Handheld paradigms offer an efficient and intuitive way for collecting large-scale demonstration of robot manipulation. However, achieving contact-rich bimanual manipulation through these methods remains a pivotal challenge, which is substantially hindered by hardware adaptability and data efficacy. Prior hardware designs remain gripper-specific and often face a trade-off between tracking precision and portability. Furthermore, the lack of online feasibility checking during demonstration leads to poor replayability. More importantly, existing handheld setups struggle to collect interactive recovery data during robot execution, lacking the authentic tactile information necessary for robust policy refinement. To bridge these gaps, we present TAMEn, a tactile-aware manipulation engine for closed-loop data collection in contact-rich tasks. Our system features a cross-morphology wearable interface that enables rapid adaptation across heterogeneous grippers. To balance data quality and environmental diversity, we implement a dual-modal acquisition pipeline: a precision mode leveraging motion capture for high-fidelity demonstrations, and a portable mode utilizing VR-based tracking for in-the-wild acquisition and tactile-visualized recovery teleoperation. Building on this hardware, we unify large-scale tactile pretraining, task-specific bimanual demonstrations, and human-in-the-loop recovery data into a pyramid-structured data regime, enabling closed-loop policy refinement. Experiments show that our feasibility-aware pipeline significantly improves demonstration replayability, and that the proposed visuo-tactile learning framework increases task success rates from 34% to 75% across diverse bimanual manipulation tasks. We further open-source the hardware and dataset to facilitate reproducibility and support research in visuo-tactile manipulation.

This work presents a novel compact analog circuit unit for implementing piecewise-linear functions. With an integrated ICs-based modular expandable architecture, the circuit unit allows flexible configuration of breakpoints in the piecewise-linear function with external voltages, thereby achieving high precision and scalability. Since dynamics editing can be conveniently applied to reconstruct attractors, this unit is particularly useful for constructing multi-wing attractors. Using the editing function, multi-dimensional multi-wing attractors of the diffusionless Lorenz system are reconstructed and realized. Experiments demonstrate the efficiency of cell attractor selection and multi-wing organization. By adjusting the threshold voltages of the module, any number of multi-wing attractors in different dimensions can be obtained. This circuit unit can be readily applied to the construction of multi-wing/multi-scroll attractors, offering a valuable analog circuit schematic for chaotic signal generation and chaos-based secure communication.

Abstract The current decline of the highly endangered African wild dog ( Lycaon pictus ) may be partly due to the population dynamics induced by their social system. African wild dogs are obligate co‐operators, and their need for helpers could generate inverse density dependence at the pack level. We show, through a mathematical model, that this can create an Allee effect, leading to a lower population size and a higher risk of population extinction, compared to populations with direct density dependence. This is due to three different processes. All three processes can increase population extinction individually and probably occur simultaneously in African wild dogs. First, inverse density dependence causes significantly higher rates of pack extinction. Second, it also increases the probability of failure to colonize territories by founders. Third, the Allee effect at the pack level (with a critical number of individuals), generates an Allee effect at the population level (with a critical number of packs). These three processes are likely to apply to other obligate co‐operative breeders. Furthermore, our results suggest that habitat fragmentation and destruction, as well as increased human pressure, increase the effects of inverse density dependence. Direct and indirect anthropogenic effects may thus be more detrimental to obligate co‐operative breeders than to other species.

Due to their continuous electromechanical deformation, rate-dependent viscoelasticity, and complex mechanical vibration, dynamic modeling and high-speed tracking control of dielectric elastomer actuators (DEAs) remain elusive, significantly limiting their working bandwidth. In this work, we propose a Physics-Informed Token Prediction (PITP) that enables accurate modeling of DEA dynamics and high-speed feedforward tracking control. The PITP framework consists of two key components: a physics-informed encoder and a dynamic decoder. The physics-informed encoder is designed based on a simplified equivalent linear model and trained through the hierarchical optimization training method, which embeds the global dynamic characteristics into tokens, minimizing the need for extensive data and training. Then, the dynamic decoder is developed by using these tokens as state-dependent parameters, capable of describing complex dynamic responses through the autoregressive solution. Finally, by taking advantage of the model's reversibility, a direct inverse compensator is established to linearize the input-output relationship. Experimental results of several DEAs with different configurations and payloads demonstrate that, based on our PITP framework, the complex nonlinear dynamic responses of all DEAs can be precisely described and eliminated within their natural frequency, validating its generality and versatility. By leveraging fast modeling (<inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">$&lt; $</tex-math></inline-formula>30 minutes) and high-speed feedforward tracking control, our PITP framework may accelerate DEAs' practical applications.

Analysis output tables

The current review aims to analyze and synthesize the current state of active transport (AT) surveillance and monitoring among children and adolescents globally, leveraging data from the Global Matrix 4.0 to identify gaps and opportunities for improving AT measurement. Two independent researchers systematically reviewed all evidence sources used by 57 countries/jurisdictions to assign AT grades. AT grades were predominantly in the mid-range, with most countries scoring between C- and B+. Over half (54%) of the countries used nationally representative data, although a substantial proportion relied on subnational or mixed sources. AT indicators were based on self-report questionnaires assessing the usual mode of transport (44%) or frequency of travel (34%), most often completed by children and adolescents. A few data sources included items on duration, trip diaries, and previous-day recall. AT assessment was largely restricted to school travel (66%), with minimal inclusion of other destinations. Less than 10% of sources reported any evidence of validity or reliability. The most frequently reported challenges in grade assignment were related to data limitations, methodological inconsistencies, and limited destination focus. Priorities for improvement of AT included infrastructure development, education and awareness initiatives, and urban and transport planning strategies, with consistent patterns observed across country income groups. This review highlights substantial heterogeneity in how countries monitor AT in children and adolescents. The inconsistent constructs, school-centric focus, and lack of reported reliability and validity of the items/tools hinder meaningful comparisons, long-term surveillance, and accurate assessment of children's and adolescents' actual AT behaviors. • Global analysis shows major inconsistencies in active transport assessment worldwide. • Active transport data mainly rely on single self-report items about school trips. • Non-school destinations and psychometric evidence rarely reported. • Methodological gaps hinder comparability and monitoring of active transport trends. • Call for Delphi consensus to harmonize active transport measures and reporting.

In this paper, we consider the bifurcations and exact solutions in the symmetric [Formula: see text] triple-well model. By using the method of dynamical systems, we obtain bifurcations of the phase portraits of the corresponding planar dynamical system under different parameter conditions. Corresponding to some level curves, we derive possible exact explicit parametric representations of the smooth periodic solution, homoclinic solutions, as well as heteroclinic solutions.

The origins of voice communication technologies are typically narrated through a sequence of industrial and scientific milestones culminating in today’s global digital networks. Yet, early developments in telephony also reveal deeply human motivations and socially embedded forms of innovation. This article compares Antonio Meucci’s nineteenth-century “telettrofono”—a low-energy, household communication device conceived to assist his ailing wife—with today’s sophisticated smartphone-based infrastructures. By examining these two endpoints of the telecommunication continuum, the article explores how communication technologies evolved from intimate human-centered solutions to complex, energy-intensive systems. It also discusses the ethics of recognition within institutional frameworks such as the IEEE Milestones Program. The goal is not to reopen historical disputes, but to promote a socially aware and inclusive memory of technological innovation, consistent with IEEE’s mission to advance technology for humanity.

Modeling of corrosion for steel structures in sea or estuary area is still a great challenge in view to analyze their safety and optimize their maintenance. Several inspection campaigns have been performed during the three last decades in some French harbours. Thus a great number of ultrasonic residual measurements are now available for structures in various environments. This information allows to perform a statistical analysis in view to best understand and model the distribution of loss of matter on those structures according to different areas (mainly tidal and immersion areas). Results confirm that the loss of thickness is higher at the interface between the tidal area and immersion area. An analysis of the spatial process is performed: stationarity is analyzed on three marine structures where the amount of data is significant. Finally, a first level of spatial dependent corrosion modeling of steel in marine environment is suggested.

Forensic investigations were performed on chain links recovered from two FSO mooring systems in West Africa and Indonesia. Although these links were in tropical seawater for only 7 years, they experienced extremely severe pitting corrosion not previously seen in any available records. The material presented has direct application to ensuring the integrity of mooring systems as it provides insight into the mechanical behaviour of highly corroded chain links, statistics of the observed corrosion rates in these locations and guidelines for examining chain links. Corrosion on the surface of the links was mapped using 3D photogrammetry. The observed long-term corrosion rate is significantly higher than the average corrosion rate of 0.4 mm/year given in API RP-2SK. Analysis of the elementary composition of the rusts indicates that the large pits observed were most likely associated with Microbiologically Influenced Corrosion (MIC). The obtained results represent a breakthrough in the field of corrosion of mooring chains deployed in tropical seawater, corroborating the latest models that have been developed taking into account MIC. This work was conducted under the scope of the SCORCH JIP which involves ExxonMobil, Chevron, BP, Total, Shell, BHP Billiton, ConocoPhillips, Petrobras, Statoil, BREE, DNV, ABS, Bureau Veritas, INPEX, SOFEC, InterMoor, KBR, SBM, Franklin Offshore, Vicinay Cadenas, Bridon, Arcelormittal, Arrium and Vryhof Anchors.

This paper considers the role of structural reliability theory in the wider context of (i) achieving structural safety in practice and (ii) as part of safety assessment for engineering and other projects more generally, including its relationship to achievement of adequate safety in the community generally. It notes that the rules for the design of structures have advanced from 'Factor of Safety' to more rational procedures and these now include the widespread use of structural reliability theory for calibrating design codes. While this is an admirable achievement from a structural engineering viewpoint, and can be considered as a 'stand-alone' matter, increasingly there is an expectation that safety matters in structural engineering must be seen also in a wider perspective, that is in the context of societal expectations for structural engineering. As a result there remain a number of issues for clarification, including how the structural probability measures relate to observations about failures of actual structures. Some of these concerns can be addressed through the adoption of a more clearly defined decision-theoretic framework adapted to structural engineering safety issues. The components for such a framework have recently been outlined and are reviewed herein. It is argued also that structural engineering safety and reliability measures must be compatible with procedures adopted by other potentially hazardous industries.

Fabric-based soft gloves, due to their safety, light weight, and compliance, exhibit promising potential in assisting individuals with hand impairments. However, most existing soft gloves focus solely on finger flexion and extension, with limited consideration for thumb assistance. This restricts their effectiveness in tasks requiring extensive workspace and dexterous manipulation. In this work, we present a new class of fabric-based soft glove with 15 degrees of freedom (DOFs), including finger flexion/extension, thumb abduction/adduction, thumb opposition/reposition, and finger abduction. The high-DOF fabric-based soft glove integrates bidirectional fabric-based pneumatic actuators (FPAs) for finger flexion/extension, X-crossing pneumatic artificial muscles (X-PAMs) for thumb assistance, and Y-shaped bladed FPAs for finger abduction. To enhance the thumb tip workspace, we optimize the X-PAM positioning by modeling thumb kinematics from an anatomical perspective. The experimental results show that the optimized passive workspace of the thumb, assisted by the glove, encompasses approximately 70% of its active workspace. Through our mirror control system, we further demonstrate the glove's capability to perform complex gestures and versatile grasping tasks with various object geometries, sizes (0.1-11.5 cm), and masses (1.7-500.0 g). The glove supports both power and precision grasps, as well as fine manipulations.

Animal breeding phenology in temperate and high latitude regions is often predicted by weather variables, such as temperature. Much work on this topic has focused on taxonomic groups that employ adaptive plastic responses to annual variation in an environmental cue, with analytical approaches developed to determine when weather has an effect and the magnitude of response. However, adaptive responses are not always likely, so it is important to consider the assumptions and limitations of an approach when analysing similar questions in distinct taxonomic groups. The prolonged period between conception and birth means parturition date in seasonally breeding ungulates, such as red deer, is unlikely to show adaptive plastic responses to variation in weather. Prior studies of red deer on the Isle of Rum, Scotland, have documented that parturition date is sensitive to summer temperature and getting earlier over time, while birth weight is sensitive to spring temperature but shows no temporal trend. Here, we reinvestigate this topic with updated statistical methods to establish confidence in previous results by deploying two approaches: permutations, combatting anti‐conservative aspects of sliding window analyses, and detrending, a valuable tool for weather attribution studies containing temporal trends. Incorporating detrending within the sliding window analyses of parturition date identified a different window as best fitting with a shallower temperature slope estimate compared to sliding windows that did not detrend. Permutations then showed all our parturition date results could be achieved by chance. In contrast, and consistent with earlier work, birth weight was predicted by spring temperature. Our novel results regarding the environmental sensitivity of parturition date in red deer suggest a lack of plasticity in response to weather and highlight the distinction between the phenology of mammals with long gestations and many more commonly studied taxa. We encourage the use of permutations and detrending within sliding window analyses when a trait shows temporal trends, to prevent inaccurate windows and effect sizes being identified.