening personal protective factors could help overcome any traumas experienced. Therefore, developing self-compassion in adolescence could be a good way to help young people recover from bad experiences and protect themselves against future negative experiences. As self-compassion can be improved with practice it could be included in adolescent intervention and prevention programs. Copyright © 2014 Elsevier Ltd. All rights reserved.

Cd(II)-coordination polymers based on tetracarboxylic acid and diverse bis(imidazole) ligands: Synthesis, structural diversity and photoluminescence properties

NASA Astrophysics Data System (ADS)

Arıcı, Mürsel; Yeşilel, Okan Zafer; Taş, Murat

2017-01-01

Three new Cd(II)-coordination polymers, namely, {[Cd2(μ6-ao2btc)(μ-1,5-bipe)2]·2H2O}n (1), {[Cd2(μ6-ao2btc)(μ-1,4-bix)2]n·2DMF} (2) and {[Cd2(μ8-abtc)(μ-1,4-betix)]·DMF·H2O}n (3) (ao2btc=di-oxygenated form of 3,3‧,5,5‧-azobenzenetetracarboxylate, 1,5-bipe: 1,5-bis(imidazol-1yl)pentane, 1,4-bix=1,4-bis(imidazol-1ylmethyl)benzene, 1,4-betix=1,4-bis(2-ethylimidazol-1ylmethyl)benzene) were synthesized with 3,3‧,5,5‧-azobenzenetetracarboxylic acid and flexible, semi-flexible and semi-flexible substituted bis(imidazole) linkers. They were characterized by IR spectroscopy, elemental analysis, single-crystal X-ray diffraction, powder X-ray diffractions (PXRD) and thermal analyses (TG/DTA). Complexes 1-3 exhibited structural diversities depending on flexible, semi-flexible and semi-flexible substituted bis(imidazole) ligands. Complex 1 was 2D structure with 3,6L18 topology. Complex 2 had a 3D pillar-layered framework with the rare sqc27 topology. When semi-flexible substituted bis(imidazole) linker was used, 3D framework of complex 3 was obtained with the paddlewheel Cd2(CO2)4-type binuclear SBU. Moreover, thermal and photoluminescence properties of the complexes were determined in detailed.

Stride lengths, speed and energy costs in walking of Australopithecus afarensis: using evolutionary robotics to predict locomotion of early human ancestors

PubMed Central

Sellers, William I; Cain, Gemma M; Wang, Weijie; Crompton, Robin H

2005-01-01

This paper uses techniques from evolutionary robotics to predict the most energy-efficient upright walking gait for the early human relative Australopithecus afarensis, based on the proportions of the 3.2 million year old AL 288-1 ‘Lucy’ skeleton, and matches predictions against the nearly contemporaneous (3.5–3.6 million year old) Laetoli fossil footprint trails. The technique creates gaits de novo and uses genetic algorithm optimization to search for the most efficient patterns of simulated muscular contraction at a variety of speeds. The model was first verified by predicting gaits for living human subjects, and comparing costs, stride lengths and speeds to experimentally determined values for the same subjects. Subsequent simulations for A. afarensis yield estimates of the range of walking speeds from 0.6 to 1.3 m s−1 at a cost of 7.0 J kg−1 m−1 for the lowest speeds, falling to 5.8 J kg−1 m−1 at 1.0 m s−1, and rising to 6.2 J kg−1 m−1 at the maximum speed achieved. Speeds previously estimated for the makers of the Laetoli footprint trails (0.56 or 0.64 m s−1 for Trail 1, 0.72 or 0.75 m s−1 for Trail 2/3) may have been underestimated, substantially so for Trail 2/3, with true values in excess of 0.7 and 1.0 m s−1, respectively. The predictions conflict with suggestions that A. afarensis used a ‘shuffling’ gait, indicating rather that the species was a fully competent biped. PMID:16849203

Proceeding of human exoskeleton technology and discussions on future research

NASA Astrophysics Data System (ADS)

Li, Zhiqiang; Xie, Hanxing; Li, Weilin; Yao, Zheng

2014-05-01

After more than half a century of intense efforts, the development of exoskeleton has seen major advances, and several remarkable achievements have been made. Reviews of developing history of exoskeleton are presented, both in active and passive categories. Major models are introduced, and typical technologies are commented on. Difficulties in control algorithm, driver system, power source, and man-machine interface are discussed. Current researching routes and major developing methods are mapped and critically analyzed, and in the process, some key problems are revealed. First, the exoskeleton is totally different from biped robot, and relative studies based on the robot technologies are considerably incorrect. Second, biomechanical studies are only used to track the motion of the human body, the interaction between human and machines are seldom studied. Third, the traditional developing ways which focused on servo-controlling have inborn deficiency from making portable systems. Research attention should be shifted to the human side of the coupling system, and the human ability to learn and adapt should play a more significant role in the control algorithms. Having summarized the major difficulties, possible future works are discussed. It is argued that, since a distinct boundary cannot be drawn in such strong-coupling human-exoskeleton system, the more complex the control system gets, the more difficult it is for the user to learn to use. It is suggested that the exoskeleton should be treated as a simple wearable tool, and downgrading its automatic level may be a change toward a brighter research outlook. This effort at simplification is definitely not easy, as it necessitates theoretical supports from fields such as biomechanics, ergonomics, and bionics.

Grief rumination mediates the association between self-compassion and psychopathology in relatives of missing persons.

PubMed

Lenferink, Lonneke I M; Eisma, Maarten C; de Keijser, Jos; Boelen, Paul A

2017-01-01

Background : The disappearance of a loved one is a unique type of loss, also termed 'ambiguous loss', which may heighten the risk for developing prolonged grief (PG), depression, and posttraumatic stress (PTS) symptoms. Little is known about protective and risk factors for psychopathology among relatives of missing persons. A potential protective factor is self-compassion, referring to openness toward and acceptance of one's own pain, failures, and inadequacies. One could reason that self-compassion is associated with lower levels of emotional distress following ambiguous loss, because it might serve as a buffer for getting entangled in ruminative thinking about the causes and consequences of the disappearance ('grief rumination'). Objective : In a sample of relatives of missing persons we aimed to examine (1) the prediction that greater self-compassion is related to lower symptom-levels of PG, depression, and PTS and (2) to what extent these associations are mediated by grief rumination. Method : Dutch and Belgian relatives of long-term missing persons ( N  = 137) completed self-report measures tapping self-compassion, grief rumination, PG, depression, and PTS. Mediation analyses were conducted. Results : Self-compassion was significantly, negatively, and moderately associated with PG, depression, and PTS levels. Grief rumination significantly mediated the associations of higher levels of self-compassion with lower levels of PG (a*b = -0.11), depression (a*b = -0.07), and PTS (a*b = -0.11). Specifically, 50%, 32%, and 32% of the effect of self-compassion on PG, depression, and PTS levels, respectively, was accounted for by grief rumination. Conclusions : Findings suggest that people with more self-compassion experience less severe psychopathology, in part because these people are less strongly inclined to engage in ruminative thinking related to the disappearance. Strengthening a self-compassionate attitude using, for instance, mindfulness-based interventions may therefore be a useful intervention to reduce emotional distress associated with the disappearance of a loved one.

Grief rumination mediates the association between self-compassion and psychopathology in relatives of missing persons

PubMed Central

Lenferink, Lonneke I. M.; Eisma, Maarten C.; de Keijser, Jos; Boelen, Paul A.

2017-01-01

ABSTRACT Background: The disappearance of a loved one is a unique type of loss, also termed ‘ambiguous loss’, which may heighten the risk for developing prolonged grief (PG), depression, and posttraumatic stress (PTS) symptoms. Little is known about protective and risk factors for psychopathology among relatives of missing persons. A potential protective factor is self-compassion, referring to openness toward and acceptance of one’s own pain, failures, and inadequacies. One could reason that self-compassion is associated with lower levels of emotional distress following ambiguous loss, because it might serve as a buffer for getting entangled in ruminative thinking about the causes and consequences of the disappearance (‘grief rumination’). Objective: In a sample of relatives of missing persons we aimed to examine (1) the prediction that greater self-compassion is related to lower symptom-levels of PG, depression, and PTS and (2) to what extent these associations are mediated by grief rumination. Method: Dutch and Belgian relatives of long-term missing persons (N = 137) completed self-report measures tapping self-compassion, grief rumination, PG, depression, and PTS. Mediation analyses were conducted. Results: Self-compassion was significantly, negatively, and moderately associated with PG, depression, and PTS levels. Grief rumination significantly mediated the associations of higher levels of self-compassion with lower levels of PG (a*b = −0.11), depression (a*b = −0.07), and PTS (a*b = −0.11). Specifically, 50%, 32%, and 32% of the effect of self-compassion on PG, depression, and PTS levels, respectively, was accounted for by grief rumination. Conclusions: Findings suggest that people with more self-compassion experience less severe psychopathology, in part because these people are less strongly inclined to engage in ruminative thinking related to the disappearance. Strengthening a self-compassionate attitude using, for instance, mindfulness-based interventions may therefore be a useful intervention to reduce emotional distress associated with the disappearance of a loved one. PMID:29163871

Measuring nursing care and compassion: the McDonaldised nurse?

PubMed

Bradshaw, A

2009-08-01

In June 2008 the UK government, supported by the Royal College of Nursing, stated that nursing care would be measured for compassion. This paper considers the implications of this statement by critically examining the relationship of compassion to care from a variety of perspectives. It is argued that the current market-driven approaches to healthcare involve redefining care as a pale imitation, even parody, of the traditional approach of the nurse as "my brother's keeper". Attempts to measure such parody can only measure artificial techniques and give rise to a McDonald's-type nursing care rather than heartfelt care. The arguments of this paper, although applied to nursing, also apply to medicine and healthcare generally.

Four-Component Catalytic Machinery: Reversible Three-State Control of Organocatalysis by Walking Back and Forth on a Track.

PubMed

Mittal, Nikita; Özer, Merve S; Schmittel, Michael

2018-04-02

A three-component supramolecular walker system is presented where a two-footed ligand (biped) walks back and forth on a tetrahedral 3D track upon the addition and removal of copper(I) ions, respectively. The addition of N-methylpyrrolidine as a catalyst to the walker system generates a four-component catalytic machinery, which acts as a three-state switchable catalytic ensemble in the presence of substrates for a conjugate addition. The copper(I)-ion-initiated walking process of the biped ligand on the track regulates the catalytic activity in three steps: ON versus int ON (intermediate ON) versus OFF. To establish the operation of the four-component catalytic machinery in a mixture of all constituents, forward and backward cycles were performed in situ illustrating that both the walking process and catalytic action are fully reversible and reproducible.

Magnetoreception in birds: different physical processes for two types of directional responses

PubMed Central

Wiltschko, Roswitha; Stapput, Katrin; Ritz, Thorsten; Thalau, Peter; Wiltschko, Wolfgang

2007-01-01

Migratory orientation in birds involves an inclination compass based on radical-pair processes. Under certain light regimes, however, “fixed-direction” responses are observed that do not undergo the seasonal change between spring and autumn typical for migratory orientation. To identify the underlying transduction mechanisms, we analyzed a fixed-direction response under a combination of 502 nm turquoise and 590 nm yellow light, with migratory orientation under 565 nm green light serving as the control. High-frequency fields, diagnostic for a radical-pair mechanism, disrupted migratory orientation without affecting fixed-direction responses. Local anaesthesia of the upper beak where magnetite is found in birds, in contrast, disrupted the fixed-direction response without affecting migratory orientation. The two types of responses are thus based on different physical principles, with the compass response based on a radical pair mechanism and the fixed-direction responses probably originating in magnetite-based receptors in the upper beak. Directional input from these receptors seems to affect the behavior only when the regular inclination compass does not work properly. Evolutionary considerations suggest that magnetite-based receptors may represent an ancient mechanism that, in birds, has been replaced by the modern inclination compass based on radical-pair processes now used for directional orientation. PMID:19404459

Progress in diagnostics of the COMPASS tokamak

NASA Astrophysics Data System (ADS)

Weinzettl, V.; Adamek, J.; Berta, M.; Bilkova, P.; Bogar, O.; Bohm, P.; Cavalier, J.; Dejarnac, R.; Dimitrova, M.; Ficker, O.; Fridrich, D.; Grover, O.; Hacek, P.; Havlicek, J.; Havranek, A.; Horacek, J.; Hron, M.; Imrisek, M.; Komm, M.; Kovarik, K.; Krbec, J.; Markovic, T.; Matveeva, E.; Mitosinkova, K.; Mlynar, J.; Naydenkova, D.; Panek, R.; Paprok, R.; Peterka, M.; Podolnik, A.; Seidl, J.; Sos, M.; Stockel, J.; Tomes, M.; Varavin, M.; Varju, J.; Vlainic, M.; Vondracek, P.; Zajac, J.; Zacek, F.; Stano, M.; Anda, G.; Dunai, D.; Krizsanoczi, T.; Refy, D.; Zoletnik, S.; Silva, A.; Gomes, R.; Pereira, T.; Popov, Tsv.; Sarychev, D.; Ermak, G. P.; Zebrowski, J.; Jakubowski, M.; Rabinski, M.; Malinowski, K.; Nanobashvili, S.; Spolaore, M.; Vianello, N.; Gauthier, E.; Gunn, J. P.; Devitre, A.

2017-12-01

The COMPASS tokamak at IPP Prague is a small-size device with an ITER-relevant plasma geometry and operating in both the Ohmic as well as neutral beam assisted H-modes since 2012. A basic set of diagnostics installed at the beginning of the COMPASS operation has been gradually broadened in type of diagnostics, extended in number of detectors and collected channels and improved by an increased data acquisition speed. In recent years, a significant progress in diagnostic development has been motivated by the improved COMPASS plasma performance and broadening of its scientific programme (L-H transition and pedestal scaling studies, magnetic perturbations, runaway electron control and mitigation, plasma-surface interaction and corresponding heat fluxes, Alfvenic and edge localized mode observations, disruptions, etc.). In this contribution, we describe major upgrades of a broad spectrum of the COMPASS diagnostics and discuss their potential for physical studies. In particular, scrape-off layer plasma diagnostics will be represented by a new concept for microsecond electron temperature and heat flux measurements - we introduce a new set of divertor Langmuir and ball-pen probe arrays, newly constructed probe heads for reciprocating manipulators as well as several types of standalone probes. Among optical tools, an upgraded high-resolution edge Thomson scattering diagnostic for pedestal studies and a set of new visible light and infrared (plasma-surface interaction investigations) cameras will be described. Particle and beam diagnostics will be covered by a neutral particle analyzer, diagnostics on a lithium beam, Cherenkov detectors (for a direct detection of runaway electrons) and neutron detectors. We also present new modifications of the microwave reflectometer for fast edge density profile measurements.

A distinct layer of the medulla integrates sky compass signals in the brain of an insect.

PubMed

el Jundi, Basil; Pfeiffer, Keram; Homberg, Uwe

2011-01-01

Mass migration of desert locusts is a common phenomenon in North Africa and the Middle East but how these insects navigate is still poorly understood. Laboratory studies suggest that locusts are able to exploit the sky polarization pattern as a navigational cue. Like other insects locusts detect polarized light through a specialized dorsal rim area (DRA) of the eye. Polarization signals are transmitted through the optic lobe to the anterior optic tubercle (AOTu) and, finally, to the central complex in the brain. Whereas neurons of the AOTu integrate sky polarization and chromatic cues in a daytime dependent manner, the central complex holds a topographic representation of azimuthal directions suggesting a role as an internal sky compass. To understand further the integration of sky compass cues we studied polarization-sensitive (POL) neurons in the medulla that may be intercalated between DRA photoreceptors and AOTu neurons. Five types of POL-neuron were characterized and four of these in multiple recordings. All neurons had wide arborizations in medulla layer 4 and most, additionally, in the dorsal rim area of the medulla and in the accessory medulla, the presumed circadian clock. The neurons showed type-specific orientational tuning to zenithal polarized light and azimuth tuning to unpolarized green and UV light spots. In contrast to neurons of the AOTu, we found no evidence for color opponency and daytime dependent adjustment of sky compass signals. Therefore, medulla layer 4 is a distinct stage in the integration of sky compass signals that precedes the time-compensated integration of celestial cues in the AOTu.

A Distinct Layer of the Medulla Integrates Sky Compass Signals in the Brain of an Insect

PubMed Central

el Jundi, Basil; Pfeiffer, Keram; Homberg, Uwe

2011-01-01

Mass migration of desert locusts is a common phenomenon in North Africa and the Middle East but how these insects navigate is still poorly understood. Laboratory studies suggest that locusts are able to exploit the sky polarization pattern as a navigational cue. Like other insects locusts detect polarized light through a specialized dorsal rim area (DRA) of the eye. Polarization signals are transmitted through the optic lobe to the anterior optic tubercle (AOTu) and, finally, to the central complex in the brain. Whereas neurons of the AOTu integrate sky polarization and chromatic cues in a daytime dependent manner, the central complex holds a topographic representation of azimuthal directions suggesting a role as an internal sky compass. To understand further the integration of sky compass cues we studied polarization-sensitive (POL) neurons in the medulla that may be intercalated between DRA photoreceptors and AOTu neurons. Five types of POL-neuron were characterized and four of these in multiple recordings. All neurons had wide arborizations in medulla layer 4 and most, additionally, in the dorsal rim area of the medulla and in the accessory medulla, the presumed circadian clock. The neurons showed type-specific orientational tuning to zenithal polarized light and azimuth tuning to unpolarized green and UV light spots. In contrast to neurons of the AOTu, we found no evidence for color opponency and daytime dependent adjustment of sky compass signals. Therefore, medulla layer 4 is a distinct stage in the integration of sky compass signals that precedes the time-compensated integration of celestial cues in the AOTu. PMID:22114712

Directional orientation of birds by the magnetic field under different light conditions

PubMed Central

Wiltschko, Roswitha; Stapput, Katrin; Thalau, Peter; Wiltschko, Wolfgang

2010-01-01

This paper reviews the directional orientation of birds with the help of the geomagnetic field under various light conditions. Two fundamentally different types of response can be distinguished. (i) Compass orientation controlled by the inclination compass that allows birds to locate courses of different origin. This is restricted to a narrow functional window around the total intensity of the local geomagnetic field and requires light from the short-wavelength part of the spectrum. The compass is based on radical-pair processes in the right eye; magnetite-based receptors in the beak are not involved. Compass orientation is observed under ‘white’ and low-level monochromatic light from ultraviolet (UV) to about 565 nm green light. (ii) ‘Fixed direction’ responses occur under artificial light conditions such as more intense monochromatic light, when 590 nm yellow light is added to short-wavelength light, and in total darkness. The manifestation of these responses depends on the ambient light regime and is ‘fixed’ in the sense of not showing the normal change between spring and autumn; their biological significance is unclear. In contrast to compass orientation, fixed-direction responses are polar magnetic responses and occur within a wide range of magnetic intensities. They are disrupted by local anaesthesia of the upper beak, which indicates that the respective magnetic information is mediated by iron-based receptors located there. The influence of light conditions on the two types of response suggests complex interactions between magnetoreceptors in the right eye, those in the upper beak and the visual system. PMID:19864263

A pilot study on the effects and feasibility of compassion-focused expressive writing in Day Hospice patients.

PubMed

Imrie, Susan; Troop, Nicholas A

2012-06-01

Research has found that writing about stress can confer physical and psychological health benefits on participants and that adopting a self-compassionate stance may have additional benefits. This pilot study evaluated a self-compassionate expressive writing intervention in a Day Hospice setting. Thirteen patients with life-limiting illnesses wrote on two occasions about recent stressful experiences. Half also received a self-compassion instruction for their writing. Outcome measures were taken at baseline and one week after the second writing session, and text analysis was used to identify changes in the types of words used, reflecting changes in psychological processes. Patients given the self-compassion instruction increased in their self-soothing and self-esteem in contrast to patients in the stress-only condition. Happiness broadly increased in both groups although reported levels of stress generally increased in patients given the self-compassion instruction but decreased in patients in the stress-only condition. Those given the self-compassion instruction also increased in their use of causal reasoning words across the two writing sessions compared with those in the stress-only condition. Expressive writing appears to be beneficial in patients at a hospice and was viewed as valuable by participants. The inclusion of a self-compassion instruction may have additional benefits and a discussion of the feasibility of implementing expressive writing sessions in a Day Hospice is offered.

Phylogenetic relationships among amphisbaenian reptiles based on complete mitochondrial genomic sequences.

PubMed

Macey, J Robert; Papenfuss, Theodore J; Kuehl, Jennifer V; Fourcade, H Mathew; Boore, Jeffrey L

2004-10-01

Complete mitochondrial genomic sequences are reported from 12 members in the four families of the reptile group Amphisbaenia. Analysis of 11,946 aligned nucleotide positions (5797 informative) produces a robust phylogenetic hypothesis. The family Rhineuridae is basal and Bipedidae is the sister taxon to the Amphisbaenidae plus Trogonophidae. Amphisbaenian reptiles are surprisingly old, predating the breakup of Pangaea 200 million years before present, because successive basal taxa (Rhineuridae and Bipedidae) are situated in tectonic regions of Laurasia and nested taxa (Amphisbaenidae and Trogonophidae) are found in Gondwanan regions. Thorough sampling within the Bipedidae shows that it is not tectonic movement of Baja California away from the Mexican mainland that is primary in isolating Bipes species, but rather that primary vicariance occurred between northern and southern groups. Amphisbaenian families show parallel reduction in number of limbs and Bipes species exhibit parallel reduction in number of digits. A measure is developed for comparing the phylogenetic information content of various genes. A synapomorphic trait defining the Bipedidae is a shift from the typical vertebrate mitochondrial gene arrangement to the derived state of trnE and nad6. In addition, a tandem duplication of trnT and trnP is observed in Bipes biporus with a pattern of pseudogene formation that varies among populations. The first case of convergent rearrangement of the mitochondrial genome among animals demonstrated by complete genomic sequences is reported. Relative to most vertebrates, the Rhineuridae has the block nad6, trnE switched in order with the block cob, trnT, trnP, as they are in birds.

[Three types of brand name loyalty strategies set up by drug manufacturers].

PubMed

PréMont, Marie-Claude; Gagnon, Marc-André

2014-11-01

The recent restructuring of the pharmaceutical industry has led to three new types of promotional strategies to build patient loyalty to brand name drugs: loyalty through rebates, patient support, and compassion programs. Loyalty through rebates seeks to keep patients on a brand name drug and prevent their switch to the generic equivalent. Loyalty through patient support provides aftersales services to help and support patients (by phone or home visits) in order to improve adherence to their treatments. Finally, compassion programs offer patients access to drugs still awaiting regulatory approval or reimbursement by insurers. When and if the approval process is successful, the manufacturer puts an end to the compassion program and benefits from a significant cohort of patients already taking a very expensive drug for which reimbursement is assured. The impact of these programs on public policies and patients' rights raises numerous concerns, among which the direct access to patients and their health information by drug manufacturers and upward pressure on costs for drug insurance plans.

Estimation Model of Spacecraft Parameters and Cost Based on a Statistical Analysis of COMPASS Designs

NASA Technical Reports Server (NTRS)

Gerberich, Matthew W.; Oleson, Steven R.

2013-01-01

The Collaborative Modeling for Parametric Assessment of Space Systems (COMPASS) team at Glenn Research Center has performed integrated system analysis of conceptual spacecraft mission designs since 2006 using a multidisciplinary concurrent engineering process. The set of completed designs was archived in a database, to allow for the study of relationships between design parameters. Although COMPASS uses a parametric spacecraft costing model, this research investigated the possibility of using a top-down approach to rapidly estimate the overall vehicle costs. This paper presents the relationships between significant design variables, including breakdowns of dry mass, wet mass, and cost. It also develops a model for a broad estimate of these parameters through basic mission characteristics, including the target location distance, the payload mass, the duration, the delta-v requirement, and the type of mission, propulsion, and electrical power. Finally, this paper examines the accuracy of this model in regards to past COMPASS designs, with an assessment of outlying spacecraft, and compares the results to historical data of completed NASA missions.

Preliminary measurements of neutrons from the D-D reaction in the COMPASS tokamak

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dankowski, J., E-mail: jan.dankowski@ifj.edu.pl; Kurowski, A.; Twarog, D.

Recent results of measured fast neutrons created in the D-D reaction on the COMPASS tokamak during ohmic discharges are presented in this paper. Two different type detectors were used during experiment. He-3 detectors and bubble detectors as a support. The measurements are an introduction for neutron diagnostic on tokamak COMPASS and monitoring neutrons during discharges with Neutral Beam Injection (NBI). The He-3 counters and bubble detectors were located in two positions near tokamak vacuum chamber at a distance less than 40 cm to the centre of plasma. The neutrons flux was observed in ohmic discharges. However, analysis of our resultsmore » does not indicate any clear source of neutrons production during ohmic discharges.« less

Religiousness and aggression in adolescents: The mediating roles of self-control and compassion.

PubMed

Shepperd, James A; Miller, Wendi A; Smith, Colin Tucker

2015-01-01

Although people have used religion to justify aggression, evidence suggests that greater religiousness corresponds with less aggression. We explored two explanations for the religion-aggression link. First, most major religions teach self-control (e.g., delaying gratification, resisting temptation), which diminishes aggression. Second, most major religions emphasize compassionate beliefs and behavior (i.e., perspective taking, forgiveness, a broader love of humanity) that are incompatible with aggression. We tested whether self-control and compassion mediated the relationship between religion and aggression (direct and indirect) in a longitudinal study of 1,040 adolescents in the United States. Structural equation analyses revealed that self-control and compassion together completely mediated the religion-aggression relationship for both types of aggression. © 2015 Wiley Periodicals, Inc.

Prevalence, causes and consequences of compassion satisfaction and compassion fatigue in emergency care: a mixed-methods study of UK NHS Consultants.

PubMed

Dasan, Sunil; Gohil, Poonam; Cornelius, Victoria; Taylor, Cath

2015-08-01

To estimate prevalence and explore potential causes and consequences of compassion satisfaction and compassion fatigue in UK emergency medicine consultants. A sequential mixed-methods design. Cross-sectional e-survey to all UK NHS emergency medicine consultants (n=1317) including Professional Quality of Life (ProQOL) (compassion satisfaction/fatigue), followed by interviews with consultants scoring above (n=6) and below (n=6) predefined ProQOL thresholds. 681 (52%) consultants responded. Most (98%) reported at least 'average' compassion satisfaction. Higher scores were associated with type of workplace (designated trauma centres faring better) and number of years worked as a consultant (gradually worsen over time, except 20 years onwards when it improves). Consultants with lower (worse) compassion satisfaction scores were more likely to report being irritable with patients or colleagues and reducing their standards of care (a third reported these behaviours at least monthly) and were more likely to intend to retire early (59% had such plans). Key features distinguishing 'satisfied' from 'fatigued' interviewed consultants included having strategies to deal with the high work intensities associated with their role and having positive views of the team within which they worked. The degree of variety in their roles and the ability to maintain empathy for their patients were also distinguishing features between these groups. Findings support an urgent review of workforce and resources in emergency medicine and suggest that a multifactorial approach to identification, prevention and treatment of occupational stress in the workforce is required that considers individual, job and organisational factors, particularly those that impact on perceived control and support at work. Published by the BMJ Publishing Group Limited. For permission to use (where not already granted under a licence) please go to http://group.bmj.com/group/rights-licensing/permissions.

Empathy and feelings of guilt experienced by nurses: A cross-sectional study of their role in burnout and compassion fatigue symptoms.

PubMed

Duarte, Joana; Pinto-Gouveia, José

2017-06-01

The main goal of this study was to explore the relationships between empathy, empathy-based pathogenic guilt and professional quality of life (burnout and compassion fatigue). We aim to test a model in which we hypothesize that when empathic feelings are related to pathogenic guilt, burnout and compassion fatigue symptoms may be increased. Empathy is at the core of nursing practice, and has been associated with positive outcomes not only for the healthcare provider but also for the patient. However, empathy is also at the core of guilt feelings that, when excessive and misdirected, can lead to pathogenic guilt beliefs. We focused on two types of empathy-based guilt characterized by excessive responsibility over others' well-being and how these can be related to professional quality of life. This study is a cross-sectional self-report survey. Data were collected during 2014 and 2015. Two hundred ninety-eight nurses from public hospitals in Portugal's north and center region were surveyed. Professional quality of life (burnout and compassion fatigue), empathy, and empathy-based guilt were measured using validated self-report measures. Correlation analyses showed that empathy-based guilt was positively associated with empathy, and with burnout and compassion fatigue. Results from multiple mediation models further indicated when empathy is associated with empathy-based guilt, this leads to greater levels of burnout and compassion fatigue. Given the nature of their work, nurses who experience pathogenic guilt feelings may have compromised well-being, and this should be addressed in training programs aiming at preventing or treating burnout and compassion fatigue. Copyright © 2017 Elsevier Inc. All rights reserved.

The case for values as a basis for organizational culture.

PubMed

Brinkley, Ruth W

2013-01-01

At a time when almost every aspect of healthcare is rapidly and dramatically changing, it is important for healthcare leaders to maintain a moral compass--a clear sense of the morals or virtues that guide their decisions. A firmly rooted moral compass inspires, leads, guides, and provides a solid foundation--and some sense of security--for organizations navigating massive or significant transformational changes, such as those required by the Affordable Care Act. In addition, "smaller" changes, such as consolidation, rationalization, and relocation of services, have a strong chance of succeeding in organizations that operate within a moral framework from which the organization can shape its future strategies and make important decisions. Finally, an organization's moral compass guides actions, reactions, and behaviors when unexpected or devastating events occur in the lives of consumers, employees, physicians, business partners, patients, families, and members of the community. The direction toward which its moral compass is pointing determines the types and quality of relationships it has with those key stakeholders, and those individuals and groups come to depend on what they have observed and know to be true about how the organization behaves in certain circumstances. While no organization can predict the future and all of the implications of change, key stakeholder groups need and want to know how they will be treated in the face of such change-whether expected or unexpected. In this sense, every organization must establish ways to evaluate the validity of its moral compass and develop--and adhere to--guidelines that determine how its members will behave, whether in ordinary circumstances; in the face of extraordinary, high-impact situations; or in times of massive transformational change. Above all, executive leaders must always be mindful that their own personal moral compass becomes their organization's moral compass.

Does Bipedality Predict the Group-Level Manual Laterality in Mammals?

PubMed Central

Giljov, Andrey; Karenina, Karina; Malashichev, Yegor

2012-01-01

Background Factors determining patterns of laterality manifestation in mammals remain unclear. In primates, the upright posture favours the expression of manual laterality across species, but may have little influence within a species. Whether the bipedalism acts the same in non-primate mammals is unknown. Our recent findings in bipedal and quadrupedal marsupials suggested that differences in laterality pattern, as well as emergence of manual specialization in evolution might depend on species-specific body posture. Here, we evaluated the hypothesis that the postural characteristics are the key variable shaping the manual laterality expression across mammalian species. Methodology/Principal Findings We studied forelimb preferences in a most bipedal marsupial, brush-tailed bettong, Bettongia penicillata in four different types of unimanual behavior. The significant left-forelimb preference at the group level was found in all behaviours studied. In unimanual feeding on non-living food, catching live prey and nest-material collecting, all or most subjects were lateralized, and among lateralized bettongs a significant majority displayed left-forelimb bias. Only in unimanual supporting of the body in the tripedal stance the distribution of lateralized and non-lateralized individuals did not differ from chance. Individual preferences were consistent across all types of behaviour. The direction or the strength of forelimb preferences were not affected by the animals’ sex. Conclusions/Significance Our findings support the hypothesis that the expression of manual laterality depends on the species-typical postural habit. The interspecies comparison illustrates that in marsupials the increase of bipedality corresponds with the increase of the degree of group-level forelimb preference in a species. Thus, bipedalism can predict pronounced manual laterality at both intra- and interspecific levels in mammals. We also conclude that quadrupedal position in biped species can slightly hinder the expression of manual laterality, but the evoked biped position in quadrupedal species does not necessarily lead to the enhanced manifestation of manual laterality. PMID:23251583

Does bipedality predict the group-level manual laterality in mammals?

PubMed

Giljov, Andrey; Karenina, Karina; Malashichev, Yegor

2012-01-01

Factors determining patterns of laterality manifestation in mammals remain unclear. In primates, the upright posture favours the expression of manual laterality across species, but may have little influence within a species. Whether the bipedalism acts the same in non-primate mammals is unknown. Our recent findings in bipedal and quadrupedal marsupials suggested that differences in laterality pattern, as well as emergence of manual specialization in evolution might depend on species-specific body posture. Here, we evaluated the hypothesis that the postural characteristics are the key variable shaping the manual laterality expression across mammalian species. We studied forelimb preferences in a most bipedal marsupial, brush-tailed bettong, Bettongia penicillata in four different types of unimanual behavior. The significant left-forelimb preference at the group level was found in all behaviours studied. In unimanual feeding on non-living food, catching live prey and nest-material collecting, all or most subjects were lateralized, and among lateralized bettongs a significant majority displayed left-forelimb bias. Only in unimanual supporting of the body in the tripedal stance the distribution of lateralized and non-lateralized individuals did not differ from chance. Individual preferences were consistent across all types of behaviour. The direction or the strength of forelimb preferences were not affected by the animals' sex. Our findings support the hypothesis that the expression of manual laterality depends on the species-typical postural habit. The interspecies comparison illustrates that in marsupials the increase of bipedality corresponds with the increase of the degree of group-level forelimb preference in a species. Thus, bipedalism can predict pronounced manual laterality at both intra- and interspecific levels in mammals. We also conclude that quadrupedal position in biped species can slightly hinder the expression of manual laterality, but the evoked biped position in quadrupedal species does not necessarily lead to the enhanced manifestation of manual laterality.

The relationships among health promotion behaviors, compassion fatigue, burnout, and compassion satisfaction in nurses practicing in a community medical center.

PubMed

Neville, Kathleen; Cole, Donna A

2013-06-01

The objective of this study was to examine the relationships among health promotion behaviors, compassion fatigue, burnout, and compassion satisfaction among nurses practicing in a community medical center. Compassion fatigue and burnout are significant nursing stressors. Programs are available to offset the negative consequence of compassion fatigue and burnout and enhance compassion satisfaction, yet there remains a paucity of literature examining the relationships between health promotion behaviors, compassion fatigue, burnout, and compassion satisfaction. A nonexperimental design using a convenience sample of nurses completed the Health Promoting Lifestyle Profile II, the Professional Quality of Life Scale, and a demographic data sheet. Statistically significant relationships among health promotional behaviors and compassion fatigue, compassion satisfaction, and burnout were identified. Compassion fatigue, burnout, and compassion satisfaction are outcomes associated with nursing practice. Support for engagement in health promotional behaviors may contribute to nurses' well-being in counteracting compassion fatigue and burnout and enhancing compassion satisfaction.

Improving Communication between Physicians and Their Patients through Mindfulness and Compassion-Based Strategies: A Narrative Review

PubMed Central

Amutio-Kareaga, Alberto; García-Campayo, Javier; Delgado, Luis Carlos; Hermosilla, Daniel; Martínez-Taboada, Cristina

2017-01-01

Communication between physicians and patients is a key pillar of psychosocial support for enhancing the healing process of patients and for increasing their well-being and quality of life. Physicians and other health professionals might benefit from interventions that increase their self-care, awareness, compassion, and other-focused concern, and reduce the chances of distress and burnout. There is substantial evidence for the contribution of different management strategies to achieve these aims. The goal of this article is to review the potential effect of mindfulness and compassion-based strategies for the improvement of physician-patient interactions. The acquisition of the necessary skills by physicians requires continuous education. Future research will be useful for identifying more evidence on the cost-effectiveness of this type of intervention. PMID:28304333

Aeronautic Instruments. Section IV : Direction Instruments

NASA Technical Reports Server (NTRS)

Franklin, W S; Stillman, M H; Sanford, R L; Warner, John A C; Sylvander, R C; Rounds, E W

1923-01-01

Part one points out the adequacy of a consideration of the steady state gyroscopic motion as a basis for the discussion of displacements of the gyroscope mounted on an airplane, and develops a simple theory on this basis. Principal types of gyroscopic inclinometers are described and requirements stated. Part two describes a new type of stabilizing gyro mounted on top of a spindle by means of a universal joint, the spindle being kept in a vertical position by supporting it as a pendulum of which the bob is the driving motor. Methods of tests and the difficulties in designing a satisfactory and reliable compass for aircraft use in considered in part three. Part four contains a brief general treatment of the important features of construction of aircraft compasses and description of the principal types used.

Conway Morris: Extraterrestrials: Aliens like us?

NASA Astrophysics Data System (ADS)

Morris, Simon Conway

2005-08-01

So what are they going to be like, those long-expected extraterrestrials? Hideous hydrocarbon arachnoids, waving laser cannons as they chase screaming humans, repulsively surveying the scene through empathy-free compound eyes? Or maybe laughing bipeds, chatting away, holding a glass of wine, a bit like us?

Real-time physics-based 3D biped character animation using an inverted pendulum model.

PubMed

Tsai, Yao-Yang; Lin, Wen-Chieh; Cheng, Kuangyou B; Lee, Jehee; Lee, Tong-Yee

2010-01-01

We present a physics-based approach to generate 3D biped character animation that can react to dynamical environments in real time. Our approach utilizes an inverted pendulum model to online adjust the desired motion trajectory from the input motion capture data. This online adjustment produces a physically plausible motion trajectory adapted to dynamic environments, which is then used as the desired motion for the motion controllers to track in dynamics simulation. Rather than using Proportional-Derivative controllers whose parameters usually cannot be easily set, our motion tracking adopts a velocity-driven method which computes joint torques based on the desired joint angular velocities. Physically correct full-body motion of the 3D character is computed in dynamics simulation using the computed torques and dynamical model of the character. Our experiments demonstrate that tracking motion capture data with real-time response animation can be achieved easily. In addition, physically plausible motion style editing, automatic motion transition, and motion adaptation to different limb sizes can also be generated without difficulty.

A pilot study exploring the relationship between self-compassion, self-judgement, self-kindness, compassion, professional quality of life and wellbeing among UK community nurses.

PubMed

Durkin, Mark; Beaumont, Elaine; Hollins Martin, Caroline J; Carson, Jerome

2016-11-01

Compassion fatigue and burnout can impact on performance of nurses. This paper explores the relationship between self-compassion, self-judgement, self-kindness, compassion, professional quality of life, and wellbeing among community nurses. To measure associations between self-compassion, compassion fatigue, wellbeing, and burnout in community nurses. Quantitative data were collected using standardised psychometric questionnaires: (1) Professional Quality of Life Scale; (2) Self-Compassion Scale; (3) short Warwick Edinburgh Mental Wellbeing Scale; (4) Compassion For Others Scale, used to measure relationships between self-compassion, compassion fatigue, wellbeing, and burnout. A cross sectional sample of registered community nurses (n=37) studying for a postgraduate diploma at a University in the North of England took part in this study. Results show that community nurses who score high on measures of self-compassion and wellbeing, also report less burnout. Greater compassion satisfaction was also positively associated with compassion for others, and wellbeing, whilst also being negatively correlated with burnout. High levels of self-compassion were linked with lower levels of burnout. Furthermore when community nurses have greater compassion satisfaction they also report more compassion for others, increased wellbeing, and less burnout. The implications of this are discussed alongside suggestions for the promotion of greater compassion. Copyright © 2016 Elsevier Ltd. All rights reserved.

Does self-compassion mitigate the relationship between burnout and barriers to compassion? A cross-sectional quantitative study of 799 nurses.

PubMed

Dev, Vinayak; Fernando, Antonio T; Lim, Anecita Gigi; Consedine, Nathan S

2018-05-01

Burnout has numerous negative consequences for nurses, potentially impairing their ability to deliver compassionate patient care. However, the association between burnout and compassion and, more specifically, barriers to compassion in medicine is unclear. This article evaluates the associations between burnout and barriers to compassion and examines whether dispositional self-compassion might mitigate this association. Consistent with prior work, the authors expected greater burnout to predict greater barriers to compassion. We also expected self-compassion - the ability to be kind to the self during times of distress - to weaken the association between burnout and barriers to compassion among nurses. Registered nurses working in New Zealand medical contexts were recruited using non-random convenience sampling. Following consent, 799 valid participants completed a cross-sectional survey including the Copenhagen Burnout Inventory, the Barriers to Physician Compassion scale, and a measure of dispositional self-compassion. As expected, greater burnout predicted greater barriers to compassion while self-compassion predicted fewer barriers. However, self-compassion mitigated the association between burnout and burnout related barriers to compassion (but not other barriers). The interaction suggested that suggested that the association was stronger (rather than weaker) among those with greater self-compassion. Understanding the lack of compassion and the effects of burnout in patient care are priorities in health. This report extends evidence on the association between burnout and compassion-fatigue to show that burnout also predicts the experience of specific barriers to compassion. While self-compassion predicted lower burnout and barriers, it may not necessarily reduce the extent to which burnout contributes to the experience of barriers to compassion in medicine. Implications for understanding how burnout manifests in barriers to clinical compassion, interventions and professional training, and future directions in nursing are discussed. Copyright © 2018 Elsevier Ltd. All rights reserved.

Anatomical basis of sun compass navigation II: the neuronal composition of the central complex of the monarch butterfly.

PubMed

Heinze, Stanley; Florman, Jeremy; Asokaraj, Surainder; El Jundi, Basil; Reppert, Steven M

2013-02-01

Each fall, eastern North American monarch butterflies in their northern range undergo a long-distance migration south to their overwintering grounds in Mexico. Migrants use a time-compensated sun compass to determine directionality during the migration. This compass system uses information extracted from sun-derived skylight cues that is compensated for time of day and ultimately transformed into the appropriate motor commands. The central complex (CX) is likely the site of the actual sun compass, because neurons in this brain region are tuned to specific skylight cues. To help illuminate the neural basis of sun compass navigation, we examined the neuronal composition of the CX and its associated brain regions. We generated a standardized version of the sun compass neuropils, providing reference volumes, as well as a common frame of reference for the registration of neuron morphologies. Volumetric comparisons between migratory and nonmigratory monarchs substantiated the proposed involvement of the CX and related brain areas in migratory behavior. Through registration of more than 55 neurons of 34 cell types, we were able to delineate the major input pathways to the CX, output pathways, and intrinsic neurons. Comparison of these neural elements with those of other species, especially the desert locust, revealed a surprising degree of conservation. From these interspecies data, we have established key components of a conserved core network of the CX, likely complemented by species-specific neurons, which together may comprise the neural substrates underlying the computations performed by the CX. Copyright © 2012 Wiley Periodicals, Inc.

Polarized skylight navigation in insects: model and electrophysiology of e-vector coding by neurons in the central complex.

PubMed

Sakura, Midori; Lambrinos, Dimitrios; Labhart, Thomas

2008-02-01

Many insects exploit skylight polarization for visual compass orientation or course control. As found in crickets, the peripheral visual system (optic lobe) contains three types of polarization-sensitive neurons (POL neurons), which are tuned to different ( approximately 60 degrees diverging) e-vector orientations. Thus each e-vector orientation elicits a specific combination of activities among the POL neurons coding any e-vector orientation by just three neural signals. In this study, we hypothesize that in the presumed orientation center of the brain (central complex) e-vector orientation is population-coded by a set of "compass neurons." Using computer modeling, we present a neural network model transforming the signal triplet provided by the POL neurons to compass neuron activities coding e-vector orientation by a population code. Using intracellular electrophysiology and cell marking, we present evidence that neurons with the response profile of the presumed compass neurons do indeed exist in the insect brain: each of these compass neuron-like (CNL) cells is activated by a specific e-vector orientation only and otherwise remains silent. Morphologically, CNL cells are tangential neurons extending from the lateral accessory lobe to the lower division of the central body. Surpassing the modeled compass neurons in performance, CNL cells are insensitive to the degree of polarization of the stimulus between 99% and at least down to 18% polarization and thus largely disregard variations of skylight polarization due to changing solar elevations or atmospheric conditions. This suggests that the polarization vision system includes a gain control circuit keeping the output activity at a constant level.

A heuristic model of enactive compassion.

PubMed

Halifax, Joan

2012-06-01

This article is an investigation of the possibility that compassion is not a discrete feature but an emergent and contingent process that is at its base enactive. Compassion must be primed through the cultivation of various factors. This article endeavors to identify interdependent components of compassion. This is particularly relevant for those in the end-of-life care professions, wherein compassion is an essential factor in the care of those suffering from a catastrophic illness or injury. The Halifax Model of Compassion is presented here as a new vision of compassion with particular relevance for the training of compassion in clinicians. Compassion is generally valued as a prosocial mental quality. The factors that foster compassion are not well understood, and the essential components of compassion have not been sufficiently delineated. Neuroscience research on compassion has only recently begun, and there is little clinical research on the role of compassion in end-of-life care. Compassion is in general seen as having two main components: the affective feeling of caring for one who is suffering and the motivation to relieve suffering. This definition of compassion might impose limitations and will, therefore, have consequences on how one trains compassion in clinicians and others. It is the author's premise that compassion is dispositionally enactive (the interactions between living organisms and their environments, i.e., the propensity toward perception-action in relation to one's surrounds), and it is a process that is contingent and emergent.

[Effects of compassion satisfaction and social support in the relationship between compassion fatigue and burnout in hospital nurses].

PubMed

Yom, Young-Hee; Kim, Hyun-Jung

2012-12-01

The purpose of this study was to identify the effects of compassion satisfaction and social support in the relationship between compassion fatigue and burnout among hospital nurses. The participants were 430 nurses working in general hospitals. Data were collected with self-administrated questionnaires and analyzed by hierarchical multiple regression. (a) Compassion fatigue had a significant positive effect on burnout; (b) social support and compassion satisfaction had negative effects on burnout, and (c) social support and compassion satisfaction did not moderate the effects of compassion fatigue on burnout. These findings provide strong empirical evidence for the importance of compassion fatigue, compassion satisfaction and social support in explaining burnout of nurses. Also, it would be of great value to further define compassion fatigue and compassion satisfaction even though these concepts are not accepted in the realities of health care.

Compassion fatigue among nurses working with older adults.

PubMed

Kolthoff, Kay L; Hickman, Susan E

Nurses who care for older patients are exposed to significant suffering and loss that can lead to the development of compassion fatigue and burnout. An exploratory descriptive study was conducted to assess compassion fatigue, burnout, and compassion satisfaction in a group of 42 nurses who worked on a geriatric medicine unit using the Professional Quality of Life (ProQOL) compassion satisfaction and compassion fatigue 5 scale. Nurses reported average levels of compassion fatigue, burnout, and compassion satisfaction. However, new nurses reported higher levels of compassion fatigue (p < .01) and burnout (p = .02) than experienced nurses. Findings suggest the need to purposely build a supportive environment that focuses on new nurses to reduce compassion fatigue and burnout while enhancing compassion satisfaction. Copyright © 2016 Elsevier Inc. All rights reserved.

COMPASS Final Report: Lunar Communications Terminal (LCT)

NASA Technical Reports Server (NTRS)

Oleson, Steven R.; McGuire, Melissa L.

2010-01-01

The Lunar Communications Terminal (LCT) COllaborative Modeling and Parametric Assessment of Space Systems (COMPASS) session designed a terminal to provide communications between lunar South Pole assets, communications relay to/from these assets through an orbiting Lunar Relay Satellite (LRS) and navigation support. The design included a complete master equipment list, power requirement list, configuration design, and brief risk assessment and cost analysis. The Terminal consists of a pallet containing the communications and avionics equipment, surrounded by the thermal control system (radiator), an attached, deployable 10-m tower, upon which were mounted locally broadcasting and receiving modems and a deployable 1 m diameter Ka/S band dish which provides relay communications with the lunar relay satellites and, as a backup, Earth when it is in view. All power was assumed to come from the lunar outpost Habitat. Three LCT design options were explored: a stand-alone LCT servicing the manned outpost, an integrated LCT (into the Habitat or Lunar Lander), and a mini-LCT which provides a reduced level of communication for primarily robotic areas dealing as in situ resource utilization (ISRU) and remote science. Where possible all the designs assumed single fault tolerance. Significant mass savings were found when integrating the LCT into the Habitat or Lander but increases in costs occurred depending upon the level of man rating required for such designs.

Junction detection and pathway selection

NASA Astrophysics Data System (ADS)

Peck, Alex N.; Lim, Willie Y.; Breul, Harry T.

1992-02-01

The ability to detect junctions and make choices among the possible pathways is important for autonomous navigation. In our script-based navigation approach where a journey is specified as a script of high-level instructions, actions are frequently referenced to junctions, e.g., `turn left at the intersection.' In order for the robot to carry out these kind of instructions, it must be able (1) to detect an intersection (i.e., an intersection of pathways), (2) know that there are several possible pathways it can take, and (3) pick the pathway consistent with the high level instruction. In this paper we describe our implementation of the ability to detect junctions in an indoor environment, such as corners, T-junctions and intersections, using sonar. Our approach uses a combination of partial scan of the local environment and recognition of sonar signatures of certain features of the junctions. In the case where the environment is known, we use additional sensor information (such as compass bearings) to help recognize the specific junction. In general, once a junction is detected and its type known, the number of possible pathways can be deduced and the correct pathway selected. Then the appropriate behavior for negotiating the junction is activated.

Relationships between nurses' empathy, self-compassion and dimensions of professional quality of life: A cross-sectional study.

PubMed

Duarte, Joana; Pinto-Gouveia, José; Cruz, Bárbara

2016-08-01

Job stress and burnout are common among healthcare professionals, and nurses in particular. In addition to the heavy workload and lack of recourses, nurses are also confronted with emotionally intense situations associated with illness and suffering, which require empathic abilities. Although empathy is one of the core values in nursing, if not properly balanced it can also have detrimental consequences, such as compassion fatigue. Self-compassion, on the other hand, has been shown to be a protective factor for a wide range of well-being indicators and has been associated with compassion for others. The main goal of this study was to explore how empathy and self-compassion related to professional quality of life (compassion satisfaction, compassion fatigue and burnout). In addition, we wanted to test whether self-compassion may be a protective factor for the impact of empathy on compassion fatigue. Using a cross-sectional design, 280 registered nurses from public hospitals in Portugal's north and center region were surveyed. Professional quality of life (Professional Quality of Life), empathy (Interpersonal Reactivity Index) and self-compassion (Self-compassion Scale) were measured using validated self-report measures. Correlations and regression analyses showed that empathy and self-compassion predicted the three aspects of professional quality of life. Empathic concern was positively associated with compassion satisfaction as well as with compassion fatigue. Mediation models suggested that the negative components of self-compassion explain some of these effects, and self-kindness and common humanity were significant moderators. The same results were found for the association between personal distress and compassion fatigue. High levels of affective empathy may be a risk factor for compassion fatigue, whereas self-compassion might be protective. Teaching self-compassion and self-care skills may be an important feature in interventions that aim to reduce burnout and compassion fatigue. Copyright © 2016 Elsevier Ltd. All rights reserved.

Factors that influence the development of compassion fatigue, burnout, and compassion satisfaction in emergency department nurses.

PubMed

Hunsaker, Stacie; Chen, Hsiu-Chin; Maughan, Dale; Heaston, Sondra

2015-03-01

The purpose of this study was twofold: (a) to determine the prevalence of compassion satisfaction, compassion fatigue, and burnout in emergency department nurses throughout the United States and (b) to examine which demographic and work-related components affect the development of compassion satisfaction, compassion fatigue, and burnout in this nursing specialty. This was a nonexperimental, descriptive, and predictive study using a self-administered survey. Survey packets including a demographic questionnaire and the Professional Quality of Life Scale version 5 (ProQOL 5) were mailed to 1,000 selected emergency nurses throughout the United States. The ProQOL 5 scale was used to measure the prevalence of compassion satisfaction, compassion fatigue, and burnout among emergency department nurses. Multiple regression using stepwise solution was employed to determine which variables of demographics and work-related characteristics predicted the prevalence of compassion satisfaction, compassion fatigue, and burnout. The α level was set at .05 for statistical significance. The results revealed overall low to average levels of compassion fatigue and burnout and generally average to high levels of compassion satisfaction among this group of emergency department nurses. The low level of manager support was a significant predictor of higher levels of burnout and compassion fatigue among emergency department nurses, while a high level of manager support contributed to a higher level of compassion satisfaction. The results may serve to help distinguish elements in emergency department nurses' work and life that are related to compassion satisfaction and may identify factors associated with higher levels of compassion fatigue and burnout. Improving recognition and awareness of compassion satisfaction, compassion fatigue, and burnout among emergency department nurses may prevent emotional exhaustion and help identify interventions that will help nurses remain empathetic and compassionate professionals. © 2015 Sigma Theta Tau International.

Compassion fatigue, burnout, and compassion satisfaction among Colorado child protection workers.

PubMed

Conrad, David; Kellar-Guenther, Yvonne

2006-10-01

The goal of this study was to understand better the risk of compassion fatigue (the trauma suffered by the helping professional) and burnout (emotional exhaustion, depersonalization, and reduced sense of personal accomplishment), and the potential for compassion satisfaction (the fulfillment from helping others and positive collegial relationships) among Colorado county child protection staff using the Compassion Satisfaction/Fatigue Self-Test [Figley, C. R., & Stamm, B. H. (1996). Psychometric review of Compassion Fatigue Self-Test. In B. H. Stamm (Ed.), Measurement of stress, trauma, and adaptation (pp. 127-130). Lutherville, MD: Sidran Press]. An additional goal was to test the relationship of these three constructs to each other. A self-report instrument developed by Stamm and Figley was used to measure the risk of compassion fatigue and burnout and the potential for compassion satisfaction among 363 child protection staff participating in a secondary trauma training seminar. Participants were significantly more likely to have high risk of compassion fatigue, extremely low risk of burnout, and good potential for compassion satisfaction. Participants with high compassion satisfaction had lower levels of compassion fatigue (p=.000; mean=35.73 high compassion satisfaction group, mean=43.56 low group) and lower levels of burnout (p=.000; mean=32.99 high compassion satisfaction group, mean=41.69 low group). Approximately 50% of Colorado county child protection staff suffered from "high" or "very high" levels of compassion fatigue. The risk of burnout was considerably lower. More than 70% of staff expressed a "high" or "good" potential for compassion satisfaction. We believe compassion satisfaction may help mitigate the effects of burnout.

Understanding the roles of self-esteem, self-compassion, and fear of self-compassion in eating disorder pathology: an examination of female students and eating disorder patients.

PubMed

Kelly, Allison C; Vimalakanthan, Kiruthiha; Carter, Jacqueline C

2014-08-01

The present study examined the relative contributions of self-compassion, fear of self-compassion, and self-esteem in eating disorder pathology. One-hundred and fifty-five female undergraduate students and 97 females entering eating disorder treatment completed the Self-Compassion Scale, Fears of Compassion Scale, Rosenberg Self-Esteem Inventory, and Eating Disorder Examination Questionnaire. T-tests revealed that the patient group had lower mean self-compassion and higher mean fear of self-compassion than the student group. When controlling for self-esteem, high fear of self-compassion emerged as the strongest predictor of eating disorder pathology in the patient group, whereas low self-compassion was the strongest predictor in the student group. These preliminary results suggest that targeting fear of self-compassion may be important when intervening with individuals suffering from an eating disorder, whereas building self-compassion may be a valuable approach for eating disorder prevention. Copyright © 2014 Elsevier Ltd. All rights reserved.

Can Self-Compassion Promote Healthcare Provider Well-Being and Compassionate Care to Others? Results of a Systematic Review.

PubMed

Sinclair, Shane; Kondejewski, Jane; Raffin-Bouchal, Shelley; King-Shier, Kathryn M; Singh, Pavneet

2017-07-01

This meta-narrative review, conducted according to the RAMESES (Realist And Meta-narrative Evidence Syntheses: Evolving Standards) standards, critically examines the construct of self-compassion to determine if it is an accurate target variable to mitigate work-related stress and promote compassionate caregiving in healthcare providers. PubMed, Medline, CINAHL, PsycINFO, and Web of Science databases were searched. Studies were coded as referring to: (1) conceptualisation of self-compassion; (2) measures of self-compassion; (3) self-compassion and affect; and (4) self-compassion interventions. A narrative approach was used to evaluate self-compassion as a paradigm. Sixty-nine studies were included. The construct of self-compassion in healthcare has significant limitations. Self-compassion has been related to the definition of compassion, but includes limited facets of compassion and adds elements of uncompassionate behavior. Empirical studies use the Self-Compassion Scale, which is criticised for its psychometric and theoretical validity. Therapeutic interventions purported to cultivate self-compassion may have a broader effect on general affective states. An alleged outcome of self-compassion is compassionate care; however, we found no studies that included patient reports on this primary outcome. We critically examine and delineate self-compassion in healthcare providers as a composite of common facets of self-care, healthy self-attitude, and self-awareness rather than a construct in and of itself. © 2017 The International Association of Applied Psychology.

The development of fears of compassion scale Japanese version.

PubMed

Asano, Kenichi; Tsuchiya, Masao; Ishimura, Ikuo; Lin, Shuzhen; Matsumoto, Yuki; Miyata, Haruko; Kotera, Yasuhiro; Shimizu, Eiji; Gilbert, Paul

2017-01-01

Cultivation of compassion is a useful way to treat mental problems, but some individuals show resistance. Fears of compassion can be an obstacle for clinicians when providing psychotherapy, and for clients when engaging in interpersonal relationships. Despite its importance, a Japanese version of fears of compassion scales (for others, from others, and for self) has not yet been developed. This study developed a Japanese version of the Fears of Compassion Scales and tested its reliability and validity. This study used a cross-sectional design, and a self-report procedure for collecting data. A total of 485 students (121 males and 364 females) answered self-report questionnaires, including the draft Fears of Compassion Scales-Japanese version. There were distinctive factor structures for fear of compassion from others, and for self. The fear of compassion from others scale consisted of concern about compassion from others and avoidance of compassion from others. All scales had good internal consistency, test-retest reliability, face validity, and construct validity. Discrimination and difficulty were also calculated. These results indicate that the Fears of Compassion Scales-Japanese version is a well-constructed and useful measure to assess fears of compassion and the existence of cultural differences in fears of compassion.

Self-compassion training for binge eating disorder: a pilot randomized controlled trial.

PubMed

Kelly, Allison C; Carter, Jacqueline C

2015-09-01

The present pilot study sought to compare a compassion-focused therapy (CFT)-based self-help intervention for binge eating disorder (BED) to a behaviourally based intervention. Forty-one individuals with BED were randomly assigned to 3 weeks of food planning plus self-compassion exercises; food planning plus behavioural strategies; or a wait-list control condition. Participants completed weekly measures of binge eating and self-compassion; pre- and post-intervention measures of eating disorder pathology and depressive symptoms; and a baseline measure assessing fear of self-compassion. Results showed that: (1) perceived credibility, expectancy, and compliance did not differ between the two interventions; (2) both interventions reduced weekly binge days more than the control condition; (3) the self-compassion intervention reduced global eating disorder pathology, eating concerns, and weight concerns more than the other conditions; (4) the self-compassion intervention increased self-compassion more than the other conditions; and (5) participants low in fear of self-compassion derived significantly more benefits from the self-compassion intervention than those high in fear of self-compassion. Findings offer preliminary support for the usefulness of CFT-based interventions for BED sufferers. Results also suggest that for individuals to benefit from self-compassion training, assessing and lowering fear of self-compassion will be crucial. Individuals with BED perceive self-compassion training self-help interventions, derived from CFT, to be as credible and as likely to help as behaviourally based interventions. The cultivation of self-compassion may be an effective approach for reducing binge eating, and eating, and weight concerns in individuals with BED. Teaching individuals with BED CFT-based self-help exercises may increase their self-compassion levels over a short period of time. It may be important for clinicians to assess and target clients' fear of self-compassion for clients to benefit from self-compassion training interventions. © 2014 The British Psychological Society.

Anchor Node Localization for Wireless Sensor Networks Using Video and Compass Information Fusion

PubMed Central

Pescaru, Dan; Curiac, Daniel-Ioan

2014-01-01

Distributed sensing, computing and communication capabilities of wireless sensor networks require, in most situations, an efficient node localization procedure. In the case of random deployments in harsh or hostile environments, a general localization process within global coordinates is based on a set of anchor nodes able to determine their own position using GPS receivers. In this paper we propose another anchor node localization technique that can be used when GPS devices cannot accomplish their mission or are considered to be too expensive. This novel technique is based on the fusion of video and compass data acquired by the anchor nodes and is especially suitable for video- or multimedia-based wireless sensor networks. For these types of wireless networks the presence of video cameras is intrinsic, while the presence of digital compasses is also required for identifying the cameras' orientations. PMID:24594614

Pediatric novice nurses: examining compassion fatigue as a mediator between stress exposure and compassion satisfaction, burnout, and job satisfaction.

PubMed

Meyer, Rika M L; Li, Angela; Klaristenfeld, Jessica; Gold, Jeffrey I

2015-01-01

We investigated whether compassion fatigue mediated associations between nurse stress exposure and job satisfaction, compassion satisfaction, and burnout, controlling for pre-existing stress. The Life Events Checklist was administered to 251 novice pediatric nurses at the start of the nurse residency program (baseline) and 3 months after to assess pre-existing and current stress exposure. Compassion satisfaction, compassion fatigue, and burnout were assessed 3 months after baseline and job satisfaction 6 months after. Stress exposure significantly predicted lower compassion satisfaction and more burnout. Compassion fatigue partially mediated these associations. Results demonstrate a need for hospitals to prevent compassion fatigue in healthcare providers. Copyright © 2015 Elsevier Inc. All rights reserved.

The development of fears of compassion scale Japanese version

PubMed Central

Asano, Kenichi; Tsuchiya, Masao; Ishimura, Ikuo; Lin, Shuzhen; Matsumoto, Yuki; Miyata, Haruko; Kotera, Yasuhiro; Shimizu, Eiji; Gilbert, Paul

2017-01-01

Objectives Cultivation of compassion is a useful way to treat mental problems, but some individuals show resistance. Fears of compassion can be an obstacle for clinicians when providing psychotherapy, and for clients when engaging in interpersonal relationships. Despite its importance, a Japanese version of fears of compassion scales (for others, from others, and for self) has not yet been developed. This study developed a Japanese version of the Fears of Compassion Scales and tested its reliability and validity. Design This study used a cross-sectional design, and a self-report procedure for collecting data. Methods A total of 485 students (121 males and 364 females) answered self-report questionnaires, including the draft Fears of Compassion Scales—Japanese version. Results There were distinctive factor structures for fear of compassion from others, and for self. The fear of compassion from others scale consisted of concern about compassion from others and avoidance of compassion from others. All scales had good internal consistency, test-retest reliability, face validity, and construct validity. Discrimination and difficulty were also calculated. Conclusions These results indicate that the Fears of Compassion Scales—Japanese version is a well-constructed and useful measure to assess fears of compassion and the existence of cultural differences in fears of compassion. PMID:29023461

Building compassion literacy: Enabling care in primary health care nursing.

PubMed

Burridge, Letitia Helen; Winch, Sarah; Kay, Margaret; Henderson, Amanda

This paper introduces the concept of compassion literacy and discusses its place in nursing within the general practice setting. Compassion literacy is a valuable competency for sustaining the delivery of high quality care. Being compassion literate enables practice nurses to provide compassionate care to their patients and to recognise factors that may constrain this. A compassion literate practice nurse may be more protected from compassion fatigue and its negative consequences. Understanding how to enable self-compassion and how to support the delivery of compassionate care within the primary care team can enhance the care experienced by the patient while improving the positive engagement and satisfaction of the health professionals. The capacity to deliver compassionate care can be depleted by the day-to-day demands of the clinical setting. Compassion literacy enables the replenishing of compassion, but the development of compassion literacy can be curtailed by personal and workplace barriers. This paper articulates why compassion literacy should be an integral aspect of practice nursing and considers strategies for enabling compassion literacy to develop and thrive within the workplace environment. Compassion literacy is also a valuable opportunity for practice nurses to demonstrate their key role within the multidisciplinary team of general practice, directly enhancing the quality of the care delivered.

Topology search of 3-DOF translational parallel manipulators with three identical limbs for leg mechanisms

NASA Astrophysics Data System (ADS)

Wang, Mingfeng; Ceccarelli, Marco

2015-07-01

Three-degree of freedom(3-DOF) translational parallel manipulators(TPMs) have been widely studied both in industry and academia in the past decades. However, most architectures of 3-DOF TPMs are created mainly on designers' intuition, empirical knowledge, or associative reasoning and the topology synthesis researches of 3-DOF TPMs are still limited. In order to find out the atlas of designs for 3-DOF TPMs, a topology search is presented for enumeration of 3-DOF TPMs whose limbs can be modeled as 5-DOF serial chains. The proposed topology search of 3-DOF TPMs is aimed to overcome the sensitivities of the design solution of a 3-DOF TPM for a LARM leg mechanism in a biped robot. The topology search, which is based on the concept of generation and specialization in graph theory, is reported as a step-by-step procedure with desired specifications, principle and rules of generalization, design requirements and constraints, and algorithm of number synthesis. In order to obtain new feasible designs for a chosen example and to limit the search domain under general considerations, one topological generalized kinematic chain is chosen to be specialized. An atlas of new feasible designs is obtained and analyzed for a specific solution as leg mechanisms. The proposed methodology provides a topology search for 3-DOF TPMs for leg mechanisms, but it can be also expanded for other applications and tasks.

Aircraft compass characteristics

NASA Technical Reports Server (NTRS)

Peterson, John B; Smith, Clyde W

1937-01-01

A description of the test methods used at the National Bureau of Standards for determining the characteristics of aircraft compasses is given. The methods described are particularly applicable to compasses in which mineral oil is used as the damping liquid. Data on the viscosity and density of certain mineral oils used in United States Navy aircraft compasses are presented. Characteristics of Navy aircraft compasses IV to IX and some other compasses are shown for the range of temperatures experienced in flight. Results of flight tests are presented. These results indicate that the characteristic most desired in a steering compass is a short period and, in a check compass, a low overswing.

Helping the self help others: self-affirmation increases self-compassion and pro-social behaviors

PubMed Central

Lindsay, Emily K.; Creswell, J. David

2014-01-01

Reflecting on an important personal value in a self-affirmation activity has been shown to improve psychological functioning in a broad range of studies, but the underlying mechanisms for these self-affirmation effects are unknown. Here we provide an initial test of a novel self-compassion account of self-affirmation in two experimental studies. Study 1 shows that an experimental manipulation of self-affirmation (3-min of writing about an important personal value vs. writing about an unimportant value) increases feelings of self-compassion, and these feelings in turn mobilize more pro-social behaviors to a laboratory shelf-collapse incident. Study 2 tests and extends these effects by evaluating whether self-affirmation increases feelings of compassion toward the self (consistent with the self-compassion account) or increases feelings of compassion toward others (an alternative other-directed compassion account), using a validated storytelling behavioral task. Consistent with a self-compassion account, Study 2 demonstrates the predicted self-affirmation by video condition interaction, indicating that self-affirmation participants had greater feelings of self-compassion in response to watching their own storytelling performance (self-compassion) compared to watching a peer’s storytelling performance (other-directed compassion). Further, pre-existing levels of trait self-compassion moderated this effect, such that self-affirmation increased self-compassionate responses the most in participants low in trait self-compassion. This work suggests that self-compassion may be a promising mechanism for self-affirmation effects, and that self-compassionate feelings can mobilize pro-social behaviors. PMID:24860534

Helping the self help others: self-affirmation increases self-compassion and pro-social behaviors.

PubMed

Lindsay, Emily K; Creswell, J David

2014-01-01

Reflecting on an important personal value in a self-affirmation activity has been shown to improve psychological functioning in a broad range of studies, but the underlying mechanisms for these self-affirmation effects are unknown. Here we provide an initial test of a novel self-compassion account of self-affirmation in two experimental studies. Study 1 shows that an experimental manipulation of self-affirmation (3-min of writing about an important personal value vs. writing about an unimportant value) increases feelings of self-compassion, and these feelings in turn mobilize more pro-social behaviors to a laboratory shelf-collapse incident. Study 2 tests and extends these effects by evaluating whether self-affirmation increases feelings of compassion toward the self (consistent with the self-compassion account) or increases feelings of compassion toward others (an alternative other-directed compassion account), using a validated storytelling behavioral task. Consistent with a self-compassion account, Study 2 demonstrates the predicted self-affirmation by video condition interaction, indicating that self-affirmation participants had greater feelings of self-compassion in response to watching their own storytelling performance (self-compassion) compared to watching a peer's storytelling performance (other-directed compassion). Further, pre-existing levels of trait self-compassion moderated this effect, such that self-affirmation increased self-compassionate responses the most in participants low in trait self-compassion. This work suggests that self-compassion may be a promising mechanism for self-affirmation effects, and that self-compassionate feelings can mobilize pro-social behaviors.

Prevalence and predictors of compassion fatigue, burnout and compassion satisfaction among oncology nurses: A cross-sectional survey.

PubMed

Yu, Hairong; Jiang, Anli; Shen, Jie

2016-05-01

Cancer is a leading cause of death worldwide. Given the complexity of caring work, recent studies have focused on the professional quality of life of oncology nurses. China, the world's largest developing country, faces heavy burdens of care for cancer patients. Chinese oncology nurses may be encountering the negative side of their professional life. However, studies in this field are scarce, and little is known about the prevalence and predictors of oncology nurses' professional quality of life. To describe and explore the prevalence of predictors of professional quality of life (compassion fatigue, burnout and compassion satisfaction) among Chinese oncology nurses under the guidance of two theoretical models. A cross-sectional design with a survey. Ten tertiary hospitals and five secondary hospitals in Shanghai, China. A convenience and cluster sample of 669 oncology nurses was used. All of the nurses worked in oncology departments and had over 1 year of oncology nursing experience. Of the selected nurses, 650 returned valid questionnaires that were used for statistical analyses. The participants completed the demographic and work-related questionnaire, the Chinese version of the Professional Quality of Life Scale for Nurses, the Chinese version of the Jefferson Scales of Empathy, the Simplified Coping Style Questionnaire, the Perceived Social Support Scale, and the Chinese Big Five Personality Inventory brief version. Descriptive statistics, t-tests, one-way analysis of variance, simple and multiple linear regressions were used to determine the predictors of the main research variables. Higher compassion fatigue and burnout were found among oncology nurses who had more years of nursing experience, worked in secondary hospitals and adopted passive coping styles. Cognitive empathy, training and support from organizations were identified as significant protectors, and 'perspective taking' was the strongest predictor of compassion satisfaction, explaining 23.0% of the variance. Personality traits of openness and conscientiousness were positively associated with compassion satisfaction, while neuroticism was a negative predictor, accounting for 24.2% and 19.8% of the variance in compassion fatigue and burnout, respectively. Oncology care has unique features, and oncology nurses may suffer from more work-related stressors compared with other types of nurses. Various predictors can influence the professional quality of life, and some of these should be considered in the Chinese nursing context. The results may provide clues to help nurse administrators identify oncology nurses' vulnerability to compassion fatigue and burnout and develop comprehensive strategies to improve their professional quality of life. Copyright © 2016 Elsevier Ltd. All rights reserved.

Biomechanics of Step Initiation After Balance Recovery With Implications for Humanoid Robot Locomotion.

PubMed

Miller Buffinton, Christine; Buffinton, Elise M; Bieryla, Kathleen A; Pratt, Jerry E

2016-03-01

Balance-recovery stepping is often necessary for both a human and humanoid robot to avoid a fall by taking a single step or multiple steps after an external perturbation. The determination of where to step to come to a complete stop has been studied, but little is known about the strategy for initiation of forward motion from the static position following such a step. The goal of this study was to examine the human strategy for stepping by moving the back foot forward from a static, double-support position, comparing parameters from normal step length (SL) to those from increasing SLs to the point of step failure, to provide inspiration for a humanoid control strategy. Healthy young adults instrumented with joint reflective markers executed a prescribed-length step from rest while marker positions and ground reaction forces (GRFs) were measured. The participants were scaled to the Gait2354 model in opensim software to calculate body kinematic and joint kinetic parameters, with further post-processing in matlab. With increasing SL, participants reduced both static and push-off back-foot GRF. Body center of mass (CoM) lowered and moved forward, with additional lowering at the longer steps, and followed a path centered within the initial base of support (BoS). Step execution was successful if participants gained enough forward momentum at toe-off to move the instantaneous capture point (ICP) to within the BoS defined by the final position of both feet on the front force plate. All lower extremity joint torques increased with SL except ankle joint. Front knee work increased dramatically with SL, accompanied by decrease in back-ankle work. As SL increased, the human strategy changed, with participants shifting their CoM forward and downward before toe-off, thus gaining forward momentum, while using less propulsive work from the back ankle and engaging the front knee to straighten the body. The results have significance for human motion, suggesting the upper limit of the SL that can be completed with back-ankle push-off before additional knee flexion and torque is needed. For biped control, the results support stability based on capture-point dynamics and suggest strategy for center-of-mass trajectory and distribution of ground force reactions that can be compared with robot controllers for initiation of gait after recovery steps.

Descriptive study of burnout, compassion fatigue and compassion satisfaction in undergraduate nursing students at a tertiary education institution in KwaZulu-Natal.

PubMed

Mathias, Christina T; Wentzel, Dorien L

2017-09-22

Studies have investigated burnout and compassion fatigue among nurses and effects in the nursing profession. However, there are limited investigations of burnout and compassion fatigue among undergraduate nursing students in South Africa, as nursing students may experience distressful situations during their nursing education course, which may have an impact during their training and in their profession as they graduate. The purpose of this descriptive study was to describe compassion satisfaction, compassion fatigue and burnout among undergraduate nursing students at a tertiary nursing institution. A quantitative descriptive study was conducted to describe compassion satisfaction, compassion fatigue and burnout among undergraduate nursing students at a tertiary nursing institution in KwaZulu-Natal. Convenience sampling was used. Sixty-seven undergraduate students (26 third-year and 41 fourth-year nursing students) took the self-test Professional Quality of Life Scale (ProQOL). The study results indicate that undergraduate students experienced average levels of compassion fatigue, burnout and compassion satisfaction. As shown in the study, some of the undergraduate students are experiencing compassion fatigue and burnout, associated with relieving suffering of others. Therefore, knowledge of compassion fatigue and burnout and the coping strategies should be part of nursing training.

Role of compassion competence among clinical nurses in professional quality of life.

PubMed

Lee, Y; Seomun, G

2016-09-01

The study aimed to explore measurable compassion competence among nurses and to examine the relationships between nurses' compassion competence and levels of compassion satisfaction, compassion fatigue and secondary traumatic stress. Compassion is a vital asset in the nursing profession. It is necessary to explore whether compassion competence is a factor influencing professional quality of life. This study utilized a multicenter descriptive cross-sectional survey. Data were collected from 680 nurses. Professional quality of life based on nurses' general characteristics showed a significant difference in the subjects' age, marital status, education, and total clinical experience. In addition, compassion competence had a significant positive correlation with compassion satisfaction and STS, whereas it had a significant negative correlation with burnout. Compassion competence was a factor influencing compassion satisfaction and burnout in professional quality of life. Our study included nurses with at least 1 year of clinical experience in a single cultural area, which limits its widespread applicability. To improve generalizability, future studies should include clinical nurses of various races, working in diverse cultural areas and with various levels of experience (including entry-level nurses and nursing students). Compassion competence of clinical nurses was a predictive factor for professional quality of life. Hospital administrators, nurse leaders and policy makers should develop and adopt nurse-retaining strategies that focus on improving nurses' compassion competence in order to reduce their burnout. We recommend the development of educational programmes to improve nurses' compassion competence and thereby enhance their professional quality of life. © 2016 International Council of Nurses.

Laughing and crying: mixed emotions, compassion, and the effectiveness of a YouTube PSA about skin cancer.

PubMed

Myrick, Jessica Gall; Oliver, Mary Beth

2015-01-01

Emotionally evocative public service announcements are one way that public health advocates hope to persuade people to take action against skin cancer, the most common type of cancer in the United States. This article describes an experiment (N = 193) to test the ways mixed emotional appeals influence communication and health outcomes. The data indicate that mixed emotional appeals foster feelings of compassion, which in turn motivate individual and social behaviors. The findings also provide insight into how audience reactions of fear impact postmessage behaviors. Implications for future research and health message design are discussed.

78 FR 14792 - Ocean Transportation Intermediary License Applicants

Federal Register 2010, 2011, 2012, 2013, 2014

2013-03-07

...: Mohamed Y. Ali, Manager (QI); Abdul S. Mohamed, Member. Application Type: Add Trade Name Compass Logistics... Ugueto, Secretary. Application Type: New NVO & OFF License American Forwarding & Logistics, LLC (NVO & OFF), 1919 NW 19th Street, Unit 624, Ft. Lauderdale, FL 33311. Officers: Gabriele Awada, Manager (QI...

Compassion Fatigue: An Application of the Concept to Informal Caregivers of Family Members with Dementia

PubMed Central

Day, Jennifer R.; Anderson, Ruth A.

2011-01-01

Introduction. Compassion fatigue is a concept used with increasing frequency in the nursing literature. The objective of this paper is to identify common themes across the literature and to apply these themes, and an existing model of compassion fatigue, to informal caregivers for family members with dementia. Findings. Caregivers for family members with dementia may be at risk for developing compassion fatigue. The model of compassion fatigue provides an informative framework for understanding compassion fatigue in the informal caregiver population. Limitations of the model when applied to this population were identified as traumatic memories and the emotional relationship between parent and child, suggesting areas for future research. Conclusions. Research is needed to better understand the impact of compassion fatigue on informal caregivers through qualitative interviews, to identify informal caregivers at risk for compassion fatigue, and to provide an empirical basis for developing nursing interventions for caregivers experiencing compassion fatigue. PMID:22229086

Self-Compassion, Emotion Regulation and Stress among Australian Psychologists: Testing an Emotion Regulation Model of Self-Compassion Using Structural Equation Modeling

PubMed Central

Finlay-Jones, Amy L.; Rees, Clare S.; Kane, Robert T.

2015-01-01

Psychologists tend to report high levels of occupational stress, with serious implications for themselves, their clients, and the discipline as a whole. Recent research suggests that self-compassion is a promising construct for psychologists in terms of its ability to promote psychological wellbeing and resilience to stress; however, the potential benefits of self-compassion are yet to be thoroughly explored amongst this occupational group. Additionally, while a growing body of research supports self-compassion as a key predictor of psychopathology, understanding of the processes by which self-compassion exerts effects on mental health outcomes is limited. Structural equation modelling (SEM) was used to test an emotion regulation model of self-compassion and stress among psychologists, including postgraduate trainees undertaking clinical work (n = 198). Self-compassion significantly negatively predicted emotion regulation difficulties and stress symptoms. Support was also found for our preliminary explanatory model of self-compassion, which demonstrates the mediating role of emotion regulation difficulties in the self-compassion-stress relationship. The final self-compassion model accounted for 26.2% of variance in stress symptoms. Implications of the findings and limitations of the study are discussed. PMID:26207900

Affective and physiological responses to the suffering of others: compassion and vagal activity.

PubMed

Stellar, Jennifer E; Cohen, Adam; Oveis, Christopher; Keltner, Dacher

2015-04-01

Compassion is an affective response to another's suffering and a catalyst of prosocial behavior. In the present studies, we explore the peripheral physiological changes associated with the experience of compassion. Guided by long-standing theoretical claims, we propose that compassion is associated with activation in the parasympathetic autonomic nervous system through the vagus nerve. Across 4 studies, participants witnessed others suffer while we recorded physiological measures, including heart rate, respiration, skin conductance, and a measure of vagal activity called respiratory sinus arrhythmia (RSA). Participants exhibited greater RSA during the compassion induction compared with a neutral control (Study 1), another positive emotion (Study 2), and a prosocial emotion lacking appraisals of another person's suffering (Study 3). Greater RSA during the experience of compassion compared with the neutral or control emotion was often accompanied by lower heart rate and respiration but no difference in skin conductance. In Study 4, increases in RSA during compassion positively predicted an established composite of compassion-related words, continuous self-reports of compassion, and nonverbal displays of compassion. Compassion, a core affective component of empathy and prosociality, is associated with heightened parasympathetic activity. (c) 2015 APA, all rights reserved).

The influence of personality traits and socio-demographic characteristics on paediatric nurses' compassion satisfaction and fatigue.

PubMed

Chen, Yi-Pin; Tsai, Jung-Mei; Lu, Ming-Huei; Lin, Li-Man; Lu, Ching-Hui; Wang, Kai-Wei K

2018-05-01

To explore the level of and the association between, compassion satisfaction and fatigue of paediatric nurses; to determine the association between personality traits and compassion satisfaction and fatigue; to identify the determinants of compassion satisfaction and fatigue. Paediatric nurses are prone to experiencing compassion fatigue associated with caring for children with illness and their families, yet its connection with nurses' personality traits remains unknown. A cross-sectional descriptive study design was used. The data collection used three instruments measuring socio-demography, responses to the compassion satisfaction and fatigue test and the revised NEO personality inventory. The study used descriptive, correlation and multiple regression analysis for the data collected between April - July 2014. From 173 female paediatric nurses, two-thirds worked in critical care units and indicated a satisfactory level of compassion satisfaction and a low level of compassion fatigue, despite a lack of association between the two concepts. Four determinants-agreeableness, extraversion, conscientiousness and engaging with outdoor activities-were predictive and explained 43.6% of total variance of compassion satisfaction. Two risk factors of compassion fatigue identified were less emotional stability and singlehood (marital status) and these explained 26.1% of total variance of compassion fatigue. Support for improving agreeableness and emotional stability in paediatric nurses' workplaces including involvement in the outdoor activities and an increase in social connection may enhance compassion satisfaction and prevent exhaustive compassion fatigue. © 2017 John Wiley & Sons Ltd.

Compassion satisfaction and fatigue: A cross-sectional survey of Australian intensive care nurses.

PubMed

Jakimowicz, Samantha; Perry, Lin; Lewis, Joanne

2017-11-16

Compassion satisfaction and compassion fatigue influence nurses' intention to stay or leave nursing. Identification of compassion satisfaction or fatigue in critical care nurses is important in this high turnover workforce. The aim of this study was to examine factors predicting and contributing to compassion satisfaction and compassion fatigue experienced by critical care nurses in Australian intensive care units. A self-reported cross-sectional survey using an established tool collected data from critical care nurses of two adult Australian intensive care units. Overall, these critical care nurses reported what Professional Quality of Life Scale guidelines designated as 'average' levels of compassion satisfaction and burnout, and 'low' levels of Secondary Traumatic Stress (STS). Compared to Site B, nurses at Site A had significantly higher compassion satisfaction (p=0.008) and lower STS scores (p=0.025), with site significantly predictive for compassion satisfaction (p<0.024) and STS (p<0.002). Nurses with postgraduate qualifications had significantly higher compassion satisfaction scores (p=0.027), and compassion satisfaction significantly increased with increasing duration of practice (p=0.042) as a nurse and in their current ICU (p=0.038). Burnout scores significantly reduced with increasing age, years of tenure and practice; burnout was predicted by lower years of tenure (p<0.016). These critical care nurses revealed profiles that, whilst not in crisis, fell short of the ideal high compassion satisfaction and moderate/low fatigue. More recent tenure flags those potentially at higher risk of compassion fatigue, whilst the better scores associated with postgraduate education and from one site need further exploration. Further research should develop understanding and interventions to enhance compassion satisfaction and support retention of this crucial nursing workforce. Copyright © 2017 Australian College of Critical Care Nurses Ltd. Published by Elsevier Ltd. All rights reserved.

Defining the Scope of Systems of Care: An Ecological Perspective

ERIC Educational Resources Information Center

Cook, James R.; Kilmer, Ryan P.

2010-01-01

The definition of a system of care (SOC) can guide those intending to develop and sustain SOCs. Hodges, Ferreira, Israel, and Mazza [Hodges, S., Ferreira, K., Israel, N., & Mazza, J. (in press). "Systems of care, featherless bipeds, and the measure of all things." "Evaluation and Program Planning"] have emphasized contexts in which services are…

#fitspo or #loveyourself? The impact of fitspiration and self-compassion Instagram images on women's body image, self-compassion, and mood.

PubMed

Slater, Amy; Varsani, Neesha; Diedrichs, Phillippa C

2017-09-01

This study experimentally examined the impact of exposure to fitspiration images and self-compassion quotes on social media on young women's body satisfaction, body appreciation, self-compassion, and negative mood. Female undergraduate students (N=160) were randomly assigned to view either Instagram images of fitspiration, self-compassion quotes, a combination of both, or appearance-neutral images. Results showed no differences between viewing fitspiration images compared to viewing neutral images, except for poorer self-compassion among those who viewed fitspiration images. However, women who viewed self-compassion quotes showed greater body satisfaction, body appreciation, self-compassion, and reduced negative mood compared to women who viewed neutral images. Further, viewing a combination of fitspiration images and self-compassion quotes led to positive outcomes compared to viewing only fitspiration images. Trait levels of thin-ideal internalisation moderated some effects. The findings suggest that self-compassion might offer a novel avenue for attenuating the negative impact of social media on women's body satisfaction. Copyright © 2017 Elsevier Ltd. All rights reserved.

Witness to suffering: mindfulness and compassion fatigue among traumatic bereavement volunteers and professionals.

PubMed

Thieleman, Kara; Cacciatore, Joanne

2014-01-01

This study used a survey to investigate the relationship between mindfulness and compassion fatigue and compassion satisfaction among 41 volunteers and professionals at an agency serving the traumatically bereaved. Compassion fatigue comprises two aspects: secondary traumatic stress and burnout. Because prior research suggests that compassion satisfaction may protect against compassion fatigue, the authors hypothesized that (a) mindfulness would be positively correlated with compassion satisfaction, (b) mindfulness would be inversely correlated with compassion fatigue, and (c) there would be differences between respondents with a personal history of traumatic bereavement and those with no such history. Correlation analyses supported the first two hypotheses; an independent means t test did not provide evidence for the latter hypothesis, although the number ofnontraumatically bereaved respondents was small. Overall, this sample showed surprisingly high levels of compassion satisfaction and low levels of compassion fatigue, even among respondents thought to be at higher risk of problems due to personal trauma. Implications of these findings are particularly relevant for social workers and other professionals employed in positions in which they encounter trauma and high emotional stress.

Compassion fatigue in nurses.

PubMed

Yoder, Elizabeth A

2010-11-01

Compassion fatigue, trigger situations, and coping strategies were investigated in hospital and home care nurses. The Professional Quality of Life Scale measured compassion fatigue, compassion satisfaction, and burnout. Narrative questions elicited trigger situations and coping strategies. Compassion fatigue scores were significantly different between nurses who worked 8- or 12-hour shifts. Fifteen percent of the participants had scores indicating risk of the compassion fatigue. There were significant differences in compassion satisfaction, depending on the unit worked and time as a nurse. The most common category of trigger situations was caring for the patient. Work-related and personal coping strategies were identified. Copyright © 2010 Elsevier Inc. All rights reserved.

HRI usability evaluation of interaction modes for a teleoperated agricultural robotic sprayer.

PubMed

Adamides, George; Katsanos, Christos; Parmet, Yisrael; Christou, Georgios; Xenos, Michalis; Hadzilacos, Thanasis; Edan, Yael

2017-07-01

Teleoperation of an agricultural robotic system requires effective and efficient human-robot interaction. This paper investigates the usability of different interaction modes for agricultural robot teleoperation. Specifically, we examined the overall influence of two types of output devices (PC screen, head mounted display), two types of peripheral vision support mechanisms (single view, multiple views), and two types of control input devices (PC keyboard, PS3 gamepad) on observed and perceived usability of a teleoperated agricultural sprayer. A modular user interface for teleoperating an agricultural robot sprayer was constructed and field-tested. Evaluation included eight interaction modes: the different combinations of the 3 factors. Thirty representative participants used each interaction mode to navigate the robot along a vineyard and spray grape clusters based on a 2 × 2 × 2 repeated measures experimental design. Objective metrics of the effectiveness and efficiency of the human-robot collaboration were collected. Participants also completed questionnaires related to their user experience with the system in each interaction mode. Results show that the most important factor for human-robot interface usability is the number and placement of views. The type of robot control input device was also a significant factor in certain dependents, whereas the effect of the screen output type was only significant on the participants' perceived workload index. Specific recommendations for mobile field robot teleoperation to improve HRI awareness for the agricultural spraying task are presented. Copyright © 2017 Elsevier Ltd. All rights reserved.

Compassion Fatigue in the Military Caregiver

DTIC Science & Technology

2009-03-01

Compassion Fatigue/ Burnout Syndrome Figley, C (1995; 97)19 Sprang, Clark, and Whitt-Woosley in their article, “Compassion Fatigue, Compassion...alternative or additional programs, process or intervention to address compassion fatigue, burnout , stress disorder or other debilitating post-traumatic...effects. 15. SUBJECT TERMS Caregiver, Care Provider, Secondary Traumatic Stress, Combat Trauma, Shared Trauma, Posttraumatic Stress Disorder, Burnout 16

Childhood Attachment to Pets: Associations between Pet Attachment, Attitudes to Animals, Compassion, and Humane Behaviour

PubMed Central

Hawkins, Roxanne D.; Williams, Joanne M.

2017-01-01

Attachment to pets has an important role in children’s social, emotional, and cognitive development, mental health, well-being, and quality of life. This study examined associations between childhood attachment to pets and caring and friendship behaviour, compassion, and attitudes towards animals. This study also examined socio-demographic differences, particularly pet ownership and pet type. A self-report survey of over one thousand 7 to 12 year-olds in Scotland, UK, revealed that the majority of children are strongly attached to their pets, but attachment scores differ depending on pet type and child gender. Analysis revealed that attachment to pets is facilitated by compassion and caring and pet-directed friendship behaviours and that attachment to pets significantly predicts positive attitudes towards animals. The findings have implications for the promotion of prosocial and humane behaviour. Encouraging children to participate in pet care behaviour may promote attachment between children and their pet, which in turn may have a range of positive outcomes for both children (such as reduced aggression, better well-being, and quality of life) and pets (such as humane treatment). This study enhances our understanding of childhood pet attachment and has implications for humane education and promoting secure emotional attachments in childhood. PMID:28481256

Childhood Attachment to Pets: Associations between Pet Attachment, Attitudes to Animals, Compassion, and Humane Behaviour.

PubMed

Hawkins, Roxanne D; Williams, Joanne M; Scottish Society For The Prevention Of Cruelty To Animals Scottish Spca

2017-05-06

Attachment to pets has an important role in children's social, emotional, and cognitive development, mental health, well-being, and quality of life. This study examined associations between childhood attachment to pets and caring and friendship behaviour, compassion, and attitudes towards animals. This study also examined socio-demographic differences, particularly pet ownership and pet type. A self-report survey of over one thousand 7 to 12 year-olds in Scotland, UK, revealed that the majority of children are strongly attached to their pets, but attachment scores differ depending on pet type and child gender. Analysis revealed that attachment to pets is facilitated by compassion and caring and pet-directed friendship behaviours and that attachment to pets significantly predicts positive attitudes towards animals. The findings have implications for the promotion of prosocial and humane behaviour. Encouraging children to participate in pet care behaviour may promote attachment between children and their pet, which in turn may have a range of positive outcomes for both children (such as reduced aggression, better well-being, and quality of life) and pets (such as humane treatment). This study enhances our understanding of childhood pet attachment and has implications for humane education and promoting secure emotional attachments in childhood.

Self-Compassion Online: A Pilot Study of an Internet-Based Self-Compassion Cultivation Program for Psychology Trainees.

PubMed

Finlay-Jones, Amy; Kane, Robert; Rees, Clare

2017-07-01

The current study sought to conduct a preliminary investigation of the effectiveness and feasibility of a novel, self-guided online self-compassion training for reducing psychological distress and increasing self-compassion and happiness among psychology trainees. A 6-week online self-compassion cultivation program was developed and delivered to Australian psychology trainees (n = 37), and a pre-experimental repeated-measures design was used to collect change data on self-compassion, happiness, perceived stress, emotion regulation difficulties as well as symptoms of depression, anxiety, and stress. Participants reported significant increases in self-compassion and happiness and significant decreases in depression, stress, and emotion regulation difficulties between pretest and posttest, with the majority of changes maintained at 3-month follow up.  This study provides preliminary evidence supporting the effectiveness and acceptability of online self-compassion training as a positive, integrated, and meaningful way of reducing distress and promoting self-compassion and happiness among trainee psychologists. © 2016 Wiley Periodicals, Inc.

Self-Compassion and the Self-Regulation of Exercise: Reactions to Recalled Exercise Setbacks.

PubMed

Semenchuk, Brittany N; Strachan, Shaelyn M; Fortier, Michelle

2018-02-01

Self-compassion facilitates health behavior self-regulation; few studies have examined self-compassion and exercise. This online, cross-sectional study investigated self-compassion's relationship with exercise self-regulation of an exercise setback. Adults (N = 105) who had experienced an exercise setback within the last 6 months completed baseline measures, recalled an exercise setback, and completed questionnaires assessing self-regulation in this context. Self-compassion associated with self-determined motivations and exercise goal reengagement, and negatively related to extrinsic motivations, state rumination, and negative affect. Self-compassion predicted unique variance, beyond self-esteem, in exercise goal reengagement, external regulation, state rumination, and negative affect experienced after an exercise setback. Self-compassion and self-esteem had unique relationships with goal reengagement, state rumination, and situational motivation, while having a complementary relationship with negative affect. This research adds to the few studies that examine the role of self-compassion in exercise self-regulation by examining how self-compassion and self-esteem relate to reactions to a recalled exercise setback.

Gait Evaluation of Overground Walking and Treadmill Walking Using Compass-Type Walking Model

NASA Astrophysics Data System (ADS)

Nagata, Yousuke; Yamamoto, Masayoshi; Funabiki, Shigeyuki

A treadmill is a useful apparatus for the gait training and evaluation. However, many differences are reported between treadmill and overground walking. Experimental comparisons of the muscle activity of the leg and the heart rate have been carried out. However, the dynamic comparison has not been performed. The dynamic evaluation of the overground walking and the treadmill walking using a compass-type walking model (CTWM) which is a simple bipedal walking model, then their comparison is discussed. It is confirmed that the walking simulation using the CTWM can simulate the difference of that walk, it is clarified that there are the differences of the kick impulse on the ground and the turning impulse of the foot to the variation of the belt speed and then differences are the main factor of two walking.

A magnetic compass aids monarch butterfly migration

PubMed Central

Guerra, Patrick A; Gegear, Robert J; Reppert, Steven M

2014-01-01

Convincing evidence that migrant monarch butterflies (Danaus plexippus) use a magnetic compass to aid their fall migration has been lacking from the spectacular navigational capabilities of this species. Here we use flight simulator studies to show that migrants indeed possess an inclination magnetic compass to help direct their flight equatorward in the fall. The use of this inclination compass is light-dependent utilizing ultraviolet-A/blue light between 380 and 420 nm. Notably, the significance of light <420 nm for inclination compass function was not considered in previous monarch studies. The antennae are important for the inclination compass because they appear to contain light-sensitive magnetosensors. For migratory monarchs, the inclination compass may serve as an important orientation mechanism when directional daylight cues are unavailable and may also augment time-compensated sun compass orientation for appropriate directionality throughout the migration. PMID:24960099

The influence of self-compassion on emotional well-being among early and older adolescent males and females

PubMed Central

Bluth, Karen; Blanton, Priscilla W.

2014-01-01

Self-compassion has been associated with well-being in adult samples, but has rarely been assessed in adolescents. In this study, 90 students ages 11–18 completed an online survey assessing self-compassion, life satisfaction, perceived stress and positive and negative affect. Findings indicated that older female adolescents had lower self-compassion than either older male adolescents or early adolescents of either gender, and self-compassion was associated significantly with all dimensions of emotional well-being with the exception of positive affect. Additionally, phase of adolescence, but not gender, was found to moderate the relationship between self-compassion and dimensions of well-being; for older adolescents, the inverse relationship between self-compassion and negative affect was stronger. Lastly, the influence of the various components of self-compassion was investigated and discussed. PMID:25750655

The depth of the honeybee's backup sun-compass systems.

PubMed

Dovey, Katelyn M; Kemfort, Jordan R; Towne, William F

2013-06-01

Honeybees have at least three compass mechanisms: a magnetic compass; a celestial or sun compass, based on the daily rotation of the sun and sun-linked skylight patterns; and a backup celestial compass based on a memory of the sun's movements over time in relation to the landscape. The interactions of these compass systems have yet to be fully elucidated, but the celestial compass is primary in most contexts, the magnetic compass is a backup in certain contexts, and the bees' memory of the sun's course in relation to the landscape is a backup system for cloudy days. Here we ask whether bees have any further compass systems, for example a memory of the sun's movements over time in relation to the magnetic field. To test this, we challenged bees to locate the sun when their known celestial compass systems were unavailable, that is, under overcast skies in unfamiliar landscapes. We measured the bees' knowledge of the sun's location by observing their waggle dances, by which foragers indicate the directions toward food sources in relation to the sun's compass bearing. We found that bees have no celestial compass systems beyond those already known: under overcast skies in unfamiliar landscapes, bees attempt to use their landscape-based backup system to locate the sun, matching the landscapes or skylines at the test sites with those at their natal sites as best they can, even if the matches are poor and yield weak or inconsistent orientation.

Compassion for others, self-compassion, quality of life and mental well-being measures and their association with compassion fatigue and burnout in student midwives: A quantitative survey.

PubMed

Beaumont, Elaine; Durkin, Mark; Hollins Martin, Caroline J; Carson, Jerome

2016-03-01

compassion fatigue and burnout can impact on the performance of midwives, with this quantitative paper exploring the relationship between self-compassion, burnout, compassion fatigue, self-judgement, self-kindness, compassion for others, professional quality of life and well-being of student midwives. a quantitative survey measured relationships using questionnaires: (1) Professional Quality of Life Scale; (2) Self-Compassion Scale; (3) Short Warwick and Edinburgh Mental Well-being Scale; (4) Compassion For Others Scale. a purposive and convenience sample of student midwives (n=103) studying at university participated in the study. just over half of the sample reported above average scores for burnout. The results indicate that student midwives who report higher scores on the self-judgement sub-scale are less compassionate towards both themselves and others, have reduced well-being, and report greater burnout and compassion fatigue. Student midwives who report high on measures of self-compassion and well-being report less compassion fatigue and burnout. student midwives may find benefit from 'being kinder to self' in times of suffering, which could potentially help them to prepare for the emotional demands of practice and study. developing, creating and cultivating environments that foster compassionate care for self and others may play a significant role in helping midwives face the rigours of education and clinical practice during their degree programme. Copyright © 2015 Elsevier Ltd. All rights reserved.

Professional Quality of Life of Veterans Affairs Staff and Providers in a Patient-Centered Care Environment.

PubMed

Locatelli, Sara M; LaVela, Sherri L

2015-01-01

Changes to the work environment prompted by the movement toward patient-centered care have the potential to improve occupational stress among health care workers by improving team-based work activities, collaboration, and employee-driven quality improvement. This study was conducted to examine professional quality of life among providers at patient-centered care pilot facilities. Surveys were conducted with 76 Veterans Affairs employees/providers at facilities piloting patient-centered care interventions, to assess demographics, workplace practices and views (team-based environment, employee voice, quality of communication, and turnover intention), and professional quality of life (compassion satisfaction, burnout, and secondary traumatic stress).Professional quality-of-life subscales were not related to employee position type, age, or gender. Employee voice measures were related to lower burnout and higher compassion satisfaction. In addition, employees who were considering leaving their position showed higher burnout and lower compassion satisfaction scores. None of the work practices showed relationships with secondary traumatic stress.

Self-Compassion among College Counseling Center Clients: An Examination of Clinical Norms and Group Differences

ERIC Educational Resources Information Center

Lockard, Allison J.; Hayes, Jeffrey A.; Neff, Kristin; Locke, Benjamin D.

2014-01-01

There has been growing interest in the mental health benefits of self-compassion. This study was designed to establish norms on the Self-Compassion Scale-Short Form, a popular measure of self-compassion for individuals seeking counseling, and to examine group differences in self-compassion based on gender, race/ethnicity, sexual orientation,…

Yoga and compassion meditation program improve quality of life and self-compassion in family caregivers of Alzheimer's disease patients: A randomized controlled trial.

PubMed

Danucalov, Marcelo Ad; Kozasa, Elisa H; Afonso, Rui F; Galduroz, José Cf; Leite, José R

2017-01-01

To investigate the effects of the practice of yoga in combination with compassion meditation on the quality of life, attention, vitality and self-compassion of family caregivers of patients with Alzheimer's disease. A total of 46 volunteers were randomly allocated to two groups, the yoga and compassion meditation program group (n = 25), and the control group (CG) that received no treatment (n = 21). The program lasted 8 weeks, and comprised three yoga and meditation practices per week, with each session lasting 1 h and 15 min. Quality of life, attention, vitality, and self-compassion scores were measured pre- and postintervention. The yoga and compassion meditation program group showed statistically significant improvements (P < 0.05) on quality of life, attention, vitality and self-compassion scores as compared with the control group, which showed no statistical significant differences at the postintervention time-point. The findings of the present study suggest that an 8-week yoga and compassion meditation program can improve the quality of life, vitality, attention, and self-compassion of family caregivers of Alzheimer's disease patients. Geriatr Gerontol Int 2017; 17: 85-91. © 2015 Japan Geriatrics Society.

Who is at risk for compassion fatigue? An investigation of genetic counselor demographics, anxiety, compassion satisfaction, and burnout.

PubMed

Lee, Whiwon; Veach, Patricia McCarthy; MacFarlane, Ian M; LeRoy, Bonnie S

2015-04-01

Compassion fatigue is a state of detachment and isolation experienced when healthcare providers repeatedly engage with patients in distress. Compassion fatigue can hinder empathy and cause extreme tension. Prior research suggests 73.8 % of genetic counselors are at moderate to high risk for compassion fatigue and approximately 1 in 4 have considered leaving the field as a result Injeyan et al. (Journal of Genetic Counseling, 20, 526-540, 2011). Empirical data to establish a reliable profile of genetic counselors at risk for compassion fatigue are limited. Thus the purpose of this study was to establish a profile by assessing relationships between state and trait anxiety, burnout, compassion satisfaction, selected demographics and compassion fatigue risk in practicing genetic counselors. Practicing genetic counselors (n = 402) completed an anonymous, online survey containing demographic questions, the State-Trait Anxiety Inventory, and the Professional Quality of Life scale. Multiple regression analysis yielded four significant predictors which increase compassion fatigue risk (accounting for 48 % of the variance): higher levels of trait anxiety, burnout, and compassion satisfaction, and ethnicity other than Caucasian. Additional findings, study limitations, practice implications, and research recommendations are provided.

Compassion Fatigue and Compassion Satisfaction in Hospice Social Work.

PubMed

Pelon, Sally B

2017-01-01

As part of the interprofessional team of hospice caregivers, social workers are exposed to multiple stressors, both in their work with dying patients and their families and in functioning as professionals within rapidly changing health care organizations. Ongoing exposure to such stressors prompts concern about the emotional and psychological effect working with people who are dying may have on those who do it. Further, an understanding is needed regarding how hospice social workers interpret the costs and benefits of their work and how they cope with the dying and loss that pervade their everyday work lives. This descriptive, cross-sectional study explored the prevalence of compassion fatigue among hospice social workers and considered compassion satisfaction as a means to mitigate compassion fatigue. Fifty-five hospice social workers from 34 hospice organizations in Michigan completed an online survey. Results suggested that compassion fatigue is indeed a concern among hospice social workers. In addition, compassion fatigue and compassion satisfaction were found to be negatively correlated and suggested that compassion satisfaction may act as a protective mechanism against compassion fatigue. These results may provide insight regarding how best to mitigate this professional hazard in end-of-life social work.

Compassion fatigue among pediatric healthcare providers.

PubMed

Branch, Carole; Klinkenberg, Dean

2015-01-01

Compassion fatigue is a term used to describe the unique stressors affecting people in caregiving professions. For nurses and other direct care providers, the impact of compassion fatigue may result in stress-related symptoms, job dissatisfaction, decreased productivity, decreased patient satisfaction scores, safety issues, and job turnover. Those who care for seriously ill children and their families are at increased risk for compassion fatigue. Constant exposure to children who are suffering, in combination with work place stressors and personal issues, may contribute to the development of compassion fatigue. The Professional Quality of Life Scale Version 5 was used to determine the risk for compassion fatigue among 296 direct care providers at St. Louis Children's Hospital. Compassion satisfaction, burnout, and secondary traumatic stress scores did not differ by age, work category, level of education, or work experience. There were, however, significant differences in scores as a function of nursing unit. Nurses who work in the pediatric intensive care unit reported lower compassion satisfaction scores, and higher burnout and secondary traumatic stress scores. Results demonstrated the risk for compassion fatigue and provided data necessary to support development of a compassion fatigue program for direct care providers.

Development of autonomous eating mechanism for biomimetic robots

NASA Astrophysics Data System (ADS)

Jeong, Kil-Woong; Cho, Ik-Jin; Lee, Yun-Jung

2005-12-01

Most of the recently developed robots are human friendly robots which imitate animals or humans such as entertainment robot, bio-mimetic robot and humanoid robot. Interest for these robots are being increased because the social trend is focused on health, welfare, and graying. Autonomous eating functionality is most unique and inherent behavior of pets and animals. Most of entertainment robots and pet robots make use of internal-type battery. Entertainment robots and pet robots with internal-type battery are not able to operate during charging the battery. Therefore, if a robot has an autonomous function for eating battery as its feeds, the robot is not only able to operate during recharging energy but also become more human friendly like pets. Here, a new autonomous eating mechanism was introduced for a biomimetic robot, called ELIRO-II(Eating LIzard RObot version 2). The ELIRO-II is able to find a food (a small battery), eat and evacuate by itself. This work describe sub-parts of the developed mechanism such as head-part, mouth-part, and stomach-part. In addition, control system of autonomous eating mechanism is described.

Correlates of compassion fatigue and burnout in chaplains and other clergy who responded to the September 11th attacks in New York City.

PubMed

Flannelly, Kevin J; Roberts, Stephen B; Weaver, Andrew J

2005-01-01

Participants at a June 2002 conference about the September 11th attacks were tested for compassion fatigue, compassion satisfaction, and burnout. The sample consisted of 343 clergy, including 97 chaplains. A total of 149 (43.4%) of the participants had responded as disaster-relief workers following the September 11th attacks. The number of hours clergy worked with trauma victims each week was directly related to compassion fatigue among responders and non-responders. Compassion fatigue also was positively related to the number of days that responders worked at Ground Zero, while disaster-relief work with the American Red Cross reduced compassion fatigue and burnout. Clinical Pastoral Education tended to decrease compassion fatigue and burnout and increase compassion satisfaction in both responders and non-responders. Burnout was inversely related to age in both groups.

Map generation in unknown environments by AUKF-SLAM using line segment-type and point-type landmarks

NASA Astrophysics Data System (ADS)

Nishihta, Sho; Maeyama, Shoichi; Watanebe, Keigo

2018-02-01

Recently, autonomous mobile robots that collect information at disaster sites are being developed. Since it is difficult to obtain maps in advance in disaster sites, the robots being capable of autonomous movement under unknown environments are required. For this objective, the robots have to build maps, as well as the estimation of self-location. This is called a SLAM problem. In particular, AUKF-SLAM which uses corners in the environment as point-type landmarks has been developed as a solution method so far. However, when the robots move in an environment like a corridor consisting of few point-type features, the accuracy of self-location estimated by the landmark is decreased and it causes some distortions in the map. In this research, we propose AUKF-SLAM which uses walls in the environment as a line segment-type landmark. We demonstrate that the robot can generate maps in unknown environment by AUKF-SLAM, using line segment-type and point-type landmarks.

Compassion Fatigue, Burnout, and Compassion Satisfaction Among Oncology Nurses in the United States and Canada.

PubMed

Wu, Stacey; Singh-Carlson, Savitri; Odell, Annie; Reynolds, Grace; Su, Yuhua

2016-07-01

To examine the experiences of compassion fatigue, burnout, and compassion satisfaction among oncology nurses in the United States and Canada. 
. Quantitative, descriptive, nonexperimental.
. Online survey with members from the Canadian Association of Nursing Oncology and the Oncology Nursing Society.
. 486 American and 63 Canadian practicing oncology nurses.
. The Professional Quality of Life (ProQOL) scale, version 5, and modified Abendroth Demographic Questionnaire were administered through FluidSurveys™, an online data collection instrument. Chi-square tests of independence were used to investigate associations between demographic characteristics, health, personal stressors, and work-related characteristics to experiences of compassion fatigue, burnout, and compassion satisfaction. Compassion fatigue was measured using the subscales of secondary traumatic stress and burnout. 
. Compassion fatigue, burnout, and compassion satisfaction.
. Demographic characteristics were similar in American and Canadian participants, and both cohorts reported comparable levels of compassion fatigue, burnout, and compassion satisfaction. Perception of team cohesiveness within the workplace environment was found to be significant for both groups, as indicated by significant relationships in all three subscales of secondary traumatic stress, burnout, and compassion satisfaction in the ProQOL.
. Healthy and supportive work environments are imperative to nurses' health, well-being, and satisfaction. Improvements in the workplace can help prevent negative sequelae, as well as improve health outcomes for patients and nurses, decrease nurse turnover, and reduce healthcare expenditures. 
. Findings can be used to implement institutional changes, such as creating policies and guidelines for the development of preventive interventions and psychosocial support for nurses.

To be kind or not to be kind: The moderating role of self-compassion in the relationship between general resourcefulness and academic self-regulation.

PubMed

Martin, Rebecca D; Kennett, Deborah J

2017-11-22

We investigated whether the relationship between students' general resourcefulness and academic self-regulation changes as a function of self-compassion. A predominantly female sample of 196 undergraduates completed inventories assessing these and other measures. The significant moderating effect of self-compassion revealed that the positive relationship between general resourcefulness and academic self-regulation was stronger for participants scoring low in self-compassion than high in self-compassion. For those low in self-compassion, scoring low in general resourcefulness was associated with the lowest academic self-regulation, whereas scoring high in general resourcefulness was associated with the greatest academic self-regulation. The positive relationship between general and academic self-regulation was attenuated for participants high in self-compassion, with predicted scores for academic self-regulation falling in between the two values described for the low self-compassion function. Implications of the findings are discussed, including the potential value of incorporating self-compassion training alongside programs aimed at increasing general resourcefulness and academic self-regulation.

Self-compassion versus global self-esteem: two different ways of relating to oneself.

PubMed

Neff, Kristin D; Vonk, Roos

2009-02-01

This research examined self-compassion and self-esteem as they relate to various aspects of psychological functioning. Self-compassion entails treating oneself with kindness, recognizing one's shared humanity, and being mindful when considering negative aspects of oneself. Study 1 (N=2,187) compared self-compassion and global self-esteem as they relate to ego-focused reactivity. It was found that self-compassion predicted more stable feelings of self-worth than self-esteem and was less contingent on particular outcomes. Self-compassion also had a stronger negative association with social comparison, public self-consciousness, self-rumination, anger, and need for cognitive closure. Self-esteem (but not self-compassion) was positively associated with narcissism. Study 2 (N=165) compared global self-esteem and self-compassion with regard to positive mood states. It was found that the two constructs were statistically equivalent predictors of happiness, optimism, and positive affect. Results from these two studies suggest that self-compassion may be a useful alternative to global self-esteem when considering what constitutes a healthy self-stance.

Compassion fatigue in pediatric palliative care providers.

PubMed

Rourke, Mary T

2007-10-01

The experience of compassion fatigue is an expected and common response to the professional task of routinely caring for children at the end of life. Symptoms of compassion fatigue often mimic trauma reactions. Implementing strategies that span personal, professional, and organizational domains can help protect health care providers from the damaging effects of compassion fatigue. Providing pediatric palliative care within a constructive and supportive team can help caregivers deal with the relational challenges of compassion fatigue. Finally, any consideration of the toll of providing pediatric palliative care must be balanced with a consideration of the parallel experience of compassion satisfaction.

Adaptive emotion regulation mediates the relationship between self-compassion and depression in individuals with unipolar depression.

PubMed

Diedrich, Alice; Burger, Julian; Kirchner, Mareike; Berking, Matthias

2017-09-01

To identify the mechanisms involved in the association between self-compassion and depression, we examined whether adaptive emotion regulation would mediate the relationship between self-compassion and depression in individuals with unipolar depression. Furthermore, we explored which specific emotion regulation skills would be most important in this relationship. Sixty-nine individuals with unipolar depression were assessed with the Self-Compassion Scale and the Emotion Regulation Skills Questionnaire at baseline and with the Beck Depression Inventory-II 1 week later. The results showed that successful application of emotion regulation skills mediates the association between self-compassion and depression. Among eight specific emotion regulation skills, only the ability to tolerate negative emotions was identified as a significant mediator in the self-compassion-depression relationship. These findings provide preliminary evidence that systematically fostering self-compassion might help depressed individuals cope with their symptoms by enhancing their abilities to tolerate undesired emotions. Systematically fostering self-compassion through specific compassion-focused interventions might facilitate a reduction in depressive symptoms by improving the person's emotion regulation abilities, especially by improving his or her ability to tolerate negative emotions. Hence, compassion-focused interventions might be particularly promising in depressed patients with a tendency to avoid negative emotions and deficits in tolerating them. © 2016 The British Psychological Society.

Women's empowerment: Finding strength in self-compassion.

PubMed

Stevenson, Olivia; Allen, Ashley Batts

2017-03-01

Empowerment is often a desired outcome for health programs; however, it is rarely evaluated. One way to increase empowerment may be through self-compassion. The authors of the current study aimed to determine whether self-compassion and empowerment were positively related. Two hundred and five women (ages 18 to 48 years) were recruited from a pool of undergraduate students at a university in the southeastern United States in the summer/fall of 2012. Participants completed the study using Qualtrics, an online survey system. Participants wrote about a fight in a romantic relationship and were randomly assigned to write about the fight either self-compassionately or generally. Empowerment and perceptions of the fight were assessed as dependent measures. Hierarchical regression analyses investigated the relation of self-compassion, manipulated self-compassion, and their interaction with empowerment. A significant positive relationship was found between self-compassion and empowerment. However, manipulated self-compassion was not significantly related to empowerment. These findings suggested that self-compassion and empowerment were strongly related, but using a short-term self-compassion intervention may not be strong enough to influence empowerment. Empowerment-based practitioners may find empowerment increases more easily in women who are self-compassionate. If self-compassion is incorporated into empowerment settings, a long-term intervention may be necessary.

The family caregiver experience - examining the positive and negative aspects of compassion satisfaction and compassion fatigue as caregiving outcomes.

PubMed

Lynch, Susan H; Shuster, Geoff; Lobo, Marie L

2017-08-16

Caregiving results in both positive and negative outcomes for caregivers. The purpose of this study was to examine compassion fatigue and compassion satisfaction in family caregivers. Using a cross sectional descriptive survey design with a convenience sample, 168 family caregivers of individuals with chronic illness completed a web-based survey. Measures included a demographic questionnaire, Caregiver Burden Interview, Brief COPE inventory and Professional Quality of Life (ProQOL). The majority of participants (71%) reported high levels of caregiver burden, moderate to low levels of the compassion fatigue concepts of burnout (59.5%) and secondary traumatic stress (STS) (50%), and moderate levels of compassion satisfaction (82.7%). Regression analyses showed that caregiver burden, time caregiving, coping, social support, and caregiving demands explained a total variance of 57.1%, F(11,119) = 14.398, p < .00 in burnout and a total variance of 56%, F(11, 119) = 13.64, p < .00 in STS. Specifically, behavioral disengagement is a predicator that may indicate early compassion fatigue. Findings suggest that despite high caregiver burden and moderate compassion fatigue, family caregivers are able to provide care and find satisfaction in the role. This study supports the use of compassion fatigue and compassion satisfaction as alternative or additional outcomes to consider in future research.

[Development and Application of an Overcoming Compassion Fatigue Program for Emergency Nurses].

PubMed

Kim, Yeong Ah; Park, Jeong Sook

2016-04-01

This study was conducted to develop a program to help emergency nurses overcome compassion fatigue, and to analyze the effects of the program. A nonequivalent control group pretest-posttest design was used. There were 14 participants in the experimental group and 18 subjects in the control group. The program was comprised of five, weekly 80-minute sessions including understanding and assessment of compassion fatigue, enhancing positive affect, balancing work-life, planning self care, training in relaxation techniques and cognitive restructuring, and getting social support. Research variables were ego-resiliency, compassion satisfaction and compassion fatigue of the ProQOL 5, and salivary cortisol. Data were analyzed using Chi-square test, independent t-test, and paired t-test. The first hypothesis, "There will be a difference in scores for ego resiliency between the experimental group and the control group". was not supported. The second hypothesis, "There will be a difference in scores for compassion satisfaction between the experimental group and the control group" was supported (t=2.15, p=.046). The third hypothesis, "There will be a difference in scores for compassion fatigue between the experimental group and the control group" was not supported. The first program for emergency nurses to overcome compassion fatigue in Korea was effective in increasing emergency nurses' compassion satisfaction and decreasing salivary cortisol level in the experimental group. Therefore, this program for overcoming compassion fatigue is useful to increase emergency nurses' compassion satisfaction. However replication studies of short-term intensive program reflecting emergency nurses' opinion are needed.

Barriers to Medical Compassion as a Function of Experience and Specialization: Psychiatry, Pediatrics, Internal Medicine, Surgery, and General Practice.

PubMed

Fernando, Antonio T; Consedine, Nathan S

2017-06-01

Compassion is an expectation of patients, regulatory bodies, and physicians themselves. Most research has, however, studied compassion fatigue rather than compassion itself and has concentrated on the role of the physician. The Transactional Model of Physician Compassion suggests that physician, patient, external environment, and clinical factors are all relevant. Because these factors vary both across different specialities and among physicians with differing degrees of experience, barriers to compassion are also likely to vary. We describe barriers to physician compassion as a function of specialization (psychiatry, general practice, surgery, internal medicine, and pediatrics) and physician experience. We used a cross-sectional study using demographic data, specialization, practice parameters, and the Barriers to Physician Compassion Questionnaire. Nonrandom convenience sampling was used to recruit 580 doctors, of whom 444 belonged to the targeted speciality groups. The sample was characterized before conducting a factorial Multivariate Analysis of Covariance and further post hoc analyses. A 5 (speciality grouping) × 2 (more vs. less physician experience) Multivariate Analysis of Covariance showed that the barriers varied as a function of both speciality and experience. In general, psychiatrists reported lower barriers, whereas general practitioners and internal medicine specialists generally reported greater barriers. Barriers were generally greater among less experienced doctors. Documenting and investigating barriers to compassion in different speciality groups have the potential to broaden current foci beyond the physician and inform interventions aimed at enhancing medical compassion. In addition, certain aspects of the training or practice of psychiatry that enhance compassion may mitigate barriers to compassion in other specialities. Copyright © 2017 American Academy of Hospice and Palliative Medicine. Published by Elsevier Inc. All rights reserved.

[Emotional robots in a nursing context : Empirical analysis of the present use and the effects of Paro and Pleo].

PubMed

Baisch, Stefanie; Kolling, Thorsten; Rühl, Saskia; Klein, Barbara; Pantel, Johannes; Oswald, Frank; Knopf, Monika

2018-01-01

It has been questioned by researchers in robotics as well in the general public to what extent companion-type robots can support the elderly with the fulfillment of their psychological and social needs. Although these robots have already been used in care settings in Germany, research has referred little to this practical experience in order to analyze their impact and benefit. To start to close this gap, the current article reports on the current use of companion-type robots in care settings, on the effects reported by professional caregivers as well as on the role of psychosocial needs in the acceptance and use of companion-type robots by the elderly. In the first study, 30 professional caregivers with experience in the use of the robot seal Paro in care settings were interviewed regarding Paro's application and the observed effects on their clients. In the second study, three case examples are presented from an interaction study in which vulnerable elderly persons had the robot dinosaur Pleo at their disposal for a maximum period of 15 days. Paro is used very flexibly in a variety of settings and with a broad range of user groups (study 1). The reported psychosocial effects were mainly positive but short term. The case examples (study 2) show that psychosocial needs can both foster or hinder robot acceptance and use. They also emphasize the important role of caregivers in the interaction between the elderly and emotional robots in the context of eldercare. The beneficial and ethical use of companion-type robots in care settings demands a high commitment on the part of the caregivers. Given this prerequisite, emotional robots can be a valuable therapeutic tool.

The cost of callousness: regulating compassion influences the moral self-concept.

PubMed

Cameron, C Daryl; Payne, B Keith

2012-03-01

It has often been argued that compassion is fundamental to morality. Yet people often suppress compassion for self-interested reasons. We provide evidence that suppressing compassion is not cost free, as it creates dissonance between a person's moral identity and his or her moral principles. We instructed separate groups of participants to regulate their compassion, regulate their feelings of distress, or freely experience emotions toward compassion--inducing images. Participants then reported how central morality was to their identities and how much they believed that moral rules should always be followed. Participants who regulated compassion-but not those who regulated distress or experienced emotions--showed a dissonance-based trade-off. If they reported higher levels of moral identity, they had a greater belief that moral rules could be broken. If they maintained their belief that moral rules should always be followed, they sacrificed their moral identity. Regulating compassion thus has a cost of its own: It forces trade-offs within a person's moral self-concept.

Self-compassion moderates body comparison and appearance self-worth's inverse relationships with body appreciation.

PubMed

Homan, Kristin J; Tylka, Tracy L

2015-09-01

Although research on positive body image has increased, little research has explored which variables protect body appreciation during body-related threats. Self-compassion may be one such variable. Individuals high in self-compassion are mindful, kind, and nurturing toward themselves during situations that threaten their adequacy, while recognizing that being imperfect is part of "being human." In this study, we investigated whether two body-related threats (i.e., body comparison and appearance contingent self-worth) were more weakly related to body appreciation when self-compassion was high among an online sample of 263 women (Mage=35.26, SD=12.42). Results indicated that self-compassion moderated the inverse relationships between body related threats and body appreciation. Specifically, when self-compassion was very high, body comparison and appearance contingent self-worth were unrelated to body appreciation. However, when self-compassion was low, these relationships were strong. Self-compassion, then, may help preserve women's body appreciation during body-related threats. Copyright © 2015 Elsevier Ltd. All rights reserved.

Definition of compassion-evoking images in a Mexican sample.

PubMed

Mercadillo, Roberto E; Barrios, Fernando A; Díaz, José Luis

2007-10-01

To assemble a calibrated set of compassion-eliciting visual stimuli, 60 clinically healthy Mexican volunteers (36 women, 24 men; M age = 27.5 yr., SD = 2.4) assessed 84 pictures selected from the International Affective Picture System catalogue using the dimensions of Valence, Arousal, and Dominance included in the Self-assessment Manikin scale and an additional dimension of Compassion. Pictures showing suffering in social contexts and expressions of sadness elicited similar responses of compassion. The highest compassion response was reported for pictures showing illness and pain. Men and women differed in the intensity but not the quality of the compassionate responses. Compassion included attributes of negative emotions such as displeasure. The quality of the emotional response was not different from that previously reported for samples in the U.S.A., Spain, and Brazil. A set of 28 pictures was selected as high-compassion-evoking images and 28 as null-compassion controls suitable for studies designed to ascertain the neural substrates of this moral emotion.

Self-Compassion and Responses to Trauma: The Role of Emotion Regulation.

PubMed

Scoglio, Arielle A J; Rudat, Deirdre A; Garvert, Donn; Jarmolowski, Maggie; Jackson, Christie; Herman, Judith L

2018-07-01

Emerging literature suggests that self-compassion may be an important concept for understanding recovery from the impact of trauma and posttraumatic stress disorder (PTSD). The present study explored the interconnection among self-compassion, resilience, emotion dysregulation, and PTSD symptom severity in a sample of treatment-seeking women with PTSD. We predicted that self-compassion would be negatively related to PTSD symptom severity and to emotion dysregulation, and positively related to resilience. The results supported our main hypotheses. In addition, emotion dysregulation mediated the relationship between PTSD symptom severity and self-compassion and affected the relationship between self-compassion and resilience. These findings corroborate previous research that points to the important role of self-compassion in mental health and in the aftermath of stressful life events. The present study expands this research by demonstrating that PTSD symptom severity is negatively related to self-compassion in a clinical population of women with experiences of severe and repeated interpersonal trauma.

Compassion fatigue: A meta-narrative review of the healthcare literature.

PubMed

Sinclair, Shane; Raffin-Bouchal, Shelley; Venturato, Lorraine; Mijovic-Kondejewski, Jane; Smith-MacDonald, Lorraine

2017-04-01

Compassion fatigue describes a work-related stress response in healthcare providers that is considered a 'cost of caring' and a key contributor to the loss of compassion in healthcare. The purpose of this review was to critically examine the construct of compassion fatigue and to determine if it is an accurate descriptor of work-related stress in healthcare providers and a valid target variable for intervention. Meta-narrative review. PubMed, Medline, CINAHL, PsycINFO, and Web of Science databases, Google Scholar, the grey literature, and manual searches of bibliographies. Seminal articles and theoretical and empirical studies on compassion fatigue in the healthcare literature were identified and appraised for their validity and relevance to our review. Sources were mapped according to the following criteria: 1) definitions; 2) conceptual analyses; 3) signs and symptoms; 4) measures; 5) prevalence and associated risk factors; and 6) interventions. A narrative account of included studies that critically examines the concept of compassion fatigue in healthcare was employed, and recommendations for practice, policy and further research were made. 90 studies from the nursing literature and healthcare in general were included in the review. Findings emphasized that the physical, emotional, social and spiritual health of healthcare providers is impaired by cumulative stress related to their work, which can impact the delivery of healthcare services; however, the precise nature of compassion fatigue and that it is predicated on the provision of compassionate care is associated with significant limitations. The conceptualization of compassion fatigue was expropriated from crisis counseling and psychotherapy and focuses on limited facets of compassion. Empirical studies primarily measure compassion fatigue using the Professional Quality of Life Scale, which does not assess any of the elements of compassion. Reported risk factors for compassion fatigue include job-related factors, fewer healthcare qualifications and less years experience; however, there is no research demonstrating that exemplary compassionate carers are more susceptible to 'compassion fatigue'. In the last two decades, compassion fatigue has become a contemporary and iconic euphemism that should be critically reexamined in favour of a new discourse on healthcare provider work-related stress. Copyright © 2017 Elsevier Ltd. All rights reserved.

Compassion satisfaction, burnout, and compassion fatigue among emergency nurses compared with nurses in other selected inpatient specialties.

PubMed

Hooper, Crystal; Craig, Janet; Janvrin, David R; Wetsel, Margaret A; Reimels, Elaine

2010-09-01

Today the proportion of acute patients entering the health care system through emergency departments continues to grow, the number of uninsured patients relying primarily on treatment in the emergency department is increasing, and patients' average acuities are rising. At the same time, support resources are constrained, while reimbursement and reputation depends increasingly on publicly available measures of patient satisfaction. It is important to understand the potential effect of these pressures on direct care staff. This study explores the prevalence of compassion satisfaction, burnout, and compassion fatigue among emergency nurses and nurses in other selected inpatient specialties. Emergency nurses and nurses from 3 other specialty units self-selected participation in a cross-sectional survey. Participants completed a sociodemographic profile and the Professional Quality of Life: Compassion Satisfaction and Fatigue Subscales, R-IV. Scale scores were summed for compassion satisfaction, burnout, and compassion fatigue for emergency nurses and compared with those of nurses in other specialties. Approximately 82% of emergency nurses had moderate to high levels of burnout, and nearly 86% had moderate to high levels of compassion fatigue. Differences between emergency nurses and those working in 3 other specialty areas, that is, oncology, nephrology, and intensive care, on the subscales for compassion satisfaction, burnout, or compassion fatigue did not reach the level of statistical significance. However, the scores of emergency nurses evidenced a risk for less compassion satisfaction, while intensive care nurses demonstrated a higher risk for burnout and oncology nurses reflected a risk for higher compassion fatigue. ED nurse managers, along with other nurse leaders, are faced with the competing demands of managing the satisfaction of patients, recruitment and retention of experienced nurses, and provision of quality and safe care customized to patients' needs and preferences. Understanding the concepts of compassion satisfaction, burnout, and compassion fatigue, recognizing the signs and symptoms, and identifying best practice interventions, will help nurses maintain caring attitudes with patients and contribute to patient satisfaction. Copyright © 2010 Emergency Nurses Association. Published by Mosby, Inc. All rights reserved.

Tailor-made rehabilitation approach using multiple types of hybrid assistive limb robots for acute stroke patients: A pilot study.

PubMed

Fukuda, Hiroyuki; Morishita, Takashi; Ogata, Toshiyasu; Saita, Kazuya; Hyakutake, Koichi; Watanabe, Junko; Shiota, Etsuji; Inoue, Tooru

2016-01-01

This article investigated the feasibility of a tailor-made neurorehabilitation approach using multiple types of hybrid assistive limb (HAL) robots for acute stroke patients. We investigated the clinical outcomes of patients who underwent rehabilitation using the HAL robots. The Brunnstrom stage, Barthel index (BI), and functional independence measure (FIM) were evaluated at baseline and when patients were transferred to a rehabilitation facility. Scores were compared between the multiple-robot rehabilitation and single-robot rehabilitation groups. Nine hemiplegic acute stroke patients (five men and four women; mean age 59.4 ± 12.5 years; four hemorrhagic stroke and five ischemic stroke) underwent rehabilitation using multiple types of HAL robots for 19.4 ± 12.5 days, and 14 patients (six men and eight women; mean age 63.2 ± 13.9 years; nine hemorrhagic stroke and five ischemic stroke) underwent rehabilitation using a single type of HAL robot for 14.9 ± 8.9 days. The multiple-robot rehabilitation group showed significantly better outcomes in the Brunnstrom stage of the upper extremity, BI, and FIM scores. To the best of the authors' knowledge, this is the first pilot study demonstrating the feasibility of rehabilitation using multiple exoskeleton robots. The tailor-made rehabilitation approach may be useful for the treatment of acute stroke.

Age and Gender Differences in the Associations of Self-Compassion and Emotional Well-being in A Large Adolescent Sample.

PubMed

Bluth, Karen; Campo, Rebecca A; Futch, William S; Gaylord, Susan A

2017-04-01

Adolescence is a challenging developmental period marked with declines in emotional well-being; however, self-compassion has been suggested as a protective factor. This cross-sectional survey study (N = 765, grades 7th to 12th; 53 % female; 4 % Hispanic ethnicity; 64 % White and 21 % Black) examined whether adolescents' self-compassion differed by age and gender, and secondly, whether its associations with emotional well-being (perceived stress, life satisfaction, distress intolerance, depressive symptoms, and anxiety) also differed by age and gender. The findings indicated that older females had the lowest self-compassion levels compared to younger females or all-age males. Self-compassion was associated with all emotional well-being measures, and gender and/or age moderated the associations with anxiety and depressive symptoms. Among older adolescents, self-compassion had a greater protective effect on anxiety for boys than for girls. Additionally, older adolescents with low and average self-compassion had greater levels of depressive symptoms than those with high self-compassion. These results may inform for whom and at what age self-compassion interventions may be implemented to protect adolescents from further declines in emotional well-being.

Compassion satisfaction, compassion fatigue, and burnout in a national sample of trauma treatment therapists.

PubMed

Craig, C D; Sprang, G

2010-05-01

For behavioral health professionals working with traumatized clients, continuous and prolonged exposure to the stress of working with the myriad of trauma-related stressors experienced by their clients can lead to various responses including burnout, compassion fatigue, and compassion satisfaction. The present study investigates the impact of using evidence-based practices on compassion fatigue, burnout, and compassion satisfaction in a random, national sample of self-identified trauma specialists (N=532). The 30-item Professional Quality of Life Scale (Stamm, 2005) and the 19-item Trauma Practices Questionnaire (Craig & Sprang, 2009) were included in a survey to licensed social workers and psychologists from professional membership rosters. Age and years of experience proved to be powerful predictors of only two of the three criterion variables, with younger professionals reporting higher levels of burnout and more experienced providers endorsing higher levels of compassion satisfaction. The utilization of evidence-based practices predicted statistically significant decreases in compassion fatigue and burnout, and increases in compassion satisfaction. The utility of these findings in understanding the process of trauma transmission between therapist and client as well as directions for future research are discussed.

Compassion satisfaction: A concept analysis in nursing.

PubMed

Sacco, Tara L; Copel, Linda Carman

2018-01-01

Nurses experience an intrinsic sense of fulfillment derived from their work in caring for other people. There is a need to further investigate the concept of compassion satisfaction as it is experienced in the profession of nursing. The aim of this analysis is to provide clarity to the concept of compassion satisfaction in nursing. A search of social work and nursing literature was completed. The search terms "compassion satisfaction," "nursing," "social workers," "teachers," and "educators" were entered in various combinations to the CINAHL, Journals@Ovid, ProQuest Nursing & Allied Health Source, ProQuest Psychology Journals, PsychINFO, ERIC, and Education Full Text databases. A comprehensive review of the literature was completed to identify features of compassion satisfaction. Utilizing the Walker and Avant method, assumptions, antecedents, characteristics, and consequences of compassion satisfaction were identified. A conceptual model of compassion satisfaction was developed encompassing 7 antecedents, 11 characteristics, and 8 consequences. Further, a theoretical definition of compassion satisfaction in nursing was derived. There is a need to focus on the positive effects of caring. This concept analysis provides the initial step to strengthening the science related to compassion satisfaction in nursing and other helping professions. © 2017 Wiley Periodicals, Inc.

Age and Gender Differences in the Associations of Self-Compassion and Emotional Well-being in A Large Adolescent Sample

PubMed Central

Bluth, Karen; Campo, Rebecca A.; Futch, William S.; Gaylord, Susan A.

2016-01-01

Adolescence is a challenging developmental period marked with declines in emotional well-being; however, self-compassion has been suggested as a protective factor. This cross-sectional survey study (N=765, grades 7th to 12th; 53% female; 4% Hispanic ethnicity; 64% White and 21% Black) examined whether adolescents’ self-compassion differed by age and gender, and secondly, whether its associations with emotional well-being (perceived stress, life satisfaction, distress intolerance, depressive symptoms, and anxiety) also differed by age and gender. The findings indicated that older females had the lowest self-compassion levels compared to younger females or all-age males. Self-compassion was associated with all emotional well-being measures, and gender and/or age moderated the associations with anxiety and depressive symptoms. Among older adolescents, self-compassion had a greater protective effect on anxiety for boys than for girls. Additionally, older adolescents with low and average self-compassion had greater levels of depressive symptoms than those with high self-compassion. These results may inform for whom and at what age self-compassion interventions may be implemented to protect adolescents from further declines in emotional well-being. PMID:27632177

Compassion satisfaction, compassion fatigue, and critical incident stress management.

PubMed

Wee, David; Myers, Diane

2003-01-01

This study examines the potential for compassion satisfaction, compassion fatigue, and burnout in a sample of persons attending a workshop on Prevention of Compassion Fatigue at an international conference of providers of Critical Incident Stress Management (CISM) services. In the study, more than half (58%) of the respondents reported experiencing psychological reactions after providing CISM services, including an array of behavioral, emotional, cognitive, and physical symptoms of psychological stress. Forty percent of respondents were found to have moderate, high, or extremely high risk for compassion fatigue. At the same time, 89% of respondents were found to have a good, high, or extremely high potential for compassion satisfaction, and 87% were found to be at extremely low risk for burnout. The results appear to indicate that, while the CISM practitioners recognize the stress associated with their work (as reflected in the reported symptoms), the work provides significant rewards (as measured by compassion satisfaction) that outweigh the stress and mitigate against burnout. Likewise, while 40% tested positive for compassion fatigue (or secondary traumatic stress) as a result of their empathy with CISM recipients, the rewards of the work again appear to mitigate the negative effects of the work. Implications for future research and practice are presented.

International study on nurses' views and experiences of compassion.

PubMed

Papadopoulos, I; Zorba, A; Koulouglioti, C; Ali, S; Aagard, M; Akman, O; Alpers, L-M; Apostolara, P; Biles, J; Martín-García, Á; González-Gil, T; Kouta, C; Krepinska, R; Kumar, B N; Lesińska-Sawicka, M; Lopez, L; Malliarou, M; Nagórska, M; Nissim, S; Nortvedt, L; Oter-Quintana, C; Ozturk, C; Pangilinan, S B; Papp, K; Eldar Regev, O; Rubiano, F O; Tolentino Diaz, M Y; Tóthová, V; Vasiliou, M

2016-09-01

Compassion is considered the cornerstone of nursing practice. However, the recent failures in delivering high-quality compassionate nursing care in the UK's National Health Service have brought the topic of compassion to the attention of the public, service providers, policy makers and academics. The aim of this study was to explore the nurses' views and experiences of a number of compassion-related issues in nursing and describe similarities and differences at an international level as well as from the different nursing roles of the participating nurses. An exploratory, cross-sectional descriptive study, using the International Online Compassion Questionnaire. A total of 1323 nurses from 15 countries completed the questionnaire. The majority of participants (59.5%) defined compassion as "Deep awareness of the suffering of others and wish to alleviate it" but definitions of compassion varied by country. Of participants, 69.6% thought compassion was very important in nursing and more than half (59.6%) of them argued that compassion could be taught. However, only 26.8% reported that the correct amount and level of teaching is provided. The majority of the participants (82.6%) stated that their patients prefer knowledgeable nurses with good interpersonal skills. Only 4.3% noted that they are receiving compassion from their managers. A significant relationship was found between nurses' experiences of compassion and their views about teaching of compassion. Our study is unique in identifying the views and experiences of nurses from 15 different countries worldwide. The findings reveal that compassion is neither addressed adequately in nursing education nor supported in the practice environment by managers. Self-report bias was inherent to our survey study design. Furthermore, the individual cultural differences and similarities in the findings are difficult to extrapolate owing to the fact that our analysis was at country level, as well as at the level of the participating nurses. Understanding the influence of culture on nurses' views about compassion is critical in the current multicultural healthcare environment and merits further research. This will potentially drive changes in nursing education (ensuring that compassion is taught to nurses) and in the way healthcare leaders and managers foster a compassionate culture within their organizations (e.g. by leading by example and compassionate to their staff). © 2016 International Council of Nurses.

Jerk-level synchronous repetitive motion scheme with gradient-type and zeroing-type dynamics algorithms applied to dual-arm redundant robot system control

NASA Astrophysics Data System (ADS)

Chen, Dechao; Zhang, Yunong

2017-10-01

Dual-arm redundant robot systems are usually required to handle primary tasks, repetitively and synchronously in practical applications. In this paper, a jerk-level synchronous repetitive motion scheme is proposed to remedy the joint-angle drift phenomenon and achieve the synchronous control of a dual-arm redundant robot system. The proposed scheme is novelly resolved at jerk level, which makes the joint variables, i.e. joint angles, joint velocities and joint accelerations, smooth and bounded. In addition, two types of dynamics algorithms, i.e. gradient-type (G-type) and zeroing-type (Z-type) dynamics algorithms, for the design of repetitive motion variable vectors, are presented in detail with the corresponding circuit schematics. Subsequently, the proposed scheme is reformulated as two dynamical quadratic programs (DQPs) and further integrated into a unified DQP (UDQP) for the synchronous control of a dual-arm robot system. The optimal solution of the UDQP is found by the piecewise-linear projection equation neural network. Moreover, simulations and comparisons based on a six-degrees-of-freedom planar dual-arm redundant robot system substantiate the operation effectiveness and tracking accuracy of the robot system with the proposed scheme for repetitive motion and synchronous control.

Sun compass error model

NASA Technical Reports Server (NTRS)

Blucker, T. J.; Ferry, W. W.

1971-01-01

An error model is described for the Apollo 15 sun compass, a contingency navigational device. Field test data are presented along with significant results of the test. The errors reported include a random error resulting from tilt in leveling the sun compass, a random error because of observer sighting inaccuracies, a bias error because of mean tilt in compass leveling, a bias error in the sun compass itself, and a bias error because the device is leveled to the local terrain slope.

Compassion fatigue and compassion satisfaction among family physicians in the Republic of Srpska, Bosnia and Herzegovina.

PubMed

Račić, Maja; Virijević, Aleksandra; Ivković, Nedeljka; Joksimović, Bojan N; Joksimović, Vedrana R; Mijovic, Biljana

2018-03-19

The aim of this study was to examine self-perceived compassion fatigue and compassion satisfaction among family physicians in Bosnia and Herzegovina and describe potential contributing factors. The cross-sectional study enrolled 120 family physicians. Professional quality of life compassion satisfaction and fatigue version 5 (ProQOL5) was used to assess compassion satisfaction and two components of compassion fatigue, secondary traumatic stress and burnout. The symptoms of chronic fatigue were evaluated using the Chalder fatigue scale. The majority of family physicians had moderate levels of compassion satisfaction (70%), burnout (75%) and secondary traumatic stress (55.8%). Family physicians with higher levels of secondary traumatic stress reported chronic fatigue (p = 0.001), longer length of service (p = 0.024) and residency training (p = 0.041). Chronic fatigue (p = 0.001), living in a rural environment (p = 0.033), larger size of practice (p = 0.006) and high number of patients with chronic disease (p = 0.001) were associated with a higher risk of burnout. Family physicians with large practices, long years of experience, a high number of chronically ill patients and experiencing chronic fatigue are at risk of developing compassion fatigue. A systematic exploration of compassion fatigue in relation to working conditions might provide an appropriate starting point for the development of preventive interventions.

In Brief: Air pollution app

NASA Astrophysics Data System (ADS)

Showstack, Randy

2010-10-01

A new smartphone application takes advantage of various technological capabilities and sensors to help users monitor air quality. Tapping into smartphone cameras, Global Positioning System (GPS) sensors, compasses, and accelerometers, computer scientists with the University of Southern California's (USC) Viterbi School of Engineering have developed a new application, provisionally entitled “Visibility.” Currently available for the Android telephone operating system, the application is available for free download at http://robotics.usc.edu/˜mobilesensing/Projects/AirVisibilityMonitoring. An iPhone application may be introduced soon. Smartphone users can take a picture of the sky and then compare it with models of sky luminance to estimate visibility. While conventional air pollution monitors are costly and thinly deployed in some areas, the smartphone application potentially could help fill in some blanks in existing air pollution maps, according to USC computer science professor Gaurav Sukhatme.

Self-compassion and emotional invalidation mediate the effects of parental indifference on psychopathology.

PubMed

Westphal, Maren; Leahy, Robert L; Pala, Andrea Norcini; Wupperman, Peggilee

2016-08-30

This study investigated whether self-compassion and emotional invalidation (perceiving others as indifferent to one's emotions) may explain the relationship of childhood exposure to adverse parenting and adult psychopathology in psychiatric outpatients (N=326). Path analysis was used to investigate associations between exposure to adverse parenting (abuse and indifference), self-compassion, emotional invalidation, and mental health when controlling for gender and age. Self-compassion was strongly inversely associated with emotional invalidation, suggesting that a schema that others will be unsympathetic or indifferent toward one's emotions may affect self-compassion and vice versa. Both self-compassion and emotional invalidation mediated the relationship between parental indifference and mental health outcomes. These preliminary findings suggest the potential utility of self-compassion and emotional schemas as transdiagnostic treatment targets. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

Role of self-compassion in psychological well-being among perinatal women.

PubMed

Felder, Jennifer N; Lemon, Elizabeth; Shea, Kerry; Kripke, Kate; Dimidjian, Sona

2016-08-01

Self-compassion is associated with depression and anxiety in general samples. Although recent research indicates that dysfunctional maternal attitudes predict the development of perinatal depression and anxiety symptoms, no research to date has examined the construct of self-compassion and its relationship with psychological well-being in perinatal women. Pregnant and postpartum women (N = 189) completed self-report measures of depression and anxiety history, current depression and anxiety symptom severity, and self-compassion. Women with higher depression and anxiety symptom severity had significantly lower self-compassion. Additionally, women with self-reported prior history of depression or anxiety had significantly lower self-compassion even while controlling for current depression or anxiety symptom severity, respectively. Our results suggest that self-compassion warrants further attention in the study of the development, maintenance, and treatment of perinatal mood and anxiety disorders.

Exploring self-compassion and eudaimonic well-being in young women athletes.

PubMed

Ferguson, Leah J; Kowalski, Kent C; Mack, Diane E; Sabiston, Catherine M

2014-04-01

Using a mixed methods research design, we explored self-compassion and eudaimonic well-being in young women athletes. In a quantitative study (n = 83), we found that self-compassion and eudaimonic well-being were positively related (r = .76, p < .01). A model of multiple mediation was proposed, with self-compassion, passivity, responsibility, initiative, and self-determination accounting for 83% of the variance in eudaimonic well-being. In a qualitative study (n = 11), we explored when and how self-compassion might be useful in striving to reach one's potential in sport. Self-compassion was described as advantageous in difficult sport-specific situations by increasing positivity, perseverance, and responsibility, as well as decreasing rumination. Apprehensions about fully embracing a self-compassionate mindset in sport warrant additional research to explore the seemingly paradoxical role of self-compassion in eudaimonic well-being.

Compassion: An Evolutionary Analysis and Empirical Review

PubMed Central

Goetz, Jennifer L.; Keltner, Dacher; Simon-Thomas, Emiliana

2010-01-01

What is compassion? And how did it evolve? In this review, we integrate three evolutionary arguments that converge on the hypothesis that compassion evolved as a distinct affective experience whose primary function is to facilitate cooperation and protection of the weak and those who suffer. Our empirical review reveals compassion to have distinct appraisal processes attuned to undeserved suffering, distinct signaling behavior related to caregiving patterns of touch, posture, and vocalization, and a phenomenological experience and physiological response that orients the individual to social approach. This response profile of compassion differs from those of distress, sadness, and love, suggesting that compassion is indeed a distinct emotion. We conclude by considering how compassion shapes moral judgment and action, how it varies across different cultures, and how it may engage specific patterns of neural activation, as well as emerging directions of research. PMID:20438142

Robots for Elderly Care: Their Level of Social Interactions and the Targeted End User.

PubMed

Bedaf, Sandra; de Witte, Luc

2017-01-01

Robots for older adults have a lot of potential. In order to create an overview of the developments in this area a systematic review of robots for older adults living independently was conducted. Robots were categorized based on their market readiness, the type of provided support (i.e., physical, non-physical, non-specified), and the activity domain they claim to support. Additionally, the commercially available robots are places in a proposed framework to help to distinguish the different types of robots and their focus. During the presentation an updated version of the state of the art will be presented.

Determining of a robot workspace using the integration of a CAD system with a virtual control system

NASA Astrophysics Data System (ADS)

Herbuś, K.; Ociepka, P.

2016-08-01

The paper presents a method for determining the workspace of an industrial robot using an approach consisting in integration a 3D model of an industrial robot with a virtual control system. The robot model with his work environment, prepared for motion simulation, was created in the “Motion Simulation” module of the Siemens PLM NX software. In the mentioned model components of the “link” type were created which map the geometrical form of particular elements of the robot and the components of “joint” type mapping way of cooperation of components of the “link” type. In the paper is proposed the solution in which the control process of a virtual robot is similar to the control process of a real robot using the manual control panel (teach pendant). For this purpose, the control application “JOINT” was created, which provides the manipulation of a virtual robot in accordance with its internal control system. The set of procedures stored in an .xlsx file is the element integrating the 3D robot model working in the CAD/CAE class system with the elaborated control application.

What are healthcare providers’ understandings and experiences of compassion? The healthcare compassion model: a grounded theory study of healthcare providers in Canada

PubMed Central

Sinclair, Shane; Hack, Thomas F; Raffin-Bouchal, Shelley; McClement, Susan; Stajduhar, Kelli; Singh, Pavneet; Sinnarajah, Aynharan; Chochinov, Harvey Max

2018-01-01

Background Healthcare providers are considered the primary conduit of compassion in healthcare. Although most healthcare providers desire to provide compassion, and patients and families expect to receive it, an evidence-based understanding of the construct and its associated dimensions from the perspective of healthcare providers is needed. Objectives The aim of this study was to investigate healthcare providers’ perspectives and experiences of compassion in order to generate an empirically derived, clinically informed model. Design Data were collected via focus groups with frontline healthcare providers and interviews with peer-nominated exemplary compassionate healthcare providers. Data were independently and collectively analysed by the research team in accordance with Straussian grounded theory. Setting and participants 57 healthcare providers were recruited from urban and rural palliative care services spanning hospice, home care, hospital-based consult teams, and a dedicated inpatient unit within Alberta, Canada. Results Five categories and 13 associated themes were identified, illustrated in the Healthcare Provider Compassion Model depicting the dimensions of compassion and their relationship to one another. Compassion was conceptualised as—a virtuous and intentional response to know a person, to discern their needs and ameliorate their suffering through relational understanding and action. Conclusions An empirical foundation of healthcare providers’ perspectives on providing compassionate care was generated. While the dimensions of the Healthcare Provider Compassion Model were congruent with the previously developed Patient Model, further insight into compassion is now evident. The Healthcare Provider Compassion Model provides a model to guide clinical practice and research focused on developing interventions, measures and resources to improve it. PMID:29540416

Analysis and experiments with an elephant's trunk robot

NASA Technical Reports Server (NTRS)

Hannan, M. W.; Walker, I. D.

2001-01-01

The area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. We then apply our previously designed kinematic model to describe the kinematics of the robot. We finish by providing some examples of motion planning and intelligent manipulation using the robot.

Kinematic design considerations for minimally invasive surgical robots: an overview.

PubMed

Kuo, Chin-Hsing; Dai, Jian S; Dasgupta, Prokar

2012-06-01

Kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities. Hundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kinematic design considerations and mechanism development described in the literature for existing robots are focused on. The general kinematic design goals, design requirements, and design preferences for MIS robots are defined. An MIS-specialized mechanism, namely the remote center-of-motion (RCM) mechanism, is revisited and studied. Accordingly, based on the RCM mechanism types, a classification for MIS robots is provided. A comparison between eight different RCM types is given. Finally, several open challenges for the kinematic design of MIS robotic manipulators are discussed. This work provides a detailed survey of the kinematic design of MIS robots, addresses the research opportunity in MIS robots for kinematicians, and clarifies the kinematic point of view to MIS robots as a reference for the medical community. Copyright © 2012 John Wiley & Sons, Ltd.

Compassion Fatigue among Social Work Students in Field Placements

ERIC Educational Resources Information Center

Harr, Cynthia; Moore, Brenda

2011-01-01

This pilot study, conducted with BSW and MSW field students at a public university in Southwestern United States, explored the psychological effect of compassion fatigue and compassion satisfaction on social work students in field placements. Results from the Professional Quality of Life Scale's compassion satisfaction and fatigue subscales…

Nurturing Compassion Development among College Students: A Longitudinal Study

ERIC Educational Resources Information Center

Plante, Thomas; Halman, Katherine

2016-01-01

Little research exists on the development of compassion among college undergraduates. This study tracks changes in compassion and identifies factors associated with these changes over the course of undergraduate students' college careers, from the time of admittance to the time of graduation. Compassion levels assessed at the point of college…

Interacting Compasses

ERIC Educational Resources Information Center

Riveros, Hector G.; Betancourt, Julian

2009-01-01

The use of multiple compasses to map and visualize magnetic fields is well-known. The magnetic field exerts a torque on the compasses aligning them along the lines of force. Some science museums show the field of a magnet using a table with many compasses in a closely packed arrangement. However, the very interesting interactions that occur…

From the elastica compass to the elastica catapult: an essay on the mechanics of soft robot arm

PubMed Central

Armanini, C.; Dal Corso, F.; Misseroni, D.

2017-01-01

An elastic rod is clamped at one end and has a dead load attached to the other (free) end. The rod is then slowly rotated using the clamp. When the load is smaller than the buckling value, the rod describes a continuous set of quasi-static forms and its end traces a (smooth, convex and simple) closed curve, which would be a circle if the rod were rigid. The closed curve is analytically determined through the integration of the Euler’s elastica, so that for sufficiently small loads the mechanical system behaves as an ‘elastica compass’. For loads higher than that of buckling, the elastica reaches a configuration from which a snap-back instability occurs, realizing a sort of ‘elastica catapult’. The whole quasi-static evolution leading to the critical configuration for snapping is calculated through the elastica and the subsequent dynamic motion simulated using two numerical procedures, one ad hoc developed and another based on a finite-element scheme. The theoretical results are then validated on a specially designed and built apparatus. An obvious application of the present model would be in the development of soft robotic limbs, but the results are also of interest for the optimization analysis in pole vaulting. PMID:28293144

COMPASS: A general purpose computer aided scheduling tool

NASA Technical Reports Server (NTRS)

Mcmahon, Mary Beth; Fox, Barry; Culbert, Chris

1991-01-01

COMPASS is a generic scheduling system developed by McDonnell Douglas under the direction of the Software Technology Branch at JSC. COMPASS is intended to illustrate the latest advances in scheduling technology and provide a basis from which custom scheduling systems can be built. COMPASS was written in Ada to promote readability and to conform to potential NASA Space Station Freedom standards. COMPASS has some unique characteristics that distinguishes it from commercial products. These characteristics are discussed and used to illustrate some differences between scheduling tools.

COMPASS: An Ada based scheduler

NASA Technical Reports Server (NTRS)

Mcmahon, Mary Beth; Culbert, Chris

1992-01-01

COMPASS is a generic scheduling system developed by McDonnell Douglas and funded by the Software Technology Branch of NASA Johnson Space Center. The motivation behind COMPASS is to illustrate scheduling technology and provide a basis from which custom scheduling systems can be built. COMPASS was written in Ada to promote readability and to conform to DOD standards. COMPASS has some unique characteristics that distinguishes it from commercial products. This paper discusses these characteristics and uses them to illustrate some differences between scheduling tools.

Maneuvers during legged locomotion

NASA Astrophysics Data System (ADS)

Jindrich, Devin L.; Qiao, Mu

2009-06-01

Maneuverability is essential for locomotion. For animals in the environment, maneuverability is directly related to survival. For humans, maneuvers such as turning are associated with increased risk for injury, either directly through tissue loading or indirectly through destabilization. Consequently, understanding the mechanics and motor control of maneuverability is a critical part of locomotion research. We briefly review the literature on maneuvering during locomotion with a focus on turning in bipeds. Walking turns can use one of several different strategies. Anticipation can be important to adjust kinematics and dynamics for smooth and stable maneuvers. During running, turns may be substantially constrained by the requirement for body orientation to match movement direction at the end of a turn. A simple mathematical model based on the requirement for rotation to match direction can describe leg forces used by bipeds (humans and ostriches). During running turns, both humans and ostriches control body rotation by generating fore-aft forces. However, whereas humans must generate large braking forces to prevent body over-rotation, ostriches do not. For ostriches, generating the lateral forces necessary to change movement direction results in appropriate body rotation. Although ostriches required smaller braking forces due in part to increased rotational inertia relative to body mass, other movement parameters also played a role. Turning performance resulted from the coordinated behavior of an integrated biomechanical system. Results from preliminary experiments on horizontal-plane stabilization support the hypothesis that controlling body rotation is an important aspect of stable maneuvers. In humans, body orientation relative to movement direction is rapidly stabilized during running turns within the minimum of two steps theoretically required to complete analogous maneuvers. During straight running and cutting turns, humans exhibit spring-mass behavior in the horizontal plane. Changes in the horizontal projection of leg length were linearly related to changes in horizontal-plane leg forces. Consequently, the passive dynamic stabilization associated with spring-mass behavior may contribute to stability during maneuvers in bipeds. Understanding the mechanics of maneuverability will be important for understanding the motor control of maneuvers and also potentially be useful for understanding stability.

Robotic System For Greenhouse Or Nursery

NASA Technical Reports Server (NTRS)

Gill, Paul; Montgomery, Jim; Silver, John; Heffelfinger, Neil; Simonton, Ward; Pease, Jim

1993-01-01

Report presents additional information about robotic system described in "Robotic Gripper With Force Control And Optical Sensors" (MFS-28537). "Flexible Agricultural Robotics Manipulator System" (FARMS) serves as prototype of robotic systems intended to enhance productivities of agricultural assembly-line-type facilities in large commercial greenhouses and nurseries.

Self-compassion training modulates alpha-amylase, heart rate variability, and subjective responses to social evaluative threat in women

PubMed Central

Arch, Joanna J.; Brown, Kirk Warren; Dean, Derek J.; Landy, Lauren N.; Brown, Kimberley; Laudenslager, Mark L.

2014-01-01

A growing body of research has revealed that social evaluative stressors trigger biological and psychological responses that in chronic forms have been linked to aging and disease. Recent research suggests that self-compassion may protect the self from typical defensive responses to evaluation. We investigated whether brief training in self-compassion moderated biopsychological responses to the Trier Social Stress Test (TSST) in women. Compared to attention (placebo) and no-training control conditions, brief self-compassion training diminished sympathetic (salivary alpha-amylase), cardiac parasympathetic, and subjective anxiety responses, though not HPA-axis (salivary cortisol) responses to the TSST. Self-compassion training also led to greater self-compassion under threat relative to the control groups. In that social stress pervades modern life, self-compassion represents a promising approach to diminishing its potentially negative psychological and biological effects. PMID:24636501

Compassion: an evolutionary analysis and empirical review.

PubMed

Goetz, Jennifer L; Keltner, Dacher; Simon-Thomas, Emiliana

2010-05-01

What is compassion? And how did it evolve? In this review, we integrate 3 evolutionary arguments that converge on the hypothesis that compassion evolved as a distinct affective experience whose primary function is to facilitate cooperation and protection of the weak and those who suffer. Our empirical review reveals compassion to have distinct appraisal processes attuned to undeserved suffering; distinct signaling behavior related to caregiving patterns of touch, posture, and vocalization; and a phenomenological experience and physiological response that orients the individual to social approach. This response profile of compassion differs from those of distress, sadness, and love, suggesting that compassion is indeed a distinct emotion. We conclude by considering how compassion shapes moral judgment and action, how it varies across different cultures, and how it may engage specific patterns of neural activation, as well as emerging directions of research. (c) 2010 APA, all rights reserved.

Is compassion essential to nursing practice?

PubMed

Hem, Marit Helene; Heggen, Kristin

2004-01-01

The Norwegian Nurses' Association recently (2001) approved a new code of ethics that included compassion as one of the basic values in nursing care. This paper examines the idea of compassion in the context of the Bible story of the Good Samaritan using an analysis of qualitative data from nurses' clinical work with psychiatric patients. The aim is to show how the idea of compassion challenges nursing practice. Thereafter, the paper discusses the benefits of and premises for compassion in care work. The results show that nurses tend not to be guided by compassion in their work with patients. The organisation of the day-to-day work in the hospital ward, the division of labour between nurses and doctors, and the nurses' approach to nursing were identified as influencing this tendency. The study shows that compassion is a radical concept with a potential to promote greater respect for patients' dignity.

Compassion Fatigue in Adult Daughter Caregivers of a Parent with Dementia

PubMed Central

Day, Jennifer R.; Anderson, Ruth A.; Davis, Linda L.

2015-01-01

Adult daughters face distinct challenges caring for parents with dementia and may experience compassion fatigue: the combination of helplessness, hopelessness, an inability to be empathic, and a sense of isolation resulting from prolonged exposure to perceived suffering. Prior research on compassion fatigue has focused on professional healthcare providers and has overlooked filial caregivers. This study attempts to identify and explore risk factors for compassion fatigue in adult daughter caregivers and to substantiate further study of compassion fatigue in family caregivers. We used content analysis of baseline interviews with 12 adult daughter caregivers of a parent with dementia who participated in a randomized trial of homecare training. Four themes were identified in adult daughter caregiver interviews: (a) uncertainty; (b) doubt; (c) attachment; and (d) strain. Findings indicated adult daughter caregivers are at risk for compassion fatigue, supporting the need for a larger study exploring compassion fatigue in this population. PMID:25259643

Compassion fatigue and burnout: what managers should know.

PubMed

Slatten, Lise Anne; David Carson, Kerry; Carson, Paula Phillips

2011-01-01

Most health care employees experience and are bolstered by compassion satisfaction as they deal with patients in need. However, the more empathetic a health care provider is, the more likely he or she will experience compassion fatigue. Compassion fatigue is a negative syndrome that occurs when dealing with the traumatic experiences of patients, and examples of symptoms include intrusive thoughts, sleeping problems, and depression. Compassion fatigue is different from burnout. Compassion fatigue is a rapidly occurring disorder for primary health care workers who work with suffering patients, whereas burnout, a larger construct, is a slowly progressing disorder for employees who typically are working in burdensome organizational environments. Managers can mitigate problems associated with compassion fatigue with a number of interventions including patient reassignments, formal mentoring programs, employee training, and a compassionate organizational culture. With burnout, health care managers will want to focus primarily on chronic organizational problems.

Compassion, pride, and social intuitions of self-other similarity.

PubMed

Oveis, Christopher; Horberg, E J; Keltner, Dacher

2010-04-01

Compassion and pride serve contrasting social functions: Compassion motivates care-taking behavior, whereas pride enables the signaling and negotiation of rank within social hierarchies. Across 3 studies, compassion was associated with increased perceived self-other similarity, particularly to weak or vulnerable others. In contrast, pride was associated with an enhanced sense of similarity to strong others, and a decreased sense of similarity to weak others. These findings were obtained using trait measures (Study 1) and experimental inductions (Studies 2 and 3) of compassion and pride, examining the sense of similarity to strong or weak groups (Studies 1 and 2) and unfamiliar individuals (Study 3). The influences of compassion and pride on perceived self-other similarity could not be accounted for by positive mood, nor was this effect constrained by the ingroup status of the target group or individual. Discussion focuses on the contributions these findings make to an understanding of compassion and pride.

A visual pathway links brain structures active during magnetic compass orientation in migratory birds.

PubMed

Heyers, Dominik; Manns, Martina; Luksch, Harald; Güntürkün, Onur; Mouritsen, Henrik

2007-09-26

The magnetic compass of migratory birds has been suggested to be light-dependent. Retinal cryptochrome-expressing neurons and a forebrain region, "Cluster N", show high neuronal activity when night-migratory songbirds perform magnetic compass orientation. By combining neuronal tracing with behavioral experiments leading to sensory-driven gene expression of the neuronal activity marker ZENK during magnetic compass orientation, we demonstrate a functional neuronal connection between the retinal neurons and Cluster N via the visual thalamus. Thus, the two areas of the central nervous system being most active during magnetic compass orientation are part of an ascending visual processing stream, the thalamofugal pathway. Furthermore, Cluster N seems to be a specialized part of the visual wulst. These findings strongly support the hypothesis that migratory birds use their visual system to perceive the reference compass direction of the geomagnetic field and that migratory birds "see" the reference compass direction provided by the geomagnetic field.

Effect of a human-type communication robot on cognitive function in elderly women living alone.

PubMed

Tanaka, Masaaki; Ishii, Akira; Yamano, Emi; Ogikubo, Hiroki; Okazaki, Masatsugu; Kamimura, Kazuro; Konishi, Yasuharu; Emoto, Shigeru; Watanabe, Yasuyoshi

2012-09-01

Considering the high prevalence of dementia, it would be of great value to develop effective tools to improve cognitive function. We examined the effects of a human-type communication robot on cognitive function in elderly women living alone. In this study, 34 healthy elderly female volunteers living alone were randomized to living with either a communication robot or a control robot at home for 8 weeks. The shape, voice, and motion features of the communication robot resemble those of a 3-year-old boy, while the control robot was not designed to talk or nod. Before living with the robot and 4 and 8 weeks after living with the robot, experiments were conducted to evaluate a variety of cognitive functions as well as saliva cortisol, sleep, and subjective fatigue, motivation, and healing. The Mini-Mental State Examination score, judgement, and verbal memory function were improved after living with the communication robot; those functions were not altered with the control robot. In addition, the saliva cortisol level was decreased, nocturnal sleeping hours tended to increase, and difficulty in maintaining sleep tended to decrease with the communication robot, although alterations were not shown with the control. The proportions of the participants in whom effects on attenuation of fatigue, enhancement of motivation, and healing could be recognized were higher in the communication robot group relative to the control group. This study demonstrates that living with a human-type communication robot may be effective for improving cognitive functions in elderly women living alone.

Understanding the Transformation of Compassion in Nurses Who Become Patients

ERIC Educational Resources Information Center

Pucino, Carrie L.

2013-01-01

The purpose of this study was to examine how nurses who become patients learn compassion toward patients in their professional practice, and examine the role of empathy in the process of learning compassion. The process of learning compassion represents a significant change in the way nurses perceive this aspect of practice. Therefore,…

Compassion Fatigue and Compassion Satisfaction among Residential Child Care Workers: The Role of Personality Resources

ERIC Educational Resources Information Center

Zerach, Gadi

2013-01-01

This study assessed compassion fatigue (CF) and compassion satisfaction (CS) among Israeli residential child-care workers (RCWs) working in residential treatment facilities for children and youth at risk (N = 147) as compared to educational boarding schools workers (BSWs; N = 74). Furthermore, we assessed the relationship of potential…

Self-Compassion and the Dynamics of Investigating Sexual Harassment

ERIC Educational Resources Information Center

Serri, Conchita Franco

2006-01-01

What role does compassion play in one's work? In the author's organization, the word "compassion" has been mostly linked to their values, mission, and programs. She has generally understood the concept of compassion as a deep feeling of empathy that flows from oneself towards others during certain situations and conditions. In her mind, "having…

Rousseau and the Education of Compassion

ERIC Educational Resources Information Center

White, Richard

2008-01-01

In this paper I examine Rousseau's strategy for teaching compassion in "Book Four of Emile." In particular, I look at the three maxims on compassion that help to organise Rousseau's discussion, and the precise strategy that Emile's tutor uses to instil compassion while avoiding other passions, such as anger, fear and pride. The very idea of an…

Compassion: An Evolutionary Analysis and Empirical Review

ERIC Educational Resources Information Center

Goetz, Jennifer L.; Keltner, Dacher; Simon-Thomas, Emiliana

2010-01-01

What is compassion? And how did it evolve? In this review, we integrate 3 evolutionary arguments that converge on the hypothesis that compassion evolved as a distinct affective experience whose primary function is to facilitate cooperation and protection of the weak and those who suffer. Our empirical review reveals compassion to have distinct…

Compassion Fatigue Risk and Self-Care Practices among Residential Treatment Center Childcare Workers

ERIC Educational Resources Information Center

Eastwood, Callum D.; Ecklund, Kathryn

2008-01-01

Exploration of the presence of risk for compassion fatigue among residential childcare workers (RCW) at residential treatment facilities and the relationship between self-care practices and compassion fatigue were explored. Using the Professional Quality of Life Survey (ProQOL-R III) to assess compassion fatigue, burnout, and compassion…

46 CFR 108.715 - Magnetic compass and gyrocompass.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 4 2011-10-01 2011-10-01 false Magnetic compass and gyrocompass. 108.715 Section 108... DESIGN AND EQUIPMENT Miscellaneous Equipment § 108.715 Magnetic compass and gyrocompass. (a) Each self-propelled unit in ocean or coastwise service must have a magnetic compass. (b) Each self-propelled unit of 1...

46 CFR 167.40-45 - Magnetic compass and gyrocompass.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Magnetic compass and gyrocompass. 167.40-45 Section 167... NAUTICAL SCHOOL SHIPS Certain Equipment Requirements § 167.40-45 Magnetic compass and gyrocompass. (a) All mechanically propelled vessels in ocean or coastwise service must be fitted with a magnetic compass. (b) All...

46 CFR 108.715 - Magnetic compass and gyrocompass.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 4 2010-10-01 2010-10-01 false Magnetic compass and gyrocompass. 108.715 Section 108... DESIGN AND EQUIPMENT Miscellaneous Equipment § 108.715 Magnetic compass and gyrocompass. (a) Each self-propelled unit in ocean or coastwise service must have a magnetic compass. (b) Each self-propelled unit of 1...

46 CFR 167.40-45 - Magnetic compass and gyrocompass.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Magnetic compass and gyrocompass. 167.40-45 Section 167... NAUTICAL SCHOOL SHIPS Certain Equipment Requirements § 167.40-45 Magnetic compass and gyrocompass. (a) All mechanically propelled vessels in ocean or coastwise service must be fitted with a magnetic compass. (b) All...

A daily diary study of self-compassion, body image, and eating behavior in female college students.

PubMed

Kelly, Allison C; Stephen, Elizabeth

2016-06-01

Although self-compassion is associated with healthier body image and eating behavior, these findings have generally emerged at the between-persons level only. The present study investigated the unique contributions of within-person variability in self-compassion, and between-persons differences in self-compassion, to body image and eating behavior. Over seven days, 92 female college students completed nightly measures of self-compassion, self-esteem, dietary restraint, intuitive eating, body appreciation, body satisfaction, and state body image. Multilevel modeling revealed that within-persons, day-to-day fluctuations in self-compassion contributed to day-to-day fluctuations in body image and eating. Between-persons, participants' average levels of self-compassion across days contributed to their average levels of body image and eating over the week. Results generally held when controlling for within- and between-persons self-esteem. Evidently, the eating and body image benefits of self-compassion may come not only from being a generally self-compassionate person, but also from treating oneself more self-compassionately than usual on a given day. Copyright © 2016 Elsevier Ltd. All rights reserved.

Compassion Satisfaction and Compassion Fatigue Among Critical Care Nurses.

PubMed

Sacco, Tara L; Ciurzynski, Susan M; Harvey, Megan Elizabeth; Ingersoll, Gail L

2015-08-01

Although critical care nurses gain satisfaction from providing compassionate care to patients and patients' families, the nurses are also at risk for fatigue. The balance between satisfaction and fatigue is considered professional quality of life. To establish the prevalence of compassion satisfaction and compassion fatigue in adult, pediatric, and neonatal critical care nurses and to describe potential contributing demographic, unit, and organizational characteristics. In a cross-sectional design, nurses were surveyed by using a demographic questionnaire and the Professional Quality of Life Scale to measure levels of compassion fatigue and compassion satisfaction. Nurses (n = 221) reported significant differences in compassion satisfaction and compassion fatigue on the basis of sex, age, educational level, unit, acuity, change in nursing management, and major systems change. Understanding the elements of professional quality of life can have a positive effect on work environment. The relationship between professional quality of life and the standards for a healthy work environment requires further investigation. Once this relationship is fully understood, interventions to improve this balance can be developed and tested. ©2015 American Association of Critical-Care Nurses.

Use of a brief version of the self-compassion inventory with an international sample of people with HIV/AIDS

PubMed Central

Brion, John M.; Leary, Mark; Wantland, Dean; Sullivan, K.; Nokes, Kathleen; Bain, Catherine A; Chaiphibalsarisdi, Puangtip; Chen, Wei-ti; Holzemer, William L.; Eller, Lucille Sanzero; Iipinge, Scholastika; Johnson, Mallory O.; Portillo, Carmen; Voss, Joachim; Tyer-Viola, Lynda; Corless, Inge B; Nicholas, Patrice K; Rose, Carol Dawson; Phillips, J. Craig; Sefcik, Elizabeth; Mendez, Marta Rivero; Kirksey, Kenn M.

2013-01-01

The objective of this study was to extend the psychometric evaluation of a brief version of the Self Compassion Scale (SCS). A secondary analysis of data from an international sample of 1,967 English-speaking persons living with HIV disease was used to examine the factor structure, and reliability of the 12-item Brief Version Self Compassion Inventory (BVSCI). A Maximum Likelihood factor analysis and Oblimin with Kaiser Normalization confirmed a two-factor solution, accounting for 42.58% of the variance. The BVSCI supported acceptable internal consistencies, with .714 for the total scale and .822 for Factor I and .774 for Factor II. Factor I (lower self compassion) demonstrated strongly positive correlations with measures of anxiety and depression while Factor II (high self compassion) was inversely correlated with the measures. No significant differences were found in the BVSCI scores for gender, age, or having children. Levels of self-compassion were significantly higher in persons with HIV disease and other physical and psychological health conditions. The scale shows promise for the assessment of self-compassion in persons with HIV without taxing participants, and may prove essential in investigating future research aimed at examining correlates of self-compassion, as well as providing data for tailoring self-compassion interventions for persons with HIV. PMID:23527887

The paradox of compassionate work: a mixed-methods study of satisfying and fatiguing experiences of animal health care providers.

PubMed

Polachek, Alicia J; Wallace, Jean E

2018-03-01

Compassionate work appears paradoxical as it may provide great rewards, but may also come at great costs to care providers. This paper explores the paradox of compassionate work by examining what interactions contribute to compassion satisfaction and what interactions contribute to compassion fatigue. This mixed-methods, cross-sectional study uses qualitative interview data from animal health care providers (N = 20) to identify work interactions that they find satisfying or stressful. Quantitative survey data (N = 572) are used to test hypotheses generated from the interviews regarding predictors of compassion satisfaction and compassion fatigue. Interview transcripts were analyzed using a directed content analysis approach. Survey data were analyzed using ordinary least squares regression. The results highlight the complex nature of compassionate work. As hypothesized, making a difference to animals and building relationships with animal patients and human clients relate to greater compassion satisfaction. Human client barriers to animal care and witnessing client grief relate to greater compassion fatigue, as predicted. None of the predictors relate to less compassion fatigue, but forming relationships with animal patients relates to both greater compassion satisfaction and compassion fatigue. This paper enhances our understanding of provider-client-patient interactions and highlights the paradox of compassionate work.

The protective role of compassion satisfaction for therapists who work with sexual violence survivors: an application of the broaden-and-build theory of positive emotions.

PubMed

Samios, Christina; Abel, Lisa M; Rodzik, Amber K

2013-01-01

Therapists who work with trauma survivors, such as survivors of sexual violence, can experience compassion satisfaction while experiencing negative effects of trauma work, such as secondary traumatic stress. We examined whether the negative effects of secondary traumatic stress on therapist adjustment would be buffered by compassion satisfaction and whether the broaden-and-build theory of positive emotions could be applied to examine the factors (positive emotions and positive reframing) that relate to compassion satisfaction. Sixty-one therapists who work with sexual violence survivors completed measures of secondary traumatic stress, compassion satisfaction, adjustment, positive emotions and positive reframing. Hierarchical multiple regression analyses found that compassion satisfaction buffered the negative impact of secondary traumatic stress on therapist adjustment when adjustment was conceptualised as anxiety. Using non-parametric bootstrapping, we found that the relationship between greater positive emotions and greater compassion satisfaction was partially mediated by positive reframing. The findings indicate that compassion satisfaction is likely to be helpful in ameliorating the negative effects of secondary traumatic stress on anxiety in therapists who work with sexual violence survivors and that the broaden-and-build theory of positive emotions may provide a strong theoretical basis for the further examination of compassion satisfaction in trauma therapists.

Compassion, Mindfulness, and the Happiness of Healthcare Workers.

PubMed

Benzo, Roberto P; Kirsch, Janae L; Nelson, Carlie

Decreased well-being of healthcare workers expressed as stress and decreased job satisfaction influences patient safety, patient satisfaction, and cost containment. Self-compassion has garnered recent attention due to its positive association with well-being and happiness. Discovering novel pathways to increase the well-being of healthcare workers is essential. This study sought to explore the influence of self-compassion on employee happiness in healthcare professionals. A total of 400 participants (mean age = 45 ± 14, 65% female) healthcare workers at a large teaching hospital were randomly asked to complete questionnaires assessing their levels of happiness and self-compassion, life conditions, and habits. Participants completed the Happiness Scale and Self-Compassion Scales, the Five Facet Mindfulness Questionnaire as well as variables associated with well-being: relationship status, the number of hours spent exercising a week, attendance at a wellness facility, and engagement in a regular spiritual practice. Self-compassion was significantly and independently associated with perceived happiness explaining 39% of its variance after adjusting for age, marital status, gender, time spent exercising, and attendance to an exercise facility. Two specific subdomains of self-compassion from the instrument used, coping with isolation and mindfulness, accounted for 95% of the self-compassion effect on happiness. Self-compassion is meaningfully and independently associated with happiness and well-being in healthcare professionals. Our results may have practical implications by providing specific self-compassion components to be targeted in future programs aimed at enhancing well-being in healthcare professionals. Copyright © 2017 Elsevier Inc. All rights reserved.

Compassion, Mindfulness and the Happiness of Health Care Workers

PubMed Central

Benzo, Roberto P.; Kirsch, Janae L.; Nelson, Carlie

2017-01-01

Context Decreased well-being of health care workers expressed as stress and decreased job satisfaction influences patient safety and satisfaction and cost containment. Self-compassion has garnered recent attention due to its positive association with wellbeing and happiness. Discovering novel pathways to increase the well-being of health care workers is essential. Objective This study sought to explore the influence of self-compassion on employee happiness in health care professionals. Design, Setting & Participants 400 participants (mean age 45 ± 14, 65% female) health care workers at a large teaching hospital were randomly asked to complete questionnaires assessing their levels of happiness and self-compassion, life conditions and habits. Measures Participants completed the Happiness Scale and Self-Compassion Scales, the Five Facet Mindfulness Questionnaire as well as variables associated with wellbeing: relationship status, the number of hours spent exercising a week, attendance at a wellness facility and engagement in a regular spiritual practice. Results Self-compassion was significantly and independently associated with perceived happiness explaining 39% of its variance after adjusting for age, marital status, gender, time spent exercising and attendance to an exercise facility. Two specific subdomains of self-compassion from the instrument used, coping with isolation and mindfulness, accounted for 95% of the self-compassion effect on happiness. Conclusion Self-compassion is meaningfully and independently associated with happiness and well-being in health care professionals. Our results may have practical implications by providing specific self-compassion components to be targeted in future programs aimed at enhancing wellbeing in health care professionals. PMID:28420563

Visual but not trigeminal mediation of magnetic compass information in a migratory bird.

PubMed

Zapka, Manuela; Heyers, Dominik; Hein, Christine M; Engels, Svenja; Schneider, Nils-Lasse; Hans, Jörg; Weiler, Simon; Dreyer, David; Kishkinev, Dmitry; Wild, J Martin; Mouritsen, Henrik

2009-10-29

Magnetic compass information has a key role in bird orientation, but the physiological mechanisms enabling birds to sense the Earth's magnetic field remain one of the unresolved mysteries in biology. Two biophysical mechanisms have become established as the most promising magnetodetection candidates. The iron-mineral-based hypothesis suggests that magnetic information is detected by magnetoreceptors in the upper beak and transmitted through the ophthalmic branch of the trigeminal nerve to the brain. The light-dependent hypothesis suggests that magnetic field direction is sensed by radical pair-forming photopigments in the eyes and that this visual signal is processed in cluster N, a specialized, night-time active, light-processing forebrain region. Here we report that European robins with bilateral lesions of cluster N are unable to show oriented magnetic-compass-guided behaviour but are able to perform sun compass and star compass orientation behaviour. In contrast, bilateral section of the ophthalmic branch of the trigeminal nerve in European robins did not influence the birds' ability to use their magnetic compass for orientation. These data show that cluster N is required for magnetic compass orientation in this species and indicate that it may be specifically involved in processing of magnetic compass information. Furthermore, the data strongly suggest that a vision-mediated mechanism underlies the magnetic compass in this migratory songbird, and that the putative iron-mineral-based receptors in the upper beak connected to the brain by the trigeminal nerve are neither necessary nor sufficient for magnetic compass orientation in European robins.

Influence of fears of compassion on body image shame and disordered eating.

PubMed

Dias, Bernardo Santos; Ferreira, Cláudia; Trindade, Inês A

2018-06-07

The current study tested a path model examining the impact of fears of compassion in the adoption of disordered eating and whether social safeness and body shame would mediate this relationship. Participants were 645 women (aged between 18 and 55) from the general community, who completed an online survey. Results indicated that fears of compassion were negatively associated with one's ability to feel secure and safe within close relationships, and positively linked with higher levels of body shame and disordered eating. The tested model accounted for 62% of the variance of disordered eating. Path analyses results revealed that the three dimensions of fears of compassion impacted on disordered eating. Particularly, fear of expressing compassion for others presented a direct impact on disordered eating. Moreover, fears of self-compassion and fears of receiving compassion from others partially impacted on disordered eating attitudes and behaviours, through the mechanisms of social safeness and body image-focused shame. These findings suggested that women who present higher levels of fear of self-compassion and of receiving signs of affection and compassion from others tend to feel more insecure in their social group, which seem explain body shame and the engagement in disordered eating behaviours. This study highlights the pathogenic impact of fears of compassion on body image and eating attitudes and behaviours. The current data seem to offer relevant insights for research and clinical practice, by supporting the relevance of developing compassionate abilities and attitudes to target body image and eating-related difficulties.

Effect of Meaningful Recognition on Critical Care Nurses' Compassion Fatigue.

PubMed

Kelly, Lesly A; Lefton, Cindy

2017-11-01

As caregivers in high-pressure environments, critical care nurses are at risk for burnout and secondary trauma-components of compassion fatigue. Recent findings have increased understanding of the phenomena, specifically that satisfaction and meaningful recognition may play a role in reducing burnout and raising compassion satisfaction; however, no large multisite studies of compassion fatigue have been conducted. To examine the effect of meaningful recognition and other predictors on compassion fatigue in a multicenter national sample of critical care nurses. A quantitative, descriptive online survey was completed by 726 intensive care unit nurses in 14 hospitals with an established meaningful recognition program and 410 nurses in 10 hospitals without such a program. Site coordinators at each hospital coordinated distribution of the survey to nurses to assess multiple predictors against outcomes, measured by the Professional Quality of Life Scale. Cross-validation and linear regression modeling were conducted to determine significant predictors of burnout, secondary traumatic stress, and compassion satisfaction. Similar levels of burnout, secondary traumatic stress, compassion satisfaction, overall satisfaction, and intent to leave were reported by nurses in hospitals with and without meaningful recognition programs. Meaningful recognition was a significant predictor of decreased burnout and increased compassion satisfaction. Additionally, job satisfaction and job enjoyment were highly predictive of decreased burnout, decreased secondary traumatic stress, and increased compassion satisfaction. In addition to acknowledging and valuing nurses' contributions to care, meaningful recognition could reduce burnout and boost compassion satisfaction. ©2017 American Association of Critical-Care Nurses.

How are compassion fatigue, burnout, and compassion satisfaction affected by quality of working life? Findings from a survey of mental health staff in Italy.

PubMed

Cetrano, Gaia; Tedeschi, Federico; Rabbi, Laura; Gosetti, Giorgio; Lora, Antonio; Lamonaca, Dario; Manthorpe, Jill; Amaddeo, Francesco

2017-11-21

Quality of working life includes elements such as autonomy, trust, ergonomics, participation, job complexity, and work-life balance. The overarching aim of this study was to investigate if and how quality of working life affects Compassion Fatigue, Burnout, and Compassion Satisfaction among mental health practitioners. Staff working in three Italian Mental Health Departments completed the Professional Quality of Life Scale, measuring Compassion Fatigue, Burnout, and Compassion Satisfaction, and the Quality of Working Life Questionnaire. The latter was used to collect socio-demographics, occupational characteristics and 13 indicators of quality of working life. Multiple regressions controlling for other variables were undertaken to predict Compassion Fatigue, Burnout, and Compassion Satisfaction. Four hundred questionnaires were completed. In bivariate analyses, experiencing more ergonomic problems, perceiving risks for the future, a higher impact of work on life, and lower levels of trust and of perceived quality of meetings were associated with poorer outcomes. Multivariate analysis showed that (a) ergonomic problems and impact of work on life predicted higher levels of both Compassion Fatigue and Burnout; (b) impact of life on work was associated with Compassion Fatigue and lower levels of trust and perceiving more risks for the future with Burnout only; (c) perceived quality of meetings, need of training, and perceiving no risks for the future predicted higher levels of Compassion Satisfaction. In order to provide adequate mental health services, service providers need to give their employees adequate ergonomic conditions, giving special attention to time pressures. Building trustful relationships with management and within the teams is also crucial. Training and meetings are other important targets for potential improvement. Additionally, insecurity about the future should be addressed as it can affect both Burnout and Compassion Satisfaction. Finally, strategies to reduce possible work-life conflicts need to be considered.

The emotion of compassion and the likelihood of its expression in nursing practice.

PubMed

Newham, Roger Alan

2017-07-01

Philosophical and empirical work on the nature of the emotions is extensive, and there are many theories of emotions. However, all agree that emotions are not knee jerk reactions to stimuli and are open to rational assessment or warrant. This paper's focus is on the condition or conditions for compassion as an emotion and the likelihood that it or they can be met in nursing practice. Thus, it is attempting to keep, as far as possible, compassion as an emotion separate from both moral norms and professional norms. This is because empirical or causal conditions that can make experiencing and acting out of compassion difficult seem especially relevant in nursing practice. I consider how theories of emotion in general and of compassion in particular are somewhat contested, but all recent accounts agree that emotions are not totally immune to reason. Then, using accounts of constitutive conditions of the emotion of compassion, I will show how they are often likely to be quite fragile or unstable in practice and particularly so within much nursing practice. In addition, some of the conditions for compassion will be shown to be problematic for nursing practice. It is difficult to keep ideas of compassion separate from morality, and this connection is noticeable in the claims made of compassion for nursing and so I will briefly highlight one such connection that of the need for normative theory to give an account of the value that emotions such as compassion presume and that compassionate motivation is separate from moral motivation and may conflict with it. The fragility or instability of the emotion of compassion in practice has implications for both what can be expected and what should be expected of compassion; at least if what is wanted is a realist rather than idealist account of "should." © 2016 John Wiley & Sons Ltd.

Communication, compassion, and computers: Adolescents' and adults' evaluations of online and face-to-face deception.

PubMed

O'Rourke, Sean; Eskritt, Michelle; Bosacki, Sandra

2018-06-01

We explored Canadian adolescents', emergent adults', and adults' understandings of deception in computer mediated communication (CMC) compared to face to face (FtF). Participants between 13 and 50 years read vignettes of different types of questionable behaviour that occurred online or in real life, and were asked to judge whether deception was involved, and the acceptability of the behaviour. Age groups evaluated deception similarly; however, adolescents held slightly different views from adults about what constitutes deception, suggesting that the understanding of deception continues to develop into adulthood. Furthermore, CMC behaviour was rated as more deceptive than FtF in general, and participants scoring higher on compassion perceived vignettes to be more deceptive. This study is a step towards better understanding the relationships between perceptions of deception across adolescence into adulthood, mode of communication, and compassion, and may have implications for how adults communicate with youth about deception in CMC and FtF contexts. Copyright © 2018 The Foundation for Professionals in Services for Adolescents. Published by Elsevier Ltd. All rights reserved.

Calibration of magnetic and celestial compass cues in migratory birds--a review of cue-conflict experiments.

PubMed

Muheim, Rachel; Moore, Frank R; Phillips, John B

2006-01-01

Migratory birds use multiple sources of compass information for orientation, including the geomagnetic field, the sun, skylight polarization patterns and star patterns. In this paper we review the results of cue-conflict experiments designed to determine the relative importance of the different compass mechanisms, and how directional information from these compass mechanisms is integrated. We focus on cue-conflict experiments in which the magnetic field was shifted in alignment relative to natural celestial cues. Consistent with the conclusions of earlier authors, our analyses suggest that during the premigratory season, celestial information is given the greatest salience and used to recalibrate the magnetic compass by both juvenile and adult birds. Sunset polarized light patterns from the region of the sky near the horizon appear to provide the calibration reference for the magnetic compass. In contrast, during migration, a majority of experiments suggest that birds rely on the magnetic field as the primary source of compass information and use it to calibrate celestial compass cues, i.e. the relative saliency of magnetic and celestial cues is reversed. An alternative possibility, however, is suggested by several experiments in which birds exposed to a cue conflict during migration appear to have recalibrated the magnetic compass, i.e. their response is similar to that of birds exposed to cue conflicts during the premigratory season. The general pattern to emerge from these analyses is that birds exposed to the cue conflict with a view of the entire sunset sky tended to recalibrate the magnetic compass, regardless of whether the cue conflict occurred during the premigratory or migratory period. In contrast, birds exposed to the cue conflict in orientation funnels and registration cages that restricted their view of the region of sky near the horizon (as was generally the case in experiments carried out during the migratory season) did not recalibrate the magnetic compass but, instead, used the magnetic compass to calibrate the other celestial compass systems. If access to critical celestial cues, rather than the timing of exposure to the cue conflict (i.e. premigratory vs migratory), determines whether recalibration of the magnetic compass occurs, this suggests that under natural conditions there may be a single calibration reference for all of the compass systems of migratory birds that is derived from sunset (and possibly also sunrise) polarized light cues from the region of sky near the horizon. In cue-conflict experiments carried out during the migratory season, there was also an interesting asymmetry in the birds' response to magnetic fields shifted clockwise and counterclockwise relative to celestial cues. We discuss two possible explanations for these differences: (1) lateral asymmetry in the role of the right and left eye in mediating light-dependent magnetic compass orientation and (2) interference from the spectral and intensity distribution of skylight at sunset with the response of the light-dependent magnetic compass.

Multi-optimization Criteria-based Robot Behavioral Adaptability and Motion Planning

DOE Office of Scientific and Technical Information (OSTI.GOV)

Pin, Francois G.

2002-06-01

Robotic tasks are typically defined in Task Space (e.g., the 3-D World), whereas robots are controlled in Joint Space (motors). The transformation from Task Space to Joint Space must consider the task objectives (e.g., high precision, strength optimization, torque optimization), the task constraints (e.g., obstacles, joint limits, non-holonomic constraints, contact or tool task constraints), and the robot kinematics configuration (e.g., tools, type of joints, mobile platform, manipulator, modular additions, locked joints). Commercially available robots are optimized for a specific set of tasks, objectives and constraints and, therefore, their control codes are extremely specific to a particular set of conditions. Thus,more » there exist a multiplicity of codes, each handling a particular set of conditions, but none suitable for use on robots with widely varying tasks, objectives, constraints, or environments. On the other hand, most DOE missions and tasks are typically ''batches of one''. Attempting to use commercial codes for such work requires significant personnel and schedule costs for re-programming or adding code to the robots whenever a change in task objective, robot configuration, number and type of constraint, etc. occurs. The objective of our project is to develop a ''generic code'' to implement this Task-space to Joint-Space transformation that would allow robot behavior adaptation, in real time (at loop rate), to changes in task objectives, number and type of constraints, modes of controls, kinematics configuration (e.g., new tools, added module). Our specific goal is to develop a single code for the general solution of under-specified systems of algebraic equations that is suitable for solving the inverse kinematics of robots, is useable for all types of robots (mobile robots, manipulators, mobile manipulators, etc.) with no limitation on the number of joints and the number of controlled Task-Space variables, can adapt to real time changes in number and type of constraints and in task objectives, and can adapt to changes in kinematics configurations (change of module, change of tool, joint failure adaptation, etc.).« less

Robotic Arms. A Contribution to the Curriculum. An Occasional Paper.

ERIC Educational Resources Information Center

Arnold, W. F.; Carpenter, C. J.

This report examines ways of providing technician training in the operating principles of robotic devices. The terms "robotics" and "robotic arms" are first defined. Some background information on the principal features of robotic arms is given, including their geometric arrangement, type of actuator used, control method, and…

Perspectives of construction robots

NASA Astrophysics Data System (ADS)

Stepanov, M. A.; Gridchin, A. M.

2018-03-01

This article is an overview of construction robots features, based on formulating the list of requirements for different types of construction robots in relation to different types of construction works.. It describes a variety of construction works and ways to construct new or to adapt existing robot designs for a construction process. Also, it shows the prospects of AI-controlled machines, implementation of automated control systems and networks on construction sites. In the end, different ways to develop and improve, including ecological aspect, the construction process through the wide robotization, creating of data communication networks and, in perspective, establishing of fully AI-controlled construction complex are formulated.

Compassion Fatigue, Compassion Satisfaction, and Burnout: Factors Impacting a Professional's Quality of Life

ERIC Educational Resources Information Center

Sprang, Ginny; Whitt-Woosley, Adrienne; Clark, James J.

2007-01-01

This study examined the relationship between three variables, compassion fatigue (CF), compassion satisfaction (CS), and burnout, and provider and setting characteristics in a sample of 1,121 mental health providers in a rural southern state. Respondents completed the Professional Quality of Life Scale as part of a larger survey of provider…

Self-Compassion as a Predictor of Psychological Entitlement in Turkish University Students

ERIC Educational Resources Information Center

Sahranç, Ümit

2015-01-01

The purpose of this study is to examine the predictive role of self-compassion on psychological entitlement. Participants were 331 university students (205 women, 126 men, M age = 20.5 years.). In this study, the Self-compassion Scale and the Psychological Entitlement Scale were used to assess self-compassion and psychological entitlement. The…

Exploring Magnetic Fields with a Compass

ERIC Educational Resources Information Center

Lunk, Brandon; Beichner, Robert

2011-01-01

A compass is an excellent classroom tool for the exploration of magnetic fields. Any student can tell you that a compass is used to determine which direction is north, but when paired with some basic trigonometry, the compass can be used to actually measure the strength of the magnetic field due to a nearby magnet or current-carrying wire. In this…

46 CFR 32.15-35 - Magnetic Compass and Gyrocompass-T/OC.

Code of Federal Regulations, 2012 CFR

2012-10-01

..., MACHINERY, AND HULL REQUIREMENTS Navigation Equipment § 32.15-35 Magnetic Compass and Gyrocompass—T/OC. (a) All tankships in ocean or coastwise service must be fitted with a magnetic compass. (b) All tankships... 46 Shipping 1 2012-10-01 2012-10-01 false Magnetic Compass and Gyrocompass-T/OC. 32.15-35 Section...

The Relationship between Self-Care Practices, Burnout, Compassion Fatigue, and Compassion Satisfaction among Professional Counselors and Counselors-in-Training

ERIC Educational Resources Information Center

Star, Katharina L.

2013-01-01

The present study examined the relationship between compassion fatigue, burnout, compassion satisfaction, and self-care among counselors and counselors-in-training. Additionally, the current study investigated if recent life changes, age, sex, race, years of experience, education level, and work/internship setting impacted counselors' and…

46 CFR 32.15-35 - Magnetic Compass and Gyrocompass-T/OC.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 1 2011-10-01 2011-10-01 false Magnetic Compass and Gyrocompass-T/OC. 32.15-35 Section..., MACHINERY, AND HULL REQUIREMENTS Navigation Equipment § 32.15-35 Magnetic Compass and Gyrocompass—T/OC. (a) All tankships in ocean or coastwise service must be fitted with a magnetic compass. (b) All tankships...

46 CFR 32.15-35 - Magnetic Compass and Gyrocompass-T/OC.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 1 2010-10-01 2010-10-01 false Magnetic Compass and Gyrocompass-T/OC. 32.15-35 Section..., MACHINERY, AND HULL REQUIREMENTS Navigation Equipment § 32.15-35 Magnetic Compass and Gyrocompass—T/OC. (a) All tankships in ocean or coastwise service must be fitted with a magnetic compass. (b) All tankships...

The Influence of Business Students' Listening Styles on Their Compassion and Self-Compassion

ERIC Educational Resources Information Center

Ramos Salazar, Leslie

2017-01-01

The aim of this study was to investigate the influence of the four listening styles of business communication students on their demonstration of compassion for others and themselves. A sample of 387 business students completed a questionnaire that inquired about their perceptions of their preferred listening style, their compassion for others, and…

Measurement of Vibrations in Two Tower-Typed Assistant Personal Robot Implementations with and without a Passive Suspension System

PubMed Central

Moreno, Javier; Clotet, Eduard; Tresanchez, Marcel; Martínez, Dani; Casanovas, Jordi; Palacín, Jordi

2017-01-01

This paper presents the vibration pattern measurement of two tower-typed holonomic mobile robot prototypes: one based on a rigid mechanical structure, and the other including a passive suspension system. Specific to the tower-typed mobile robots is that the vibrations that originate in the lower part of the structure are transmitted and amplified to the higher areas of the tower, causing an unpleasant visual effect and mechanical stress. This paper assesses the use of a suspension system aimed at minimizing the generation and propagation of vibrations in the upper part of the tower-typed holonomic robots. The two robots analyzed were equipped with onboard accelerometers to register the acceleration over the X, Y, and Z axes in different locations and at different velocities. In all the experiments, the amplitude of the vibrations showed a typical Gaussian pattern which has been modeled with the value of the standard deviation. The results have shown that the measured vibrations in the head of the mobile robots, including a passive suspension system, were reduced by a factor of 16. PMID:28505108

Self-Compassion and Relationship Maintenance: The Moderating Roles of Conscientiousness and Gender

PubMed Central

Baker, Levi; McNulty, James K.

2010-01-01

Should intimates respond to their interpersonal mistakes with self-criticism or with self-compassion? Although it is reasonable to expect self-compassion to benefit relationships by promoting self-esteem, it is also reasonable to expect self-compassion to hurt relationships by removing intimates’ motivation to correct their interpersonal mistakes. Two correlational studies, 1 experiment, and 1 longitudinal study demonstrated that whether self-compassion helps or hurts relationships depends on the presence versus absence of dispositional sources of the motivation to correct interpersonal mistakes. Among men, the implications of self-compassion were moderated by conscientiousness. Among men high in conscientiousness, self-compassion was associated with greater motivation to correct interpersonal mistakes (Studies 1 and 3), observations of more-constructive problem-solving behaviors (Study 2), reports of more accommodation (Study 3), and fewer declines in marital satisfaction that were mediated by decreases in interpersonal problem severity (Study 4); among men low in conscientiousness, self-compassion was associated with these outcomes in the opposite direction. Among women, in contrast, likely because women are inherently more motivated than men to preserve their relationships for cultural and/or biological reasons, self-compassion was never harmful to the relationship. Instead, women’s self-compassion was positively associated with the motivation to correct their interpersonal mistakes (Study 1) and changes in relationship satisfaction (Study 4), regardless of conscientiousness. Accordingly, theoretical descriptions of the implications of self-promoting thoughts for relationships may be most complete to the extent that they consider the presence versus absence of other sources of the motivation to correct interpersonal mistakes. PMID:21280964

Compassion training in healthcare: what are patients' perspectives on training healthcare providers?

PubMed

Sinclair, Shane; Torres, Mia-Bernadine; Raffin-Bouchal, Shelley; Hack, Thomas F; McClement, Susan; Hagen, Neil A; Chochinov, Harvey M

2016-07-11

The purpose of this qualitative study was to investigate advanced cancer patients' perspectives on the importance, feasibility, teaching methods, and issues associated with training healthcare providers in compassionate care. This study utilized grounded theory, a qualitative research method, to develop an empirical understanding of compassion education rooted in direct patient reports. Audio-recorded semi-structured interviews were conducted to obtain an in-depth understanding of compassion training from the perspectives of hospitalized advanced cancer patients (n = 53). Data were analyzed in accordance with grounded theory to determine the key elements of the underlying theory. Three overarching categories and associated themes emerged from the data: compassion aptitude, cultivating compassion, and training methods. Participants spoke of compassion as an innate quality embedded in the character of learners prior to their healthcare training, which could be nurtured through experiential learning and reflective practices. Patients felt that the innate qualities that learners possessed at baseline were further fashioned by personal and practice experiences, and vocational motivators. Participants also provided recommendations for compassion training, including developing an interpersonal relationship with patients, seeing the patient as a person, and developing a human connection. Teaching methods that patients suggested in compassion training included patient-centered communication, self-reflection exercises, and compassionate role modeling. This study provides insight on compassion training for both current and future healthcare providers, from the perspectives of the end recipients of healthcare provider training - patients. Developing a theoretical base for patient centred, evidence-informed, compassion training is a crucial initial step toward the further development of this core healthcare competency.

Coordinating compass-based and nest-based flight directions during bumblebee learning and return flights.

PubMed

Collett, Thomas S; de Ibarra, Natalie Hempel; Riabinina, Olena; Philippides, Andrew

2013-03-15

Bumblebees tend to face their nest over a limited range of compass directions when learning the nest's location on departure and finding it on their approach after foraging. They thus obtain similar views of the nest and its surroundings on their learning and return flights. How do bees coordinate their flights relative to nest-based and compass-based reference frames to get such similar views? We show, first, that learning and return flights contain straight segments that are directed along particular compass bearings, which are independent of the orientation of a bee's body. Bees are thus free within limits to adjust their viewing direction relative to the nest, without disturbing flight direction. Second, we examine the coordination of nest-based and compass-based control during likely information gathering segments of these flights: loops during learning flights and zigzags on return flights. We find that bees tend to start a loop or zigzag when flying within a restricted range of compass directions and to fly towards the nest and face it after a fixed change in compass direction, without continuous interactions between their nest-based and compass-based directions of flight. A preferred trajectory of compass-based flight over the course of a motif, combined with the tendency of the bees to keep their body oriented towards the nest automatically narrows the range of compass directions over which bees view the nest. Additionally, the absence of interactions between the two reference frames allows loops and zigzags to have a stereotyped form that can generate informative visual feedback.

Barriers to self-compassion for female survivors of childhood maltreatment: The roles of fear of self-compassion and psychological inflexibility.

PubMed

Boykin, Derrecka M; Himmerich, Sara J; Pinciotti, Caitlin M; Miller, Lindsay M; Miron, Lynsey R; Orcutt, Holly K

2018-02-01

Preliminary evidence has demonstrated the benefits of targeting self-compassion in the treatment of posttraumatic stress disorder (PTSD). However, survivors of childhood maltreatment may present with unique challenges that compromise the effectiveness of these and other PTSD treatments. Specifically, childhood maltreatment victims often exhibit a marked fear and active resistance of self-kindness and warmth (i.e., fear of self-compassion). Victims may also attempt to control distressing internal experiences in a way that hinders engagement in value-based actions (i.e., psychological inflexibility). Research suggests that psychological inflexibility exacerbates the negative effects of fear of self-compassion. The present study expanded on previous research by examining the relations among childhood maltreatment, fear of self-compassion, psychological inflexibility, and PTSD symptom severity in 288 college women. As expected, moderate to severe levels of childhood maltreatment were associated with greater fear of self-compassion, psychological inflexibility, and PTSD symptom severity compared to minimal or no childhood maltreatment. A mediation analysis showed that childhood maltreatment had a significant indirect effect on PTSD symptom severity via fear of self-compassion, although a conditional process analysis did not support psychological inflexibility as a moderator of this indirect effect. A post hoc multiple mediator analysis showed a significant indirect effect of childhood maltreatment on PTSD symptom severity via psychological inflexibility, but not fear of self-compassion. These findings highlight the importance of addressing fear of self-compassion and psychological inflexibility as barriers to treatment for female survivors of childhood maltreatment. Copyright © 2017 Elsevier Ltd. All rights reserved.

Predictors of Compassion Fatigue and Compassion Satisfaction in Acute Care Nurses.

PubMed

Kelly, Lesly; Runge, Jody; Spencer, Christina

2015-11-01

To examine compassion fatigue and compassion satisfaction in acute care nurses across multiple specialties in a hospital-based setting. A cross-sectional electronic survey design was used to collect data from direct care nurses in a 700-bed, quaternary care, teaching facility in the southwestern United States. A total of 491 direct care registered nurses completed a survey measuring their professional quality of life (burnout, secondary traumatic stress, and compassion satisfaction). Analysis was conducted to assess for differences between demographics, specialties, job satisfaction, and intent to leave their current position. Significant predictors of burnout included lack of meaningful recognition, nurses with more years of experience, and nurses in the "Millennial" generation (ages 21-33 years). Receiving meaningful recognition, higher job satisfaction, nurses in the "Baby Boomer" generation (ages 50-65 years), and nurses with fewer years of experience significantly predicted compassion satisfaction. No significant differences were noted across nurse specialties, units, or departments. This study adds to the literature the impact meaningful recognition may have on compassion satisfaction and fatigue. Our findings provide a potential explanation for the lack of retention of nurses in the millennial generation who leave their positions with limited years of experience. Based on our research, meaningful recognition may increase compassion satisfaction, positively impact retention, and elevate job satisfaction. Compassion fatigue in nurses has clear implications for nursing retention and the quality of care. Organizations willing to invest in reducing compassion fatigue have the potential to improve financial savings by reducing turnover and adverse events associated with burnout. © 2015 Sigma Theta Tau International.

Sympathy, empathy, and compassion: A grounded theory study of palliative care patients' understandings, experiences, and preferences.

PubMed

Sinclair, Shane; Beamer, Kate; Hack, Thomas F; McClement, Susan; Raffin Bouchal, Shelley; Chochinov, Harvey M; Hagen, Neil A

2017-05-01

Compassion is considered an essential element in quality patient care. One of the conceptual challenges in healthcare literature is that compassion is often confused with sympathy and empathy. Studies comparing and contrasting patients' perspectives of sympathy, empathy, and compassion are largely absent. The aim of this study was to investigate advanced cancer patients' understandings, experiences, and preferences of "sympathy," "empathy," and "compassion" in order to develop conceptual clarity for future research and to inform clinical practice. Data were collected via semi-structured interviews and then independently analyzed by the research team using the three stages and principles of Straussian grounded theory. Data were collected from 53 advanced cancer inpatients in a large urban hospital. Constructs of sympathy, empathy, and compassion contain distinct themes and sub-themes. Sympathy was described as an unwanted, pity-based response to a distressing situation, characterized by a lack of understanding and self-preservation of the observer. Empathy was experienced as an affective response that acknowledges and attempts to understand individual's suffering through emotional resonance. Compassion enhanced the key facets of empathy while adding distinct features of being motivated by love, the altruistic role of the responder, action, and small, supererogatory acts of kindness. Patients reported that unlike sympathy, empathy and compassion were beneficial, with compassion being the most preferred and impactful. Although sympathy, empathy, and compassion are used interchangeably and frequently conflated in healthcare literature, patients distinguish and experience them uniquely. Understanding patients' perspectives is important and can guide practice, policy reform, and future research.

A lateralized avian hippocampus: preferential role of the left hippocampal formation in homing pigeon sun compass-based spatial learning.

PubMed

Gagliardo, Anna; Vallortigara, Giorgio; Nardi, Daniele; Bingman, Verner P

2005-11-01

The hippocampal formation (HF) plays a crucial role in amniote spatial cognition. There are also indications of functional lateralization in the contribution of the left and right HF in processes that enable birds to navigate space. The experiments described in this study were designed to examine left and right HF differences in a task of sun compass-based spatial learning in homing pigeons (Columba livia). Control, left (HFL) and right (HFR) HF lesioned pigeons were trained in an outdoor arena to locate a food reward using their sun compass in the presence or absence of alternative feature cues. Subsequent to training, the pigeons were subjected to test sessions to determine if they learned to represent the goal location with their sun compass and the relative importance of the sun compass vs. feature cues. Under all test conditions, the control pigeons demonstrated preferential use of the sun compass in locating the goal. By contrast, the HFL pigeons demonstrated no ability to locate the goal by the sun compass but an ability to use the feature cues. The behaviour of the HFR pigeons demonstrated that an intact left HF is sufficient to support sun compass-based learning, but in conflict situations and in contrast to controls, they often relied on feature cues. In conclusion, only the left HF is capable of supporting sun compass-based learning. However, preferential use of the sun compass for learning requires an intact right HF. The data support the hypothesis that the left and right HF make different but complementary contributions toward avian spatial cognition.

Self-compassion and relationship maintenance: the moderating roles of conscientiousness and gender.

PubMed

Baker, Levi R; McNulty, James K

2011-05-01

Should intimates respond to their interpersonal mistakes with self-criticism or with self-compassion? Although it is reasonable to expect self-compassion to benefit relationships by promoting self-esteem, it is also reasonable to expect self-compassion to hurt relationships by removing intimates' motivation to correct their interpersonal mistakes. Two correlational studies, 1 experiment, and 1 longitudinal study demonstrated that whether self-compassion helps or hurts relationships depends on the presence versus absence of dispositional sources of the motivation to correct interpersonal mistakes. Among men, the implications of self-compassion were moderated by conscientiousness. Among men high in conscientiousness, self-compassion was associated with greater motivation to correct interpersonal mistakes (Studies 1 and 3), observations of more constructive problem-solving behaviors (Study 2), reports of more accommodation (Study 3), and fewer declines in marital satisfaction that were mediated by decreases in interpersonal problem severity (Study 4); among men low in conscientiousness, self-compassion was associated with these outcomes in the opposite direction. Among women, in contrast, likely because women are inherently more motivated than men to preserve their relationships for cultural and/or biological reasons, self-compassion was never harmful to the relationship. Instead, women's self-compassion was positively associated with the motivation to correct their interpersonal mistakes (Study 1) and changes in relationship satisfaction (Study 4), regardless of conscientiousness. Accordingly, theoretical descriptions of the implications of self-promoting thoughts for relationships may be most complete to the extent that they consider the presence versus absence of other sources of the motivation to correct interpersonal mistakes. (c) 2011 APA, all rights reserved.

Oncologist burnout and compassion fatigue: investigating time pressure at work as a predictor and the mediating role of work-family conflict.

PubMed

Kleiner, Sibyl; Wallace, Jean E

2017-09-11

Oncologists are at high risk of poor mental health. Prior research has focused on burnout, and has identified heavy workload as a key predictor. Compassion fatigue among physicians has generally received less attention, although medical specialties such as oncology may be especially at risk of compassion fatigue. We contribute to research by identifying predictors of both burnout and compassion fatigue among oncologists. In doing so, we distinguish between quantitative workload (e.g., work hours) and subjective work pressure, and test whether work-family conflict mediates the relationships between work pressure and burnout or compassion fatigue. In a cross-sectional study, oncologists from across Canada (n = 312) completed questionnaires assessing burnout, compassion fatigue, workload, time pressure at work, work-family conflict, and other personal, family, and occupational characteristics. Analyses use Ordinary Least Squares regression. Subjective time pressure at work is a key predictor of both burnout and compassion fatigue. Our results also show that work-family conflict fully mediates these relationships. Overall, the models explain more of the variation in burnout as compared to compassion fatigue. Our study highlights the need to consider oncologists' subjective time pressure, in addition to quantitative workload, in interventions to improve mental health. The findings also highlight a need to better understand additional predictors of compassion fatigue.

Accuracy Analysis of Precise Point Positioning of Compass Navigation System Applied to Crustal Motion Monitoring

NASA Astrophysics Data System (ADS)

Wang, Yuebing

2017-04-01

Based on the observation data of Compass/GPSobserved at five stations, time span from July 1, 2014 to June 30, 2016. UsingPPP positioning model of the PANDA software developed by Wuhan University,Analyzedthe positioning accuracy of single system and Compass/GPS integrated resolving, and discussed the capability of Compass navigation system in crustal motion monitoring. The results showed that the positioning accuracy in the east-west directionof the Compass navigation system is lower than the north-south direction (the positioning accuracy de 3 times RMS), in general, the positioning accuracyin the horizontal direction is about 1 2cm and the vertical direction is about 5 6cm. The GPS positioning accuracy in the horizontal direction is better than 1cm and the vertical direction is about 1 2cm. The accuracy of Compass/GPS integrated resolving is quite to GPS. It is worth mentioning that although Compass navigation system precision point positioning accuracy is lower than GPS, two sets of velocity fields obtained by using the Nikolaidis (2002) model to analyze the Compass and GPS time series results respectively, the results showed that the maximum difference of the two sets of velocity field in horizontal directions is 1.8mm/a. The Compass navigation system can now be used to monitor the crustal movement of the large deformation area, based on the velocity field in horizontal direction.

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics

PubMed Central

Fu, Chunjiang; Suzuki, Yasuyuki; Kiyono, Ken; Morasso, Pietro; Nomura, Taishin

2014-01-01

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics. PMID:25339687

An intermittent control model of flexible human gait using a stable manifold of saddle-type unstable limit cycle dynamics.

PubMed

Fu, Chunjiang; Suzuki, Yasuyuki; Kiyono, Ken; Morasso, Pietro; Nomura, Taishin

2014-12-06

Stability of human gait is the ability to maintain upright posture during walking against external perturbations. It is a complex process determined by a number of cross-related factors, including gait trajectory, joint impedance and neural control strategies. Here, we consider a control strategy that can achieve stable steady-state periodic gait while maintaining joint flexibility with the lowest possible joint impedance. To this end, we carried out a simulation study of a heel-toe footed biped model with hip, knee and ankle joints and a heavy head-arms-trunk element, working in the sagittal plane. For simplicity, the model assumes a periodic desired joint angle trajectory and joint torques generated by a set of feed-forward and proportional-derivative feedback controllers, whereby the joint impedance is parametrized by the feedback gains. We could show that a desired steady-state gait accompanied by the desired joint angle trajectory can be established as a stable limit cycle (LC) for the feedback controller with an appropriate set of large feedback gains. Moreover, as the feedback gains are decreased for lowering the joint stiffness, stability of the LC is lost only in a few dimensions, while leaving the remaining large number of dimensions quite stable: this means that the LC becomes saddle-type, with a low-dimensional unstable manifold and a high-dimensional stable manifold. Remarkably, the unstable manifold remains of low dimensionality even when the feedback gains are decreased far below the instability point. We then developed an intermittent neural feedback controller that is activated only for short periods of time at an optimal phase of each gait stride. We characterized the robustness of this design by showing that it can better stabilize the unstable LC with small feedback gains, leading to a flexible gait, and in particular we demonstrated that such an intermittent controller performs better if it drives the state point to the stable manifold, rather than directly to the LC. The proposed intermittent control strategy might have a high affinity for the inverted pendulum analogy of biped gait, providing a dynamic view of how the step-to-step transition from one pendular stance to the next can be achieved stably in a robust manner by a well-timed neural intervention that exploits the stable modes embedded in the unstable dynamics.

Examining the Factors of Self-Compassion Scale with Canonical Commonality Analysis: Syrian Sample

ERIC Educational Resources Information Center

Ozdemir, Burhanettin; Seef, Nesrin

2017-01-01

Purpose of Study: The purpose of this study is to examine the psychological structure of self-compassion and to determine the relationship between the sub-dimensions (or factors) of the self-compassion-scale and the contribution of each factor to the construct. Although the self-compassion scale has been commonly used in the area of psychology,…

Compassion satisfaction, compassion fatigue, anxiety, depression and stress in registered nurses in Australia: phase 2 results.

PubMed

Drury, Vicki; Craigie, Mark; Francis, Karen; Aoun, Samar; Hegney, Desley G

2014-05-01

This is the first two-phase Australian study to explore the factors impacting upon compassion satisfaction, compassion fatigue, anxiety, depression and stress and to describe the strategies nurses use to build compassion satisfaction into their working lives. Compassion fatigue has been found to impact on job satisfaction, the quality of patient care and retention within nursing. This study provides new knowledge on the influences of anxiety, stress and depression and how they relate to compassion satisfaction and compassion fatigue. In Phase 2 of the study, 10 nurses from Phase 1 of the study participated in individual interviews and a focus group. A semi-structured interview schedule guided the conversations with the participants. Data analysis resulted in seven main themes: social networks and support;infrastructure and support; environment and lifestyle; learning; leadership; stress; and suggestions to build psychological wellness in nurses. Findings suggest that a nurse’s capacity to cope is enhanced through strong social and collegial support, infrastructure that supports the provision of quality nursing care and positive affirmation. These concepts are strongly linked to personal resilience. for nursing management These findings support the need for management to develop appropriate interventions to build resilience in nurses.

Stomaching rejection: Self-compassion and self-esteem moderate the impact of daily social rejection on restrictive eating behaviours among college women.

PubMed

Beekman, Janine B; Stock, Michelle L; Howe, George W

2017-11-01

The present study examined whether having high self-esteem or a self-compassionate perspective help mitigate the impact of daily social rejection on negative affect and restrictive eating behaviours. Following a baseline survey assessing self-esteem and self-compassion, 121 college women completed online daily diaries for one week. Negative affect and restrictive eating behaviours. On days when women reported more rejection, they also reported higher restrictive eating behaviours and greater negative affect. Effects were moderated by self-esteem and self-compassion, such that the lower participants were in self-esteem or self-compassion, the stronger the positive relation between rejection and negative affect and restrictive eating. However, only the common humanity/isolation dimension of self-compassion significantly moderated daily effects of rejection when controlling for self-esteem. Mediated moderation results reveal different mechanisms by which self-esteem and self-compassion buffer against rejections' effects on affect and restrictive eating. Self-compassion and self-esteem influence the complex impact that social rejection has on affect and restrictive eating. More than other dimensions of self-compassion or self-esteem, remembering one's common humanity can result in a healthier response to social rejection.

Intranasal administration of oxytocin increases compassion toward women

PubMed Central

Palgi, Sharon; Klein, Ehud

2015-01-01

It has been suggested that the degree of compassion—the feeling of warmth, understanding and kindness that motivates the desire to help others, is modulated by observers’ views regarding the target’s vulnerability and suffering. This study tested the hypothesis that as compassion developed to protect vulnerable kinships, hormones such as oxytocin, which have been suggested as playing a key role in ‘tend-and-befriend’ behaviors among women, will enhance compassion toward women but not toward men. Thirty subjects participated in a double-blind, placebo-controlled, within-subject study. Following administration of oxytocin/placebo, participants listened to recordings of different female/male protagonists describing distressful emotional conflicts and were then asked to provide compassionate advice to the protagonist. The participants’ responses were coded according to various components of compassion by two clinical psychologists who were blind to the treatment. The results showed that in women and men participants oxytocin enhanced compassion toward women, but did not affect compassion toward men. These findings indicate that the oxytocinergic system differentially mediates compassion toward women and toward men, emphasizing an evolutionary perspective that views compassion as a caregiving behavior designed to help vulnerable individuals. PMID:24711542

Self-compassion, attitudes to ageing and indicators of health and well-being among midlife women.

PubMed

Brown, Lydia; Bryant, Christina; Brown, Valerie; Bei, Bei; Judd, Fiona

2016-10-01

Attitudes to ageing exert a powerful influence on health and well-being, yet surprisingly little research has examined factors that contribute to the formation of these attitudes. The aim of this study was to consider the potential role of self-compassion in predicting attitudes to ageing, which in turn contribute to positive and negative mental well-being and self-reported health. This was a cross-sectional study using data from 517 midlife women aged between 40 and 60. Structural equation modelling was used to examine the relationships between self-compassion, three facets of attitudes to ageing and well-being outcomes. Together, self-compassion and attitudes to ageing explained between 36% and 67% of the variance in well-being. Self-compassion was a strong predictor of attitudes towards psychosocial loss, physical change and psychological growth (β range: .22-.51). Furthermore, the relationship between self-compassion and well-being outcomes was partially mediated by attitudes to physical change. Self-compassion may be a modifiable internal resource to promote healthy attitudes to ageing in midlife, when ageing becomes personally relevant. Moreover, attitudes towards physical change may help explain how self-compassion promotes well-being among midlife women.

Attachment and compassion fatigue among American and Israeli mental health clinicians working with traumatized victims of terrorism.

PubMed

Racanelli, Christine

2005-01-01

This study compared the construct of compassion fatigue with the role of attachment as a potential mediator among mental health clinicians working with victims of terrorism in the New York metropolitan region of the United States and Israel. Differences between clinicians practicing within Israel (n = 31) and New York (n = 35), in terms of their symptoms of compassion fatigue, compassion satisfaction, and "burnout," were not significant, as measured by multivariate analyses of variance. Based upon nonsignificant differences, mediational statistical tests could not be run; thus, mediation did not hold. The data failed to support a significant difference between compassion fatigue and attachment avoidance or anxiety. However, data collection resulted in attenuated scores for compassion fatigue and compassion satisfaction within both study groups of clinicians and moderate to average scores for burnout. Israeli clinicians had significantly more avoidant attachment dimensions than their New York cohorts. The strongest predictors of compassion satisfaction were (a) low attachment anxiety and (b) sufficient clinical experience related to treating victims of trauma. The strongest predictors of burnout were (a) minimal clinical experience, (b) minimal experience working with trauma victims, and (c) greater avoidant attachment dimensions.

Compassion fatigue and burnout among Rabbis working as chaplains.

PubMed

Taylor, Bonita E; Flannelly, Kevin J; Weaver, Andrew J; Zucker, David J

2006-01-01

Compassion Fatigue, Compassion Satisfaction, and Burnout were studied in a convenience sample of 66 male and female Rabbis who work as chaplains and attended the annual conference of the National Association of Jewish Chaplains (NAJC) in 2002. Although Compassion Fatigue and Burnout were low among the survey participants, both measures were significantly higher among the women in the sample. Compassion Fatigue was also higher among chaplains who were divorced, and it increased with the number of hours per week the chaplains spent working with trauma victims or their families (r = .25, p<.05). Hierarchical multiple regression was performed to determine the influence of six professional and five personal variables on each of the three dependent variables. Four professional variables accounted for 19.5% of the variation and three personal variables accounted for 20.3% of the variation in Compassion Fatigue. Attempts to predict Burnout and Compassion Satisfaction were far less successful. Burnout was predicted by only two variables (i.e. age and years as a Rabbi), which accounted for just 18.4% of the variance in Burnout scores. Age was the only variable found to have a significant effect on Compassion Satisfaction, and its effect was positive. The implications of the findings are discussed.

Flexible robotic actuators

DOE Office of Scientific and Technical Information (OSTI.GOV)

Morin, Stephen A.; Shepherd, Robert F.; Stokes, Adam

Systems and methods for providing flexible robotic actuators are disclosed. Some embodiments of the disclosed subject matter include a soft robot capable of providing a radial deflection motions; a soft tentacle actuator capable of providing a variety of motions and providing transportation means for various types of materials; and a hybrid robotic system that retains desirable characteristics of both soft robots and hard robots. Some embodiments of the disclosed subject matter also include methods for operating the disclosed robotic systems.

Self-compassion: a potential resource for young women athletes.

PubMed

Mosewich, Amber D; Kowalski, Kent C; Sabiston, Catherine M; Sedgwick, Whitney A; Tracy, Jessica L

2011-02-01

Self-compassion has demonstrated many psychological benefits (Neff, 2009). In an effort to explore self-compassion as a potential resource for young women athletes, we explored relations among self-compassion, proneness to self-conscious emotions (i.e., shame, guilt-free shame, guilt, shame-free guilt, authentic pride, and hubristic pride), and potentially unhealthy self-evaluative thoughts and behaviors (i.e., social physique anxiety, obligatory exercise, objectified body consciousness, fear of failure, and fear of negative evaluation). Young women athletes (N = 151; Mage = 15.1 years) participated in this study. Self-compassion was negatively related to shame proneness, guilt-free shame proneness, social physique anxiety, objectified body consciousness, fear of failure, and fear of negative evaluation. In support of theoretical propositions, self-compassion explained variance beyond self-esteem on shame proneness, guilt-free shame proneness, shame-free guilt proneness, objectified body consciousness, fear of failure, and fear of negative evaluation. Results suggest that, in addition to self-esteem promotion, self-compassion development may be beneficial in cultivating positive sport experiences for young women.

Cognitions as mediators in the relationship between self-compassion and affect

PubMed Central

Arimitsu, Kohki; Hofmann, Stefan G.

2014-01-01

Previous studies suggest that self-compassion is related to numerous facets of mental health, but the role of cognitions in this relationship remains unknown. To examine the mediating role of cognitions in the relationship between self-compassion and anxiety, depression, and life satisfaction when controlling for self-esteem in Japanese people, we conducted two studies. Study 1 (N = 231) examined the relationship between self-compassion and affect by modeling negative automatic thoughts as a mediator; Study 2 (N = 233) tested whether positive and negative automatic thoughts meditate this relationship. Results suggested that both self-compassion and self-esteem increased positive automatic thoughts and decreased trait anxiety, whereas only self-esteem increased life satisfaction and decreased depression directly. Positive automatic thoughts increased life satisfaction and decreased depression and trait anxiety, and positive automatic thoughts mediated the relationship between self-compassion and negative affect. These findings suggest that both positive and negative automatic thoughts mediate the relationship between self-compassion and affect in Japanese people. PMID:25395717

Emotion Regulation Strategies, Secondary Traumatic Stress, and Compassion Satisfaction in Healthcare Providers.

PubMed

Măirean, Cornelia

2016-11-16

The aim of the present study is to examine the relationships between two emotion regulation strategies (cognitive reappraisal and expressive suppression), secondary traumatic stress, and compassion satisfaction in a sample of 190 healthcare providers. Another aim of this study is to examine if the relations between emotion regulation strategies and traumatic stress symptoms are moderated by compassion satisfaction. The respondents volunteered to take part in the research and completed self-reporting measures describing the use of emotional regulation strategies, the symptoms of secondary traumatic stress, and the compassion satisfaction. The results revealed negative associations between cognitive reappraisal and secondary traumatic stress, while expressive suppression is positively associated with arousal. Moreover, cognitive reappraisal is positively related to compassion satisfaction, while secondary traumatic stress symptoms are negatively correlated with compassion satisfaction. Furthermore, the relationship between expressive suppression and intrusions is moderated by compassion satisfaction. The implications of these results for enhancing professional quality of life in the context of secondary exposure to traumatic life events are discussed.

A worthy self is a caring self: Examining the developmental relations between self-esteem and self-compassion in adolescents.

PubMed

Donald, James N; Ciarrochi, Joseph; Parker, Philip D; Sahdra, Baljinder K; Marshall, Sarah L; Guo, Jiesi

2017-08-18

Self-compassion has been framed as a healthy alternative to self-esteem, as it is nonevaluative. However, rather than being alternatives, it may be that the two constructs develop in a mutually reinforcing way. The present study tested this possibility among adolescents. A large adolescent sample (N = 2,809; 49.8% female) reported levels of trait self-esteem and self-compassion annually for 4 years. Autoregressive cross-lagged structural equation models were used to estimate the reciprocal longitudinal relations between the two constructs. Self-esteem consistently predicted changes in self-compassion across the 4 years of the study, but not vice versa. Self-esteem appears to be an important antecedent of the development of self-compassion, perhaps because the capacity to extend compassion toward the self depends on one's appraisals of worthiness. These findings add important insights to our theoretical understanding of the development of self-compassion. © 2017 Wiley Periodicals, Inc.

Self-Compassion Promotes Personal Improvement From Regret Experiences via Acceptance.

PubMed

Zhang, Jia Wei; Chen, Serena

2016-02-01

Why do some people report more personal improvement from their regret experiences than others? Three studies examined whether self-compassion promotes personal improvement derived from recalled regret experiences. In Study 1, we coded anonymous regret descriptions posted on a blog website. People who spontaneously described their regret with greater self-compassion were also judged as having expressed more personal improvement. In Study 2, higher trait self-compassion predicted greater self-reported and observer-rated personal improvement derived from recalled regret experiences. In Study 3, people induced to take a self-compassionate perspective toward a recalled regret experience reported greater acceptance, forgiveness, and personal improvement. A multiple mediation analysis comparing acceptance and forgiveness showed self-compassion led to greater personal improvement, in part, through heightened acceptance. Furthermore, self-compassion's effects on personal improvement were distinct from self-esteem and were not explained by adaptive emotional responses. Overall, the results suggest that self-compassion spurs positive adjustment in the face of regrets. © 2015 by the Society for Personality and Social Psychology, Inc.

Class and compassion: socioeconomic factors predict responses to suffering.

PubMed

Stellar, Jennifer E; Manzo, Vida M; Kraus, Michael W; Keltner, Dacher

2012-06-01

Previous research indicates that lower-class individuals experience elevated negative emotions as compared with their upper-class counterparts. We examine how the environments of lower-class individuals can also promote greater compassionate responding-that is, concern for the suffering or well-being of others. In the present research, we investigate class-based differences in dispositional compassion and its activation in situations wherein others are suffering. Across studies, relative to their upper-class counterparts, lower-class individuals reported elevated dispositional compassion (Study 1), as well as greater self-reported compassion during a compassion-inducing video (Study 2) and for another person during a social interaction (Study 3). Lower-class individuals also exhibited heart rate deceleration-a physiological response associated with orienting to the social environment and engaging with others-during the compassion-inducing video (Study 2). We discuss a potential mechanism of class-based influences on compassion, whereby lower-class individuals' are more attuned to others' distress, relative to their upper-class counterparts.

Using step width to compare locomotor biomechanics between extinct, non-avian theropod dinosaurs and modern obligate bipeds.

PubMed

Bishop, P J; Clemente, C J; Weems, R E; Graham, D F; Lamas, L P; Hutchinson, J R; Rubenson, J; Wilson, R S; Hocknull, S A; Barrett, R S; Lloyd, D G

2017-07-01

How extinct, non-avian theropod dinosaurs locomoted is a subject of considerable interest, as is the manner in which it evolved on the line leading to birds. Fossil footprints provide the most direct evidence for answering these questions. In this study, step width-the mediolateral (transverse) distance between successive footfalls-was investigated with respect to speed (stride length) in non-avian theropod trackways of Late Triassic age. Comparable kinematic data were also collected for humans and 11 species of ground-dwelling birds. Permutation tests of the slope on a plot of step width against stride length showed that step width decreased continuously with increasing speed in the extinct theropods ( p < 0.001), as well as the five tallest bird species studied ( p < 0.01). Humans, by contrast, showed an abrupt decrease in step width at the walk-run transition. In the modern bipeds, these patterns reflect the use of either a discontinuous locomotor repertoire, characterized by distinct gaits (humans), or a continuous locomotor repertoire, where walking smoothly transitions into running (birds). The non-avian theropods are consequently inferred to have had a continuous locomotor repertoire, possibly including grounded running. Thus, features that characterize avian terrestrial locomotion had begun to evolve early in theropod history. © 2017 The Author(s).

The functional origin of dinosaur bipedalism: Cumulative evidence from bipedally inclined reptiles and disinclined mammals.

PubMed

Persons, W Scott; Currie, Philip J

2017-05-07

Bipedalism is a trait basal to, and widespread among, dinosaurs. It has been previously argued that bipedalism arose in the ancestors of dinosaurs for the function of freeing the forelimbs to serve as predatory weapons. However, this argument does not explain why bipedalism was retained among numerous herbivorous groups of dinosaurs. We argue that bipedalism arose in the dinosaur line for the purpose of enhanced cursoriality. Modern facultatively bipedal lizards offer an analog for the first stages in the evolution of dinosaurian bipedalism. Many extant lizards assume a bipedal stance while attempting to flee predators at maximum speed. Bipedalism, when combined with a caudofemoralis musculature, has cursorial advantages because the caudofemoralis provides a greater source of propulsion to the hindlimbs than is generally available to the forelimbs. That cursorial advantage explains the relative abundance of cursorial facultative bipeds and obligate bipeds among fossil diapsids and the relative scarcity of either among mammals. Having lost their caudofemoralis in the Permian, perhaps in the context of adapting to a fossorial lifestyle, the mammalian line has been disinclined towards bipedalism, but, having never lost the caudofemoralis of their ancestors, cursorial avemetatarsalians (bird-line archosaurs) were naturally inclined towards bipedalism. Copyright © 2017 Elsevier Ltd. All rights reserved.

Relationships between compassion fatigue, burnout, and turnover intention in Korean hospital nurses.

PubMed

Sung, Kiwol; Seo, Youngsook; Kim, Jee Hee

2012-12-01

This study aimed to identify relationships between compassion fatigue, burnout, and turnover intention in Korean hospital nurses. In total, 142 hospital nurses were surveyed as part of data collection. Data related to compassion fatigue, burnout, and turnover intention were collected using a questionnaire between May 2011 and September 2011. The data analysis was performed using PASW 19.0 program, which included one-way ANOVA, independent t-tests, Pearson's correlation coefficient, and hierarchical regression analysis. This study detected a positive correlation between compassion fatigue and burnout(r=.37, p<.001), and turnover intention(r=.55, p<.001). Compassion fatigue accounted for 29.6% of the variance for turnover intention among Korean hospital nurses. The results indicate that it is necessary to reduce compassion fatigue, and turnover intention among Korean hospital nurses.

Training-as-treatment: effectiveness of the Certified Compassion Fatigue Specialist Training.

PubMed

Gentry, J Eric; Baggerly, Jennifer; Baranowsky, Anna

2004-01-01

Mental health and other service professionals who work with trauma survivors often experience the debilitating effects of compassion fatigue and caregiver stress. Leaders within the field have called for effective, empirically supported interventions for professionals who experience these negative effects. In response to the call, this study examines the treatment effectiveness of the Certified Compassion Fatigue Specialist Training (CCFST) for 83 participating mental health professionals. Results show a statistically and clinically significant decrease in participants' compassion fatigue and burnout symptoms and increase in their compassion satisfaction. A "training-as-treatment" effect of CCFST is introduced, described, and evaluated. Discussion of these findings, clinical implications, limitations, and future directions are provided. CCFST appears to be an effective intervention for ameliorating compassion fatigue symptoms in mental health professionals.

A Community of Scientists and Educators: The Compass Project at UC Berkeley

NASA Astrophysics Data System (ADS)

Roth, Nathaniel; Schwab, Josiah

2016-01-01

The Berkeley Compass Project is a self-formed group of graduate and undergraduate students in the physical sciences at the University of California, Berkeley. Its goals are to improve undergraduate physics education, provide opportunities for professional development, and increase retention of students from populations underrepresented in the physical sciences. For undergraduate students, the core Compass experience consists of a summer program and several seminar courses. These programs are designed to foster a diverse, collaborative student community in which students engage in authentic research practices and regular self-reflection. Graduate students, together with upper-level undergraduates, design and run all Compass programs. Compass strives to incorporate best practices from the science education literature. Experiences in Compass leave participants poised to be successful students researchers, teachers, and mentors.

Microglomerular Synaptic Complexes in the Sky-Compass Network of the Honeybee Connect Parallel Pathways from the Anterior Optic Tubercle to the Central Complex.

PubMed

Held, Martina; Berz, Annuska; Hensgen, Ronja; Muenz, Thomas S; Scholl, Christina; Rössler, Wolfgang; Homberg, Uwe; Pfeiffer, Keram

2016-01-01

While the ability of honeybees to navigate relying on sky-compass information has been investigated in a large number of behavioral studies, the underlying neuronal system has so far received less attention. The sky-compass pathway has recently been described from its input region, the dorsal rim area (DRA) of the compound eye, to the anterior optic tubercle (AOTU). The aim of this study is to reveal the connection from the AOTU to the central complex (CX). For this purpose, we investigated the anatomy of large microglomerular synaptic complexes in the medial and lateral bulbs (MBUs/LBUs) of the lateral complex (LX). The synaptic complexes are formed by tubercle-lateral accessory lobe neuron 1 (TuLAL1) neurons of the AOTU and GABAergic tangential neurons of the central body's (CB) lower division (TL neurons). Both TuLAL1 and TL neurons strongly resemble neurons forming these complexes in other insect species. We further investigated the ultrastructure of these synaptic complexes using transmission electron microscopy. We found that single large presynaptic terminals of TuLAL1 neurons enclose many small profiles (SPs) of TL neurons. The synaptic connections between these neurons are established by two types of synapses: divergent dyads and divergent tetrads. Our data support the assumption that these complexes are a highly conserved feature in the insect brain and play an important role in reliable signal transmission within the sky-compass pathway.

[Compassion as a mediator between stressful events and perceived stress in Greek students].

PubMed

Tholouli, E; Maridaki-Kassotaki, A; Varvogli, L; Chrousos, G P

2016-01-01

Compassion is closely related with human's survival as a mammal and has been developed through evolution for pain reduction, for forming affiliative bonds and alliances with non kin in order to increase protection and cope with external threats. Compassion seems to influence people's ability to deal with life's adverse situations such as stress and it is linked with lower psychopathology and greater wellbeing. Compassion is closely related to empathy and altruism and it is defined as the recognition of the pain of the self or others' that is accompanied with the will to take action in order to relieve the person from pain. Its main features are kindness instead of self-judgment and indifference, the recognition of common humanity instead of the feeling of separation and mindfulness when facing adverse conditions instead of over-identification with one's pain or disengagement with the pain of others. According to the biopsychosocial approach, stress can be defined by three dimensions such as the cause or stressful factors that can be major life events or daily hassles, the perception of stress that is manifested through cognitive, emotional and behavioural reactions and the physiological response for achieving homeostasis. The purpose of the present study was to investigate the role of compassion for self and others in the occurrence of stressful events and levels of perceived stress in students. Participants were 280 undergraduate students from two Greek universities. Results indicated that students who had experienced a greater amount of stressful events during the past year reported having higher levels of perceived stress and that higher self-compassion was correlated with less perceived stress. Moreover, the adverse effect of stressful events on perceived stress was partially explained by the mediating role of self-compassion. Students who reported more stressful events showed higher compassion for others in opposition to compassion towards themselves but compassion for others was not significantly correlated with perceived stress. Since compassion is not considered being a fixed personality trait but it is seen as a capacity that can be developed by appropriate training it was suggested that enhancing self-compassion's stress buffering properties can be useful for dealing with stressful events and reducing stress responses. Moeover, it was suggested that it is interesting to explore the relationship between compassion for others and positive characteristics such as sense of coherence, quality of life and social support that may enhance stress resilience indirectly. The above findings imply that it is important to investigate further the role of compassion in coping with stress in qualitative, longitudinal studies as well as randomized control trials. Compassion may be an alternative mechanism for coping with stressful events and stress, other than fight or flight that has been shaped by evolution.

46 CFR 184.402 - Compasses.

Code of Federal Regulations, 2011 CFR

2011-10-01

... MISCELLANEOUS SYSTEMS AND EQUIPMENT Navigation Equipment § 184.402 Compasses. (a) Except as otherwise provided in this section every vessel must be fitted with a suitable magnetic compass designed for marine use...

46 CFR 184.402 - Compasses.

Code of Federal Regulations, 2010 CFR

2010-10-01

... MISCELLANEOUS SYSTEMS AND EQUIPMENT Navigation Equipment § 184.402 Compasses. (a) Except as otherwise provided in this section every vessel must be fitted with a suitable magnetic compass designed for marine use...

46 CFR 184.402 - Compasses.

Code of Federal Regulations, 2012 CFR

2012-10-01

... MISCELLANEOUS SYSTEMS AND EQUIPMENT Navigation Equipment § 184.402 Compasses. (a) Except as otherwise provided in this section every vessel must be fitted with a suitable magnetic compass designed for marine use...

Human likeness: cognitive and affective factors affecting adoption of robot-assisted learning systems

NASA Astrophysics Data System (ADS)

Yoo, Hosun; Kwon, Ohbyung; Lee, Namyeon

2016-07-01

With advances in robot technology, interest in robotic e-learning systems has increased. In some laboratories, experiments are being conducted with humanoid robots as artificial tutors because of their likeness to humans, the rich possibilities of using this type of media, and the multimodal interaction capabilities of these robots. The robot-assisted learning system, a special type of e-learning system, aims to increase the learner's concentration, pleasure, and learning performance dramatically. However, very few empirical studies have examined the effect on learning performance of incorporating humanoid robot technology into e-learning systems or people's willingness to accept or adopt robot-assisted learning systems. In particular, human likeness, the essential characteristic of humanoid robots as compared with conventional e-learning systems, has not been discussed in a theoretical context. Hence, the purpose of this study is to propose a theoretical model to explain the process of adoption of robot-assisted learning systems. In the proposed model, human likeness is conceptualized as a combination of media richness, multimodal interaction capabilities, and para-social relationships; these factors are considered as possible determinants of the degree to which human cognition and affection are related to the adoption of robot-assisted learning systems.

Exploring the Relationship between Athletes' Perceptions of the Motivational Climate to Their Compassion, Self-Compassion, Shame, and Pride in Adult Recreational Sport

ERIC Educational Resources Information Center

Fontana, Mario S.; Fry, Mary D.; Cramer, Emily

2017-01-01

The purpose of this study was to examine the relationships between athletes' perceptions of the motivational climate (caring, task-, and ego-involving) to their levels of compassion, self-compassion, pride, and shame in a recreational sport setting. Athletes (N = 164) in a competitive Wiffle Ball tournament completed a survey. A canonical…

Community mental health nurses' and compassion: an interpretative approach.

PubMed

Barron, K; Deery, R; Sloan, G

2017-05-01

WHAT IS KNOWN ON THE SUBJECT?: The concept of compassion is well documented in the healthcare literature but has received limited attention in mental health nursing. WHAT THIS PAPER ADDS TO EXISTING KNOWLEDGE?: Mental health nurses struggle with defining compassion. The study, with its limitations, brings greater clarity to the meaning of compassion for community mental health nurses and NHS organizations. Mental health nurses need time to reflect on their provision of compassionate care. WHAT ARE THE IMPLICATIONS FOR PRACTICE?: The study has shown that compassion is important for NHS healthcare management, frontline mental health nurses and policy-makers in UK, and there is potential for sharing practice and vision across NHS organisations. Mental health nurses could benefit from training to facilitate their understanding of compassionate practices. Emphasis should be placed on the importance of self-compassion and how this can be nurtured from the secure base of clinical supervision. Introduction There is increasing emphasis in policy, research and practice in the UK and internationally on the importance of caring in health care. Compassion needs to be at the core of all healthcare professionals' practice. Recently, health care has received negative attention through media and government reports which cite a lack of compassion in care. Rationale The concept of compassion has received limited attention in community mental health nursing. Aim Based on data taken from semi-structured interviews with community mental health nurses, this paper aims to describe interpretations and perspectives of compassion to gain insight and development of its meaning. Method A naturalistic, interpretive approach was taken to the study. Semi-structured interviews with nine mental health nurses were analysed using Burnard's 14-step model of thematic analysis. Findings The research illuminates the complexity of compassion and how its practice impacts on emotional responses and relationships with self, patients, colleagues and the employing organization. Participants identified difficulties engaging with compassionate practice whilst recognizing it as a driving force underpinning provision of care. Implications for practice Mental health nurses need to be supported to work towards a greater understanding of compassionate care for clinical practice and the need for self-compassion. © 2017 John Wiley & Sons Ltd.

Mindfulness of voices, self-compassion, and secure attachment in relation to the experience of hearing voices.

PubMed

Dudley, James; Eames, Catrin; Mulligan, John; Fisher, Naomi

2018-03-01

Developing compassion towards oneself has been linked to improvement in many areas of psychological well-being, including psychosis. Furthermore, developing a non-judgemental, accepting way of relating to voices is associated with lower levels of distress for people who hear voices. These factors have also been associated with secure attachment. This study explores associations between the constructs of mindfulness of voices, self-compassion, and distress from hearing voices and how secure attachment style related to each of these variables. Cross-sectional online. One hundred and twenty-eight people (73% female; M age  = 37.5; 87.5% Caucasian) who currently hear voices completed the Self-Compassion Scale, Southampton Mindfulness of Voices Questionnaire, Relationships Questionnaire, and Hamilton Programme for Schizophrenia Voices Questionnaire. Results showed that mindfulness of voices mediated the relationship between self-compassion and severity of voices, and self-compassion mediated the relationship between mindfulness of voices and severity of voices. Self-compassion and mindfulness of voices were significantly positively correlated with each other and negatively correlated with distress and severity of voices. Mindful relation to voices and self-compassion are associated with reduced distress and severity of voices, which supports the proposed potential benefits of mindful relating to voices and self-compassion as therapeutic skills for people experiencing distress by voice hearing. Greater self-compassion and mindfulness of voices were significantly associated with less distress from voices. These findings support theory underlining compassionate mind training. Mindfulness of voices mediated the relationship between self-compassion and distress from voices, indicating a synergistic relationship between the constructs. Although the current findings do not give a direction of causation, consideration is given to the potential impact of mindful and compassionate approaches to voices. © 2017 The Authors. British Journal of Clinical Psychology published by John Wiley & Sons Ltd on behalf of British Psychological Society.

Compassion in practice-Evaluating the awareness, involvement and perceived impact of a national nursing and midwifery strategy amongst healthcare professionals in NHS Trusts in England.

PubMed

O'Driscoll, Mike; Allan, Helen; Liu, Liang; Corbett, Kevin; Serrant, Laura

2018-03-01

To report the findings from an evaluation of the impact of the Compassion in Practice Vision and Strategy (National Health Service England (NHSE), 2012) on nursing, midwifery and care staff. The Compassion in Practice Vision and Strategy was a programme of work to highlight the importance of compassionate care following the Francis Report in 2013 into the deficits in care in an NHS Hospital Trust. It was launched by NHS England in 2012 at a time when fiscal cuts were introduced by the Department of Health in England. Mixed methods. Inferential statistics were used to test whether there were significant differences between staff at different levels of seniority with regard to awareness and involvement in Compassion in Practice Vision and Strategy and their attitudes to it. Awareness and involvement of staff in Compassion in Practice Vision and Strategy were high amongst middle and senior management but limited at ward level. Staff involvement in Compassion in Practice Vision and Strategy was limited due to a lack of awareness. Ward level staff who were aware and involved, perceived a lack of support and communication from senior leadership to deliver the Compassion in Practice Vision and Strategy. Results reveal professional anger, distress and resistance to the Compassion in Practice Vision and Strategy and a view of the programme as a top-down initiative which did not sufficiently recognise structural constraints on nurses' ability to deliver compassionate care. We discuss the implications of our findings for global nursing. Participants emphasised that compassion for patients is only sustainable where there is compassion for staff and many participants felt that they were not being treated with compassion. National Health Service England should strongly affirm that nurses and midwives in general provide compassionate care. Trust leadership should provide support for ward level staff who deliver compassionate care in difficult circumstances. © 2017 John Wiley & Sons Ltd.

Draper Laboratory small autonomous aerial vehicle

NASA Astrophysics Data System (ADS)

DeBitetto, Paul A.; Johnson, Eric N.; Bosse, Michael C.; Trott, Christian A.

1997-06-01

The Charles Stark Draper Laboratory, Inc. and students from Massachusetts Institute of Technology and Boston University have cooperated to develop an autonomous aerial vehicle that won the 1996 International Aerial Robotics Competition. This paper describes the approach, system architecture and subsystem designs for the entry. This entry represents a combination of many technology areas: navigation, guidance, control, vision processing, human factors, packaging, power, real-time software, and others. The aerial vehicle, an autonomous helicopter, performs navigation and control functions using multiple sensors: differential GPS, inertial measurement unit, sonar altimeter, and a flux compass. The aerial transmits video imagery to the ground. A ground based vision processor converts the image data into target position and classification estimates. The system was designed, built, and flown in less than one year and has provided many lessons about autonomous vehicle systems, several of which are discussed. In an appendix, our current research in augmenting the navigation system with vision- based estimates is presented.

46 CFR 121.402 - Compasses.

Code of Federal Regulations, 2011 CFR

2011-10-01

... Navigation Equipment § 121.402 Compasses. (a) Except as otherwise provided in this section every vessel must be fitted with a suitable magnetic compass designed for marine use, to be mounted at the primary...

46 CFR 121.402 - Compasses.

Code of Federal Regulations, 2010 CFR

2010-10-01

... Navigation Equipment § 121.402 Compasses. (a) Except as otherwise provided in this section every vessel must be fitted with a suitable magnetic compass designed for marine use, to be mounted at the primary...

46 CFR 121.402 - Compasses.

Code of Federal Regulations, 2012 CFR

2012-10-01

... Navigation Equipment § 121.402 Compasses. (a) Except as otherwise provided in this section every vessel must be fitted with a suitable magnetic compass designed for marine use, to be mounted at the primary...

Are Mindfulness and Self-Compassion Related to Psychological Distress and Communication in Couples Facing Lung Cancer? A Dyadic Approach.

PubMed

Schellekens, Melanie P J; Karremans, Johan C; van der Drift, Miep A; Molema, Johan; van den Hurk, Desiree G M; Prins, Judith B; Speckens, Anne E M

2017-01-01

Lung cancer patients and their spouses report high rates of distress. Due to the increasing popularity of and evidence for mindfulness-based interventions in cancer, mindfulness and self-compassion have been identified as potentially helpful skills when coping with cancer. This dyadic study examined how mindfulness and self-compassion are related to psychological distress and communication about cancer in couples facing lung cancer. Using the actor-partner interdependence model, self-reported mindfulness, self-compassion, psychological distress and communication about cancer were analyzed in a cross-sectional sample of 88 couples facing lung cancer. Regarding psychological distress, no difference was found between patients and spouses. In both partners, own levels of mindfulness ( B  = -0.19, p  = .002) and self-compassion ( B  = -0.45, p  < .001) were negatively related to own distress levels. At a dyadic level, own self-compassion was less strongly associated with distress if the partner reported high self-compassion ( B  = 0.03, p  = .049). Regarding communication about cancer, patients reported to communicate more openly with their partner than with spouses. However, after controlling for gender, this difference was no longer significant. In both partners, own self-compassion ( B  = 0.03, p  = .010) was significantly associated with own communication while mindfulness was not. A trend showed that mindfulness of the partner was related to more open communication in the individual ( B  = 0.01, p  = .080). These findings give a first indication that mindfulness and self-compassion skills may go beyond the individual and could impact couple functioning. Future research should examine whether couples facing (lung) cancer may benefit from programs in which mindfulness and self-compassion are cultivated.

The Cost of Caring: An Exploration of Compassion Fatigue, Compassion Satisfaction, and Job Satisfaction in Pediatric Nurses.

PubMed

Roney, Linda Nancy; Acri, Mary C

The purpose of this study was to describe levels of compassion satisfaction, compassion fatigue, and job satisfaction among pediatric nurses in the United States and determine if there was a relationship among these constructs. All members Society of Pediatric Nurses were sent an electronic invitation to participate, and those who consented received three measures; a demographic questionnaire, the Job Satisfaction Survey (JSS) and the Professional Quality of Life (ProQOL) measure. Three hundred eighteen (10.6%) of members of the Society of Pediatric Nurses participated in the study: Over three quarters (245, 76%) of the sample had another career before nursing. The sample's mean job satisfaction level was 149.8 (SD=29.74), which was significantly higher than published reported means for nurses. Bivariate analyses revealed a significant relationship between gender and the compassion satisfaction, in that women were more likely to evidence compassion satisfaction than men (t=1.967, p=.05, df=298). No other significant relationships were found. The majority of nurses had high levels of compassion satisfaction and job satisfaction; further, female gender was associated with higher levels of compassion satisfaction. This current study had a very high response from second-career nurses (n=245, 76.8%) and overall, the sample had higher levels of compassion satisfaction. It is possible that second career nurses are better equipped in some way that helps them mediate negative responses of caring as a pediatric nurse and future research should explore this. Due to the significant financial costs to institutions of having nurses who have low levels of job satisfaction and high levels on compassion fatigue, it is imperative for hospital administrators to develop infrastructures to support employees. Copyright © 2018 Elsevier Inc. All rights reserved.

Examining Burnout, Depression, and Self-Compassion in Veterans Affairs Mental Health Staff.

PubMed

Atkinson, David M; Rodman, John L; Thuras, Paul D; Shiroma, Paulo R; Lim, Kelvin O

2017-07-01

Burnout, a state of emotional exhaustion associated with negative personal and occupational outcomes, is prevalent among healthcare providers. A better understanding of the psychological factors that may be associated with resilience to burnout is essential to develop effective interventions. Self-compassion, which includes kindness toward oneself, recognition of suffering as part of shared human experience, mindfulness, and nonjudgment toward inadequacies and failures, may be one such factor. The purpose of this study was to examine the relationships between burnout, depression, and self-compassion in Veterans Affairs (VA) mental health staff. Cross-sectional study. VA medical center and affiliated community-based clinics. VA mental health staff. The 19-item Copenhagen Burnout Inventory, the 26-item Self-Compassion Scale, and the Patient Health Questionnaire 2-item depression screen. Demographic information included age, sex, years worked in current position, and number of staff supervised. One hundred and twenty-eight of a potential 379 individuals (33.8%) responded. Clerical support, nursing, social work, psychology, and psychiatry were the major professions represented. Self-compassion was inversely correlated with burnout (r = -0.41, p < 0.001), and inversely correlated with depression (r pb  = -0.39, p < 0.001). The inverse relationship between self-compassion and burnout remained significant even after accounting for depressive symptoms and demographic variables in a multiple linear regression model. Of all the variables examined, self-compassion was the strongest predictor of burnout. The results of this study support the hypothesis that self-compassion may be associated with resilience to burnout. Alternatively, decreased self-compassion may be a downstream effect of increased burnout. Prospective, longitudinal studies are needed to determine the directional relationship between these factors, and whether interventions that cultivate self-compassion may decrease burnout and/or protect against its negative personal and professional outcomes.

How to prepare the patient for robotic surgery: before and during the operation.

PubMed

Lim, Peter C; Kang, Elizabeth

2017-11-01

Robotic surgery in the treatment of gynecologic diseases continues to evolve and has become accepted over the last decade. The advantages of robotic-assisted laparoscopic surgery over conventional laparoscopy are three-dimensional camera vision, superior precision and dexterity with EndoWristed instruments, elimination of operator tremor, and decreased surgeon fatigue. The drawbacks of the technology are bulkiness and lack of tactile feedback. As with other surgical platforms, the limitations of robotic surgery must be understood. Patient selection and the types of surgical procedures that can be performed through the robotic surgical platform are critical to the success of robotic surgery. First, patient selection and the indication for gynecologic disease should be considered. Discussion with the patient regarding the benefits and potential risks of robotic surgery and of complications and alternative treatments is mandatory, followed by patient's signature indicating informed consent. Appropriate preoperative evaluation-including laboratory and imaging tests-and bowel cleansing should be considered depending upon the type of robotic-assisted procedure. Unlike other surgical procedures, robotic surgery is equipment-intensive and requires an appropriate surgical suite to accommodate the patient side cart, the vision system, and the surgeon's console. Surgical personnel must be properly trained with the robotics technology. Several factors must be considered to perform a successful robotic-assisted surgery: the indication and type of surgical procedure, the surgical platform, patient position and the degree of Trendelenburg, proper port placement configuration, and appropriate instrumentation. These factors that must be considered so that patients can be appropriately prepared before and during the operation are described. Copyright © 2017. Published by Elsevier Ltd.

Case Studies of a Robot-Based Game to Shape Interests and Hone Proportional Reasoning Skills

ERIC Educational Resources Information Center

Alfieri, Louis; Higashi, Ross; Shoop, Robin; Schunn, Christian D.

2015-01-01

Background: Robot-math is a term used to describe mathematics instruction centered on engineering, particularly robotics. This type of instruction seeks first to make the mathematics skills useful for robotics-centered challenges, and then to help students extend (transfer) those skills. A robot-math intervention was designed to target the…

Robotics in medicine

NASA Astrophysics Data System (ADS)

Kuznetsov, D. N.; Syryamkin, V. I.

2015-11-01

Modern technologies play a very important role in our lives. It is hard to imagine how people can get along without personal computers, and companies - without powerful computer centers. Nowadays, many devices make modern medicine more effective. Medicine is developing constantly, so introduction of robots in this sector is a very promising activity. Advances in technology have influenced medicine greatly. Robotic surgery is now actively developing worldwide. Scientists have been carrying out research and practical attempts to create robotic surgeons for more than 20 years, since the mid-80s of the last century. Robotic assistants play an important role in modern medicine. This industry is new enough and is at the early stage of development; despite this, some developments already have worldwide application; they function successfully and bring invaluable help to employees of medical institutions. Today, doctors can perform operations that seemed impossible a few years ago. Such progress in medicine is due to many factors. First, modern operating rooms are equipped with up-to-date equipment, allowing doctors to make operations more accurately and with less risk to the patient. Second, technology has enabled to improve the quality of doctors' training. Various types of robots exist now: assistants, military robots, space, household and medical, of course. Further, we should make a detailed analysis of existing types of robots and their application. The purpose of the article is to illustrate the most popular types of robots used in medicine.

Self-compassion in the face of shame and body image dissatisfaction: implications for eating disorders.

PubMed

Ferreira, Cláudia; Pinto-Gouveia, José; Duarte, Cristiana

2013-04-01

The current study examines the role of self-compassion in face of shame and body image dissatisfaction, in 102 female eating disorders' patients, and 123 women from general population. Self-compassion was negatively associated with external shame, general psychopathology, and eating disorders' symptomatology. In women from the general population increased external shame predicted drive for thinness partially through lower self-compassion; also, body image dissatisfaction directly predicted drive for thinness. However, in the patients' sample increased shame and body image dissatisfaction predicted increased drive for thinness through decreased self-compassion. These results highlight the importance of the affiliative emotion dimensions of self-compassion in face of external shame, body image dissatisfaction and drive for thinness, emphasising the relevance of cultivating a self-compassionate relationship in eating disorders' patients. Copyright © 2013. Published by Elsevier Ltd.

Development of inspection robots for bridge cables.

PubMed

Yun, Hae-Bum; Kim, Se-Hoon; Wu, Liuliu; Lee, Jong-Jae

2013-01-01

This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge cables and current bridge cable inspection methods is also presented.

An overview of artificial intelligence and robotics. Volume 2: Robotics

NASA Technical Reports Server (NTRS)

Gevarter, W. B.

1982-01-01

This report provides an overview of the rapidly changing field of robotics. The report incorporates definitions of the various types of robots, a summary of the basic concepts, utilized in each of the many technical areas, review of the state of the art and statistics of robot manufacture and usage. Particular attention is paid to the status of robot development, the organizations involved, their activities, and their funding.

Group cohesion and organizational commitment: protective factors for nurse residents' job satisfaction, compassion fatigue, compassion satisfaction, and burnout.

PubMed

Li, Angela; Early, Sean F; Mahrer, Nicole E; Klaristenfeld, Jessica L; Gold, Jeffrey I

2014-01-01

Stress can have detrimental effects on nurse residents' levels of job satisfaction, compassion, fatigue, and burnout. This can lead to high turnover rates and poor quality of care among novice nurses. Therefore, it is critical to identify protective factors to prevent the onset of negative nurse outcomes (compassion fatigue, burnout, and job dissatisfaction) and to promote positive nurse outcomes (job satisfaction, compassion satisfaction). This study aimed to determine whether factors such as group cohesion and organizational commitment would be protective and moderate the association between stress exposure and posttraumatic stress symptoms and other negative nurse outcomes, thus facilitating positive outcomes. Findings showed that group cohesion was effective in moderating the negative effects of current stress exposure and posttraumatic stress symptoms on negative nurse outcomes, specifically on increased compassion fatigue and burnout, and reduced compassion satisfaction. In addition, organizational commitment was determined to promote positive nurse outcomes such as job satisfaction and compassion satisfaction. The study findings are promising, as retention of quality nurses is a significant problem for hospitals. Nurse managers and hospital administrators should be aware of the benefits of group cohesion and organizational commitment and strive to make the promotion of these factors a priority. Copyright © 2014 Elsevier Inc. All rights reserved.

COMPASS time synchronization and dissemination—Toward centimetre positioning accuracy

NASA Astrophysics Data System (ADS)

Wang, ZhengBo; Zhao, Lu; Wang, ShiGuang; Zhang, JianWei; Wang, Bo; Wang, LiJun

2014-09-01

In this paper we investigate methods to achieve highly accurate time synchronization among the satellites of the COMPASS global navigation satellite system (GNSS). Owing to the special design of COMPASS which implements several geo-stationary satellites (GEO), time synchronization can be highly accurate via microwave links between ground stations to the GEO satellites. Serving as space-borne relay stations, the GEO satellites can further disseminate time and frequency signals to other satellites such as the inclined geo-synchronous (IGSO) and mid-earth orbit (MEO) satellites within the system. It is shown that, because of the accuracy in clock synchronization, the theoretical accuracy of COMPASS positioning and navigation will surpass that of the GPS. In addition, the COMPASS system can function with its entire positioning, navigation, and time-dissemination services even without the ground link, thus making it much more robust and secure. We further show that time dissemination using the COMPASS-GEO satellites to earth-fixed stations can achieve very high accuracy, to reach 100 ps in time dissemination and 3 cm in positioning accuracy, respectively. In this paper, we also analyze two feasible synchronization plans. All special and general relativistic effects related to COMPASS clocks frequency and time shifts are given. We conclude that COMPASS can reach centimeter-level positioning accuracy and discuss potential applications.

What is compassion and how can we measure it? A review of definitions and measures.

PubMed

Strauss, Clara; Lever Taylor, Billie; Gu, Jenny; Kuyken, Willem; Baer, Ruth; Jones, Fergal; Cavanagh, Kate

2016-07-01

The importance of compassion is widely recognized and it is receiving increasing research attention. Yet, there is lack of consensus on definition and a paucity of psychometrically robust measures of this construct. Without an agreed definition and adequate measures, we cannot study compassion, measure compassion or evaluate whether interventions designed to enhance compassion are effective. In response, this paper proposes a definition of compassion and offers a systematic review of self- and observer-rated measures. Following consolidation of existing definitions, we propose that compassion consists of five elements: recognizing suffering, understanding the universality of human suffering, feeling for the person suffering, tolerating uncomfortable feelings, and motivation to act/acting to alleviate suffering. Three databases were searched (Web of Science, PsycInfo, and Medline) and nine measures included and rated for quality. Quality ratings ranged from 2 to 7 out of 14 with low ratings due to poor internal consistency for subscales, insufficient evidence for factor structure and/or failure to examine floor/ceiling effects, test-retest reliability, and discriminant validity. We call our five-element definition, and if supported, the development of a measure of compassion based on this operational definition, and which demonstrates adequate psychometric properties. Copyright © 2016 The Authors. Published by Elsevier Ltd.. All rights reserved.

Multi-Robot Assembly Strategies and Metrics.

PubMed

Marvel, Jeremy A; Bostelman, Roger; Falco, Joe

2018-02-01

We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.

Multi-Robot Assembly Strategies and Metrics

PubMed Central

MARVEL, JEREMY A.; BOSTELMAN, ROGER; FALCO, JOE

2018-01-01

We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies. PMID:29497234

Compassion Fatigue in Pediatric Nurses.

PubMed

Berger, Jill; Polivka, Barbara; Smoot, Elizabeth Ann; Owens, Heather

2015-01-01

Compassion fatigue in nursing has been shown to impact the quality of patient care and employee satisfaction and engagement. The aims of this study were to determine the prevalence and severity of compassion fatigue among pediatric nurses and variations in prevalence based on respondent demographics using a cross-sectional survey design. Nurses under 40 years of age, with 6-10 years of experience and/or working in a medical-surgical unit had significantly lower compassion satisfaction and higher levels of burnout. Secondary traumatic stress from caring for children with severe illness or injury or end of life was a key contributor to compassion fatigue. Copyright © 2015 Elsevier Inc. All rights reserved.

The installation and correction of compasses in airplanes

NASA Technical Reports Server (NTRS)

Schoeffel, M F

1927-01-01

The saving of time that results from flying across country on compass headings is beginning to be widely recognized. At the same time the general use of steel tube fuselages has made a knowledge of compass correction much more necessary than was the case when wooden fuselages were the rule. This paper has been prepared primarily for the benefit of the pilot who has never studied navigation and who does not desire to go into the subject more deeply than to be able to fly compass courses with confidence. It also contains material for the designer who wishes to install his compasses with the expectation that they may be accurately corrected.

Compassion Fatigue and Mindfulness: Comparing Mental Health Professionals and MSW Student Interns.

PubMed

Brown, Jodi L Constantine; Ong, Jacqueline; Mathers, Jessica M; Decker, James T

2017-01-01

The relationship between compassion fatigue and mindfulness in mental health professionals compared to Master of Social Work (MSW) students is explored. A convenience sample of mental health professionals (n = 40) and MSW students (n = 111) completed the Five Facet Mindfulness Questionnaire and Professional Quality of Life Scale. Results indicate a medium, negative correlation between compassion fatigue and mindfulness, with high levels of compassion fatigue associated with lower levels of mindfulness. There was no statistically significant difference between mental health workers and MSW students on the combined dependent variables. Results suggest that mindfulness protects against compassion fatigue regardless of professional or student status.

Baseline Field Testing of BB-2590 Lithium-Ion Batteries using an iRobot FasTac 510 Robot

DTIC Science & Technology

2010-09-17

No. 21320 Baseline Field Testing of BB-2590 Lithium - Ion Batteries using an iRobot FasTac 510 Robot U.S. Army Tank...SEP 2010 2. REPORT TYPE N/A 3. DATES COVERED - 4. TITLE AND SUBTITLE Baseline Field Testing of BB-2590 Lithium - Ion Batteries using an iRobot...COVERED (From - To) Baseline Field Testing of BB-2590 Lithium - Ion Batteries using an 4. TITLE AND SUBTITLE iRobot FasTac 510 Robot 5a. CONTRACT

Response to a Mindful Self-Compassion Intervention in Teens: A Within-person Association of Mindfulness, Self-Compassion, and Emotional Well-Being Outcomes

PubMed Central

Bluth, Karen; Eisenlohr-Moul, Tory A.

2017-01-01

As adolescence can be a stressful developmental stage, the purpose of this study was to determine if a novel mindful self-compassion program would decrease stress, depressive symptoms, and anxiety and increase resilience, gratitude, and curiosity/exploration (positive risk-taking), and to ascertain if mindfulness and self-compassion co-varied with these outcomes over time. Forty-seven adolescents in the southeast U.S. enrolled in an 8-week mindful self-compassion course in five cohorts. Measures were assessed at pre-intervention, post-intervention, and 6-week follow-up. Multilevel growth analyses revealed main effects of time on perceived stress, resilience, curiosity/exploration and gratitude. Additionally, both mindfulness and self-compassion co-varied with perceived stress and depressive symptoms; mindfulness also co-varied with anxiety and self-compassion co-varied with resilience and curiosity/exploration. Implications of these findings are that this program has potential in decreasing stress and increasing resilience and positive risk-taking. Future studies with a control group need to be conducted to confirm these findings. PMID:28414965

Protective Effect of Self-Compassion to Emotional Response among Students with Chronic Academic Stress

PubMed Central

Zhang, Yonghong; Luo, Xi; Che, Xianwei; Duan, Wenjie

2016-01-01

The literature has shown that self-compassion is a protective factor of an individual’s emotional response to chronic stress. However, this stress-buffering effect has not been completely analyzed in individuals who report significantly high academic stress. The present study explored the role of self-compassion in a group of undergraduate students who experience chronic academic stress. A total of 208 undergraduate students who were preparing for the Postgraduate Entrance Examination (PEE) were recruited and completed the Self-Compassion Scale, Adolescent Self-Rating Life Event Check List, and Positive and Negative Affect Schedule. Differences analysis confirmed that the participants reported significantly higher academic stress than their peers who were not preparing for PEE. Self-compassion positively related to positive affect but negatively related to negative affect and learning stress. Further analysis showed that self-compassion negatively mediated the relationship between chronic academic stress and negative affect. Findings imply that self-compassion-centered interventions can be developed in the educational context to assist students cope with chronic academic stress. PMID:27920736

Against compassion: in defence of a "hybrid" concept of empathy.

PubMed

Morgan, Alastair

2017-07-01

In this article, I argue that the recent emphasis on compassion in healthcare practice lacks conceptual richness and clarity. In particular, I argue that it would be helpful to focus on a larger concept of empathy rather than compassion alone and that compassion should be thought of as a component of this larger concept of empathy. The first part of the article outlines a critique of the current discourse of compassion on three grounds. This discourse naturalizes, individualizes, and reifies compassion leading to a decontextualized and simplified understanding of failures in healthcare practice. The second part uses resources from phenomenology and contemporary moral philosophy to construct a "hybrid" concept of empathy that includes both pre-reflective/intuitive and cognitive/imaginative components. This "hybrid" concept of empathy leads to a more complex understanding of the multiple responses to others' distress. I conclude that there are no straightforward normative naturalistic responses to others' distress. Rather than conceptualizing compassion as a naturalistic impulse or a character-based trait, we need to consider the complexity of our empathic recognition of vulnerable others. © 2016 John Wiley & Sons Ltd.

"Tu Souffres, Cela Suffit": the compassionate hospital.

PubMed

Kearsley, John H; Youngson, Robin

2012-04-01

The authors propose that the characteristics of personal (individual) compassion may be extrapolated to the concept of corporate (organizational) compassion. Modern health care facilities attract staff members who are able to exercise varying degrees of compassion in their busy daily routines. However, little discussion has taken place on how health care organizations might best harness and integrate aspects of individual compassion to create an organization with compassion as a core value. We define three characteristics of a "compassionate hospital" as 1) the presence of a healing environment, 2) a sense of connection among people, and 3) a sense of purpose and identity. We suggest how a "top down" focus on compassion as a core value by clinical leaders could maximize the compassion of health care workers, and reduce the suffering expressed and/or experienced by health care workers and patients in today's health care facilities. The compassionate hospital concept is intended to act as a proposition for health policy researchers and decision-makers in health care so as to reduce the suffering of sick patients, and to restore a sense of well-being, meaning, and purpose among health care workers.

Toward a comprehensive, theoretical model of compassion fatigue: An integrative literature review.

PubMed

Coetzee, Siedine K; Laschinger, Heather K S

2018-03-01

This study was an integrative literature review in relation to compassion fatigue models, appraising these models, and developing a comprehensive theoretical model of compassion fatigue. A systematic search on PubMed, EbscoHost (Academic Search Premier, E-Journals, Medline, PsycINFO, Health Source Nursing/Academic Edition, CINAHL, MasterFILE Premier and Health Source Consumer Edition), gray literature, and manual searches of included reference lists was conducted in 2016. The studies (n = 11) were analyzed, and the strengths and limitations of the compassion fatigue models identified. We further built on these models through the application of the conservation of resources theory and the social neuroscience of empathy. The compassion fatigue model shows that it is not empathy that puts nurses at risk of developing compassion fatigue, but rather a lack of resources, inadequate positive feedback, and the nurse's response to personal distress. By acting on these three aspects, the risk of developing compassion fatigue can be addressed, which could improve the retention of a compassionate and committed nurse workforce. © 2017 John Wiley & Sons Australia, Ltd.

Low self-compassion in patients with bipolar disorder.

PubMed

Døssing, Marianne; Nilsson, Kristine Kahr; Svejstrup, Stinna Rzepa; Sørensen, Vegard Venås; Straarup, Krista Nielsen; Hansen, Tia B

2015-07-01

Emerging research suggests that low self-compassion may be linked to psychopathology and in particular depressive symptoms. To further elucidate this topic, the present study investigated self-compassion in patients with Bipolar Disorder (BD). Thirty remitted BD patients were compared to thirty age- and sex matched controls on the Self-Compassion Scale (SCS). The BD patients also completed the Altman Self-Rating Mania Scale (ASRM), the Major Depression Inventory (MDI), the Work and Social Adjustment Scale (WSAS), the Satisfaction With Life Scale (SWLS) and the Internalized Stigma of Mental Illness Scale (ISMI-10) and further reported their illness history on a survey sheet. The BD patients were found to have significantly lower self-compassion than controls. In addition, self-compassion correlated positively and significantly with life-satisfaction but no significant correlations with functional impairment, internalized stigma or frequency of past affective episodes were found. The small sample size entailed reduced statistical power. By suggesting that self-compassion is reduced and possibly linked to life-satisfaction in BD, the findings highlight a potential vulnerability meriting further investigations. Copyright © 2015 Elsevier Inc. All rights reserved.

Compassion fatigue and burnout amongst clinicians: a medical exploratory study.

PubMed

Bhutani, Jaikrit; Bhutani, Sukriti; Balhara, Yatan Pal Singh; Kalra, Sanjay

2012-10-01

Compassion fatigue is a broad term comprising of two components - burnout and secondary traumatic stress. The current study is aimed at identifying 'burnout' and 'compassion fatigue' among clinicians involved in care of individuals suffering from medical illness. A total of 60 clinicians were included in the study. A semi-structured questionnaire was administered to gather information related to personal, professional, anthropometric, and metabolic profile of the study participants. Professional Quality of Life Scale (ProQoL Version V) was used to assess burnout, compassion satisfaction and secondary traumatic stress. Analysis was carried out using the SPSS version 19.0. The mean age of clinicians was 46.68±11.06 (range 26-67 years). Burnout score was significantly higher in those involved in diabetology practice. Similarly, compassion satisfaction score was greater among those with greater years of practice as well as among those in private practice. Clinicians who reported a poor working condition, as opposed to good, had more burnout and less compassion satisfaction. The current study suggests that it is important to find out ways of decreasing burnout and compassion fatigue among clinicians.

Compassion fatigue in liver and kidney transplant nurse coordinators: a descriptive research study.

PubMed

Kim, Sabin

2013-12-01

Because of the nature of the helping professions, nurses are at high risk for compassion fatigue and burnout. In the past, many researchers have studied compassion fatigue and burnout in nurses. However, reports of research assessing liver and kidney transplant nurse coordinators' compassion fatigue and burnout are rare. To assess liver and kidney transplant nurse coordinators' levels of compassion fatigue and burnout. A nonexperimental, exploratory descriptive study was conducted using the Professional Quality of Life Scale Version 5 (ProQOL-V), a 30-item self-report instrument to measure participants' level of compassion satisfaction, burnout, and secondary traumatic stress. This study sampled 14 liver and kidney transplant nurse coordinators from a large multiorgan transplant center in the Southeast region. Transplant nurse coordinators had an average level of compassion satisfaction, an average level of burnout, and an average level of secondary traumatic stress. Within liver and kidney transplant nurse coordinators, a statistically significant relationship was found between education levels of transplant nurse coordinators and the level of burnout, suggesting that education levels may influence burnout.

Context dependency of Set1/COMPASS-mediated histone H3 Lys4 trimethylation

PubMed Central

Thornton, Janet L.; Westfield, Gerwin H.; Takahashi, Yoh-hei; Cook, Malcolm; Gao, Xin; Woodfin, Ashley R.; Lee, Jung-Shin; Morgan, Marc A.; Jackson, Jessica; Smith, Edwin R.; Couture, Jean-Francois; Skiniotis, Georgios; Shilatifard, Ali

2014-01-01

The stimulation of trimethylation of histone H3 Lys4 (H3K4) by H2B monoubiquitination (H2Bub) has been widely studied, with multiple mechanisms having been proposed for this form of histone cross-talk. Cps35/Swd2 within COMPASS (complex of proteins associated with Set1) is considered to bridge these different processes. However, a truncated form of Set1 (762-Set1) is reported to function in H3K4 trimethylation (H3K4me3) without interacting with Cps35/Swd2, and such cross-talk is attributed to the n-SET domain of Set1 and its interaction with the Cps40/Spp1 subunit of COMPASS. Here, we used biochemical, structural, in vivo, and chromatin immunoprecipitation (ChIP) sequencing (ChIP-seq) approaches to demonstrate that Cps40/Spp1 and the n-SET domain of Set1 are required for the stability of Set1 and not the cross-talk. Furthermore, the apparent wild-type levels of H3K4me3 in the 762-Set1 strain are due to the rogue methylase activity of this mutant, resulting in the mislocalization of H3K4me3 from the promoter-proximal regions to the gene bodies and intergenic regions. We also performed detailed screens and identified yeast strains lacking H2Bub but containing intact H2Bub enzymes that have normal levels of H3K4me3, suggesting that monoubiquitination may not directly stimulate COMPASS but rather works in the context of the PAF and Rad6/Bre1 complexes. Our study demonstrates that the monoubiquitination machinery and Cps35/Swd2 function to focus COMPASS's H3K4me3 activity at promoter-proximal regions in a context-dependent manner. PMID:24402317

Evaluation of robotic endovascular catheters for arch vessel cannulation.

PubMed

Riga, Celia V; Bicknell, Colin D; Hamady, Mohamad S; Cheshire, Nicholas J W

2011-09-01

Conventional catheter instability and embolization risk limits the adoption of endovascular therapy in patients with challenging arch anatomy. This study investigated whether arch vessel cannulation can be enhanced by a remotely steerable robotic catheter system. Seventeen clinicians with varying endovascular experience cannulated all arch vessels within two computed tomography-reconstructed pulsatile flow phantoms (bovine type I and type III aortic arches), under fluoroscopic guidance, using conventional and robotic techniques. Quantitative (catheterization times, catheter tip movements, vessel wall hits, catheter deflection) and qualitative metrics (Imperial College Complex Endovascular Cannulation Scoring Tool [IC3ST]) performance scores were compared. Robotic catheterization techniques resulted in a significant reduction in median carotid artery cannulation times and the median number of catheter tip movements for all vessels. Vessel wall contact with the aortic arch wall was reduced to a median of zero with robotic catheters. During stiff guidewire exchanges, robotic catheters maintained stability with zero deflection, independent of the distance the catheter was introduced into the carotid vessels. Overall IC3ST performance scores (interquartile range) were significantly improved using the robotic system: Type I arch score was 26/35 (20-30.8) vs 33/35 (31-34; P = .001), and type III arch score was 20.5/35 (16.5-28.5) vs 26.5/35 (23.5-28.8; P = .001). Low- and medium-volume interventionalists demonstrated an improvement in performance with robotic cannulation techniques. The high-volume intervention group did not show statistically significant improvement, but cannulation times, movements, and vessel wall hits were significantly reduced. Robotic technology has the potential to reduce the time, risk of embolization and catheter dislodgement, radiation exposure, and the manual skill required for carotid and arch vessel cannulation, while improving overall performance scores. Copyright © 2011 Society for Vascular Surgery. Published by Mosby, Inc. All rights reserved.

The Paradigm of Utilizing Robots in the Teaching Process: A Comparative Study

ERIC Educational Resources Information Center

Bacivarov, Ioan C.; Ilian, Virgil L. M.

2012-01-01

This paper discusses a comparative study of the effects of using a humanoid robot for introducing students to personal robotics. Even if a humanoid robot is one of the more complicated types of robots, comprehension was not an issue. The study highlighted the importance of using real hardware for teaching such complex subjects as opposed to…

Multirobot autonomous landmine detection using distributed multisensor information aggregation

NASA Astrophysics Data System (ADS)

Jumadinova, Janyl; Dasgupta, Prithviraj

2012-06-01

We consider the problem of distributed sensor information fusion by multiple autonomous robots within the context of landmine detection. We assume that different landmines can be composed of different types of material and robots are equipped with different types of sensors, while each robot has only one type of landmine detection sensor on it. We introduce a novel technique that uses a market-based information aggregation mechanism called a prediction market. Each robot is provided with a software agent that uses sensory input of the robot and performs calculations of the prediction market technique. The result of the agent's calculations is a 'belief' representing the confidence of the agent in identifying the object as a landmine. The beliefs from different robots are aggregated by the market mechanism and passed on to a decision maker agent. The decision maker agent uses this aggregate belief information about a potential landmine and makes decisions about which other robots should be deployed to its location, so that the landmine can be confirmed rapidly and accurately. Our experimental results show that, for identical data distributions and settings, using our prediction market-based information aggregation technique increases the accuracy of object classification favorably as compared to two other commonly used techniques.

Development of Inspection Robots for Bridge Cables

PubMed Central

Kim, Se-Hoon; Lee, Jong-Jae

2013-01-01

This paper presents the bridge cable inspection robot developed in Korea. Two types of the cable inspection robots were developed for cable-suspension bridges and cable-stayed bridge. The design of the robot system and performance of the NDT techniques associated with the cable inspection robot are discussed. A review on recent advances in emerging robot-based inspection technologies for bridge cables and current bridge cable inspection methods is also presented. PMID:24459453

Why and how is compassion necessary to provide good quality healthcare?

PubMed Central

Fotaki, Marianna

2015-01-01

Recent disclosures of failures of care in the National Health Service (NHS) in England have led to debates about compassion deficits disallowing health professionals to provide high quality responsive care. While the link between high quality care and compassion is often taken for granted, it is less obvious how compassion – often originating in the individual’s emotional response – can become a moral sentiment and lead to developing a system of norms and values underpinning ethics of care. In this editorial, I argue why and how compassion might become a foundation of ethics guiding health professionals and a basis for ethics of care in health service organisations. I conclude by discussing a recent case of prominent healthcare failure in the NHS to highlight the relationship between compassion as an aspect of professional ethics on the one hand, and values and norms that institutions and specific policies promote on the other hand. PMID:25844380

Resilience among first responders.

PubMed

Pietrantoni, Luca; Prati, Gabriele

2008-12-01

Emergency rescue personnel can be considered a "high risk" occupational group in that they could experience a broad range of health and mental health consequences as a result of work-related exposures to critical incidents. This study examined the resilience factors that protect mental health among first responders. Nine hundred and sixty-one first responders filled out an on-line questionnaire, containing measure of sense of community, collective efficacy, self-efficacy and work-related mental health outcomes (compassion fatigue, burnout and compassion satisfaction). First responders reported high level of compassion satisfaction and low level of burnout and compassion fatigue. Compassion fatigue was predicted by self-efficacy, burnout was predicted by self-efficacy, collective efficacy and sense of community, compassion satisfaction was predicted by self-efficacy and sense of community. Resilience following critical events is common among first responders. Self-efficacy, collective efficacy and sense of community could be considered resilience factors that preserve first responders' work-related mental health.

The psychic costs of empathic engagement: personal and demographic predictors of genetic counselor compassion fatigue.

PubMed

Udipi, Sharanya; Veach, Patricia McCarthy; Kao, Juihsien; LeRoy, Bonnie S

2008-10-01

Empathic connection with one's patients is essential to genetic counselor clinical practice. However, repeatedly engaging with distressed patients may cause compassion fatigue, a phenomenon characterized as feeling overwhelmed by experiencing patients' suffering. In order to extend findings of an initial qualitative study, we surveyed 222 genetic counselors about their compassion fatigue and factors that predict its occurrence. Multiple regression analysis identified seven significant predictors accounting for 53.7% of the variance in compassion fatigue. Respondents at higher risk of compassion fatigue were more likely to report being burned out, using self-criticism and giving up to manage stress, experiencing a greater variety of distressing clinical events, having larger patient caseloads, relying on religion as a coping strategy, having no children, and seeking support to manage stress. Respondents also provided critical incidents regarding their compassion fatigue and themes in these incidents are described. Practice and research recommendations are provided.

Exploring the self-compassion of health-care social workers: How do they fare?

PubMed

Lianekhammy, Joann; Miller, J Jay; Lee, Jacquelyn; Pope, Natalie; Barnhart, Sheila; Grise-Owens, Erlene

2018-05-03

Indubitably, the challenges facing health-care social workers are becoming increasingly complex. Whilst these problematic professional circumstances compound the need for self-compassion among health-care social workers, few studies, if any, have explicitly examined self-compassion among this practitioner group. This cross-sectional study explored self-compassion among a sample of practitioners (N = 138) in one southeastern state. Results indicate that health-care social workers in this sample engage in self-compassion only moderately. Further, occupational and demographic/life characteristics (e.g., age, years practicing social work, average hours worked per week, health status, and relationship status, among others) are able to predict self-compassion scores. After a terse review of relevant literature, this paper will explicate findings from this study, discuss relevant points derived from said findings, and identify salient implication for health-care social work praxis.

Compassion fatigue and burnout: prevalence among oncology nurses.

PubMed

Potter, Patricia; Deshields, Teresa; Divanbeigi, Joyce; Berger, Julie; Cipriano, Doreen; Norris, Lori; Olsen, Sarah

2010-10-01

This descriptive, cross-sectional survey was conducted in inpatient nursing units and outpatient clinics in a cancer center in the midwestern United States. The sample of 153 healthcare providers included RNs, medical assistants, and radiology technicians. The fourth revision of the 30-item Professional Quality of Life (ProQOL R-IV) scale was used for measuring compassion fatigue, compassion satisfaction, and burnout. A series of cross tab analyses examined the relationship between participant demographics and three ProQOL R-IV subscales. The study sample scored similarly on compassion satisfaction and burnout when compared with participants who used the ProQOL R-IV in previous studies. Value exists in analyzing the prevalence of burnout and compassion fatigue among oncology healthcare providers. Understanding the needs of distinct demographic groups offers valuable direction for intervention program development. Applying internal evidence in the design of a relevant stress-reduction program will better equip healthcare providers to recognize and manage compassion fatigue and burnout.

Using Social Media to Generate and Collect Primary Data: The #ShowsWorkplaceCompassion Twitter Research Campaign

PubMed Central

Pezaro, Sally; Deeny, Karen; Kneafsey, Rosie

2018-01-01

Background Compassion is a core value embedded in the concept of quality in healthcare. The need for compassion toward healthcare staff in the workplace, for their own health and well-being and also to enable staff to deliver compassionate care for patients, is increasingly understood. However, we do not currently know how healthcare staff understand and characterize compassion toward themselves as opposed to patients. Objective The aim of this study was to use social media for the generation and collection of primary data to gain understanding of the concept of workplace compassion. Methods Tweets that contained the hashtag #ShowsWorkplaceCompassion were collected from Twitter and analyzed. The study took place between April 21 and May 21, 2016. Participants were self-selecting users of the social media service Twitter. The study was promoted by a number of routes: the National Health Service (NHS) England website, the personal Twitter accounts of the research team, internal NHS England communications, and via social media sharing. Participants were asked to contribute their views about what activities, actions, policies, philosophies or approaches demonstrate workplace compassion in healthcare using the hashtag #ShowsWorkplaceCompassion. All tweets including the research hashtag #ShowsWorkplaceCompassion were extracted from Twitter and studied using content analysis. Data concerning the frequency, nature, origin, and location of Web-based engagement with the research campaign were collected using Bitly (Bitly, Inc, USA) and Symplur (Symplur LLC, USA) software. Results A total of 260 tweets were analyzed. Of the 251 statements within the tweets that were coded, 37.8% (95/251) of the statements concerned Leadership and Management aspects of workplace compassion, 29.5% (74/251) were grouped under the theme related to Values and Culture, 17.5% (44/251) of the statements related to Personalized Policies and Procedures that support workplace compassion, and 15.2% (38/251) of the statements concerned Activities and Actions that show workplace compassion. Content analysis showed that small acts of kindness, an embedded organizational culture of caring for one another, and recognition of the emotional and physical impact of healthcare work were the most frequently mentioned characteristics of workplace compassion in healthcare. Conclusions This study presents a new and innovative research approach using Twitter. Although previous research has analyzed the nature and pattern of tweets retrospectively, this study used Twitter to both recruit participants and collect primary data. PMID:29685866

Using Social Media to Generate and Collect Primary Data: The #ShowsWorkplaceCompassion Twitter Research Campaign.

PubMed

Clyne, Wendy; Pezaro, Sally; Deeny, Karen; Kneafsey, Rosie

2018-04-23

Compassion is a core value embedded in the concept of quality in healthcare. The need for compassion toward healthcare staff in the workplace, for their own health and well-being and also to enable staff to deliver compassionate care for patients, is increasingly understood. However, we do not currently know how healthcare staff understand and characterize compassion toward themselves as opposed to patients. The aim of this study was to use social media for the generation and collection of primary data to gain understanding of the concept of workplace compassion. Tweets that contained the hashtag #ShowsWorkplaceCompassion were collected from Twitter and analyzed. The study took place between April 21 and May 21, 2016. Participants were self-selecting users of the social media service Twitter. The study was promoted by a number of routes: the National Health Service (NHS) England website, the personal Twitter accounts of the research team, internal NHS England communications, and via social media sharing. Participants were asked to contribute their views about what activities, actions, policies, philosophies or approaches demonstrate workplace compassion in healthcare using the hashtag #ShowsWorkplaceCompassion. All tweets including the research hashtag #ShowsWorkplaceCompassion were extracted from Twitter and studied using content analysis. Data concerning the frequency, nature, origin, and location of Web-based engagement with the research campaign were collected using Bitly (Bitly, Inc, USA) and Symplur (Symplur LLC, USA) software. A total of 260 tweets were analyzed. Of the 251 statements within the tweets that were coded, 37.8% (95/251) of the statements concerned Leadership and Management aspects of workplace compassion, 29.5% (74/251) were grouped under the theme related to Values and Culture, 17.5% (44/251) of the statements related to Personalized Policies and Procedures that support workplace compassion, and 15.2% (38/251) of the statements concerned Activities and Actions that show workplace compassion. Content analysis showed that small acts of kindness, an embedded organizational culture of caring for one another, and recognition of the emotional and physical impact of healthcare work were the most frequently mentioned characteristics of workplace compassion in healthcare. This study presents a new and innovative research approach using Twitter. Although previous research has analyzed the nature and pattern of tweets retrospectively, this study used Twitter to both recruit participants and collect primary data. ©Wendy Clyne, Sally Pezaro, Karen Deeny, Rosie Kneafsey. Originally published in JMIR Public Health and Surveillance (http://publichealth.jmir.org), 23.04.2018.

Compassion as the reunion of feminine and masculine virtues in medicine

PubMed Central

Aramesh, Kiarash

2017-01-01

The central role of the virtue of compassion in the shaping of the professional character of healthcare providers is a well-emphasized fact. On the other hand, the utmost obligation of physicians is to alleviate or eliminate human suffering. Traditionally, according to the Aristotelian understanding of virtues and virtue ethics, human virtues have been associated with masculinity. In recent decades, the founders of the ethics of care have introduced a set of virtues with feminine nature. This paper analyzes the notion of compassion as a common virtue between the traditional/masculine and care/feminine sets of virtues and shows that compassion is a reunion and merging point of both sets of human virtues. This role can be actualized through the development and promotion of compassion as an important part of the character of an ideal physician/healthcare provider. In addition, this paper argues that the notion of compassion can shed light on some important aspects of the contemporary debates on healthcare provider-patient relationship and medical futility. Despite the recent technological and scientific transformations in medicine, the interpersonal relationship between healthcare providers and patients still plays a vital role in pursuing the goals of healthcare. The virtue of compassion plays a central role in the establishment of a trust-based physician-patient relationship. This central role is discernible in the debate of medical futility in which making difficult decisions, depends largely on trust and rapport which are achievable by compassion in the physician and the recognition of this compassion by the patients and their surrogate decision makers. PMID:29296257

Commissioning and validation of fluence-based 3D VMAT dose reconstruction system using new transmission detector.

PubMed

Nakaguchi, Yuji; Oono, Takeshi; Maruyama, Masato; Shimohigashi, Yoshinobu; Kai, Yudai; Nakamura, Yuya

2018-06-01

In this study, we evaluated the basic performance of the three-dimensional dose verification system COMPASS (IBA Dosimetry). This system is capable of reconstructing 3D dose distributions on the patient anatomy based on the fluence measured using a new transmission detector (Dolphin, IBA Dosimetry) during treatment. The stability of the absolute dose and geometric calibrations of the COMPASS system with the Dolphin detector were investigated for fundamental validation. Furthermore, multileaf collimator (MLC) test patterns and a complicated volumetric modulated arc therapy (VMAT) plan were used to evaluate the accuracy of the reconstructed dose distributions determined by the COMPASS. The results from the COMPASS were compared with those of a Monte Carlo simulation (MC), EDR2 film measurement, and a treatment planning system (TPS). The maximum errors for the absolute dose and geometrical position were - 0.28% and 1.0 mm for 3 months, respectively. The Dolphin detector, which consists of ionization chamber detectors, was firmly mounted on the linear accelerator and was very stable. For the MLC test patterns, the TPS showed a > 5% difference at small fields, while the COMPASS showed good agreement with the MC simulation at small fields. However, the COMPASS produced a large error for complex small fields. For a clinical VMAT plan, COMPASS was more accurate than TPS. COMPASS showed real delivered-dose distributions because it uses the measured fluence, a high-resolution detector, and accurate beam modeling. We confirm here that the accuracy and detectability of the delivered dose of the COMPASS system are sufficient for clinical practice.

Compassion as the reunion of feminine and masculine virtues in medicine.

PubMed

Aramesh, Kiarash

2017-01-01

The central role of the virtue of compassion in the shaping of the professional character of healthcare providers is a well-emphasized fact. On the other hand, the utmost obligation of physicians is to alleviate or eliminate human suffering. Traditionally, according to the Aristotelian understanding of virtues and virtue ethics, human virtues have been associated with masculinity. In recent decades, the founders of the ethics of care have introduced a set of virtues with feminine nature. This paper analyzes the notion of compassion as a common virtue between the traditional/masculine and care/feminine sets of virtues and shows that compassion is a reunion and merging point of both sets of human virtues. This role can be actualized through the development and promotion of compassion as an important part of the character of an ideal physician/healthcare provider. In addition, this paper argues that the notion of compassion can shed light on some important aspects of the contemporary debates on healthcare provider-patient relationship and medical futility. Despite the recent technological and scientific transformations in medicine, the interpersonal relationship between healthcare providers and patients still plays a vital role in pursuing the goals of healthcare. The virtue of compassion plays a central role in the establishment of a trust-based physician-patient relationship. This central role is discernible in the debate of medical futility in which making difficult decisions, depends largely on trust and rapport which are achievable by compassion in the physician and the recognition of this compassion by the patients and their surrogate decision makers.

Self-Compassion, Stress, and Coping

PubMed Central

Allen, Ashley Batts; Leary, Mark R.

2010-01-01

People who are high in self-compassion treat themselves with kindness and concern when they experience negative events. The present article examines the construct of self-compassion from the standpoint of research on coping in an effort to understand the ways in which people who are high in self-compassion cope with stressful events. Self-compassionate people tend to rely heavily on positive cognitive restructuring but do not appear to differ from less self-compassionate people in the degree to which they cope through problem-solving and distraction. Existing evidence does not show clear differences in the degree to which people who are low vs. high in self-compassion seek support as a coping strategy, but more research is needed. PMID:20686629

PanDA for COMPASS at JINR

NASA Astrophysics Data System (ADS)

Petrosyan, A. Sh.

2016-09-01

PanDA (Production and Distributed Analysis System) is a workload management system, widely used for data processing at experiments on Large Hadron Collider and others. COMPASS is a high-energy physics experiment at the Super Proton Synchrotron. Data processing for COMPASS runs locally at CERN, on lxbatch, the data itself stored in CASTOR. In 2014 an idea to start running COMPASS production through PanDA arose. Such transformation in experiment's data processing will allow COMPASS community to use not only CERN resources, but also Grid resources worldwide. During the spring and summer of 2015 installation, validation and migration work is being performed at JINR. Details and results of this process are presented in this paper.

The influence of trait-negative affect and compassion satisfaction on compassion fatigue in Australian nurses.

PubMed

Craigie, Mark; Osseiran-Moisson, Rebecca; Hemsworth, David; Aoun, Samar; Francis, Karen; Brown, Janie; Hegney, Desley; Rees, Clare

2016-01-01

For this study, we examined the nature of the unique relationships trait-negative affect and compassion satisfaction had with compassion fatigue and its components of secondary traumatic stress and burnout in 273 nurses from 1 metropolitan tertiary acute hospital in Western Australia. Participants completed the Professional Quality of Life Scale (Stamm, 2010), Depression Anxiety Stress Scale (Lovibond & Lovibond, 2004), and the State-Trait Anxiety Inventory (Spielberger, Gorsuch, Lushene, Vagg, & Jacobs, 1983). Bivariate correlation and hierarchical regression analyses were performed to examine and investigate 4 hypotheses. The results demonstrate a clear differential pattern of relationships with secondary traumatic stress and burnout for both trait-negative affect and compassion satisfaction. Trait-negative affect was clearly the more important factor in terms of its contribution to overall compassion fatigue and secondary traumatic stress. In contrast, compassion satisfaction's unique protective relationship only related to burnout, and not secondary traumatic stress. The results are therefore consistent with the view that compassion satisfaction may be an important internal resource that protects against burnout, but is not directly influential in protecting against secondary traumatic stress for nurses working in an acute-care hospital environment. With the projected nursing workforce shortages in Australia, it is apparent that a further understanding is warranted of how such personal variables may work as protective and risk factors. (c) 2016 APA, all rights reserved).

Practical compassions: repertoires of practice and compassion talk in acute mental healthcare.

PubMed

Brown, Brian; Crawford, Paul; Gilbert, Paul; Gilbert, Jean; Gale, Corinne

2014-03-01

This article reports an exploratory study of the concept of compassion in the work of 20 mental health practitioners in a UK Midlands facility. Using notions of practice derived from phenomenology and Bourdieusian sociology and notions of emotional labour we identify two contrasting interpretive repertoires in discussions of compassion. The first, the practical compassion repertoire, evokes the practical, physical and bodily aspects of compassion. It involves organising being with patients, playing games, anticipating disruption and taking them outside for cigarettes. Practitioners described being aware that these practical, bodily activities could lead to patients 'opening up', disclosing their interior concerns and enabling practical, compassionate mental health work to take place. In contrast, the second, organisational repertoire, concerns organisational constraints on compassionate practice. The shortage of staff, the record-keeping and internal processes of quality control were seen as time-greedy and apt to detract from contact with patients. The findings are discussed in relation to Bourdieu and Merleau-Ponty's phenomenological accounts of practice and habit and set in context in the growing interest in placing compassion centrally in healthcare. We also explore how the exercise of compassion in the way our participants describe it can afford the more effective exercise of medical power. © 2013 The Author. Sociology of Health & Illness © 2013 Foundation for the Sociology of Health & Illness/John Wiley & Sons Ltd.

Effects of self-compassion workbook training on trauma-related guilt in a sample of homeless veterans: a pilot study.

PubMed

Held, Philip; Owens, Gina P

2015-06-01

The present pilot study examined the effects of a 4-week-long self-administered self-compassion training on trauma-related guilt and compared it to a stress inoculation control group. A total of 47 homeless male veterans who were living in transitional housing facilities volunteered to participate in this study. Participants were randomly assigned to either a self-compassion (N = 13) or a stress inoculation (N = 14) group and were asked to complete pre-, mid-, and postintervention assessments measuring changes in self-compassion, trauma-related guilt, and posttraumatic stress disorder severity. Participants in both interventions reported increased levels of self-compassion and equal reductions in trauma-related guilt. No other significant changes were noted. The results from this pilot study provide preliminary evidence for the use of self-compassion and stress inoculation trainings as effective interventions for trauma-related guilt. The findings also suggest that self-administered trainings in the form of workbooks may be a viable, cost-effective form of intervention for disadvantaged populations, such as homeless veterans in transitional housing, who may lack resources or access to professionals or paraprofessionals. The effects of both self-compassion training and stress inoculation training on the study variables and directions for future research on self-compassion and trauma-related guilt are discussed. © 2015 Wiley Periodicals, Inc.

Rethinking Compassion Fatigue Through the Lens of Professional Identity: The Case of Child-Protection Workers.

PubMed

Geoffrion, Steve; Morselli, Carlo; Guay, Stéphane

2016-07-01

Compassion fatigue is currently the dominant model in work-related stress studies that explain the consequences of caring for others on child-protection workers. Based on a deterministic approach, this model excludes the role of cognition a priori and a posteriori in the understanding of the impact of caregiving or providing social support. By integrating the notion of professional identity, this article adds a subjective perspective to the compassion fatigue model allowing for the consideration of positive outcomes and takes into account the influence of stress caused by accountability. Mainly, it is argued that meanings derived from identity and given to situations may protect or accelerate the development of compassion fatigue or compassion satisfaction. To arrive at this proposition, the notions of compassion fatigue and identity theory are first reviewed. These concepts are then articulated around four work-related stressors specific to child-protection work. In light of this exercise, it is argued that professional identity serves as a subjective interpretative framework that guides the understanding of work-related situations. Therefore, compassion fatigue is not only a simple reaction to external stimuli. It is influenced by meanings given to the situation. Furthermore, professional identity modulates the impact of compassion fatigue on psychological well-being. Practice, policy, and research implications in light of these findings are also discussed. © The Author(s) 2015.

A survey of snake-inspired robot designs.

PubMed

Hopkins, James K; Spranklin, Brent W; Gupta, Satyandra K

2009-06-01

Body undulation used by snakes and the physical architecture of a snake body may offer significant benefits over typical legged or wheeled locomotion designs in certain types of scenarios. A large number of research groups have developed snake-inspired robots to exploit these benefits. The purpose of this review is to report different types of snake-inspired robot designs and categorize them based on their main characteristics. For each category, we discuss their relative advantages and disadvantages. This review will assist in familiarizing a newcomer to the field with the existing designs and their distinguishing features. We hope that by studying existing robots, future designers will be able to create new designs by adopting features from successful robots. The review also summarizes the design challenges associated with the further advancement of the field and deploying snake-inspired robots in practice.

Report: Audit of EPA’s Fiscal 2012 and 2011 Consolidated Financial Statements

EPA Pesticide Factsheets

Report #13-1-0054, November 15, 2012. In Oct 2011, EPA replaced the Integrated Financial Management System with a new system, Compass Financials (Compass), and we determined that Compass reporting and system limitations represented a material weakness.

Teaching Basic Geographical Skills: Map and Compass Activities.

ERIC Educational Resources Information Center

Trussell, Margaret Edith

1986-01-01

Presents a unit on map and compass activities which introduces compass direction, magnetic declination and conversion of map measurement to familiar units. Requires four, one-hour class meetings and may be followed by a half-day orienteering activity. (Author/JDH)

Buffering Impostor Feelings with Kindness: The Mediating Role of Self-compassion between Gender-Role Orientation and the Impostor Phenomenon

PubMed Central

Patzak, Alexandra; Kollmayer, Marlene; Schober, Barbara

2017-01-01

The impostor phenomenon (IP) refers to high-achievers who underestimate their abilities and thus fear being unmasked as impostors. IP sufferers attribute their success to factors other than their abilities, entailing negative emotions, unfavorable motivations, and reduced well-being. The IP was originally conceptualized as a predominantly female experience, and is thus seen as an important psychological barrier for female academic careers. Empirical findings of gender differences in the IP are equivocal, but sparse research on associations between gender-role orientation and the IP indicates that feminine students suffer more intensely from the IP than masculine students. Femininity and masculinity are also related to self-compassion, a rather young construct that enhances emotional resilience, well-being, and academic achievement. Self-compassion involves being kind to oneself when failing, perceiving one’s inadequacies as part of the human condition, and being mindful about negative aspects of oneself. It reduces fear of failure, denial of competences, and self-doubts which are central components of the IP. However, relations between self-compassion and the IP have not been investigated to date. In this study, we examine self-compassion as a potential resilience factor against the IP, taking gender and gender-role orientation into account. In a cross-sectional online survey, we investigated 459 (315 female) high-achieving first-year undergraduate students. Results include: Female, feminine, and undifferentiated students score higher on measures of the IP and lower on measures of self-compassion than male, masculine, or androgynous students. Higher levels of the IP are associated with lower levels of self-compassion across all students tested. Self-compassion further mediates the relationship between gender-role orientation and the IP. Interventions to enhance self-compassion might thus be an effective way to overcome impostor feelings. Female, feminine, and undifferentiated students might benefit most from facilitation of self-compassion in education. PMID:28798714

A qualitative study of key stakeholders' perspectives on compassion in healthcare and the development of a framework for compassionate interpersonal relations.

PubMed

Kneafsey, Rosie; Brown, Sarah; Sein, Kim; Chamley, Carol; Parsons, Joanne

2016-01-01

To report findings from a qualitative study of key stakeholders' perspectives on 'compassion' in the health care context. To present the 'Framework for Compassionate Interpersonal Relations'. Although many research articles, health policies and health care strategies identify compassion as an underpinning value and key component of health care quality, identifying a unified definition of compassion is challenging. For Higher Education Institutions implementing 'values-based' recruitment processes, a clearer understanding of this core concept is vital. Exploratory, qualitative design. Academic staff, health care students, clinicians and service users (n = 45), participated in nine focus groups where they were asked to define compassion in the context of health care. Data were transcribed verbatim and analysed using thematic analysis. Four overarching themes were drawn from the data. The first theme centred on the participants' definitions of compassion, while the second identified compassionate behaviours. The third theme related to the barriers and threats to compassionate practice and the fourth, focused on ways to support compassion in practice. Participants believed that the health care staff should be 'consistently compassionate', and were emphatic that compassion should not be substituted with a 'care without engagement' approach. The findings concur with other research, which identifies the link between compassion and empathy and the importance of establishing meaningful connections with others. While participants in this study recognised the pressures of health care work and accepted that the expectation of 'consistent compassion' was not necessarily realistic, it was still seen as an important goal. Participants held clear expectations regarding practitioners' communication skills and used these as a proxy for compassionate practice. The 'Framework for Compassionate Inter-personal Relations' may be used to promote reflection on the implementation of compassionate practice. It may also be used to highlight areas of focus when conducting values-based recruitment activities. © 2015 John Wiley & Sons Ltd.

An empirical examination of the factor structure of compassion.

PubMed

Gu, Jenny; Cavanagh, Kate; Baer, Ruth; Strauss, Clara

2017-01-01

Compassion has long been regarded as a core part of our humanity by contemplative traditions, and in recent years, it has received growing research interest. Following a recent review of existing conceptualisations, compassion has been defined as consisting of the following five elements: 1) recognising suffering, 2) understanding the universality of suffering in human experience, 3) feeling moved by the person suffering and emotionally connecting with their distress, 4) tolerating uncomfortable feelings aroused (e.g., fear, distress) so that we remain open to and accepting of the person suffering, and 5) acting or being motivated to act to alleviate suffering. As a prerequisite to developing a high quality compassion measure and furthering research in this field, the current study empirically investigated the factor structure of the five-element definition using a combination of existing and newly generated self-report items. This study consisted of three stages: a systematic consultation with experts to review items from existing self-report measures of compassion and generate additional items (Stage 1), exploratory factor analysis of items gathered from Stage 1 to identify the underlying structure of compassion (Stage 2), and confirmatory factor analysis to validate the identified factor structure (Stage 3). Findings showed preliminary empirical support for a five-factor structure of compassion consistent with the five-element definition. However, findings indicated that the 'tolerating' factor may be problematic and not a core aspect of compassion. This possibility requires further empirical testing. Limitations with items from included measures lead us to recommend against using these items collectively to assess compassion. Instead, we call for the development of a new self-report measure of compassion, using the five-element definition to guide item generation. We recommend including newly generated 'tolerating' items in the initial item pool, to determine whether or not factor-level issues are resolved once item-level issues are addressed.

Improvement of the Owner Distinction Method for Healing-Type Pet Robots

NASA Astrophysics Data System (ADS)

Nambo, Hidetaka; Kimura, Haruhiko; Hara, Mirai; Abe, Koji; Tajima, Takuya

In order to decrease human stress, Animal Assisted Therapy which applies pets to heal humans is attracted. However, since animals are insanitary and unsafe, it is difficult to practically apply animal pets in hospitals. For the reason, on behalf of animal pets, pet robots have been attracted. Since pet robots would have no problems in sanitation and safety, they are able to be applied as a substitute for animal pets in the therapy. In our previous study where pet robots distinguish their owners like an animal pet, we used a puppet type pet robot which has pressure type touch sensors. However, the accuracy of our method was not sufficient to practical use. In this paper, we propose a method to improve the accuracy of the distinction. The proposed method can be applied for capacitive touch sensors such as installed in AIBO in addition to pressure type touch sensors. Besides, this paper shows performance of the proposed method from experimental results and confirms the proposed method has improved performance of the distinction in the conventional method.

Impact of Providing Compassion on Job Performance and Mental Health: The Moderating Effect of Interpersonal Relationship Quality.

PubMed

Chu, Li-Chuan

2017-07-01

To examine the relationships of providing compassion at work with job performance and mental health, as well as to identify the role of interpersonal relationship quality in moderating these relationships. This study adopted a two-stage survey completed by 235 registered nurses employed by hospitals in Taiwan. All hypotheses were tested using hierarchical regression analyses. The results show that providing compassion is an effective predictor of job performance and mental health, whereas interpersonal relationship quality can moderate the relationships of providing compassion with job performance and mental health. When nurses are frequently willing to listen, understand, and help their suffering colleagues, the enhancement engendered by providing compassion can improve the provider's job performance and mental health. Creating high-quality relationships in the workplace can strengthen the positive benefits of providing compassion. Motivating employees to spontaneously exhibit compassion is crucial to an organization. Hospitals can establish value systems, belief systems, and cultural systems that support a compassionate response to suffering. In addition, nurses can internalize altruistic belief systems into their own personal value systems through a long process of socialization in the workplace. © 2017 Sigma Theta Tau International.

The Relationship between the Supervision Role and Compassion Fatigue and Burnout in Genetic Counseling.

PubMed

Allsbrook, Katlin; Atzinger, Carrie; He, Hua; Engelhard, Chalee; Yager, Geoffrey; Wusik, Katie

2016-12-01

Many genetic counselors provide supervision to students during their career. Previous studies have shown genetic counselors, in general, are at increased risk for developing compassion fatigue. The purpose of this study was to determine if there was a difference in compassion fatigue and burnout levels in genetic counselors who currently supervise compared to genetic counselors who do not. Genetic counselors who currently practice in a clinical setting (N = 391) completed an online survey containing demographic questions, the Professional Quality of Life Scale, the State-Trait Anxiety Inventory, and questions specific to the genetic counselor's experiences with supervision. Overall, when controlling for trait-anxiety, the supervision role by itself was not independently associated with the risk for compassion fatigue and burnout among genetic counselors. Within supervisors, however, there were several factors which were associated with this risk. Those with less supervision experience reported more secondary traumatic stress. Those supervisors reporting less confidence had decreased compassion satisfaction. Those with less experience or less confidence in their supervision role were most likely to be at increased risk for developing compassion fatigue. Training in supervision and support for dealing with compassion fatigue and burnout may be beneficial to supervisors with less experience.

Compassion-based emotion regulation up-regulates experienced positive affect and associated neural networks

PubMed Central

Singer, Tania

2015-01-01

Emotion regulation research has primarily focused on techniques that attenuate or modulate the impact of emotional stimuli. Recent evidence suggests that this mode regulation can be problematic in the context of regulation of emotion elicited by the suffering of others, resulting in reduced emotional connectedness. Here, we investigated the effects of an alternative emotion regulation technique based on the up-regulation of positive affect via Compassion-meditation on experiential and neural affective responses to depictions of individuals in distress, and compared these with the established emotion regulation strategy of Reappraisal. Using fMRI, we scanned 15 expert practitioners of Compassion-meditation either passively viewing, or using Compassion-meditation or Reappraisal to modulate their emotional reactions to film clips depicting people in distress. Both strategies effectively, but differentially regulated experienced affect, with Compassion primarily increasing positive and Reappraisal primarily decreasing negative affect. Imaging results showed that Compassion, relative to both passive-viewing and Reappraisal increased activation in regions involved in affiliation, positive affect and reward processing including ventral striatum and medial orbitfrontal cortex. This network was shown to be active prior to stimulus presentation, suggesting that the regulatory mechanism of Compassion is the stimulus-independent endogenous generation of positive affect. PMID:25698699

An analysis on combined GPS/COMPASS data quality and its effect on single point positioning accuracy under different observing conditions

NASA Astrophysics Data System (ADS)

Cai, Changsheng; Gao, Yang; Pan, Lin; Dai, Wujiao

2014-09-01

With the rapid development of the COMPASS system, it is currently capable of providing regional navigation services. In order to test its data quality and performance for single point positioning (SPP), experiments have been conducted under different observing conditions including open sky, under trees, nearby a glass wall, nearby a large area of water, under high-voltage lines and under a signal transmitting tower. To assess the COMPASS data quality, the code multipath, cycle slip occurrence rate and data availability were analyzed and compared to GPS data. The datasets obtained from the experiments have also been utilized to perform combined GPS/COMPASS SPP on an epoch-by-epoch basis using unsmoothed single-frequency code observations. The investigation on the regional navigation performance aims at low-accuracy applications and all tests are made in Changsha, China, using the “SOUTH S82-C” GPS/COMPASS receivers. The results show that adding COMPASS observations can significantly improve the positioning accuracy of single-frequency GPS-only SPP in environments with limited satellite visibility. Since the COMPASS system is still in an initial operational stage, all results are obtained based on a fairly limited amount of data.

Response to a mindful self-compassion intervention in teens: A within-person association of mindfulness, self-compassion, and emotional well-being outcomes.

PubMed

Bluth, Karen; Eisenlohr-Moul, Tory A

2017-06-01

As adolescence can be a stressful developmental stage, the purpose of this study was to determine if a novel mindful self-compassion program would decrease stress, depressive symptoms, and anxiety and increase resilience, gratitude, and curiosity/exploration (positive risk-taking), and to ascertain if mindfulness and self-compassion co-varied with these outcomes over time. Forty-seven adolescents in the southeast U.S. enrolled in an 8-week mindful self-compassion course in five cohorts. Measures were assessed at pre-intervention, post-intervention, and 6-week follow-up. Multilevel growth analyses revealed main effects of time on perceived stress, resilience, curiosity/exploration and gratitude. Additionally, both mindfulness and self-compassion co-varied with perceived stress and depressive symptoms; mindfulness also co-varied with anxiety and self-compassion co-varied with resilience and curiosity/exploration. Implications of these findings are that this program has potential in decreasing stress and increasing resilience and positive risk-taking. Future studies with a control group need to be conducted to confirm these findings. Copyright © 2017 The Foundation for Professionals in Services for Adolescents. Published by Elsevier Ltd. All rights reserved.

Body image satisfaction and self-esteem in Thai female adolescents: the moderating role of self-compassion.

PubMed

Pisitsungkagarn, Kullaya; Taephant, Nattasuda; Attasaranya, Ploychompoo

2014-01-01

Body image satisfaction significantly influences self-esteem in female adolescents. Increased reports of lowered satisfaction in this population have raised concerns regarding their compromised self-esteem. This research study, therefore, sought to identify a culturally significant moderator of the association between body image satisfaction and self-esteem in Thai female adolescents. Orientation toward self-compassion, found to be particularly high in Thailand, was examined. A total of 302 Thai female undergraduates from three large public and private universities in the Bangkok metropolitan area responded to a set of questionnaires, which measured demographic information, body image satisfaction, self-compassion, and self-esteem. Data were analyzed using correlation and multiple regression analyses. Self-compassion was tested as a moderator of the relationship between body image satisfaction and self-esteem. Although its effect was relatively small, self-compassion significantly moderated the positive relationship between body image satisfaction and self-esteem. The relationship became less stringent for those with high self-compassion. The cultivation of self-compassion was recommended in female adolescents. In addition to moderating the association between body image satisfaction and self-esteem, the benefits to health and well-being of generalizing this cultivation are discussed.

A Diary Study of Self-Compassion, Upward Social Comparisons, and Body Image-Related Outcomes.

PubMed

Thøgersen-Ntoumani, Cecilie; Dodos, Louisa; Chatzisarantis, Nikos; Ntoumanis, Nikos

2017-07-01

Self-compassion may protect individuals experiencing poor body image and associated maladaptive outcomes. The purpose of the study was to examine within-person associations (whilst controlling for between-person differences) between appearance-related self-compassion, appearance-related threats (operationalised as upward appearance comparisons), and body image-related variables, namely, social physique anxiety, drive for thinness, and body dissatisfaction. A diary methodology was used whereby young women (n = 126; M age = 21.26) responded to brief online surveys three times per day (11am, 3pm, and 7pm) every second day for one week (i.e. a total of 12 measurement points). Results of mixed linear modeling revealed that both state appearance-related upward comparisons and self-compassion independently predicted all three outcomes in a positive and negative fashion, respectively. No significant interaction effects between state appearance-related upward comparisons and self-compassion were found. The results suggested that appearance-based self-compassion was important, not just when there was a potential threat to body image via upward appearance comparisons. The findings highlight the importance of fostering self-compassion on a daily level. © 2017 The International Association of Applied Psychology.

Compassion Fatigue and Burnout Amongst Clinicians: A Medical Exploratory Study

PubMed Central

Bhutani, Jaikrit; Bhutani, Sukriti; Balhara, Yatan Pal Singh; Kalra, Sanjay

2012-01-01

Background: Compassion fatigue is a broad term comprising of two components – burnout and secondary traumatic stress. The current study is aimed at identifying ‘burnout’ and ‘compassion fatigue’ among clinicians involved in care of individuals suffering from medical illness. Materials and Methods: A total of 60 clinicians were included in the study. A semi-structured questionnaire was administered to gather information related to personal, professional, anthropometric, and metabolic profile of the study participants. Professional Quality of Life Scale (ProQoL Version V) was used to assess burnout, compassion satisfaction and secondary traumatic stress. Analysis was carried out using the SPSS version 19.0. Results: The mean age of clinicians was 46.68±11.06 (range 26-67 years). Burnout score was significantly higher in those involved in diabetology practice. Similarly, compassion satisfaction score was greater among those with greater years of practice as well as among those in private practice. Clinicians who reported a poor working condition, as opposed to good, had more burnout and less compassion satisfaction. Conclusion: The current study suggests that it is important to find out ways of decreasing burnout and compassion fatigue among clinicians. PMID:23723540

Exploring how mindfulness and self-compassion can enhance compassionate care.

PubMed

Barratt, Caroline

2017-01-18

Research suggests that the development of mindfulness and self-compassion may help to improve the well-being and resilience of professionals and students in the healthcare setting. This is reflected in the growth of mindfulness training for these individuals. Mindfulness is an important aspect of self-compassion, and healthcare professionals should be aware of the need to care for themselves when caring for others. This article explores the concepts of mindfulness and self-compassion and their relationship with, and ability to enhance, compassionate care.

An Interactive Astronaut-Robot System with Gesture Control

PubMed Central

Liu, Jinguo; Luo, Yifan; Ju, Zhaojie

2016-01-01

Human-robot interaction (HRI) plays an important role in future planetary exploration mission, where astronauts with extravehicular activities (EVA) have to communicate with robot assistants by speech-type or gesture-type user interfaces embedded in their space suits. This paper presents an interactive astronaut-robot system integrating a data-glove with a space suit for the astronaut to use hand gestures to control a snake-like robot. Support vector machine (SVM) is employed to recognize hand gestures and particle swarm optimization (PSO) algorithm is used to optimize the parameters of SVM to further improve its recognition accuracy. Various hand gestures from American Sign Language (ASL) have been selected and used to test and validate the performance of the proposed system. PMID:27190503

A robot sets a table: a case for hybrid reasoning with different types of knowledge

NASA Astrophysics Data System (ADS)

Mansouri, Masoumeh; Pecora, Federico

2016-09-01

An important contribution of AI to Robotics is the model-centred approach, whereby competent robot behaviour stems from automated reasoning in models of the world which can be changed to suit different environments, physical capabilities and tasks. However models need to capture diverse (and often application-dependent) aspects of the robot's environment and capabilities. They must also have good computational properties, as robots need to reason while they act in response to perceived context. In this article, we investigate the use of a meta-CSP-based technique to interleave reasoning in diverse knowledge types. We reify the approach through a robotic waiter case study, for which a particular selection of spatial, temporal, resource and action KR formalisms is made. Using this case study, we discuss general principles pertaining to the selection of appropriate KR formalisms and jointly reasoning about them. The resulting integration is evaluated both formally and experimentally on real and simulated robotic platforms.

Compass: clinical evaluation of a new instrument for the diagnosis of glaucoma.

PubMed

Rossetti, Luca; Digiuni, Maurizio; Rosso, Alberto; Riva, Roberta; Barbaro, Giuliano; Smolek, Michael K; Orzalesi, Nicola; De Cilla', Stefano; Autelitano, Alessandro; Fogagnolo, Paolo

2015-01-01

To evaluate Compass, a new instrument for glaucoma screening and diagnosis that combines scanning ophthalmoscopy, automated perimetry, and eye tracking. A total of 320 human subjects (200 normal, 120 with glaucoma) underwent full ophthalmological evaluation and perimetric evaluation using the Humphrey SITA standard 24° test (HFA), and the Compass test that consisted of a full-threshold program on the central 24° with a photograph of the central 30° of the retina. A subgroup of normal subjects and glaucoma patients underwent a second Compass test during the same day in order to study test-retest variability. After exclusion of 30 patients due to protocol rules, a database was created to compare the Compass to the HFA, and to evaluate retinal image quality and fixation stability. The difference in mean sensitivity between Compass and HFA was -1.02 ± 1.55 dB in normal subjects (p<0.001) and -1.01 ± 2.81 dB in glaucoma (p<0.001). Repeatability SD for the average sensitivity was 1.53 for normal subjects and 1.84 for glaucoma. Test time with the Compass was 634±96 s (607±78 for normals, 678±108 for glaucoma). Compass analysis showed the percentage of fixation within the central 1° was 86.6% in normal subjects, and 79.3% in glaucoma patients. Color image quality was sufficient for diagnostic use in >65% of cases; Image-based diagnosis was in accordance with the initial diagnosis in 85% of the subjects. Based on preliminary results, Compass showed useful diagnostic characteristics for the study of glaucoma, and combined morphological information with functional data.

Sci—Fri PM: Dosimetry—06: Commissioning of a 3D patient specific QA system for hypofractionated prostate treatments

DOE Office of Scientific and Technical Information (OSTI.GOV)

Rivest, R; Venkataraman, S; McCurdy, B

The objective of this work is to commission the 6MV-SRS beam model in COMPASS (v2.1, IBA-Dosimetry) and validate its use for patient specific QA of hypofractionated prostate treatments. The COMPASS system consists of a 2D ion chamber array (MatriXX{sup Evolution}), an independent gantry angle sensor and associated software. The system can either directly calculate or reconstruct (using measured detector responses) a 3D dose distribution on the patient CT dataset for plan verification. Beam models are developed and commissioned in the same manner as a beam model is commissioned in a standard treatment planning system. Model validation was initially performed bymore » comparing both COMPASS calculations and reconstructions to measured open field beam data. Next, 10 hypofractionated prostate RapidArc plans were delivered to both the COMPASS system and a phantom with ion chamber and film inserted. COMPASS dose distributions calculated and reconstructed on the phantom CT dataset were compared to the chamber and film measurements. The mean (± standard deviation) difference between COMPASS reconstructed dose and ion chamber measurement was 1.4 ± 1.0%. The maximum discrepancy was 2.6%. Corresponding values for COMPASS calculation were 0.9 ± 0.9% and 2.6%, respectively. The average gamma agreement index (3%/3mm) for COMPAS reconstruction and film was 96.7% and 95.3% when using 70% and 20% dose thresholds, respectively. The corresponding values for COMPASS calculation were 97.1% and 97.1%, respectively. Based on our results, COMPASS can be used for the patient specific QA of hypofractionated prostate treatments delivered with the 6MV-SRS beam.« less

Sympathy, empathy, and compassion: A grounded theory study of palliative care patients’ understandings, experiences, and preferences

PubMed Central

Sinclair, Shane; Beamer, Kate; Hack, Thomas F; McClement, Susan; Raffin Bouchal, Shelley; Chochinov, Harvey M; Hagen, Neil A.

2016-01-01

Background: Compassion is considered an essential element in quality patient care. One of the conceptual challenges in healthcare literature is that compassion is often confused with sympathy and empathy. Studies comparing and contrasting patients’ perspectives of sympathy, empathy, and compassion are largely absent. Aim: The aim of this study was to investigate advanced cancer patients’ understandings, experiences, and preferences of “sympathy,” “empathy,” and “compassion” in order to develop conceptual clarity for future research and to inform clinical practice. Design: Data were collected via semi-structured interviews and then independently analyzed by the research team using the three stages and principles of Straussian grounded theory. Setting/participants: Data were collected from 53 advanced cancer inpatients in a large urban hospital. Results: Constructs of sympathy, empathy, and compassion contain distinct themes and sub-themes. Sympathy was described as an unwanted, pity-based response to a distressing situation, characterized by a lack of understanding and self-preservation of the observer. Empathy was experienced as an affective response that acknowledges and attempts to understand individual’s suffering through emotional resonance. Compassion enhanced the key facets of empathy while adding distinct features of being motivated by love, the altruistic role of the responder, action, and small, supererogatory acts of kindness. Patients reported that unlike sympathy, empathy and compassion were beneficial, with compassion being the most preferred and impactful. Conclusion: Although sympathy, empathy, and compassion are used interchangeably and frequently conflated in healthcare literature, patients distinguish and experience them uniquely. Understanding patients’ perspectives is important and can guide practice, policy reform, and future research. PMID:27535319

The survey and criterion of the compass rose in Chinese A-share market

NASA Astrophysics Data System (ADS)

Tian, Wenzhao; Wang, Yanxiang; Huo, Zhao; Li, Yilin

2018-02-01

The compass rose is one of the few "recurring patterns" found in financial markets. In this paper, the compass rose in Chinese A-share market is comprehensively investigated. It is newly discovered that among the 1331 A-shares, which had been listed for more than 15 years by the end of 2015, only about 20 show the compass rose. The outcome of the analysis shows that there exists a threshold of the ratio of the data points on main rays to all data points. Only when this ratio is above the threshold, the compass rose appears. The reasons why such a threshold exists, and its interrelationship with the data frequency and the tick/volatility ratio are analyzed.

Antennal circadian clocks coordinate sun compass orientation in migratory monarch butterflies.

PubMed

Merlin, Christine; Gegear, Robert J; Reppert, Steven M

2009-09-25

During their fall migration, Eastern North American monarch butterflies (Danaus plexippus) use a time-compensated Sun compass to aid navigation to their overwintering grounds in central Mexico. It has been assumed that the circadian clock that provides time compensation resides in the brain, although this assumption has never been examined directly. Here, we show that the antennae are necessary for proper time-compensated Sun compass orientation in migratory monarch butterflies, that antennal clocks exist in monarchs, and that they likely provide the primary timing mechanism for Sun compass orientation. These unexpected findings pose a novel function for the antennae and open a new line of investigation into clock-compass connections that may extend widely to other insects that use this orientation mechanism.

[The psychology of compassion. An analysis of the 100th anniversary of the death of Fredrich Nietzsche].

PubMed

Wilkes, J

2000-06-01

Friedrich Nietzsche is supposed to have been one of the harshest critics of compassion. Many of his publications try to unmask its failings and to expose its true motives. From an ardent admirer of Schopenhauers's ethics of compassion, Nietzsche turned into a vigorous despiser of compassionate feelings. It is shown that this change was above all caused by overwhelming personal experiences of compassion due to illness and death in his family and, later on, with his first aid activities in military hospitals during the German-French war in 1870. Combined with that, Nietzsche suffered from feelings of passivity and helplessness, which gave him the impression of compassion being a negative and--in the end--loathed emotion.

Motion generation of peristaltic mobile robot with particle swarm optimization algorithm

NASA Astrophysics Data System (ADS)

Homma, Takahiro; Kamamichi, Norihiro

2015-03-01

In developments of robots, bio-mimetics is attracting attention, which is a technology for the design of the structure and function inspired from biological system. There are a lot of examples of bio-mimetics in robotics such as legged robots, flapping robots, insect-type robots, fish-type robots. In this study, we focus on the motion of earthworm and aim to develop a peristaltic mobile robot. The earthworm is a slender animal moving in soil. It has a segmented body, and each segment can be shorted and lengthened by muscular actions. It can move forward by traveling expanding motions of each segment backward. By mimicking the structure and motion of the earthworm, we can construct a robot with high locomotive performance against an irregular ground or a narrow space. In this paper, to investigate the motion analytically, a dynamical model is introduced, which consist of a series-connected multi-mass model. Simple periodic patterns which mimic the motions of earthworms are applied in an open-loop fashion, and the moving patterns are verified through numerical simulations. Furthermore, to generate efficient motion of the robot, a particle swarm optimization algorithm, one of the meta-heuristic optimization, is applied. The optimized results are investigated by comparing to simple periodic patterns.

The Enterprise Compass

ERIC Educational Resources Information Center

McCardle, Ken

2005-01-01

As a CIO leading an IT department through change and reorganization, the author developed the Enterprise Compass--a four-point guide to reaching goals and focusing achievement. The Enterprise Compass directs staff to look forward to future accomplishment, back for performance assessments, across campus for better understanding of practical working…

Are doctors who have been ill more compassionate? Attitudes of resident physicians regarding personal health issues and the expression of compassion in clinical care.

PubMed

Roberts, Laura Weiss; Warner, Teddy D; Moutier, Christine; Geppert, Cynthia M A; Green Hammond, Katherine A

2011-01-01

Compassion is an attribute central to professionalism and modern clinical care, yet little is known about how compassion is acquired and preserved in medical training. We sought to understand whether personal illness experiences are thought by residents to foster compassion. The authors surveyed 155 (71% response rate) second- and third-year residents at the University of New Mexico School of Medicine regarding their views of the relationship of personal life experience with illness to compassion and empathy for patients. Residents believe that experience with personal health issues enhances physician compassion for patients. Residents who report more personal health concerns, such as physical or mental health problems and family health problems, endorse the connection between direct experience with illness and empathy. Health care trainees' own illness experiences may increase compassionate patient care practices and foster empathy. Copyright © 2011 The Academy of Psychosomatic Medicine. Published by Elsevier Inc. All rights reserved.

Self-compassion moderates the relationship between body mass index and both eating disorder pathology and body image flexibility.

PubMed

Kelly, Allison C; Vimalakanthan, Kiruthiha; Miller, Kathryn E

2014-09-01

The current study examined whether self-compassion, the tendency to treat oneself kindly during distress and disappointments, would attenuate the positive relationship between body mass index (BMI) and eating disorder pathology, and the negative relationship between BMI and body image flexibility. One-hundred and fifty-three female undergraduate students completed measures of self-compassion, self-esteem, eating disorder pathology, and body image flexibility, which refers to one's acceptance of negative body image experiences. Controlling for self-esteem, hierarchical regressions revealed that self-compassion moderated the relationships between BMI and the criteria. Specifically, the positive relationship between BMI and eating disorder pathology and the negative relationship between BMI and body image flexibility were weaker the higher women's levels of self-compassion. Among young women, self-compassion may help to protect against the greater eating disturbances that coincide with a higher BMI, and may facilitate the positive body image experiences that tend to be lower the higher one's BMI. Copyright © 2014 Elsevier Ltd. All rights reserved.

SMARBot: a modular miniature mobile robot platform

NASA Astrophysics Data System (ADS)

Meng, Yan; Johnson, Kerry; Simms, Brian; Conforth, Matthew

2008-04-01

Miniature robots have many advantages over their larger counterparts, such as low cost, low power, and easy to build a large scale team for complex tasks. Heterogeneous multi miniature robots could provide powerful situation awareness capability due to different locomotion capabilities and sensor information. However, it would be expensive and time consuming to develop specific embedded system for different type of robots. In this paper, we propose a generic modular embedded system architecture called SMARbot (Stevens Modular Autonomous Robot), which consists of a set of hardware and software modules that can be configured to construct various types of robot systems. These modules include a high performance microprocessor, a reconfigurable hardware component, wireless communication, and diverse sensor and actuator interfaces. The design of all the modules in electrical subsystem, the selection criteria for module components, and the real-time operating system are described. Some proofs of concept experimental results are also presented.

Use of spring-roll EAP actuator applied as end-effector of a hyper-redundant robot

NASA Astrophysics Data System (ADS)

Errico, Gianmarco; Fava, Victor; Resta, Ferruccio; Ripamonti, Francesco

2015-04-01

This paper presents a hyper-redundant continuous robot used to perform work in places which humans can not reach. This type of robot is generally a bio-inspired solution, it is composed by a lot of flexible segments driven by multiple actuators and its dynamics is described by a lot degrees of freedom. In this paper a model composed of some rigid links connected to each other by revolution joint is presented. In each link a torsional spring is added in order to simulate the resistant torque between the links and the interactions among the cables and the robot during the relative rotation. Moreover a type of EAP actuator, called spring roll, is used as the end-effector of the robot. Through a suitable sensor, such as a camera, the spring roll allows to track a target and it closes the control loop on the robot to follow it.

Lying because we care: Compassion increases prosocial lying.

PubMed

Lupoli, Matthew J; Jampol, Lily; Oveis, Christopher

2017-07-01

Prosocial lies, or lies intended to benefit others, are ubiquitous behaviors that have important social and economic consequences. Though emotions play a central role in many forms of prosocial behavior, no work has investigated how emotions influence behavior when one has the opportunity to tell a prosocial lie-a situation that presents a conflict between two prosocial ethics: lying to prevent harm to another, and honesty, which might also provide benefits to the target of the lie. Here, we examine whether the emotion of compassion influences prosocial lying, and find that compassion causally increases and positively predicts prosocial lying. In Studies 1 and 2, participants evaluated a poorly written essay and provided feedback to the essay writer. Experimentally induced compassion felt toward the essay writer (Study 1) and individual differences in trait compassion (Study 2) were positively associated with inflated feedback to the essay writer. In both of these studies, the relationship between compassion and prosocial lying was partially mediated by an enhanced importance placed on preventing emotional harm. In Study 3, we found moderation such that experimentally induced compassion increased lies that resulted in financial gains for a charity, but not lies that produced financial gains for the self. This research illuminates the emotional underpinnings of the common yet morally complex behavior of prosocial lying, and builds on work highlighting the potentially harmful effects of compassion-an emotion typically seen as socially beneficial. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Are improvements in shame and self-compassion early in eating disorders treatment associated with better patient outcomes?

PubMed

Kelly, Allison C; Carter, Jacqueline C; Borairi, Sahar

2014-01-01

Compassion-focused therapy (CFT; Gilbert, 2005, 2009) is a transdiagnostic treatment approach focused on building self-compassion and reducing shame. It is based on the theory that feelings of shame contribute to the maintenance of psychopathology, whereas self-compassion contributes to the alleviation of shame and psychopathology. We sought to test this theory in a transdiagnostic sample of eating disorder patients by examining whether larger improvements in shame and self-compassion early in treatment would facilitate faster eating disorder symptom remission over 12 weeks. Participants were 97 patients with an eating disorder admitted to specialized day hospital or inpatient treatment. They completed the Eating Disorder Examination-Questionnaire, Experiences of Shame Scale, and Self-Compassion Scale at intake, and again after weeks 3, 6, 9, and 12. Multilevel modeling revealed that patients who experienced greater decreases in their level of shame in the first 4 weeks of treatment had faster decreases in their eating disorder symptoms over 12 weeks of treatment. In addition, patients who had greater increases in their level of self-compassion early in treatment had faster decreases in their feelings of shame over 12 weeks, even when controlling for their early change in eating disorder symptoms. These results suggest that CFT theory may help to explain the maintenance of eating disorders. Clinically, findings suggest that intervening with shame early in treatment, perhaps by building patients' self-compassion, may promote better eating disorders treatment response. Copyright © 2013 Wiley Periodicals, Inc.

The role of psychological factors in oncology nurses' burnout and compassion fatigue symptoms.

PubMed

Duarte, Joana; Pinto-Gouveia, José

2017-06-01

This study explored the role of several psychological factors in professional quality of life in nurses. Specifically, we tried to clarify the relationships between several dimensions of empathy, self-compassion, and psychological inflexibility, and positive (compassion satisfaction) and negative (burnout and compassion fatigue) domains of professional quality of life. Using a cross-sectional design, a convenience sample of 221 oncology nurses recruited from several public hospitals filling out a battery of self-report measures. Results suggested that nurses that benefit more from their work of helping and assisting others (compassion satisfaction) seem to have more empathic feelings and sensibility towards others in distress and make an effort to see things from others' perspective. Also, they are less disturbed by negative feelings associated with seeing others' suffering and are more self-compassionate. Nurses more prone to experience the negative consequences associated with care-providing (burnout and compassion fatigue) are more self-judgmental and have more psychological inflexibility. In addition, they experience more personal feelings of distress when seeing others in suffering and less feelings of empathy and sensibility to others' suffering. Psychological factors explained 26% of compassion satisfaction, 29% of burnout and 18% of compassion fatigue. We discuss the results in terms of the importance of taking into account the role of these psychological factors in oncology nurses' professional quality of life, and of designing nursing education training and interventions aimed at targeting such factors. Copyright © 2017 Elsevier Ltd. All rights reserved.

Mission Critical: Nursing Leadership Support for Compassion to Sustain Staff Well-being.

PubMed

Lown, Beth A

Compassion, the foundation of Nursing, is a source of both healing for those who suffer and of purpose and meaning for those who seek to heal others. Increasingly, however, the fast pace and volume of care and documentation requirements diminish time with patients and families and hinder the enactment of compassion. These issues and other aspects of the work environment decrease the satisfaction and well-being of professional caregivers and are contributing to a rising tide of burnout. Research suggests that employee engagement emerges from their satisfaction and well-being; however, it is difficult for an individual to engage when she or he feels depleted and unsupported. Nursing leaders and managers can play a significant role in support of compassionate practices for staff and improvement of the work environment and staff well-being. Compassion practices that recognize employees for the caring they show to patients and each other, and that provide the support needed to sustain their caring and compassion, are associated with significantly better patient ratings of their care experiences in hospitals and ambulatory settings. This article describes an example of a compassion practice, Schwartz Rounds®, a program that has been implemented internationally to enhance staff caring and compassion, teamwork, and psychological well-being. Schwartz Rounds have been included as a component of organizational initiatives to enhance staff well-being and patient experience, and as an individual program. Nurse leaders and managers who wish to engage their staff can do so by supporting their compassion and well-being.

Mindfulness-Based Awareness and Compassion: Predictors of Counselor Empathy and Anxiety

ERIC Educational Resources Information Center

Fulton, Cheryl L.; Cashwell, Craig S.

2015-01-01

Mindfulness-based awareness and compassion were examined as predictors of empathy and anxiety among 152 master's-level counseling interns. Results of hierarchical multiple regression analysis supported that awareness and compassion differentially contributed to explaining the variance in counselor empathy and anxiety. Implications for counselor…

The Influence of Self-Compassion on Academic Procrastination and Dysfunctional Attitudes

ERIC Educational Resources Information Center

Iskender, Murat

2011-01-01

In the present study, aims were (1) to determine gender differences in self-compassion, academic procrastination, and dysfunctional attitudes and (2) to examine the relationships between self-compassion, academic procrastination, and dysfunctional attitudes. Participants were 251 university students who completed a questionnaire package that…

46 CFR 169.709 - Compass.

Code of Federal Regulations, 2011 CFR

2011-10-01

... 46 Shipping 7 2011-10-01 2011-10-01 false Compass. 169.709 Section 169.709 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Vessel Control, Miscellaneous Systems, and Equipment § 169.709 Compass. (a) Each vessel must be fitted with a magnetic steering...

46 CFR 169.709 - Compass.

Code of Federal Regulations, 2010 CFR

2010-10-01

... 46 Shipping 7 2010-10-01 2010-10-01 false Compass. 169.709 Section 169.709 Shipping COAST GUARD, DEPARTMENT OF HOMELAND SECURITY (CONTINUED) NAUTICAL SCHOOLS SAILING SCHOOL VESSELS Vessel Control, Miscellaneous Systems, and Equipment § 169.709 Compass. (a) Each vessel must be fitted with a magnetic steering...

Self-Compassion and Internet Addiction

ERIC Educational Resources Information Center

Iskender, Murat; Akin, Ahmet

2011-01-01

The purpose of this research is to examine the relationship of self-compassion and internet addiction. Participants were 261 university students who completed a questionnaire package that included the Self-compassion Scale and the Online Cognition Scale. The hypothesis model was tested through structural equation modeling. In correlation analysis,…

Development of Pneumatic Robot Hand and Construction of Master-Slave System

NASA Astrophysics Data System (ADS)

Tsujiuchi, Nobutaka; Koizumi, Takayuki; Nishino, Shinya; Komatsubara, Hiroyuki; Kudawara, Tatsuwo; Hirano, Masanori

Recently, research and development has focused on robots that work in place of people. It is necessary for robots to perform the same flexible motions as people. Additionally, such robots need to incorporate high-level safety features in order not to injure people. For creation of such robots, we need to develop a robot hand that functions like a human hand. At the same time, this type of robot hand can be used as an artificial hand. Here, we present artificial muscle-type pneumatic actuators as the driving source of a robot hand that is both safe and flexible. Some development of robot hands using pneumatic actuators has already taken place. But, until now, when a pneumatic actuator is used, a big compressor is needed. So, the driving system also needs to be big; enlargement of the driving system is a major problem. Consequently, in this research, we develop a low-pressure, low-volume pneumatic actuator for driving a robot hand that works flexibly and safely on the assumption that it will be in contact with people. We develop a five-fingered robot hand with pneumatic actuators. And, we construct a master-slave system to enable the robot hand to perform the same operations as a human hand. We make a 1-link arm that has one degree of freedom using a pneumatic actuator, and construct a control system for the 1-link arm and verify its control performance.

Learning to Program with Personal Robots: Influences on Student Motivation

ERIC Educational Resources Information Center

McGill, Monica M.

2012-01-01

One of the goals of using robots in introductory programming courses is to increase motivation among learners. There have been several types of robots that have been used extensively in the classroom to teach a variety of computer science concepts. A more recently introduced robot designed to teach programming to novice students is the Institute…

Application of Kalman filters to robot calibration

NASA Technical Reports Server (NTRS)

Whitney, D. E.; Junkel, E. F.

1983-01-01

This report explores new uses of Kalman filter theory in manufacturing systems (robots in particular). The Kalman filter allows the robot to read its sensors plus external sensors and learn from its experience. In effect, the robot is given primitive intelligence. The study, which is applicable to any type of powered kinematic linkage, focuses on the calibration of a manipulator.

Advanced Interval Type-2 Fuzzy Sliding Mode Control for Robot Manipulator.

PubMed

Hwang, Ji-Hwan; Kang, Young-Chang; Park, Jong-Wook; Kim, Dong W

2017-01-01

In this paper, advanced interval type-2 fuzzy sliding mode control (AIT2FSMC) for robot manipulator is proposed. The proposed AIT2FSMC is a combination of interval type-2 fuzzy system and sliding mode control. For resembling a feedback linearization (FL) control law, interval type-2 fuzzy system is designed. For compensating the approximation error between the FL control law and interval type-2 fuzzy system, sliding mode controller is designed, respectively. The tuning algorithms are derived in the sense of Lyapunov stability theorem. Two-link rigid robot manipulator with nonlinearity is used to test and the simulation results are presented to show the effectiveness of the proposed method that can control unknown system well.

Compelled to Act: The Negotiation of Compassion Fatigue among Student Affairs Professionals

ERIC Educational Resources Information Center

Stoves, Douglas R.

2014-01-01

The purpose of the qualitative study was to identify the ways in which Student Affairs professionals in higher education in South Texas experienced and negotiated compassion fatigue through their everyday responsibilities. Research questions explored the development and experience of, and coping with, compassion fatigue. Grounded in Constructivist…

Conversation Compass: A Teacher's Guide to High-Quality Language Learning in Young Children

ERIC Educational Resources Information Center

Curenton, Stephanie M.

2016-01-01

Classroom conversation plays an important role in the development of children's language and reasoning. However, studies show that classroom talk relies too much on directives and close-ended questions. "Conversation Compass" provides the tools to strengthen your language-learning environment: (1) The Compass: guide high-quality…

78 FR 42153 - Requested Administrative Waiver of the Coastwise Trade Laws: Vessel COMPASS ROSE; Invitation for...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-07-15

... DEPARTMENT OF TRANSPORTATION Maritime Administration [Docket No. MARAD-2013-0081] Requested Administrative Waiver of the Coastwise Trade Laws: Vessel COMPASS ROSE; Invitation for Public Comments AGENCY... COMPASS ROSE is: Intended Commercial Use Of Vessel: ``Sailboat charters six passengers or less...

46 CFR 77.11-1 - When required.

Code of Federal Regulations, 2010 CFR

2010-10-01

... SYSTEMS AND EQUIPMENT Magnetic Compass and Gyrocompass § 77.11-1 When required. (a) All mechanically propelled vessels in ocean, coastwise or Great Lakes service must be fitted with a magnetic compass. (b) All... gyrocompass in addition to the magnetic compass. (c) Each vessel must have an illuminated repeater for the...

46 CFR 96.17-1 - When required.

Code of Federal Regulations, 2011 CFR

2011-10-01

... MISCELLANEOUS SYSTEMS AND EQUIPMENT Magnetic Compass and Gyrocompass § 96.17-1 When required. (a) All mechanically propelled vessels in ocean or coastwise service must be fitted with a magnetic compass. (b) All... gyrocompass in addition to the magnetic compass. (c) Each vessel must have an illuminated repeater for the...

46 CFR 77.11-1 - When required.

Code of Federal Regulations, 2011 CFR

2011-10-01

... SYSTEMS AND EQUIPMENT Magnetic Compass and Gyrocompass § 77.11-1 When required. (a) All mechanically propelled vessels in ocean, coastwise or Great Lakes service must be fitted with a magnetic compass. (b) All... gyrocompass in addition to the magnetic compass. (c) Each vessel must have an illuminated repeater for the...

46 CFR 195.19-1 - When required.

Code of Federal Regulations, 2011 CFR

2011-10-01

... MISCELLANEOUS SYSTEMS AND EQUIPMENT Magnetic Compass and Gyrocompass § 195.19-1 When required. (a) All mechanically propelled vessels in ocean or coastwise service must be fitted with a magnetic compass. (b) All... gyrocompass in addition to the magnetic compass. (c) Each vessel must have an illuminated repeater for the...

46 CFR 195.19-1 - When required.

Code of Federal Regulations, 2010 CFR

2010-10-01

... MISCELLANEOUS SYSTEMS AND EQUIPMENT Magnetic Compass and Gyrocompass § 195.19-1 When required. (a) All mechanically propelled vessels in ocean or coastwise service must be fitted with a magnetic compass. (b) All... gyrocompass in addition to the magnetic compass. (c) Each vessel must have an illuminated repeater for the...

46 CFR 96.17-1 - When required.

Code of Federal Regulations, 2010 CFR

2010-10-01

... MISCELLANEOUS SYSTEMS AND EQUIPMENT Magnetic Compass and Gyrocompass § 96.17-1 When required. (a) All mechanically propelled vessels in ocean or coastwise service must be fitted with a magnetic compass. (b) All... gyrocompass in addition to the magnetic compass. (c) Each vessel must have an illuminated repeater for the...

75 FR 67775 - Compass Group USA, Inc., Canteen, Webster City, Iowa; Notice of Negative Determination on...

Federal Register 2010, 2011, 2012, 2013, 2014

2010-11-03

... DEPARTMENT OF LABOR Employment and Training Administration [TA-W-73,503] Compass Group USA, Inc... Services provided services (janitorial, maintenance, and hazardous waste disposal) that were directly... workers cannot be considered employees of Electrolux, but only of the subject firm, Compass Group USA...

Self-Compassion as a Mediator of Maladaptive Perfectionism and Depressive Symptoms in College Students

ERIC Educational Resources Information Center

Mehr, Kristin E.; Adams, Aimee C.

2016-01-01

The purpose of the study was to examine the relationships among maladaptive perfectionism, self-compassion, and depressive symptoms in college students. It was hypothesized that self-compassion would mediate the relationship between maladaptive perfectionism and depressive symptoms, with maladaptive perfectionism related to lower levels of…

Association among self-compassion, childhood invalidation, and borderline personality disorder symptomatology in a Singaporean sample.

PubMed

Keng, Shian-Ling; Wong, Yun Yi

2017-01-01

Linehan's biosocial theory posits that parental invalidation during childhood plays a role in the development of borderline personality disorder symptoms later in life. However, little research has examined components of the biosocial model in an Asian context, and variables that may influence the relationship between childhood invalidation and borderline symptoms. Self-compassion is increasingly regarded as an adaptive way to regulate one's emotions and to relate to oneself, and may serve to moderate the association between invalidation and borderline symptoms. The present study investigated the association among childhood invalidation, self-compassion, and borderline personality disorder symptoms in a sample of Singaporean undergraduate students. Two hundred and ninety undergraduate students from a large Singaporean university were recruited and completed measures assessing childhood invalidation, self-compassion, and borderline personality disorder symptoms. Analyses using multiple regression indicated that both childhood invalidation and self-compassion significantly predicted borderline personality disorder symptomatology. Results from moderation analyses indicated that relationship between childhood invalidation and borderline personality disorder symptomatology did not vary as a function of self-compassion. This study provides evidence in support of aspects of the biosocial model in an Asian context, and demonstrates a strong association between self-compassion and borderline personality disorder symptoms, independent of one's history of parental invalidation during childhood.

Self-Compassion as a Resource in the Self-Stigma Process of Overweight and Obese Individuals

PubMed Central

Hilbert, Anja; Braehler, Elmar; Schmidt, Ricarda; Löwe, Bernd; Häuser, Winfried; Zenger, Markus

2015-01-01

Objective Self-stigma in overweight and obese individuals has strong associations with impairment in mental and global health. This study sought to explore self-compassion as a psychological resource in the self-stigma process. Methods In a 2012 representative German population survey of N = 1,158 overweight and obese individuals, self-compassion was examined as a mediator between self-stigma and mental and physical health outcomes, including BMI (kg/m2), using structural equation modeling and controlling for sociodemographic factors. Results Psychological variables were assessed using validated self-report questionnaires. Self-compassion partially mediated the relationships between self-stigma and depression, somatic symptoms, and health status / quality of life, lowering the predictive effect of self-stigma on the outcomes by approximately one-third. In contrast, self-compassion, because it was unrelated to BMI, did not mediate the association between self-stigma and BMI. Conclusion Self-compassion has the potential to act as a buffer against the mental and global health detriments of self-stigma in overweight and obesity and could thus represent a target for interventions to reduce self-stigma and prevent these health impairments. In order to influence the association between self-stigma and BMI, self-compassion should conceptually be linked to weight management. PMID:26422226

Online Training in Specific Meditation Practices Improves Gratitude, Well-Being, Self-Compassion, and Confidence in Providing Compassionate Care Among Health Professionals.

PubMed

Rao, Nisha; Kemper, Kathi J

2016-04-06

Mind-body practices that intentionally generate positive emotion could improve health professionals' well-being and compassion. However, the feasibility and impact of clinician training in these practices is unknown. Data were analyzed from 3 online modules offered to health professionals: (a) Gratitude, (b) Positive Word, and (c) Loving-kindness/Compassion meditation. Pairedttests were used to assess pre- to posttraining changes in gratitude (Gratitude Questionnaire), well-being (World Health Organization Well-Being Index), self-compassion (Neff's Self-Compassion Scale), and confidence in providing compassionate care (Confidence in Providing Calm, Compassionate Care Scale). The 177 enrollees included diverse practitioners (nurses, physicians, social workers, and others). Training was associated with statistically significant improvements in gratitude (38.3 ± 4.6 to 39.5 ± 3.3), well-being (16.4 ± 4.0 to 17.9 ± 4.2), self-compassion (39.5 ± 8.1 to 43.1 ± 7.6), and confidence in providing compassionate care (73.3 ± 16.4 to 80.9 ± 13.8;P< .001 for all comparisons). Brief, online training appeals to diverse health professionals and improves their gratitude, well-being, self-compassion, and confidence in providing compassionate care. © The Author(s) 2016.

Online Training in Specific Meditation Practices Improves Gratitude, Well-Being, Self-Compassion, and Confidence in Providing Compassionate Care Among Health Professionals

PubMed Central

Rao, Nisha; Kemper, Kathi J.

2016-01-01

Mind-body practices that intentionally generate positive emotion could improve health professionals’ well-being and compassion. However, the feasibility and impact of clinician training in these practices is unknown. Data were analyzed from 3 online modules offered to health professionals: (a) Gratitude, (b) Positive Word, and (c) Loving-kindness/Compassion meditation. Paired t tests were used to assess pre- to posttraining changes in gratitude (Gratitude Questionnaire), well-being (World Health Organization Well-Being Index), self-compassion (Neff’s Self-Compassion Scale), and confidence in providing compassionate care (Confidence in Providing Calm, Compassionate Care Scale). The 177 enrollees included diverse practitioners (nurses, physicians, social workers, and others). Training was associated with statistically significant improvements in gratitude (38.3 ± 4.6 to 39.5 ± 3.3), well-being (16.4 ± 4.0 to 17.9 ± 4.2), self-compassion (39.5 ± 8.1 to 43.1 ± 7.6), and confidence in providing compassionate care (73.3 ± 16.4 to 80.9 ± 13.8; P < .001 for all comparisons). Brief, online training appeals to diverse health professionals and improves their gratitude, well-being, self-compassion, and confidence in providing compassionate care. PMID:27055823

Self-compassion and emotional intelligence in nurses.

PubMed

Heffernan, Mary; Quinn Griffin, Mary T; Sister Rita McNulty; Fitzpatrick, Joyce J

2010-08-01

Nurses often provide care for patients and families who are suffering and where emotions are heightened. Compassion is an essential component of the care that nurses provide. Emotions play an important role in the relationship and communication between nurses, patients and families. Self-compassion is the ability to be compassionate to oneself, without this ability nurses might not be prepared to be compassionate to patients. Emotionally intelligent persons perceive themselves as confident, better able to understand, control and manage their emotions. The purpose of this descriptive, correlational study was to examine the relationship between self-compassion and emotional intelligence. Participants were 135 nurses. The setting for this study was a health system with hospitals located in Queens, Nassau and Suffolk counties of New York, USA. Three of the hospitals in the study are located in Queens and/or the Queens/Nassau border. Queens is the most culturally diverse community in the USA. The patients served, as well as the nursing staff, are reflective of this cultural and religious diversity. Results indicated a positive correlation between self-compassion and emotional intelligence (r = 0.55). Recommendations for future research include: exploration of self-compassion and emotional intelligence in nurses, and identification of the benefits of enhancing self-compassion and emotional intelligence in nurses.

An fMRI study of caring vs self-focus during induced compassion and pride.

PubMed

Simon-Thomas, Emiliana R; Godzik, Jakub; Castle, Elizabeth; Antonenko, Olga; Ponz, Aurelie; Kogan, Aleksander; Keltner, Dacher J

2012-08-01

This study examined neural activation during the experience of compassion, an emotion that orients people toward vulnerable others and prompts caregiving, and pride, a self-focused emotion that signals individual strength and heightened status. Functional magnetic resonance images (fMRI) were acquired as participants viewed 55 s continuous sequences of slides to induce either compassion or pride, presented in alternation with sequences of neutral slides. Emotion self-report data were collected after each slide condition within the fMRI scanner. Compassion induction was associated with activation in the midbrain periaqueductal gray (PAG), a region that is activated during pain and the perception of others' pain, and that has been implicated in parental nurturance behaviors. Pride induction engaged the posterior medial cortex, a region that has been associated with self-referent processing. Self-reports of compassion experience were correlated with increased activation in a region near the PAG, and in the right inferior frontal gyrus (IFG). Self-reports of pride experience, in contrast, were correlated with reduced activation in the IFG and the anterior insula. These results provide preliminary evidence towards understanding the neural correlates of important interpersonal dimensions of compassion and pride. Caring (compassion) and self-focus (pride) may represent core appraisals that differentiate the response profiles of many emotions.

An fMRI study of caring vs self-focus during induced compassion and pride

PubMed Central

Godzik, Jakub; Castle, Elizabeth; Antonenko, Olga; Ponz, Aurelie; Kogan, Aleksander; Keltner, Dacher J.

2012-01-01

This study examined neural activation during the experience of compassion, an emotion that orients people toward vulnerable others and prompts caregiving, and pride, a self-focused emotion that signals individual strength and heightened status. Functional magnetic resonance images (fMRI) were acquired as participants viewed 55 s continuous sequences of slides to induce either compassion or pride, presented in alternation with sequences of neutral slides. Emotion self-report data were collected after each slide condition within the fMRI scanner. Compassion induction was associated with activation in the midbrain periaqueductal gray (PAG), a region that is activated during pain and the perception of others’ pain, and that has been implicated in parental nurturance behaviors. Pride induction engaged the posterior medial cortex, a region that has been associated with self-referent processing. Self-reports of compassion experience were correlated with increased activation in a region near the PAG, and in the right inferior frontal gyrus (IFG). Self-reports of pride experience, in contrast, were correlated with reduced activation in the IFG and the anterior insula. These results provide preliminary evidence towards understanding the neural correlates of important interpersonal dimensions of compassion and pride. Caring (compassion) and self-focus (pride) may represent core appraisals that differentiate the response profiles of many emotions. PMID:21896494

Recent trends for practical rehabilitation robotics, current challenges and the future.

PubMed

Yakub, Fitri; Md Khudzari, Ahmad Zahran; Mori, Yasuchika

2014-03-01

This paper presents and studies various selected literature primarily from conference proceedings, journals and clinical tests of the robotic, mechatronics, neurology and biomedical engineering of rehabilitation robotic systems. The present paper focuses of three main categories: types of rehabilitation robots, key technologies with current issues and future challenges. Literature on fundamental research with some examples from commercialized robots and new robot development projects related to rehabilitation are introduced. Most of the commercialized robots presented in this paper are well known especially to robotics engineers and scholars in the robotic field, but are less known to humanities scholars. The field of rehabilitation robot research is expanding; in light of this, some of the current issues and future challenges in rehabilitation robot engineering are recalled, examined and clarified with future directions. This paper is concluded with some recommendations with respect to rehabilitation robots.

[Robot-aided training in rehabilitation].

PubMed

Hachisuka, Kenji

2010-02-01

Recently, new training techniques that involve the use of robots have been used in the rehabilitation of patients with hemiplegia and paraplegia. Robots used for training the arm include the MIT-MANUS, Arm Trainer, mirror-image motion enabler (MIME) robot, and the assisted rehabilitation and measurement (ARM) Guide. Robots that are used for lower-limb training are the Rehabot, Gait Trainer, Lokomat, LOPES Exoskeleton Robot, and Gait Assist Robot. Robot-aided therapy has enabled the functional training of the arm and the lower limbs in an effective, easy, and comfortable manner. Therefore, with this type of therapy, the patients can repeatedly undergo sufficient and accurate training for a prolonged period. However, evidence of the benefits of robot-aided training has not yet been established.

The desired moral attitude of the physician: (II) compassion.

PubMed

Gelhaus, Petra

2012-11-01

Professional medical ethics demands of health care professionals in addition to specific duties and rules of conduct that they embody a responsible and trustworthy personality. In the public discussion, different concepts are suggested to describe the desired implied attitude of physicians. In a sequel of three articles, a set of three of these concepts is presented in an interpretation that is meant to characterise the morally emotional part of this attitude: "empathy", "compassion" and "care". In the first article of the series, "empathy" has been developed as a mainly cognitive and morally neutral capacity of understanding. In this article, the emotional and virtuous core of the desired professional attitude-compassion-is elaborated. Compassion is distinguished from sympathy, empathy and pity. Several problems of compassion as a spontaneous, warm emotion for being a professional virtue are discussed: especially questions of over-demand, of justice and of concerns because of a possible threat to the patient's dignity and autonomy. An interpretation of compassion as processed and learned professional attitude, that founds dignity on the general idea of man as a sentient being and on solidarity, not on his independence and capacities, is developed. It is meant to rule out the possible side effects and to make compassion as a professional attitude and as professional virtue attractive, teachable and acquirable. In order to reach the adequate warmth and closeness for the particular physician-patient-relation, professional compassion has to be combined with the capacity of empathy. If appropriate, the combination of both empathy and compassion as "empathic compassion" can demand a much warmer attitude towards the patient than each of the elements alone, or the simple addition of them can provide. The concept of "care" that will be discussed in a forthcoming article of this sequel is a missing necessary part to describe the active potential of the desired moral attitude of the physician more completely. The reconstruction of the desired professional attitude in terms of "empathic compassionate care" is certainly not the only possible description, but it is a detailed proposal in order to give an impulse for the discussion about the inner tacit values and the meaning of medicine and clinical healthcare professions.

RHOBOT: Radiation hardened robotics

DOE Office of Scientific and Technical Information (OSTI.GOV)

Bennett, P.C.; Posey, L.D.

1997-10-01

A survey of robotic applications in radioactive environments has been conducted, and analysis of robotic system components and their response to the varying types and strengths of radiation has been completed. Two specific robotic systems for accident recovery and nuclear fuel movement have been analyzed in detail for radiation hardness. Finally, a general design approach for radiation-hardened robotics systems has been developed and is presented. This report completes this project which was funded under the Laboratory Directed Research and Development program.

An emergency response mobile robot for operations in combustible atmospheres

NASA Technical Reports Server (NTRS)

Stone, Henry W. (Inventor); Ohm, Timothy R. (Inventor)

1993-01-01

A mobile, self-powered, self-contained, and remote-controlled robot is presented. The robot is capable of safely operating in a combustible atmosphere and providing information about the atmosphere to the operator. The robot includes non-sparking and non-arcing electro-mechanical and electronic components designed to prevent the robot from igniting the combustible atmosphere. The robot also includes positively pressurized enclosures that house the electromechanical and electronic components of the robot and prevent intrusion of the combustible atmosphere into the enclosures. The enclosures are interconnected such that a pressurized gas injected into any one of the enclosures is routed to all the other enclosures through the interconnections. It is preferred that one or more sealed internal channels through structures intervening between the enclosures be employed. Pressure transducers for detecting if the pressure within the enclosures falls below a predetermined level are included. The robot also has a sensing device for determining the types of combustible substances in the surrounding atmosphere, as well as the concentrations of each type of substance relative to a pre-determined lower explosive limit (LEL). In addition, the sensing device can determine the percent level of oxygen present in the surrounding atmosphere.

Emergency response mobile robot for operations in combustible atmospheres

NASA Technical Reports Server (NTRS)

Stone, Henry W. (Inventor); Ohm, Timothy R. (Inventor)

1995-01-01

A mobile, self-powered, self-contained, and remote-controlled robot is presented. The robot is capable of safely operating in a combustible atmosphere and providing information about the atmosphere to the operator. The robot includes non-sparking and non-arcing electro-mechanical and electronic components designed to prevent the robot from igniting the combustible atmosphere. The robot also includes positively pressurized enclosures that house the electromechanical and electronic components of the robot and prevent intrusion of the combustible atmosphere into the enclosures. The enclosures are interconnected such that a pressurized gas injected into any one of the enclosures is routed to all the other enclosures through the interconnections. It is preferred that one or more sealed internal channels through structures intervening between the enclosures be employed. Pressure transducers for detecting if the pressure within the enclosures falls below a predetermined level are included. The robot also has a sensing device for determining the types of combustible substances in the surrounding atmosphere, as well as the concentrations of each type of substance relative to a pre-determined lower explosive limit (LEL). In addition, the sensing device can determine the percent level of oxygen present in the surrounding atmosphere.

An emergency response mobile robot for operations in combustible atmospheres

NASA Astrophysics Data System (ADS)

Stone, Henry W.; Ohm, Timothy R.

1993-11-01

A mobile, self-powered, self-contained, and remote-controlled robot is presented. The robot is capable of safely operating in a combustible atmosphere and providing information about the atmosphere to the operator. The robot includes non-sparking and non-arcing electro-mechanical and electronic components designed to prevent the robot from igniting the combustible atmosphere. The robot also includes positively pressurized enclosures that house the electromechanical and electronic components of the robot and prevent intrusion of the combustible atmosphere into the enclosures. The enclosures are interconnected such that a pressurized gas injected into any one of the enclosures is routed to all the other enclosures through the interconnections. It is preferred that one or more sealed internal channels through structures intervening between the enclosures be employed. Pressure transducers for detecting if the pressure within the enclosures falls below a predetermined level are included. The robot also has a sensing device for determining the types of combustible substances in the surrounding atmosphere, as well as the concentrations of each type of substance relative to a pre-determined lower explosive limit (LEL). In addition, the sensing device can determine the percent level of oxygen present in the surrounding atmosphere.

Emergency response mobile robot for operations in combustible atmospheres

NASA Astrophysics Data System (ADS)

Stone, Henry W.; Ohm, Timothy R.

1995-08-01

A mobile, self-powered, self-contained, and remote-controlled robot is presented. The robot is capable of safely operating in a combustible atmosphere and providing information about the atmosphere to the operator. The robot includes non-sparking and non-arcing electro-mechanical and electronic components designed to prevent the robot from igniting the combustible atmosphere. The robot also includes positively pressurized enclosures that house the electromechanical and electronic components of the robot and prevent intrusion of the combustible atmosphere into the enclosures. The enclosures are interconnected such that a pressurized gas injected into any one of the enclosures is routed to all the other enclosures through the interconnections. It is preferred that one or more sealed internal channels through structures intervening between the enclosures be employed. Pressure transducers for detecting if the pressure within the enclosures falls below a predetermined level are included. The robot also has a sensing device for determining the types of combustible substances in the surrounding atmosphere, as well as the concentrations of each type of substance relative to a pre-determined lower explosive limit (LEL). In addition, the sensing device can determine the percent level of oxygen present in the surrounding atmosphere.

Examining Self-Protection Measures Guarding Adult Protective Services Social Workers against Compassion Fatigue

ERIC Educational Resources Information Center

Bourassa, Dara

2012-01-01

Little research has focused on the risk factors, effects, and experiences of compassion fatigue among gerontological social workers. This qualitative study explores the experiences and perspectives of nine Adult Protective Services (APS) social workers in relation to compassion fatigue. Results show that the APS social workers combined personal…

78 FR 35073 - Compass Efficient Model Portfolios, LLC and Compass EMP Funds Trust; Notice of Application

Federal Register 2010, 2011, 2012, 2013, 2014

2013-06-11

... Chief, at (202) 551-6821 (Division of Investment Management, Exemptive Applications Office... management investment company currently comprising 23 series (the ``Compass Funds'').\\1\\ Each series of the... series of the Trust and any other existing or future registered open-end management investment company or...

Autonomous Underwater Munitions and Explosives of Concern Detection System

DTIC Science & Technology

2015-03-01

Field Magnetometer ......................................................................... 19 5.3.2 Fluxgate Compass...through the vehicle control system. Magnetic measurements are sampled at 10 Hz. 5.3.2 Fluxgate Compass Located in the magnetometer module pressure...pitch, and roll) from the fluxgate compass and the total field magnetometer measurements are required for processing into the MagComp compensation

Map and Compass. Outdoor Living Skills Series. Instructor Manual.

ERIC Educational Resources Information Center

Ludwig, Gail S.

Designed for instructors with little or no map and compass experience, the self-contained manual contains background information, lesson plans, student handouts, and references for teaching the basic skills of map and compass use to junior high and senior high school students and youth groups. An introductory section briefly discusses the…

Mindfulness and Compassion in Human Development: Introduction to the Special Section

ERIC Educational Resources Information Center

Roeser, Robert W.; Eccles, Jacquelynne S.

2015-01-01

Research on contemplative practices (e.g., mindfulness or compassion training) is growing rapidly in the clinical, health and neuro-sciences, but almost none of this research takes an explicitly developmental life span perspective. At present, we know rather little about the naturalistic development of mindfulness or compassion in children and…

Contribution of Self-Compassion to Competence and Mental Health in Social Work Students

ERIC Educational Resources Information Center

Ying, Yu-Wen

2009-01-01

This study examined the potential contribution of self-compassion to perceived competence and mental health in master's of social work students (N=65). It was hypothesized that the components of self-compassion (i.e., mindfulness, common humanity, self-kindness, overidentification, isolation, and self-judgment) would impact perceived competence…

Compass Games: An Introduction to Orienteering Skills

ERIC Educational Resources Information Center

Sension-Hall, Debra

2011-01-01

Compasses are useful tools for teaching the basics of navigation. Knowing where you are, where you are going, and how to get there are important facets of outdoor recreation. Compass games are a fun way to teach introductory navigation skills, and this article describes how they can be used as innovative, nontraditional activities in physical…

COMPASS-AIM: A University/P-12 Partnership Innovation for Continuous Improvement

ERIC Educational Resources Information Center

Wilcox, Kristen C.; Lawson, Hal A.; Angelis, Janet I.

2017-01-01

COMPASS-AIM is a set of processes and tools used by participants in a research-practice partnership (RPP) to improve organizational capacities and individual and team competencies for organizational learning and improvement. The "COMPASS" team includes teams of teachers and school leaders who work with a university researcher and expert…

Novel robust skylight compass method based on full-sky polarization imaging under harsh conditions.

PubMed

Tang, Jun; Zhang, Nan; Li, Dalin; Wang, Fei; Zhang, Binzhen; Wang, Chenguang; Shen, Chong; Ren, Jianbin; Xue, Chenyang; Liu, Jun

2016-07-11

A novel method based on Pulse Coupled Neural Network(PCNN) algorithm for the highly accurate and robust compass information calculation from the polarized skylight imaging is proposed,which showed good accuracy and reliability especially under cloudy weather,surrounding shielding and moon light. The degree of polarization (DOP) combined with the angle of polarization (AOP), calculated from the full sky polarization image, were used for the compass information caculation. Due to the high sensitivity to the environments, DOP was used to judge the destruction of polarized information using the PCNN algorithm. Only areas with high accuracy of AOP were kept after the DOP PCNN filtering, thereby greatly increasing the compass accuracy and robustness. From the experimental results, it was shown that the compass accuracy was 0.1805° under clear weather. This method was also proven to be applicable under conditions of shielding by clouds, trees and buildings, with a compass accuracy better than 1°. With weak polarization information sources, such as moonlight, this method was shown experimentally to have an accuracy of 0.878°.

Self-compassionate responses to aging.

PubMed

Allen, Ashley Batts; Leary, Mark R

2014-04-01

Evidence suggests that self-compassion may be beneficial to older adults who are struggling to cope with the aging process. The purpose of this study was to assess the thoughts of self-compassionate older adults and to determine whether self-compassionate thoughts relate to positive responses to aging. Participants (n = 121, M = 76.2 years, approximately 65% female) completed measures of self-compassion and self-esteem; were randomly assigned to write about a positive, negative, or neutral age-related event; and completed questions about the event and their reactions. Responses were coded for self-compassionate themes and emotional tone. Analyses indicated that self-compassion predicted positive responses to aging and that self-compassionate thoughts explained the relationship between trait self-compassion and emotional tone as well as the belief that one's attitude helped them cope with age-related events. Although older adults who were low versus high in self-compassion experienced similar age-related events, participants high in self-compassion thought about these events in ways that predicted positive outcomes. Encouraging older adults to be more self-compassionate may improve well-being in old age.

Remotely readable fiber optic compass

DOEpatents

Migliori, Albert; Swift, Gregory W.; Garrett, Steven L.

1986-01-01

A remotely readable fiber optic compass. A sheet polarizer is affixed to a magnet rotatably mounted in a compass body, such that the polarizer rotates with the magnet. The optical axis of the sheet polarizer is preferably aligned with the north-south axis of the magnet. A single excitation light beam is divided into four identical beams, two of which are passed through the sheet polarizer and through two fixed polarizing sheets which have their optical axes at right angles to one another. The angle of the compass magnet with respect to a fixed axis of the compass body can be determined by measuring the ratio of the intensities of the two light beams. The remaining ambiguity as to which of the four possible quadrants the magnet is pointing to is resolved by the second pair of light beams, which are passed through the sheet polarizer at positions which are transected by two semicircular opaque strips formed on the sheet polarizer. The incoming excitation beam and the four return beams are communicated by means of optical fibers, giving a remotely readable compass which has no electrical parts.

DNA Compass: a secure, client-side site for navigating personal genetic information

PubMed Central

Curnin, Charles; Gordon, Assaf; Erlich, Yaniv

2017-01-01

Abstract Motivation: Millions of individuals have access to raw genomic data using direct-to-consumer companies. The advent of large-scale sequencing projects, such as the Precision Medicine Initiative, will further increase the number of individuals with access to their own genomic information. However, querying genomic data requires a computer terminal and computational skill to analyze the data—an impediment for the general public. Results: DNA Compass is a website designed to empower the public by enabling simple navigation of personal genomic data. Users can query the status of their genomic variants for over 1658 markers or tens of millions of documented single nucleotide polymorphisms (SNPs). DNA Compass presents the relevant genotypes of the user side-by-side with explanatory scientific resources. The genotype data never leaves the user’s computer, a feature that provides improved security and performance. More than 12 000 unique users, mainly from the general genetic genealogy community, have already used DNA Compass, demonstrating its utility. Availability and Implementation: DNA Compass is freely available on https://compass.dna.land. Contact: yaniv@cs.columbia.edu PMID:28334237

Socialization in Context: Exploring Longitudinal Correlates of Mothers’ Value Messages of Compassion and Caution

PubMed Central

Wray-Lake, Laura; Flanagan, Constance A.; Maggs, Jennifer L.

2012-01-01

This study examined correlates of mothers’ value messages using mother and adolescent reports across three years (N =1638 dyads). Two fundamental socialization dimensions were assessed: compassion messages (e.g., caring for others) and caution messages (e.g., being wary of others). Multilevel models revealed distinct between-person and within-person correlates for mothers’ compassion and caution messages. Individual differences in compassion messages were predicted by family context (e.g., mothers’ knowledge of friends and concerns for their child’s future) and neighborhood cohesion. Within-person effects demonstrated that compassion declined in concert with adolescents’ experiences of being bullied. Caution messages were predicted by mothers’ education levels, race/ethnicity, and marital status, and increased in relation to mothers’ concerns and perceptions that illegal substances were easily attainable in the community. Tests of age, period, and cohort effects unexpectedly revealed that longitudinal changes in compassion and caution were best explained by period effects. Consistent with new developments in value socialization theory, results suggest that mothers place emphasis on certain values based on their backgrounds, their children’s characteristics, and the broader social context. PMID:22059448

The effectiveness of self-compassion and self-esteem writing tasks in reducing body image concerns.

PubMed

Seekis, Veya; Bradley, Graham L; Duffy, Amanda

2017-12-01

This study investigated whether single-session self-compassion and self-esteem writing tasks ameliorate the body image concerns evoked by a negative body image induction. Ninety-six female university students aged 17-25 years (M age =19.45, SD=1.84) were randomly assigned to one of three writing treatment groups: self-compassion, self-esteem, or control. After reading a negative body image scenario, participants completed scales measuring state body appreciation, body satisfaction, and appearance anxiety. They then undertook the assigned writing task, and completed the three measures again, both immediately post-treatment and at 2-week follow-up. The self-compassion writing group showed higher post-treatment body appreciation than the self-esteem and control groups, and higher body appreciation than the control group at follow-up. At post-treatment and follow-up, self-compassion and self-esteem writing showed higher body satisfaction than the control. The groups did not differ on appearance anxiety. Writing-based interventions, especially those that enhance self-compassion, may help alleviate certain body image concerns. Copyright © 2017 Elsevier Ltd. All rights reserved.

Remotely readable fiber optic compass

DOEpatents

Migliori, A.; Swift, G.W.; Garrett, S.L.

1985-04-30

A remotely readable fiber optic compass. A sheet polarizer is affixed to a magnet rotatably mounted in a compass body, such that the polarizer rotates with the magnet. The optical axis of the sheet polarizer is preferably aligned with the north-south axis of the magnet. A single excitation light beam is divided into four identical beams, two of which are passed through the sheet polarizer and through two fixed polarizing sheets which have their optical axes at right angles to one another. The angle of the compass magnet with respect to a fixed axis of the compass body can be determined by measuring the ratio of the intensities of the two light beams. The remaining ambiguity as to which of the four possible quadrants the magnet is pointing to is resolved by the second pair of light beams, which are passed through the sheet polarizer at positions which are transected by two semicircular opaque strips formed on the sheet polarizer. The incoming excitation beam and the four return beams are communicated by means of optical fibers, giving a remotely readable compass which has no electrical parts.

Occupational stress amongst audiologists: compassion satisfaction, compassion fatigue, and burnout.

PubMed

Severn, Michael S; Searchfield, Grant D; Huggard, Peter

2012-01-01

This study aimed to investigate occupational stress amongst audiologists, along with quantification of their professional quality of life: Burnout, compassion fatigue, and compassion satisfaction. A cross-sectional postal survey research design using an audiology occupational stress questionnaire (AOSQ), and the professional quality of life (ProQOL) instrument. The sample consisted of members of the New Zealand Audiological Society. One hundred and forty-five questionnaires were mailed, 82 responses were received. The main findings suggest that six stress factors dominate clinical audiology: (1) time demand, (2) audiological management, (3) patient contact, (4) clinical protocol, (5) patient accountability, and (6) administration or equipment. A significant relationship was found between increasing age of the audiologist and risk of acquiring burnout (chi-square (1)=6.119, p<0.05). Pearson's correlation's revealed time demand was the strongest predictor of low compassion satisfaction (r=0.327) and burnout (r=0.463), while stress associated with patient contact was the strongest predictor of compassion fatigue (r=0.352). This study identifies sources of stress for clinical audiologists and different factors that contribute to professional quality of life.

Embodying self-compassion within virtual reality and its effects on patients with depression.

PubMed

Falconer, Caroline J; Rovira, Aitor; King, John A; Gilbert, Paul; Antley, Angus; Fearon, Pasco; Ralph, Neil; Slater, Mel; Brewin, Chris R

2016-01-01

Self-criticism is a ubiquitous feature of psychopathology and can be combatted by increasing levels of self-compassion. However, some patients are resistant to self-compassion. To investigate whether the effects of self-identification with virtual bodies within immersive virtual reality could be exploited to increase self-compassion in patients with depression. We developed an 8-minute scenario in which 15 patients practised delivering compassion in one virtual body and then experienced receiving it from themselves in another virtual body. In an open trial, three repetitions of this scenario led to significant reductions in depression severity and self-criticism, as well as to a significant increase in self-compassion, from baseline to 4-week follow-up. Four patients showed clinically significant improvement. The results indicate that interventions using immersive virtual reality may have considerable clinical potential and that further development of these methods preparatory to a controlled trial is now warranted. None. © The Royal College of Psychiatrists 2016. This is an open access article distributed under the terms of the Creative Commons Attribution (CC BY) licence.

Epigenetic regulation of planarian stem cells by the SET1/MLL family of histone methyltransferases

PubMed Central

Hubert, Amy; Henderson, Jordana M.; Ross, Kelly G.; Cowles, Martis W.; Torres, Jessica; Zayas, Ricardo M.

2013-01-01

Chromatin regulation is a fundamental mechanism underlying stem cell pluripotency, differentiation, and the establishment of cell type-specific gene expression profiles. To examine the role of chromatin regulation in stem cells in vivo, we study regeneration in the freshwater planarian Schmidtea mediterranea. These animals possess a high concentration of pluripotent stem cells, which are capable of restoring any damaged or lost tissues after injury or amputation. Here, we identify the S. mediterranea homologs of the SET1/MLL family of histone methyltransferases and COMPASS and COMPASS-like complex proteins and investigate their role in stem cell function during regeneration. We identified six S. mediterranea homologs of the SET1/MLL family (set1, mll1/2, trr-1, trr-2, mll5–1 and mll5–2), characterized their patterns of expression in the animal, and examined their function by RNAi. All members of this family are expressed in the stem cell population and differentiated tissues. We show that set1, mll1/2, trr-1, and mll5–2 are required for regeneration and that set1, trr-1 and mll5–2 play roles in the regulation of mitosis. Most notably, knockdown of the planarian set1 homolog leads to stem cell depletion. A subset of planarian homologs of COMPASS and COMPASS-like complex proteins are also expressed in stem cells and implicated in regeneration, but the knockdown phenotypes suggest that some complex members also function in other aspects of planarian biology. This work characterizes the function of the SET1/MLL family in the context of planarian regeneration and provides insight into the role of these enzymes in adult stem cell regulation in vivo. PMID:23235145

Epigenetic regulation of planarian stem cells by the SET1/MLL family of histone methyltransferases.

PubMed

Hubert, Amy; Henderson, Jordana M; Ross, Kelly G; Cowles, Martis W; Torres, Jessica; Zayas, Ricardo M

2013-01-01

Chromatin regulation is a fundamental mechanism underlying stem cell pluripotency, differentiation, and the establishment of cell type-specific gene expression profiles. To examine the role of chromatin regulation in stem cells in vivo, we study regeneration in the freshwater planarian Schmidtea mediterranea. These animals possess a high concentration of pluripotent stem cells, which are capable of restoring any damaged or lost tissues after injury or amputation. Here, we identify the S. mediterranea homologs of the SET1/MLL family of histone methyltransferases and COMPASS and COMPASS-like complex proteins and investigate their role in stem cell function during regeneration. We identified six S. mediterranea homologs of the SET1/MLL family (set1, mll1/2, trr-1, trr-2, mll5-1 and mll5-2), characterized their patterns of expression in the animal, and examined their function by RNAi. All members of this family are expressed in the stem cell population and differentiated tissues. We show that set1, mll1/2, trr-1, and mll5-2 are required for regeneration and that set1, trr-1 and mll5-2 play roles in the regulation of mitosis. Most notably, knockdown of the planarian set1 homolog leads to stem cell depletion. A subset of planarian homologs of COMPASS and COMPASS-like complex proteins are also expressed in stem cells and implicated in regeneration, but the knockdown phenotypes suggest that some complex members also function in other aspects of planarian biology. This work characterizes the function of the SET1/MLL family in the context of planarian regeneration and provides insight into the role of these enzymes in adult stem cell regulation in vivo.

Building and measuring infrastructure and capacity for community health assessment and health improvement planning in Florida.

PubMed

Abarca, Christine; Grigg, C Meade; Steele, Jo Ann; Osgood, Laurie; Keating, Heidi

2009-01-01

COMPASS (Comprehensive Assessment, Strategic Success) is the Florida Department of Health's community health assessment and health improvement planning initiative. Since 2002, COMPASS built state and county health department infrastructure to support a comprehensive, systematic, and integrated approach to community health assessment and planning. To assess the capacity of Florida's 67 county health departments (CHDs) to conduct community health assessment and planning and to identify training and technical assistance needs, COMPASS surveyed the CHDs using a Web-based instrument annually from 2004 through 2008. Response rate to the survey was 100 percent annually. In 2007, 96 percent of CHDs reported conducting assessment and planning within the past 3 years; 74 percent used the MAPP (Mobilizing for Action through Planning and Partnerships) framework. Progress was greater for the organizational and assessment phases of the MAPP-based work; only 10 CHDs had identified strategic priorities in 2007, and even fewer had implemented strategies for improving health. In 2007, the most frequently requested types of training were measuring success, developing goals and action plans, and using qualitative data; technical assistance was most frequently requested for program evaluation and writing community health status reports. Florida's CHDs have increased their capacity to conduct community health assessment and planning. Questions remain about sustaining these gains with limited resources.

Self-compassion and psychological distress in parents of young people and adults with intellectual and developmental disabilities.

PubMed

Robinson, Suzanne; Hastings, Richard P; Weiss, Jonathan A; Pagavathsing, Jaffni; Lunsky, Yona

2018-05-01

Parenting an individual with intellectual and developmental disabilities (IDD) can be challenging, particularly during adulthood. It is important to better understand ways of supporting families as individuals with IDD age. Self-compassion is a potential internal coping resource for parents, and is strongly linked to positive mental health outcomes, though research has yet to examine it in parents of adults with IDD. The current study examines the association between self-compassion and measures of well-being for 56 parents of adults with IDD. Greater self-compassion was related to lower levels of stress and depression, even after accounting for other known stressors, such as economic disadvantage, having a child with an Autism Spectrum Disorder diagnosis, and high parent burden. Self-compassion may offer resiliency against these parenting challenges. © 2017 John Wiley & Sons Ltd.

Research on Snake-Like Robot with Controllable Scales

NASA Astrophysics Data System (ADS)

Chen, Kailin; Zhao, Yuting; Chen, Shuping

The purpose of this paper is to propose a new structure for a snake-like robot. This type of snake-like robot is different from the normal snake-like robot because it has lots of controllable scales which have a large role in helping moving. Besides, a new form of robot gait named as linear motion mode is developed based on theoretical analysis for the new mechanical structure. Through simulation and analysis in simmechanics of matlab, we proved the validity of theories about the motion mode of snake-like robot. The proposed machine construction and control method for the designed motion is verified experimentally by the independent developed snake robot.

D2 Delta Robot Structural Design and Kinematics Analysis

NASA Astrophysics Data System (ADS)

Yang, Xudong; wang, Song; Dong, Yu; Yang, Hai

2017-12-01

In this paper, a new type of Delta robot with only two degrees of freedom is proposed on the basis of multi - degree - of - freedom delta robot. In order to meet our application requirements, we have carried out structural design and analysis of the robot. Through SolidWorks modeling, combined with 3D printing technology to determine the final robot structure. In order to achieve the precise control of the robot, the kinematics analysis of the robot was carried out. The SimMechanics toolbox of MATLAB is used to establish the mechanism model, and the kinematics mathematical model is used to simulate the robot motion control in Matlab environment. Finally, according to the design mechanism, the working space of the robot is drawn by the graphic method, which lays the foundation for the motion control of the subsequent robot.

Development of wall climbing robot

NASA Astrophysics Data System (ADS)

Kojima, Hisao; Toyama, Ryousei; Kobayashi, Kengo

1992-03-01

A configuration design is presented for a wall-climbing robot with high payload which is capable of moving on diversified surfaces of walls including the wall surface to ceilings in every direction. A developed quadruped wall climbing robot, NINJYA-1, is introduced. NINJYA-1 is composed of legs based on a 3D parallel link mechanism and a VM (Valve-regulated Multiple) sucker which will be able to suck even if there are grooves and a small difference in level. A wall climbing robot which supports rescue operation at a high building using a VM sucker is also introduced. Finally, a wall climbing robot named Disk Rover with a disk-type magnetic wheel is shown. The wheel shape is calculated by FEM. The disk-type magnetic wheel has a force three times more powerful than the one heretofore in use.

The qualities of attachment with significant others and self-compassion protect adolescents from non suicidal self-injury.

PubMed

Jiang, Yongqiang; You, Jianing; Zheng, Xiaoling; Lin, Min-Pei

2017-06-01

Nonsuicidal self-injury (NSSI) is a serious public health problem. Identifying the factors that could help prevent or reduce NSSI is important. The current study examined the protective roles of the perceived qualities of current attachment to significant others (i.e., mothers, fathers, and peers) and self-compassion in adolescent NSSI. The potential mediating effect of self-compassion in the relationships between attachment relationships with mothers, fathers, and peers and adolescent NSSI was also explored. Self-reported data on mother, father, and peer attachment (each included 3 dimensions; i.e., trust, communication, and closeness); self-compassion; and NSSI were collected from 658 secondary school students (59.9% male; M age = 13.58 years). Participants with NSSI experiences scored significantly higher on the perceived qualities of current attachment with parents and self-compassion than those reporting no NSSI experience. Attachment with peers did not distinguish the NSSI group from the Non-NSSI group. Further mediation analyses indicated that self-compassion mediated the relationships of closeness with mothers, fathers (partially), and peers to NSSI as well as the relationship of peer communication to NSSI. Limitations of this study and implications regarding the protective roles of attachment and self-compassion in the prevention and intervention for NSSI are discussed. (PsycINFO Database Record (c) 2017 APA, all rights reserved).

Self-Compassion Scale (SCS): Psychometric Properties of The French Translation and Its Relations with Psychological Well-Being, Affect and Depression.

PubMed

Kotsou, Ilios; Leys, Christophe

2016-01-01

Over the past few years, the topic of self-compassion has attracted increasing attention from both scientific and clinical fields. The Self-Compassion Scale (SCS) was created to specifically capture this way of being kind and understanding towards oneself in moments of turmoil. In this article, we present a French adaptation of the SCS. We first explore the psychometric properties of this adaptation and then investigate its relation to psychological well-being. As in the original version of the SCS, the French adaptation has a strong 6-factor structure but a weaker hierarchical second order structure. However the bi-factor model yields a good omega index suggesting the relevance of a single score accounting for self-compassion. Moreover, there was a relation between the SCS and classical outcomes such as a positive relation with psychological well-being and negative relation with depressive symptoms. We then hypothesized that self-compassion would have a moderating role on the relation between affect and depression. This hypothesis was confirmed: expressing negative affect is correlated with depressive symptoms; however, being kind with oneself lowers depressive symptoms even when expressing negative affect. In conclusion, this research presents a valid self-compassion measure for French-speaking researchers and clinicians and outlines the need for further research on the concept of self-compassion.

Translation and linguistic validation of the Composite Autonomic Symptom Score COMPASS 31.

PubMed

Pierangeli, Giulia; Turrini, Alessandra; Giannini, Giulia; Del Sorbo, Francesca; Calandra-Buonaura, Giovanna; Guaraldi, Pietro; Bacchi Reggiani, Maria Letizia; Cortelli, Pietro

2015-10-01

The aim of our study was to translate and to do a linguistic validation of the Composite Autonomic Symptom Score COMPASS 31. COMPASS 31 is a self-assessment instrument including 31 items assessing six domains of autonomic functions: orthostatic intolerance, vasomotor, secretomotor, gastrointestinal, bladder, and pupillomotor functions. This questionnaire has been created by the Autonomic group of the Mayo Clinic from two previous versions: the Autonomic Symptom Profile (ASP) composed of 169 items and the following COMPASS with 72 items selected from the ASP. We translated the questionnaire by means of a standardized forward and back-translation procedure. Thirty-six subjects, 25 patients with autonomic failure of different aethiologies and 11 healthy controls filled in the COMPASS 31 twice, 4 ± 1 weeks apart, once in Italian and once in English in a randomized order. The test-retest showed a significant correlation between the Italian and the English versions as total score. The evaluation of single domains by means of Pearson correlation when applicable or by means of Spearman test showed a significant correlation between the English and the Italian COMPASS 31 version for all clinical domains except the vasomotor one for the lack of scoring. The comparison between the patients with autonomic failure and healthy control groups showed significantly higher total scores in patients with respect to controls confirming the high sensitivity of COMPASS 31 in revealing autonomic symptoms.

Mindfulness and Self-compassion as Unique and Common Predictors of Affect in the General Population.

PubMed

López, Angélica; Sanderman, Robbert; Schroevers, Maya J

2016-01-01

In contrast to the increased research interest in the benefits of mindfulness and self-compassion, relatively few studies have examined their unique and combined effects in predicting affect. This cross-sectional study examined the predictive value of mindfulness and self-compassion for depressive symptoms, negative affect, and positive affect in a large representative sample of community adults ( N  = 1736). The Five Facets of Mindfulness Questionnaire (FFMQ) was used as a measure of mindfulness and the Self-Compassion Scale (SCS) as a measure of self-compassion. Five FFMQ facets were explored: observe, describe, act with awareness, non-judgment, and non-reactivity. Two SCS facets were explored: its positive items (SCS Pos) and its negative items (SCS Neg). When simultaneously examining all seven facets of mindfulness and self-compassion, three of the five FFMQ facets and SCS Neg significantly predicted both depressive symptoms and negative affect, with SCS Neg and act with awareness being the strongest predictors. These findings suggest that a harsh attitude towards oneself and a lack of attention when acting have the greatest value in predicting the presence of psychological symptoms. With respect to positive affect, four of the five FFMQ facets (except non-judgment) were significant predictors, with no unique predictive value of the two SCS's facets, suggesting that mindfulness is a more important predictor of positive affect than self-compassion, as measured by the FFMQ and SCS.

A review of robotics in surgery.

PubMed

Davies, B

2000-01-01

A brief introduction is given to the definitions and history of surgical robotics. The capabilities and merits of surgical robots are then contrasted with the related field of computer assisted surgery. A classification is then given of the various types of robot system currently being investigated internationally, together with a number of examples of different applications in both soft-tissue and orthopaedic surgery. The paper finishes with a discussion of the main difficulties facing robotic surgery and a prediction of future progress.

Investigation of Patience Tendency Levels in Terms of Self-Determination, Self-Compassion and Personality Features

ERIC Educational Resources Information Center

Bülbül, Ayse Eliüsük; Arslan, Coskun

2017-01-01

The main objective of this study was to determine the relationship between self-determination, self-compassion and the five-factor personality traits of university students. Moreover it was aimed to determine whether self-compassion, self-determination and personality traits predict patience levels at a meaningful level. The sample population of…

Self-Compassion and Suicidal Behavior in College Students: Serial Indirect Effects via Depression and Wellness Behaviors

ERIC Educational Resources Information Center

Kelliher Rabon, Jessica; Sirois, Fuschia M.; Hirsch, Jameson K.

2018-01-01

Objective: College students may be at heightened risk for suicide and suicidal behavior due to maladaptive cognitive-emotional factors and failure to practice basic health behaviors. However, self-compassion and wellness behaviors may protect against risk. The relation between self-compassion and suicidal behavior and the contributing roles of…

Topographic Map and Compass Use. A Teaching Packet to Supplement the Student Manual.

ERIC Educational Resources Information Center

Taylor, Michael

This teacher's manual is designed to supplement the student manual for a unit of study on topographic map and compass use. The beginning section of the manual discusses (1) teaching strategy and evaluation, (2) teaching time and facilities, (3) materials and equipment required, (4) suggested field experience, (5) setting up a compass competition,…

Perception of Suffering and Compassion Experience: Brain Gender Disparities

ERIC Educational Resources Information Center

Mercadillo, Roberto E.; Diaz, Jose Luis; Pasaye, Erick H.; Barrios, Fernando A.

2011-01-01

Compassion is considered a moral emotion related to the perception of suffering in others, and resulting in a motivation to alleviate the afflicted party. We compared brain correlates of compassion-evoking images in women and men. BOLD functional images of 24 healthy volunteers (twelve women and twelve men; age=27 [plus or minus] 2.5 y.o.) were…

Analysis of mutual assured destruction-like scenario with swarms of non-recallable autonomous robots

NASA Astrophysics Data System (ADS)

Straub, Jeremy

2015-05-01

This paper considers the implications of the creation of an autonomous robotic fighting force without recall-ability which could serve as a deterrent to a `total war' magnitude attack. It discusses the technical considerations for this type of robotic system and the limited enhancements required to current technologies (particularly UAVs) needed to create such a system. Particular consideration is paid to how the introduction of this type of technology by one actor could create a need for reciprocal development. Also considered is the prospective utilization of this type of technology by non-state actors and the impact of this on state actors.

Development of soft robots using dielectric elastomer actuators

NASA Astrophysics Data System (ADS)

Godaba, Hareesh; Wang, Yuzhe; Cao, Jiawei; Zhu, Jian

2016-04-01

Soft robots are gaining in popularity due to their unique attributes such as low weight, compliance, flexibility and diverse range in motion types. This paper illustrates soft robots and actuators which are developed using dielectric elastomer. These developments include a jellyfish robot, a worm like robot and artificial muscle actuators for jaw movement in a robotic skull. The jellyfish robot which employs a bulged dielectric elastomer membrane has been demonstrated too generate thrust and buoyant forces and can move effectively in water. The artificial muscle for jaw movement employs a pure shear configuration and has been shown to closely mimic the jaw motion while chewing or singing a song. Thee inchworm robot, powered by dielectric elastomer actuator can demonstrate stable movement in one-direction.

Compassion fatigue in nurses: A metasynthesis.

PubMed

Nolte, Anna Gw; Downing, Charlene; Temane, Annie; Hastings-Tolsma, Marie

2017-12-01

To interpret the body of qualitative work focusing on compassion fatigue to distil a common understanding that could then be applied to nursing care. Complex demands place extraordinary stress on nurses struggling to work in overburdened healthcare systems. The result can be the inability to care well for others, leading to compassion fatigue, burnout and increased numbers leaving the profession. Metasynthesis offers a means of more fully illuminating compassion fatigue and further understanding of practices which might reduce its negative consequences. Metasynthesis. As a method designed to facilitate knowledge development, metasynthesis allowed for integration of qualitative study findings conducted between 1992-2016 using defined search terms. Six databases were searched for articles published in English. Nine papers met the criteria for review and metasynthesis was conducted using the meta-ethnographic approach detailed by Noblit and Hare. Four themes related to compassion fatigue were found by consensus discussion. The themes included: physical ("just plain worn out") and emotional symptoms ("walking on a tightrope"), triggering factors ("an unbearable weight on shoulders" and "alone in a crowded room"), and measures to overcome/prevent ("who has my back?"). Compassion fatigue is a concept of documented relevance to those in nursing and represents a basic inability to nurture others and engenders a temporal component. Synthesis of studies provides evidence of the veracity of the concept for application to clinical practice and research related to nursing care. Findings provide insight into the clinical milieu needed to prevent compassion fatigue. A theoretical model is presented which can be used to guide future research, as well as the creation of clinical practice policies which might mitigate the development of compassion fatigue and its potential consequences. © 2017 The Authors. Journal of Clinical Nursing Published by John Wiley & Sons Ltd.

A qualitative exploration of responses to self-compassion in a non-clinical sample.

PubMed

Campion, Maxine; Glover, Lesley

2017-05-01

Research suggests that being self-compassionate can have myriad benefits, including life satisfaction, health-promoting behaviours and improved mental health. Given the possible advantages of being self-compassionate, it seems critical to explore how to promote this in the general population. This qualitative study aimed to understand responses to the idea of being compassionate to oneself within the general population. Semi-structured interviews were conducted in the North East of England between October 2014 and February 2015, they were analysed using thematic analysis. As part of an intervention study, non-clinical volunteers watched a psychoeducation video about the concept of self-compassion and then participated in one of four meditation exercises. Following this, participants were interviewed about their responses to the idea of being self-compassionate. Three themes were identified: Benefits of Self-Compassion; Being Self-Compassionate and Barriers to Self-Compassion. Participants believed that being self-compassionate would be beneficial, for both themselves and the world, but they believed that self-compassion would make them vulnerable and that others would judge them. Thus, participants were afraid to be the first ones to be self-compassionate and stated that, in order for self-compassion to be acceptable, we need to change the perspective of western culture. These findings underscore the importance of understanding society's role in a person's ability to be self-compassionate. In order to reap the benefits of self-compassion, we need to create a culture that accepts and encourages this. As practitioners, we are in a position to lead in self-compassion and to encourage other leaders to promote this as a preventative mental health strategy. © 2016 John Wiley & Sons Ltd.

Zebra finches have a light-dependent magnetic compass similar to migratory birds.

PubMed

Pinzon-Rodriguez, Atticus; Muheim, Rachel

2017-04-01

Birds have a light-dependent magnetic compass that provides information about the spatial alignment of the geomagnetic field. It is proposed to be located in the avian retina and mediated by a light-induced, radical-pair mechanism involving cryptochromes as sensory receptor molecules. To investigate how the behavioural responses of birds under different light spectra match with cryptochromes as the primary magnetoreceptor, we examined the spectral properties of the magnetic compass in zebra finches. We trained birds to relocate a food reward in a spatial orientation task using magnetic compass cues. The birds were well oriented along the trained magnetic compass axis when trained and tested under low-irradiance 521 nm green light. In the presence of a 1.4 MHz radio-frequency electromagnetic (RF)-field, the birds were disoriented, which supports the involvement of radical-pair reactions in the primary magnetoreception process. Birds trained and tested under 638 nm red light showed a weak tendency to orient ∼45 deg clockwise of the trained magnetic direction. Under low-irradiance 460 nm blue light, they tended to orient along the trained magnetic compass axis, but were disoriented under higher irradiance light. Zebra finches trained and tested under high-irradiance 430 nm indigo light were well oriented along the trained magnetic compass axis, but disoriented in the presence of a RF-field. We conclude that magnetic compass responses of zebra finches are similar to those observed in nocturnally migrating birds and agree with cryptochromes as the primary magnetoreceptor, suggesting that light-dependent, radical-pair-mediated magnetoreception is a common property for all birds, including non-migratory species. © 2017. Published by The Company of Biologists Ltd.

Scalable autonomous operations of unmanned assets

NASA Astrophysics Data System (ADS)

Jung, Sunghun

Although there have been great theoretical advances in the region of Unmanned Aerial Vehicle (UAV) autonomy, applications of those theories into real world are still hesitated due to unexpected disturbances. Most of UAVs which are currently used are mainly, strictly speaking, Remotely Piloted Vehicles (RPA) since most works related with the flight control, sensor data analysis, and decision makings are done by human operators. To increase the degree of autonomy, many researches are focused on developing Unmanned Autonomous Aerial Vehicle (UAAV) which can takeoff, fly to the interested area by avoiding unexpected obstacles, perform various missions with decision makings, come back to the base station, and land on by itself without any human operators. To improve the performance of UAVs, the accuracies of position and orientation sensors are enhanced by integrating a Unmanned Ground Vehicle (UGV) or a solar compass to a UAV; Position sensor accuracy of a GPS sensor on a UAV is improved by referencing the position of a UGV which is calculated by using three GPS sensors and Weighted Centroid Localization (WCL) method; Orientation sensor accuracy is improved as well by using Three Pixel Theorem (TPT) and integrating a solar compass which composed of nine light sensors to a magnetic compass. Also, improved health management of a UAV is fulfilled by developing a wireless autonomous charging station which uses four pairs of transmitter and receiver magnetic loops with four robotic arms. For the software aspect, I also analyze the error propagation of the proposed mission planning hierarchy to achieve the safest size of the buffer zone. In addition, among seven future research areas regarding UAV, this paper mainly focuses on developing algorithms of path planning, trajectory generation, and cooperative tactics for the operations of multiple UAVs using GA based multiple Traveling Salesman Problem (mTSP) which is solved by dividing into m number of Traveling Salesman Problems (TSP) using two region division methods such as Uniform Region Division (URD) and K-means Voronoi Region Division (KVRD). The topic of the maximum fuel efficiency is also dealt to ensure the minimum amount fuel consumption to perform surveillance on a given region using multiple UAVs. Last but not least, I present an application example of cattle roundup with two UAVs and two animals using the feedback linearization controller.

Compassion Is a Necessity and an Individual and Collective Responsibility Comment on "Why and How Is Compassion Necessary to Provide Good Quality Healthcare?".

PubMed

Lown, Beth A

2015-06-02

Compassion is a complex process that is innate, determined in part by individual traits, and modulated by a myriad of conscious and unconscious factors, immediate context, social structures and expectations, and organizational "culture." Compassion is an ethical foundation of healthcare and a widely shared value; it is not an optional luxury in the healing process. While the interrelations between individual motivation and social structure are complex, we can choose to act individually and collectively to remove barriers to the innate compassion that most healthcare professionals bring to their work. Doing so will reduce professional burnout, improve the well-being of the healthcare workforce, and facilitate our efforts to achieve the triple aim of improving patients' experiences of care and health while lowering costs. © 2015 by Kerman University of Medical Sciences.

Migration along orthodromic sun compass routes by arctic birds.

PubMed

Alerstam, T; Gudmundsson, G A; Green, M; Hedenstrom, A

2001-01-12

Flight directions of birds migrating at high geographic and magnetic latitudes can be used to test bird orientation by celestial or geomagnetic compass systems under polar conditions. Migration patterns of arctic shorebirds, revealed by tracking radar studies during an icebreaker expedition along the Northwest Passage in 1999, support predicted sun compass trajectories but cannot be reconciled with orientation along either geographic or magnetic loxodromes (rhumb lines). Sun compass routes are similar to orthodromes (great circle routes) at high latitudes, showing changing geographic courses as the birds traverse longitudes and their internal clock gets out of phase with local time. These routes bring the shorebirds from high arctic Canada to the east coast of North America, from which they make transoceanic flights to South America. The observations are also consistent with a migration link between Siberia and the Beaufort Sea region by way of sun compass routes across the Arctic Ocean.

On the use of magnets to disrupt the physiological compass of birds.

PubMed

Wang, K; Mattern, E; Ritz, T

2006-10-04

Behavioral researchers have attached magnets to birds during orientation experiments, assuming that such magnets will disrupt their ability to obtain magnetic information. Here, we investigate the effect of an attached magnet on the ability to derive directional information from a radical-pair based compass mechanism. We outline in some detail the geometrical symmetries that would allow a bird to identify magnetic directions in a radical-pair based compass. We show that the artificial field through an attached magnet will quickly disrupt the birds' ability to distinguish pole-ward from equator-ward headings, but that much stronger fields are necessary to disrupt their ability to detect the magnetic axis. Together with estimates of the functional limits of a radical-pair based compass, our calculations suggest that artificial fields of comparable size to the geomagnetic field are not generally sufficient to render a radical-pair based compass non-functional.

A comparative direct cost analysis of pediatric urologic robot-assisted laparoscopic surgery versus open surgery: could robot-assisted surgery be less expensive?

PubMed

Rowe, Courtney K; Pierce, Michael W; Tecci, Katherine C; Houck, Constance S; Mandell, James; Retik, Alan B; Nguyen, Hiep T

2012-07-01

Cost in healthcare is an increasing and justifiable concern that impacts decisions about the introduction of new devices such as the da Vinci(®) surgical robot. Because equipment expenses represent only a portion of overall medical costs, we set out to make more specific cost comparisons between open and robot-assisted laparoscopic surgery. We performed a retrospective, observational, matched cohort study of 146 pediatric patients undergoing either open or robot-assisted laparoscopic urologic surgery from October 2004 to September 2009 at a single institution. Patients were matched based on surgery type, age, and fiscal year. Direct internal costs from the institution were used to compare the two surgery types across several procedures. Robot-assisted surgery direct costs were 11.9% (P=0.03) lower than open surgery. This cost difference was primarily because of the difference in hospital length of stay between patients undergoing open vs robot-assisted surgery (3.8 vs 1.6 days, P<0.001). Maintenance fees and equipment expenses were the primary contributors to robotic surgery costs, while open surgery costs were affected most by room and board expenses. When estimates of the indirect costs of robot purchase and maintenance were included, open surgery had a lower total cost. There were no differences in follow-up times or complication rates. Direct costs for robot-assisted surgery were significantly lower than equivalent open surgery. Factors reducing robot-assisted surgery costs included: A consistent and trained robotic surgery team, an extensive history of performing urologic robotic surgery, selection of patients for robotic surgery who otherwise would have had longer hospital stays after open surgery, and selection of procedures without a laparoscopic alternative. The high indirect costs of robot purchase and maintenance remain major factors, but could be overcome by high surgical volume and reduced prices as competitors enter the market.

Trois types de stratégies des fabricants pour la fidélisation aux médicaments de marque

PubMed Central

Prémont, Marie-Claude; Gagnon, Marc-André

2014-01-01

La restructuration de l'industrie pharmaceutique a mené au développement de trois nouveaux types de stratégies commerciales pour la fidélisation de différentes cohortes de patients à des médicaments: la fidélisation par le rabais, par l'accompagnement et par la compassion. La fidélisation par le rabais vise à maintenir les traitements au produit de marque et décourager la substitution au produit générique. La fidélisation par l'accompagnement est basée sur une offre des services de suivi et d'accompagnement à domicile et par téléphone afin d'encourager les patients à adopter un traitement puis d'en améliorer l'observance. Enfin, l'industrie offre des programmes de compassion où les patients peuvent recevoir des traitements avant même que le médicament ne soit généralement disponible ou remboursé par son assureur. Dès que le médicament (le plus souvent très dispendieux) est inscrit à la liste des médicaments remboursés, le manufacturier met fin au programme de compassion et bénéficie d'une importante cohorte de patients déjà sous traitement. L'impact de ces programmes sur les politiques publiques et les droits des patients soulève de nombreuses préoccupations, au nombre desquelles figurent au premier plan l'accès direct du fabricant au patient et ses données de santé et la pression à la hausse sur les coûts de l'assurance-médicaments. PMID:25617517

An embedded vision system for an unmanned four-rotor helicopter

NASA Astrophysics Data System (ADS)

Lillywhite, Kirt; Lee, Dah-Jye; Tippetts, Beau; Fowers, Spencer; Dennis, Aaron; Nelson, Brent; Archibald, James

2006-10-01

In this paper an embedded vision system and control module is introduced that is capable of controlling an unmanned four-rotor helicopter and processing live video for various law enforcement, security, military, and civilian applications. The vision system is implemented on a newly designed compact FPGA board (Helios). The Helios board contains a Xilinx Virtex-4 FPGA chip and memory making it capable of implementing real time vision algorithms. A Smooth Automated Intelligent Leveling daughter board (SAIL), attached to the Helios board, collects attitude and heading information to be processed in order to control the unmanned helicopter. The SAIL board uses an electrolytic tilt sensor, compass, voltage level converters, and analog to digital converters to perform its operations. While level flight can be maintained, problems stemming from the characteristics of the tilt sensor limits maneuverability of the helicopter. The embedded vision system has proven to give very good results in its performance of a number of real-time robotic vision algorithms.

Picturing the nurse-person/family/community process in the year 2050.

PubMed

Mitchell, Gail J

2007-01-01

How will nurses relate with persons in the year 2050? And, how might technology enable or limit the nursing process with persons, families, and communities? These are the questions addressed in this column. Imaging practice in light of the technological imaginings and projections is facilitated by a possible scenario that includes robotics that not only monitor human biological processes, they also emote compassion and caring that may one day be dosed according to the latest diagnostic prescription. Three nurses in this column present their views of how nursing might evolve. Karnick, aligned with the human becoming school of thought, imagines a practice anchored in respect for humanity and quality of life and an accompanying respect for nursing knowledge and nursing work. Senesac and Sato, aligned with Roy's adaptation model, call for nurses to envision and choose the future they want to have. Clear in both perspectives is a reverence for human values and human experience and for the critical role of nursing knowledge as we move toward the not-yet of 2050.

Simulation and animation of sensor-driven robots.

PubMed

Chen, C; Trivedi, M M; Bidlack, C R

1994-10-01

Most simulation and animation systems utilized in robotics are concerned with simulation of the robot and its environment without simulation of sensors. These systems have difficulty in handling robots that utilize sensory feedback in their operation. In this paper, a new design of an environment for simulation, animation, and visualization of sensor-driven robots is presented. As sensor technology advances, increasing numbers of robots are equipped with various types of sophisticated sensors. The main goal of creating the visualization environment is to aid the automatic robot programming and off-line programming capabilities of sensor-driven robots. The software system will help the users visualize the motion and reaction of the sensor-driven robot under their control program. Therefore, the efficiency of the software development is increased, the reliability of the software and the operation safety of the robot are ensured, and the cost of new software development is reduced. Conventional computer-graphics-based robot simulation and animation software packages lack of capabilities for robot sensing simulation. This paper describes a system designed to overcome this deficiency.

A Car Transportation System in Cooperation by Multiple Mobile Robots for Each Wheel: iCART II

NASA Astrophysics Data System (ADS)

Kashiwazaki, Koshi; Yonezawa, Naoaki; Kosuge, Kazuhiro; Sugahara, Yusuke; Hirata, Yasuhisa; Endo, Mitsuru; Kanbayashi, Takashi; Shinozuka, Hiroyuki; Suzuki, Koki; Ono, Yuki

The authors proposed a car transportation system, iCART (intelligent Cooperative Autonomous Robot Transporters), for automation of mechanical parking systems by two mobile robots. However, it was difficult to downsize the mobile robot because the length of it requires at least the wheelbase of a car. This paper proposes a new car transportation system, iCART II (iCART - type II), based on “a-robot-for-a-wheel” concept. A prototype system, MRWheel (a Mobile Robot for a Wheel), is designed and downsized less than half the conventional robot. First, a method for lifting up a wheel by MRWheel is described. In general, it is very difficult for mobile robots such as MRWheel to move to desired positions without motion errors caused by slipping, etc. Therefore, we propose a follower's motion error estimation algorithm based on the internal force applied to each follower by extending a conventional leader-follower type decentralized control algorithm for cooperative object transportation. The proposed algorithm enables followers to estimate their motion errors and enables the robots to transport a car to a desired position. In addition, we analyze and prove the stability and convergence of the resultant system with the proposed algorithm. In order to extract only the internal force from the force applied to each robot, we also propose a model-based external force compensation method. Finally, proposed methods are applied to the car transportation system, the experimental results confirm their validity.

Mobile Robot Designed with Autonomous Navigation System

NASA Astrophysics Data System (ADS)

An, Feng; Chen, Qiang; Zha, Yanfang; Tao, Wenyin

2017-10-01

With the rapid development of robot technology, robots appear more and more in all aspects of life and social production, people also ask more requirements for the robot, one is that robot capable of autonomous navigation, can recognize the road. Take the common household sweeping robot as an example, which could avoid obstacles, clean the ground and automatically find the charging place; Another example is AGV tracking car, which can following the route and reach the destination successfully. This paper introduces a new type of robot navigation scheme: SLAM, which can build the environment map in a totally strange environment, and at the same time, locate its own position, so as to achieve autonomous navigation function.

Automation and robotics for the Space Exploration Initiative: Results from Project Outreach

NASA Technical Reports Server (NTRS)

Gonzales, D.; Criswell, D.; Heer, E.

1991-01-01

A total of 52 submissions were received in the Automation and Robotics (A&R) area during Project Outreach. About half of the submissions (24) contained concepts that were judged to have high utility for the Space Exploration Initiative (SEI) and were analyzed further by the robotics panel. These 24 submissions are analyzed here. Three types of robots were proposed in the high scoring submissions: structured task robots (STRs), teleoperated robots (TORs), and surface exploration robots. Several advanced TOR control interface technologies were proposed in the submissions. Many A&R concepts or potential standards were presented or alluded to by the submitters, but few specific technologies or systems were suggested.

Multigait soft robot

PubMed Central

Shepherd, Robert F.; Ilievski, Filip; Choi, Wonjae; Morin, Stephen A.; Stokes, Adam A.; Mazzeo, Aaron D.; Chen, Xin; Wang, Michael; Whitesides, George M.

2011-01-01

This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (< 10 psi). A combination of crawling and undulation gaits allowed this robot to navigate a difficult obstacle. This demonstration illustrates an advantage of soft robotics: They are systems in which simple types of actuation produce complex motion. PMID:22123978

Types of verbal interaction with instructable robots

NASA Technical Reports Server (NTRS)

Crangle, C.; Suppes, P.; Michalowski, S.

1987-01-01

An instructable robot is one that accepts instruction in some natural language such as English and uses that instruction to extend its basic repertoire of actions. Such robots are quite different in conception from autonomously intelligent robots, which provide the impetus for much of the research on inference and planning in artificial intelligence. Examined here are the significant problem areas in the design of robots that learn from vebal instruction. Examples are drawn primarily from our earlier work on instructable robots and recent work on the Robotic Aid for the physically disabled. Natural-language understanding by machines is discussed as well as in the possibilities and limits of verbal instruction. The core problem of verbal instruction, namely, how to achieve specific concrete action in the robot in response to commands that express general intentions, is considered, as are two major challenges to instructability: achieving appropriate real-time behavior in the robot, and extending the robot's language capabilities.

Micro-aerial vehicle type wall-climbing robot mechanism for structural health monitoring

NASA Astrophysics Data System (ADS)

Shin, Jae-Uk; Kim, Donghoon; Kim, Jong-Heon; Myung, Hyun

2013-04-01

Currently, the maintenance or inspection of large structures is labor-intensive, so it has a problem of the large cost due to the staffing professionals and the risk for hard to reach areas. To solve the problem, the needs of wall-climbing robot are emerged. Infra-based wall-climbing robots to maintain an outer wall of building have high payload and safety. However, the infrastructure for the robot must be equipped on the target structure and the infrastructure isn't preferred by the architects since it can injure the exterior of the structure. These are the reasons of why the infra-based wall-climbing robot is avoided. In case of the non-infra-based wall-climbing robot, it is researched to overcome the aforementioned problems. However, most of the technologies are in the laboratory level since the payload, safety and maneuverability are not satisfactory. For this reason, aerial vehicle type wall-climbing robot is researched. It is a flying possible wallclimbing robot based on a quadrotor. It is a famous aerial vehicle robot using four rotors to make a thrust for flying. This wall-climbing robot can stick to a vertical wall using the thrust. After sticking to the wall, it can move with four wheels installed on the robot. As a result, it has high maneuverability and safety since it can restore the position to the wall even if it is detached from the wall by unexpected disturbance while climbing the wall. The feasibility of the main concept was verified through simulations and experiments using a prototype.

Repository Collection Policies: Is a Liberal and Inclusive Policy Helpful or Harmful?

ERIC Educational Resources Information Center

Bankier, Jean-Gabriel; Smith, Courtney

2010-01-01

Institutional repositories have been established by most university libraries but their level of success has varied. Determining what belongs in such repositories has been the subject of some discussion but research would suggest that a broader rather than narrower compass is a positive approach to adopt. By seeking out a variety of content types,…