| 1. |
- Bajones, Markus, et al.
(författare)
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Hobbit : Providing Fall Detection and Prevention for the Elderly in the Real World
- 2018
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Ingår i: Journal of Robotics. - : Hindawi Limited. - 1687-9600 .- 1687-9619. ; 2018, s. 1-20
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Tidskriftsartikel (refereegranskat)abstract
- We present the robot developed within the Hobbit project, a socially assistive service robot aiming at the challenge of enabling prolonged independent living of elderly people in their own homes. We present the second prototype (Hobbit PT2) in terms of hardware and functionality improvements following first user studies. Our main contribution lies within the description of all components developed within the Hobbit project, leading to autonomous operation of 371 days during field trials in Austria, Greece, and Sweden. In these field trials, we studied how 18 elderly users (aged 75 years and older) lived with the autonomously interacting service robot over multiple weeks. To the best of our knowledge, this is the first time a multifunctional, low-cost service robot equipped with a manipulator was studied and evaluated for several weeks under real-world conditions. We show that Hobbit’s adaptive approach towards the user increasingly eased the interaction between the users and Hobbit. We provide lessons learned regarding the need for adaptive behavior coordination, support during emergency situations, and clear communication of robotic actions and their consequences for fellow researchers who are developing an autonomous, low-cost service robot designed to interact with their users in domestic contexts. Our trials show the necessity to move out into actual user homes, as only there can we encounter issues such as misinterpretation of actions during unscripted human-robot interaction.
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| 2. |
- Bajones, Markus, et al.
(författare)
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Results of Field Trials with a Mobile Service Robot for Older Adults in 16 Private Households
- 2019
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Ingår i: ACM Transactions on Human-Robot Interaction. - : Association for Computing Machinery (ACM). - 2573-9522. ; 9:2, s. 10:1-10:27
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we present results obtained from field trials with the Hobbit robotic platform, an assistive, social service robot aiming at enabling prolonged independent living of older adults in their own homes. Our main contribution lies within the detailed results on perceived safety, usability, and acceptance from field trials with autonomous robots in real homes of older users. In these field trials, we studied how 16 older adults (75 plus) lived with autonomously interacting service robots over multiple weeks. Robots have been employed for periods of months previously in home environments for older people, and some have been tested with manipulation abilities, but this is the first time a study has tested a robot in private homes that provided the combination of manipulation abilities, autonomous navigation, and nonscheduled interaction for an extended period of time. This article aims to explore how older adults interact with such a robot in their private homes. Our results show that all users interacted with Hobbit daily, rated most functions as well working, and reported that they believe that Hobbit will be part of future elderly care. We show that Hobbit's adaptive behavior approach towards the user increasingly eased the interaction between the users and the robot. Our trials reveal the necessity to move into actual users' homes, as only there, we encounter real-world challenges and demonstrate issues such as misinterpretation of actions during non-scripted human-robot interaction.
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| 3. |
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| 4. |
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| 5. |
- Fuller, Franklin D, et al.
(författare)
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Drop-on-demand sample delivery for studying biocatalysts in action at X-ray free-electron lasers
- 2017
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Ingår i: Nature Methods. - : Macmillan Publishers Ltd.. - 1548-7091 .- 1548-7105. ; 14, s. 443-449
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Tidskriftsartikel (refereegranskat)abstract
- X-ray crystallography at X-ray free-electron laser sources is a powerful method for studying macromolecules at biologically relevant temperatures. Moreover, when combined with complementary techniques like X-ray emission spectroscopy, both global structures and chemical properties of metalloenzymes can be obtained concurrently, providing insights into the interplay between the protein structure and dynamics and the chemistry at an active site. The implementation of such a multimodal approach can be compromised by conflicting requirements to optimize each individual method. In particular, the method used for sample delivery greatly affects the data quality. We present here a robust way of delivering controlled sample amounts on demand using acoustic droplet ejection coupled with a conveyor belt drive that is optimized for crystallography and spectroscopy measurements of photochemical and chemical reactions over a wide range of time scales. Studies with photosystem II, the phytochrome photoreceptor, and ribonucleotide reductase R2 illustrate the power and versatility of this method.
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| 6. |
- Kubin, Markus, et al.
(författare)
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Soft x-ray absorption spectroscopy of metalloproteins and high-valent metal-complexes at room temperature using free-electron lasers
- 2017
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Ingår i: Structural Dynamics. - : AMER INST PHYSICS. - 2329-7778. ; 4:5
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Tidskriftsartikel (refereegranskat)abstract
- X-ray absorption spectroscopy at the L-edge of 3d transition metals provides unique information on the local metal charge and spin states by directly probing 3d-derived molecular orbitals through 2p-3d transitions. However, this soft x-ray technique has been rarely used at synchrotron facilities for mechanistic studies of metalloenzymes due to the difficulties of x-ray-induced sample damage and strong background signals from light elements that can dominate the low metal signal. Here, we combine femtosecond soft x-ray pulses from a free-electron laser with a novel x-ray fluorescence-yield spectrometer to overcome these difficulties. We present L-edge absorption spectra of inorganic high-valent Mn complexes (Mn similar to 6-15 mmol/l) with no visible effects of radiation damage. We also present the first L-edge absorption spectra of the oxygen evolving complex (Mn4CaO5) in Photosystem II (Mn < 1 mmol/l) at room temperature, measured under similar conditions. Our approach opens new ways to study metalloenzymes under functional conditions. (C) 2017 Author(s).
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| 7. |
- Young, Iris D., et al.
(författare)
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Structure of photosystem II and substrate binding at room temperature
- 2016
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Ingår i: Nature. - : Macmillan Publishers Ltd.. - 0028-0836 .- 1476-4687. ; 540:7633, s. 453-457
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Tidskriftsartikel (refereegranskat)abstract
- Light-induced oxidation of water by photosystem II (PS II) in plants, algae and cyanobacteria has generated most of the dioxygen in the atmosphere. PS II, a membrane-bound multi-subunit pigment protein complex, couples the one-electron photochemistry at the reaction centre with the four-electron redox chemistry of water oxidation at the Mn4CaO5 cluster in the oxygen-evolving complex (OEC). Under illumination, the OEC cycles through five intermediate S-states (S0 to S4)1, in which S1 is the dark-stable state and S3 is the last semi-stable state before O–O bond formation and O2 evolution2,3. A detailed understanding of the O–O bond formation mechanism remains a challenge, and will require elucidation of both the structures of the OEC in the different S-states and the binding of the two substrate waters to the catalytic site4–6. Here we report the use of femtosecond pulses from an X-ray free electron laser (XFEL) to obtain damage-free, room temperature structures of dark-adapted (S1), two-flash illuminated (2F; S3-enriched), and ammonia-bound two-flash illuminated (2F-NH3; S3-enriched) PS II. Although the recent 1.95 Å resolution structure of PS II at cryogenic temperature using an XFEL7 provided a damage-free view of the S1 state, measurements at room temperature are required to study the structural landscape of proteins under functional conditions8,9, and also for in situ advancement of the S-states. To investigate the water-binding site(s), ammonia, a water analogue, has been used as a marker, as it binds to the Mn4CaO5 cluster in the S2 and S3 states10. Since the ammonia-bound OEC is active, the ammonia-binding Mn site is not a substrate water site10–13. This approach, together with a comparison of the native dark and 2F states, is used to discriminate between proposed O–O bond formation mechanisms.
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