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  • Rural Digital Europe
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: E. W. Parkinson; S. Stoddart; V. Sparacello; F. Bertoldi; +8 Authors

    AbstractThe transition to farming brought on a series of important changes in human society, lifestyle, diet and health. The human bioarchaeology of the agricultural transition has received much attention, however, relatively few studies have directly tested the interrelationship between individual lifestyle factors and their implications for understanding life history changes among the first farmers. We investigate the interplay between skeletal growth, diet, physical activity and population size across 30,000 years in the central Mediterranean through a ‘big data’ cross-analysis of osteological data related to stature (n = 361), body mass (n = 334) and long bone biomechanics (n = 481), carbon (δ13C) and nitrogen (δ15N) stable isotopes (n = 1986 human, n = 475 animal) and radiocarbon dates (n = 5263). We present the observed trends on a continuous timescale in order to avoid grouping our data into assigned ‘time periods’, thus achieving greater resolution and chronological control over our analysis. The results identify important changes in human life history strategies associated with the first farmers, but also highlight the long-term nature of these trends in the millennia either side of the agricultural transition. The integration of these different data is an important step towards disentangling the complex relationship between demography, diet and health, and reconstruct life history changes within a southern European context. We believe the methodological approach adopted here has broader global implications for bioarchaeological studies of human adaptation more generally.

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    Apollo
    Other literature type . 2023
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    Scientific Reports
    Article . 2023 . Peer-reviewed
    License: CC BY
    Data sources: Crossref
    DOAJ
    Article . 2023
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Apolloarrow_drop_down
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      Apollo
      Other literature type . 2023
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      Scientific Reports
      Article . 2023 . Peer-reviewed
      License: CC BY
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      Article . 2023
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Rossi, Tatiana Spatola; Tolmie, A. Frances; Nichol, Tim; Pain, Charlotte; +4 Authors

    AbstractMethane is a potent greenhouse gas, which has contributed to approximately a fifth of global warming since pre-industrial times. The agricultural sector produces significant methane emissions, especially from livestock, waste management and rice cultivation. Rice fields alone generate around 9% of total anthropogenic emissions. Methane is produced in waterlogged paddy fields by methanogenic archaea, and transported to the atmosphere through the aerenchyma tissue of rice plants. Thus, bioengineering rice with catalysts to detoxify methane en route could contribute to an efficient emission mitigation strategy. Particulate methane monooxygenase (pMMO) is the predominant methane catalyst found in nature, and is an enzyme complex expressed by methanotrophic bacteria. Recombinant expression of pMMO has been challenging, potentially due to its membrane localization, multimeric structure, and polycistronic operon. Here we show the first steps towards the engineering of plants for methane detoxification with the three pMMO subunits expressed in the model systems tobacco and Arabidopsis. Membrane topology and protein–protein interactions were consistent with correct folding and assembly of the pMMO subunits on the plant ER. Moreover, a synthetic self-cleaving polypeptide resulted in simultaneous expression of all three subunits, although low expression levels precluded more detailed structural investigation. The work presents plant cells as a novel heterologous system for pMMO allowing for protein expression and modification.

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    Oxford University Research Archive; Scientific Reports
    Other literature type . Article . 2023 . Peer-reviewed
    License: CC BY
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    Oxford Brookes University: RADAR
    Other literature type . 2023
    License: CC BY
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      Oxford University Research Archive; Scientific Reports
      Other literature type . Article . 2023 . Peer-reviewed
      License: CC BY
      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
      Oxford Brookes University: RADAR
      Other literature type . 2023
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Costi, Leone; Iida, Fumiya;

    Abstract Teleoperated medical technologies are a fundamental part of the healthcare system. From telemedicine to remote surgery, they allow remote diagnosis and treatment. However, the absence of any interface able to effectively reproduce the sense of touch and interaction with the patient prevents the implementation of teleoperated systems for primary care examinations, such as palpation. In this paper, we propose the first reported case of a soft robotic bilateral physical twin for remote palpation. By creating an entirely soft interface that can be used both to control the robot and receive feedback, the proposed device allows the user to achieve remote palpation by simply palpating the soft physical twin. This is achieved through a compact design showcasing 9 pneumatic chambers and exploiting multi-silicone casting to minimize cross-noise and allow teleoperation. A comparative study has been run against a traditional setup, and both the control and feedback of the physical twin are carefully analyzed. Despite distributed tactile feedback not achieving the same performance as the visual map, the soft control and visual feedback combination showcases a 5.1% higher accuracy. Moreover, the bilateral soft physical twin results always in a less invasive procedure, with 41% lower mechanical work exchanged with the remote phantom.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Apolloarrow_drop_down
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    Other literature type . 2023
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    Scientific Reports
    Article . 2023 . Peer-reviewed
    License: CC BY
    Data sources: Crossref
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    Apollo
    Other literature type . 2023
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    ZENODO
    Journal . 2023
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    https://doi.org/10.21203/rs.3....
    Preprint . 2023
    License: CC BY
    Data sources: Crossref
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    Apollo
    Article . 2023
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Apolloarrow_drop_down
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      Scientific Reports
      Article . 2023 . Peer-reviewed
      License: CC BY
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      Apollo
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      ZENODO
      Journal . 2023
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      https://doi.org/10.21203/rs.3....
      Preprint . 2023
      License: CC BY
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      Article . 2023
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    Authors: Tom, Maltas; Vasıf, Şahoğlu; Hayat, Erkanal;

    AbstractThe period around the mid-late Holocene transition (c. 2200 bc) saw major societal developments across the eastern Mediterranean. At the same time, the region experienced a shift to more arid climatic conditions. This included punctuated episodes of rapid climate change such as the ‘4.2 ka event’, which has been implicated in widespread societal ‘collapse’ at the end of the Early Bronze Age. The ways in which societies adapted agricultural production to cope with a drying climate are poorly understood. We begin to rectify this through stable isotope analysis of archaeobotanical remains from the Aegean region of western Türkiye, conducted to reveal changes in agricultural decision making across the mid-late Holocene transition. We find that Bronze Age farmers adapted agricultural production strategies by investing in drought-tolerant cereals cultivated on drier fields with water management strategies redirected towards pulses. Despite this, we find no evidence for pronounced drought stress in cereals grown during the period of the 4.2 ka event. This raises the potential for alternative explanations for societal disruptions visible across the Anatolian Plateau during this time, such as the breakdown of long-distance trade networks.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Permanent Hosting, A...arrow_drop_down
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    Scientific Reports
    Article . 2023 . Peer-reviewed
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      Scientific Reports
      Article . 2023 . Peer-reviewed
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    Authors: Alexandros, Anastasiadis; Laura, Paez; Kamilo, Melo; Eric D, Tytell; +2 Authors

    AbstractAnguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to living fish, and it is challenging to measure their power consumption. Here, we characterise the swimming speed and cost of transport of a free-swimming undulatory bio-inspired robot as we vary its kinematic parameters, including joint amplitude, body wavelength, and frequency. We identify a trade-off between speed and efficiency. Speed, in terms of stride length, increases for increasing maximum tail angle, described by the newly proposed specific tail amplitude and reaches a maximum value around the specific tail amplitude of unity. Efficiency, in terms of the cost of transport, is affected by the whole-body motion. Cost of transport decreases for increasing travelling wave-like kinematics, and lower specific tail amplitudes. Our results suggest that live eels tend to choose efficiency over speed and provide insights into the key characteristics affecting undulatory swimming performance.

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    https://doi.org/10.21203/rs.3....
    Preprint . 2023
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    Scientific Reports
    Article . 2023 . Peer-reviewed
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      https://doi.org/10.21203/rs.3....
      Preprint . 2023
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      Scientific Reports
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    Authors: von Suchodoletz, Hans; van Meer, Mike; Kühn, Peter; Wiedner, Katja; +2 Authors

    AbstractChernozems/Phaeozems are important agricultural resources and have been intensively used for millennia. However, their origin and age are still controversial. In Europe, the westernmost widespread Chernozem/Phaeozem area is located in Central Germany. In contrast to other German regions with anthropogenic Chernozems/Phaeozems, their natural origin is suggested in connection with intensive bioturbation. Yet, radiocarbon is unsuitable for decoding Chernozem/Phaeozem formation so this hypothesis remains untested, whereas single-grain luminescence dating allows to discriminate between different soil sub-processes and formation phases. We applied single-grain feldspar luminescence to a Central German Chernozem that was buried during the Bronze Age and subsequently protected from pedogenic processes. For the first time, we could directly determine timing and rate of Chernozem/Phaeozem formation in Central Europe by dating bioturbation as the dominant soil forming process. Accordingly, Chernozem/Phaeozem formation started at the latest in the Early Holocene prior to Neolithic settlement indicating a natural origin of Central German Chernozems/Phaeozems, and Chernozem/Phaeozem formation ceased around 6–5 ka when the regional climate became more humid. Our effective soil reworking rates show that earthworm bioturbation in Chernozems/Phaeozems is more intense than ant-dominated bioturbation, but significantly less intense than bioturbation by lugworms or ploughing. The latter effect allows to identify prehistoric ploughing in paleosols.

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    Article . 2023
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    Research@WUR; Scientific Reports
    Other literature type . Article . 2023 . Peer-reviewed
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    https://doi.org/10.25673/10330...
    Article . 2023
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      Other literature type . Article . 2023 . Peer-reviewed
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      https://doi.org/10.25673/10330...
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    Authors: Doherty, Sean P; Alexander, Michelle M; Henderson, Stuart; Newton, Jason; +2 Authors

    AbstractBetween the sixteenth and nineteenth century, British agriculture underwent a ‘revolutionary’ transformation. Yet despite over a century of research and the recognised centrality of agricultural developments to industrialisation and population growth, the character or chronology of any ‘revolution’ during this period remains contentious. Enquiry has been hampered by the fragmented and locally specific nature of historic accounts and the broad dating of early-modern zooarchaeological assemblages. To address this, we conducted stable isotope analysis on 658 legal documents written on sheepskin parchment; a unique biological resource that records the day, month and year of use (AD 1499 to 1969). We find these provide a high temporal resolution analysis of changing agricultural practices and episodes of disease. Most significantly, they suggest that if an ‘Agricultural Revolution’ occurred in livestock management, it did so from the mid-nineteenth century, in the aftermath of the Napoleonic Wars.

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    Scientific Reports
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    Authors: Gorrochategui Ortega, June; Muñoz Colmenero, Marta; Kovačić, Marin; Filipi, Janja; +6 Authors

    Honeybee health and the species’ gut microbiota are interconnected. Also noteworthy are the multiple niches present within hives, each with distinct microbiotas and all coexisting, which we termed “apibiome”. External stressors (e.g. anthropization) can compromise microbial balance and bee resilience. We hypothesised that (1) the bacterial communities of hives located in areas with different degrees of anthropization differ in composition, and (2) due to interactions between the multiple microbiomes within the apibiome, changes in the community of a niche would impact the bacteria present in other hive sections. We characterised the bacterial consortia of different niches (bee gut, bee bread, hive entrance and internal hive air) of 43 hives from 3 different environments (agricultural, semi-natural and natural) through 16S rRNA amplicon sequencing. Agricultural samples presented lower community evenness, depletion of beneficial bacteria, and increased recruitment of stress related pathways (predicted via PICRUSt2). The taxonomic and functional composition of gut and hive entrance followed an environmental gradient. Arsenophonus emerged as a possible indicator of anthropization, gradually decreasing in abundance from agriculture to the natural environment in multiple niches. Importantly, after 16 days of exposure to a semi-natural landscape hives showed intermediate profiles, suggesting alleviation of microbial dysbiosis through reduction of anthropization. This work was funded by the Dept. of Economic Development and Competitiveness of the Basque Government (Gobierno Vasco/Eusko Jaurlaritza), R&D&I grants for the agricultural, food and fishing sectors of the Basque Autonomous Community (37-2017-00044), and the Research Group IT1233-19 of the Basque University System. JG was supported by the Department of Agriculture, Fisheries and Food of the Basque Government (Gobierno Vasco/Eusko Jaurlaritza) through a subsidy programme of training aid and support 18 pages, 6 figures.-- This article is licensed under a Creative Commons Attribution 4.0 International License Peer reviewed

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    Scientific Reports
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    Authors: Ekaterina, Ivanova; Jonathan, Eden; Gerolamo, Carboni; Jörg, Krüger; +1 Authors

    AbstractMany tasks such as physical rehabilitation, vehicle co-piloting or surgical training, rely on physical assistance from a partner. While this assistance may be provided by a robotic interface, how to implement the necessary haptic support to help improve performance without impeding learning is unclear. In this paper, we study the influence of haptic interaction on the performance and learning of a shared tracking task. We compare in a tracking task the interaction with a human partner, the trajectory guidance traditionally used in training robots, and a robot partner yielding human-like interaction. While trajectory guidance resulted in the best performance during training, it dramatically reduced error variability and hindered learning. In contrast, the reactive human and robot partners did not impede the adaptation and allowed the subjects to learn without modifying their movement patterns. Moreover, interaction with a human partner was the only condition that demonstrated an improvement in retention and transfer learning compared to a subject training alone. These results reveal distinctly different learning behaviour in training with a human compared to trajectory guidance, and similar learning between the robotic partner and human partner. Therefore, for movement assistance and learning, algorithms that react to the user’s motion and change their behaviour accordingly are better suited.

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    Scientific Reports
    Other literature type . Article . 2022 . Peer-reviewed
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      Scientific Reports
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    Authors: Cecilia Roselli; Francesca Ciardo; Davide De Tommaso; Agnieszka Wykowska;

    AbstractSense of Agency (SoA) is the feeling of being in control of one’s actions and their outcomes. In a social context, people can experience a “vicarious” SoA over another human’s actions; however, it is still controversial whether the same occurs in Human–Robot Interaction (HRI). The present study aimed at understanding whether humanoid robots may elicit vicarious SoA in humans, and whether the emergence of this phenomenon depends on the attribution of intentionality towards robots. We asked adult participants to perform an Intentional Binding (IB) task alone and with the humanoid iCub robot, reporting the time of occurrence of both self- and iCub-generated actions. Before the experiment, participants’ degree of attribution of intentionality towards robots was assessed. Results showed that participants experienced vicarious SoA over iCub-generated actions. Moreover, intentionality attribution positively predicted the magnitude of vicarious SoA. In conclusion, our results highlight the importance of factors such as human-likeness and attribution of intentionality for the emergence of vicarious SoA towards robots.

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    Scientific Reports
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    https://doi.org/10.31234/osf.i...
    Preprint . 2022
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: E. W. Parkinson; S. Stoddart; V. Sparacello; F. Bertoldi; +8 Authors

    AbstractThe transition to farming brought on a series of important changes in human society, lifestyle, diet and health. The human bioarchaeology of the agricultural transition has received much attention, however, relatively few studies have directly tested the interrelationship between individual lifestyle factors and their implications for understanding life history changes among the first farmers. We investigate the interplay between skeletal growth, diet, physical activity and population size across 30,000 years in the central Mediterranean through a ‘big data’ cross-analysis of osteological data related to stature (n = 361), body mass (n = 334) and long bone biomechanics (n = 481), carbon (δ13C) and nitrogen (δ15N) stable isotopes (n = 1986 human, n = 475 animal) and radiocarbon dates (n = 5263). We present the observed trends on a continuous timescale in order to avoid grouping our data into assigned ‘time periods’, thus achieving greater resolution and chronological control over our analysis. The results identify important changes in human life history strategies associated with the first farmers, but also highlight the long-term nature of these trends in the millennia either side of the agricultural transition. The integration of these different data is an important step towards disentangling the complex relationship between demography, diet and health, and reconstruct life history changes within a southern European context. We believe the methodological approach adopted here has broader global implications for bioarchaeological studies of human adaptation more generally.

    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/ Apolloarrow_drop_down
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    Apollo
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    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Scientific Reports
    Article . 2023 . Peer-reviewed
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      image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
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      Scientific Reports
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Rossi, Tatiana Spatola; Tolmie, A. Frances; Nichol, Tim; Pain, Charlotte; +4 Authors

    AbstractMethane is a potent greenhouse gas, which has contributed to approximately a fifth of global warming since pre-industrial times. The agricultural sector produces significant methane emissions, especially from livestock, waste management and rice cultivation. Rice fields alone generate around 9% of total anthropogenic emissions. Methane is produced in waterlogged paddy fields by methanogenic archaea, and transported to the atmosphere through the aerenchyma tissue of rice plants. Thus, bioengineering rice with catalysts to detoxify methane en route could contribute to an efficient emission mitigation strategy. Particulate methane monooxygenase (pMMO) is the predominant methane catalyst found in nature, and is an enzyme complex expressed by methanotrophic bacteria. Recombinant expression of pMMO has been challenging, potentially due to its membrane localization, multimeric structure, and polycistronic operon. Here we show the first steps towards the engineering of plants for methane detoxification with the three pMMO subunits expressed in the model systems tobacco and Arabidopsis. Membrane topology and protein–protein interactions were consistent with correct folding and assembly of the pMMO subunits on the plant ER. Moreover, a synthetic self-cleaving polypeptide resulted in simultaneous expression of all three subunits, although low expression levels precluded more detailed structural investigation. The work presents plant cells as a novel heterologous system for pMMO allowing for protein expression and modification.

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    Oxford University Research Archive; Scientific Reports
    Other literature type . Article . 2023 . Peer-reviewed
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    Oxford Brookes University: RADAR
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      Oxford University Research Archive; Scientific Reports
      Other literature type . Article . 2023 . Peer-reviewed
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      Oxford Brookes University: RADAR
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  • image/svg+xml art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos Open Access logo, converted into svg, designed by PLoS. This version with transparent background. http://commons.wikimedia.org/wiki/File:Open_Access_logo_PLoS_white.svg art designer at PLoS, modified by Wikipedia users Nina, Beao, JakobVoss, and AnonMoos http://www.plos.org/
    Authors: Costi, Leone; Iida, Fumiya;

    Abstract Teleoperated medical technologies are a fundamental part of the healthcare system. From telemedicine to remote surgery, they allow remote diagnosis and treatment. However, the absence of any interface able to effectively reproduce the sense of touch and interaction with the patient prevents the implementation of teleoperated systems for primary care examinations, such as palpation. In this paper, we propose the first reported case of a soft robotic bilateral physical twin for remote palpation. By creating an entirely soft interface that can be used both to control the robot and receive feedback, the proposed device allows the user to achieve remote palpation by simply palpating the soft physical twin. This is achieved through a compact design showcasing 9 pneumatic chambers and exploiting multi-silicone casting to minimize cross-noise and allow teleoperation. A comparative study has been run against a traditional setup, and both the control and feedback of the physical twin are carefully analyzed. Despite distributed tactile feedback not achieving the same performance as the visual map, the soft control and visual feedback combination showcases a 5.1% higher accuracy. Moreover, the bilateral soft physical twin results always in a less invasive procedure, with 41% lower mechanical work exchanged with the remote phantom.

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    Scientific Reports
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    ZENODO
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    https://doi.org/10.21203/rs.3....
    Preprint . 2023
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      Scientific Reports
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      https://doi.org/10.21203/rs.3....
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    Authors: Tom, Maltas; Vasıf, Şahoğlu; Hayat, Erkanal;

    AbstractThe period around the mid-late Holocene transition (c. 2200 bc) saw major societal developments across the eastern Mediterranean. At the same time, the region experienced a shift to more arid climatic conditions. This included punctuated episodes of rapid climate change such as the ‘4.2 ka event’, which has been implicated in widespread societal ‘collapse’ at the end of the Early Bronze Age. The ways in which societies adapted agricultural production to cope with a drying climate are poorly understood. We begin to rectify this through stable isotope analysis of archaeobotanical remains from the Aegean region of western Türkiye, conducted to reveal changes in agricultural decision making across the mid-late Holocene transition. We find that Bronze Age farmers adapted agricultural production strategies by investing in drought-tolerant cereals cultivated on drier fields with water management strategies redirected towards pulses. Despite this, we find no evidence for pronounced drought stress in cereals grown during the period of the 4.2 ka event. This raises the potential for alternative explanations for societal disruptions visible across the Anatolian Plateau during this time, such as the breakdown of long-distance trade networks.

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    Scientific Reports
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    Authors: Alexandros, Anastasiadis; Laura, Paez; Kamilo, Melo; Eric D, Tytell; +2 Authors

    AbstractAnguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to living fish, and it is challenging to measure their power consumption. Here, we characterise the swimming speed and cost of transport of a free-swimming undulatory bio-inspired robot as we vary its kinematic parameters, including joint amplitude, body wavelength, and frequency. We identify a trade-off between speed and efficiency. Speed, in terms of stride length, increases for increasing maximum tail angle, described by the newly proposed specific tail amplitude and reaches a maximum value around the specific tail amplitude of unity. Efficiency, in terms of the cost of transport, is affected by the whole-body motion. Cost of transport decreases for increasing travelling wave-like kinematics, and lower specific tail amplitudes. Our results suggest that live eels tend to choose efficiency over speed and provide insights into the key characteristics affecting undulatory swimming performance.

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    https://doi.org/10.21203/rs.3....
    Preprint . 2023
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      https://doi.org/10.21203/rs.3....
      Preprint . 2023
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    Authors: von Suchodoletz, Hans; van Meer, Mike; Kühn, Peter; Wiedner, Katja; +2 Authors

    AbstractChernozems/Phaeozems are important agricultural resources and have been intensively used for millennia. However, their origin and age are still controversial. In Europe, the westernmost widespread Chernozem/Phaeozem area is located in Central Germany. In contrast to other German regions with anthropogenic Chernozems/Phaeozems, their natural origin is suggested in connection with intensive bioturbation. Yet, radiocarbon is unsuitable for decoding Chernozem/Phaeozem formation so this hypothesis remains untested, whereas single-grain luminescence dating allows to discriminate between different soil sub-processes and formation phases. We applied single-grain feldspar luminescence to a Central German Chernozem that was buried during the Bronze Age and subsequently protected from pedogenic processes. For the first time, we could directly determine timing and rate of Chernozem/Phaeozem formation in Central Europe by dating bioturbation as the dominant soil forming process. Accordingly, Chernozem/Phaeozem formation started at the latest in the Early Holocene prior to Neolithic settlement indicating a natural origin of Central German Chernozems/Phaeozems, and Chernozem/Phaeozem formation ceased around 6–5 ka when the regional climate became more humid. Our effective soil reworking rates show that earthworm bioturbation in Chernozems/Phaeozems is more intense than ant-dominated bioturbation, but significantly less intense than bioturbation by lugworms or ploughing. The latter effect allows to identify prehistoric ploughing in paleosols.

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    Other literature type . Article . 2023 . Peer-reviewed
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    https://doi.org/10.25673/10330...
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    Authors: Doherty, Sean P; Alexander, Michelle M; Henderson, Stuart; Newton, Jason; +2 Authors

    AbstractBetween the sixteenth and nineteenth century, British agriculture underwent a ‘revolutionary’ transformation. Yet despite over a century of research and the recognised centrality of agricultural developments to industrialisation and population growth, the character or chronology of any ‘revolution’ during this period remains contentious. Enquiry has been hampered by the fragmented and locally specific nature of historic accounts and the broad dating of early-modern zooarchaeological assemblages. To address this, we conducted stable isotope analysis on 658 legal documents written on sheepskin parchment; a unique biological resource that records the day, month and year of use (AD 1499 to 1969). We find these provide a high temporal resolution analysis of changing agricultural practices and episodes of disease. Most significantly, they suggest that if an ‘Agricultural Revolution’ occurred in livestock management, it did so from the mid-nineteenth century, in the aftermath of the Napoleonic Wars.

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    Authors: Gorrochategui Ortega, June; Muñoz Colmenero, Marta; Kovačić, Marin; Filipi, Janja; +6 Authors

    Honeybee health and the species’ gut microbiota are interconnected. Also noteworthy are the multiple niches present within hives, each with distinct microbiotas and all coexisting, which we termed “apibiome”. External stressors (e.g. anthropization) can compromise microbial balance and bee resilience. We hypothesised that (1) the bacterial communities of hives located in areas with different degrees of anthropization differ in composition, and (2) due to interactions between the multiple microbiomes within the apibiome, changes in the community of a niche would impact the bacteria present in other hive sections. We characterised the bacterial consortia of different niches (bee gut, bee bread, hive entrance and internal hive air) of 43 hives from 3 different environments (agricultural, semi-natural and natural) through 16S rRNA amplicon sequencing. Agricultural samples presented lower community evenness, depletion of beneficial bacteria, and increased recruitment of stress related pathways (predicted via PICRUSt2). The taxonomic and functional composition of gut and hive entrance followed an environmental gradient. Arsenophonus emerged as a possible indicator of anthropization, gradually decreasing in abundance from agriculture to the natural environment in multiple niches. Importantly, after 16 days of exposure to a semi-natural landscape hives showed intermediate profiles, suggesting alleviation of microbial dysbiosis through reduction of anthropization. This work was funded by the Dept. of Economic Development and Competitiveness of the Basque Government (Gobierno Vasco/Eusko Jaurlaritza), R&D&I grants for the agricultural, food and fishing sectors of the Basque Autonomous Community (37-2017-00044), and the Research Group IT1233-19 of the Basque University System. JG was supported by the Department of Agriculture, Fisheries and Food of the Basque Government (Gobierno Vasco/Eusko Jaurlaritza) through a subsidy programme of training aid and support 18 pages, 6 figures.-- This article is licensed under a Creative Commons Attribution 4.0 International License Peer reviewed

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    Scientific Reports
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      Scientific Reports
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    Authors: Ekaterina, Ivanova; Jonathan, Eden; Gerolamo, Carboni; Jörg, Krüger; +1 Authors

    AbstractMany tasks such as physical rehabilitation, vehicle co-piloting or surgical training, rely on physical assistance from a partner. While this assistance may be provided by a robotic interface, how to implement the necessary haptic support to help improve performance without impeding learning is unclear. In this paper, we study the influence of haptic interaction on the performance and learning of a shared tracking task. We compare in a tracking task the interaction with a human partner, the trajectory guidance traditionally used in training robots, and a robot partner yielding human-like interaction. While trajectory guidance resulted in the best performance during training, it dramatically reduced error variability and hindered learning. In contrast, the reactive human and robot partners did not impede the adaptation and allowed the subjects to learn without modifying their movement patterns. Moreover, interaction with a human partner was the only condition that demonstrated an improvement in retention and transfer learning compared to a subject training alone. These results reveal distinctly different learning behaviour in training with a human compared to trajectory guidance, and similar learning between the robotic partner and human partner. Therefore, for movement assistance and learning, algorithms that react to the user’s motion and change their behaviour accordingly are better suited.

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    Scientific Reports
    Other literature type . Article . 2022 . Peer-reviewed
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    Authors: Cecilia Roselli; Francesca Ciardo; Davide De Tommaso; Agnieszka Wykowska;

    AbstractSense of Agency (SoA) is the feeling of being in control of one’s actions and their outcomes. In a social context, people can experience a “vicarious” SoA over another human’s actions; however, it is still controversial whether the same occurs in Human–Robot Interaction (HRI). The present study aimed at understanding whether humanoid robots may elicit vicarious SoA in humans, and whether the emergence of this phenomenon depends on the attribution of intentionality towards robots. We asked adult participants to perform an Intentional Binding (IB) task alone and with the humanoid iCub robot, reporting the time of occurrence of both self- and iCub-generated actions. Before the experiment, participants’ degree of attribution of intentionality towards robots was assessed. Results showed that participants experienced vicarious SoA over iCub-generated actions. Moreover, intentionality attribution positively predicted the magnitude of vicarious SoA. In conclusion, our results highlight the importance of factors such as human-likeness and attribution of intentionality for the emergence of vicarious SoA towards robots.

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    https://doi.org/10.31234/osf.i...
    Preprint . 2022
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      https://doi.org/10.31234/osf.i...
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