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Jan Ondras,Di Ni,Xi Deng,Zeqi Gu,Henry Zheng,Tapomayukh Bhattacharjee 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
Robotic manipulation of deformable objects gains great attention due to its wide applications including medical surgery, home assistance, and automatic food preparation. The ability to deform soft objects remains a great challenge for robots due to difficulties in defining the problem mathematically. In this paper, we address the problem of shaping a piece of dough-like deformable material into a 2D target shape presented upfront. We use a 6 degree-of-freedom WidowX-250 Robot Arm equipped with a rolling pin and information collected from an RGB-D camera and a tactile sensor. We present and compare several control policies, including a dough shrinking action, in extensive experiments across three kinds of deformable materials and across three target dough shape sizes, achieving the intersection over union (IoU) of 0.90. Our results show that: i) rolling dough from the highest dough point is more efficient than from the 2D/3D dough centroid; ii) it might be better to stop the roll movement at the current dough boundary as opposed to the target shape outline; iii) the shrink action might be beneficial only if properly tuned with respect to the expand action; and iv) the Play-Doh material is easier to shape to a target shape as compared to Plasticine or Kinetic sand. Video demonstrations of our work are available at https://youtu.be/ZzLMxuITdt4
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The Work Experience of Newly Recruited Male Nurses during COVID-19: A Qualitative Study
Huiyue Zhou,Xin Wang,Ruofei Du,Xiang Cheng,Kexin Zheng,Shiqi Dong,Justin Henri,Changying Chen,Tao Wang 한국간호과학회 2021 Asian Nursing Research Vol.15 No.3
Purpose: This study was to investigate the work experience of newly recruited male nurses during the COVID-19 pandemic. Methods: With a phenomenological approach, this qualitative study was adopted semistructured interviews by phone or video calls. A total of 9 male nurses newly recruited for the COVID-19 wards in Chinese hospitals were interviewed for this study. And Colaizzi's method was applied for evaluation in the data analysis. Results: Based on our findings, three themes were extracted. First, the newly recruited male nurses showed negative emotions at the beginning of COVID-19 epidemic, which was caused by changes in working conditions and content, but also prompted the nurses to change the way of coping with the crisis. Second, they gradually mastered the working skills and psychological training to cope with COVID- 19 and developed a positive attitude toward life and a high sense of professional responsibility. Finally, we learned about their needs to respond to public health emergencies such as the COVID-19 pandemic. Conclusion: COVID-19 is a disaster for all of humanity. The newly recruited male nurses are an important force in emergency rescue. Although they suffered from short-term negative emotions, they quickly adapted to the crisis. In order to better prepare for future emergencies, the disaster response capacity of newly recruited male nurses needs to be further improved. In addition, newly recruited male nurses have a strong demand for timely and personalized career development guidance.
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