Hasil untuk "Human evolution"

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S2 Open Access 2012
The GENCODE v7 catalog of human long noncoding RNAs: Analysis of their gene structure, evolution, and expression

T. Derrien, Rory Johnson, G. Bussotti et al.

The human genome contains many thousands of long noncoding RNAs (lncRNAs). While several studies have demonstrated compelling biological and disease roles for individual examples, analytical and experimental approaches to investigate these genes have been hampered by the lack of comprehensive lncRNA annotation. Here, we present and analyze the most complete human lncRNA annotation to date, produced by the GENCODE consortium within the framework of the ENCODE project and comprising 9277 manually annotated genes producing 14,880 transcripts. Our analyses indicate that lncRNAs are generated through pathways similar to that of protein-coding genes, with similar histone-modification profiles, splicing signals, and exon/intron lengths. In contrast to protein-coding genes, however, lncRNAs display a striking bias toward two-exon transcripts, they are predominantly localized in the chromatin and nucleus, and a fraction appear to be preferentially processed into small RNAs. They are under stronger selective pressure than neutrally evolving sequences—particularly in their promoter regions, which display levels of selection comparable to protein-coding genes. Importantly, about one-third seem to have arisen within the primate lineage. Comprehensive analysis of their expression in multiple human organs and brain regions shows that lncRNAs are generally lower expressed than protein-coding genes, and display more tissue-specific expression patterns, with a large fraction of tissue-specific lncRNAs expressed in the brain. Expression correlation analysis indicates that lncRNAs show particularly striking positive correlation with the expression of antisense coding genes. This GENCODE annotation represents a valuable resource for future studies of lncRNAs.

4778 sitasi en Biology, Medicine
S2 Open Access 2023
Efficient evolution of human antibodies from general protein language models

Brian L. Hie, Varun R. Shanker, Duo Xu et al.

A general protein language model guides protein evolution with 20 or fewer variants needed for testing. Natural evolution must explore a vast landscape of possible sequences for desirable yet rare mutations, suggesting that learning from natural evolutionary strategies could guide artificial evolution. Here we report that general protein language models can efficiently evolve human antibodies by suggesting mutations that are evolutionarily plausible, despite providing the model with no information about the target antigen, binding specificity or protein structure. We performed language-model-guided affinity maturation of seven antibodies, screening 20 or fewer variants of each antibody across only two rounds of laboratory evolution, and improved the binding affinities of four clinically relevant, highly mature antibodies up to sevenfold and three unmatured antibodies up to 160-fold, with many designs also demonstrating favorable thermostability and viral neutralization activity against Ebola and severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) pseudoviruses. The same models that improve antibody binding also guide efficient evolution across diverse protein families and selection pressures, including antibiotic resistance and enzyme activity, suggesting that these results generalize to many settings.

362 sitasi en Medicine
S2 Open Access 2019
Human Evolution

G. Richards

Éléments de sociologie: textes choisis et ordonnés.Par Prof. C. Bouglé J. Raffault. (Publications du Centre de Documentation sociale.) Pp. viii + 506. (Paris: Félix Alcan, 1926.) 30 francs.

328 sitasi en
arXiv Open Access 2026
Human-Centered Evaluation of an LLM-Based Process Modeling Copilot: A Mixed-Methods Study with Domain Experts

Chantale Lauer, Peter Pfeiffer, Nijat Mehdiyev

Integrating Large Language Models (LLMs) into business process management tools promises to democratize Business Process Model and Notation (BPMN) modeling for non-experts. While automated frameworks assess syntactic and semantic quality, they miss human factors like trust, usability, and professional alignment. We conducted a mixed-methods evaluation of our proposed solution, an LLM-powered BPMN copilot, with five process modeling experts using focus groups and standardized questionnaires. Our findings reveal a critical tension between acceptable perceived usability (mean CUQ score: 67.2/100) and notably lower trust (mean score: 48.8\%), with reliability rated as the most critical concern (M=1.8/5). Furthermore, we identified output-quality issues, prompting difficulties, and a need for the LLM to ask more in-depth clarifying questions about the process. We envision five use cases ranging from domain-expert support to enterprise quality assurance. We demonstrate the necessity of human-centered evaluation complementing automated benchmarking for LLM modeling agents.

en cs.HC, cs.AI
arXiv Open Access 2026
Beyond Input-Output: Rethinking Creativity through Design-by-Analogy in Human-AI Collaboration

Xuechen Li, Shuai Zhang, Nan Cao et al.

While the proliferation of foundation models has significantly boosted individual productivity, it also introduces a potential challenge: the homogenization of creative content. In response, we revisit Design-by-Analogy (DbA), a cognitively grounded approach that fosters novel solutions by mapping inspiration across domains. However, prevailing perspectives often restrict DbA to early ideation or specific data modalities, while reducing AI-driven design to simplified input-output pipelines. Such conceptual limitations inadvertently foster widespread design fixation. To address this, we expand the understanding of DbA by embedding it into the entire creative process, thereby demonstrating its capacity to mitigate such fixation. Through a systematic review of 85 studies, we identify six forms of representation and classify techniques across seven stages of the creative process. We further discuss three major application domains: creative industries, intelligent manufacturing, and education and services, demonstrating DbA's practical relevance. Building on this synthesis, we frame DbA as a mediating technology for human-AI collaboration and outline the potential opportunities and inherent risks for advancing creativity support in HCI and design research.

en cs.HC, cs.AI
DOAJ Open Access 2025
Mpox as Two Global Health Emergencies: Altered Transmission, Genomics, Clinical Manifestation and Public Health Impact

Sanchita Chakraborty, S.R. Rao, Abhijit Poddar

Mpox virus (MPXV) is the only pathogen that triggered two Public Health Emergency of International Concern (PHEIC) declarations, first in July 2022 and then again in August 2024. The 2022 outbreak was attributed primarily to clade IIb MPXV, specifically lineage B.1. However, the 2024 global outbreak was largely due to the emergence of clade Ib MPXV, which was first identified in the Sud Kivu region of the Democratic Republic of the Congo in 2023. During this period, the transmission route of MPXV transitioned from primarily zoonotic spillovers to sustained human-to-human transmission, disproportionately affecting vulnerable groups such as men-who-have-sex-with-men, immunocompromised individuals and marginalized populations with limited access to healthcare. This shift has been driven by critical mutations in genes associated with viral fitness, immune evasion and transmission dynamics. Moreover, these changes correspond with atypical and often milder yet more transmissible clinical presentations, complicating the detection and management of cases. Despite these challenges, health system preparedness has remained uneven. High-income countries leverage existing infrastructure to facilitate rapid responses through proactive policies and financial commitments. However, many low- and middle-income countries struggle with delayed case detection, limited surge capacity, community unawareness and fragmented outbreak governance. Although diagnostics, vaccines and antivirals have advanced, issues such as accessibility, affordability and distribution have persisted, hindering global solidarity efforts. This narrative review integrates evidence on the evolution of MPXV clades, clinical heterogeneity, and public health responses. Furthermore, by learning from past outbreaks, this review proposes actionable, time-sensitive recommendations to strengthen surveillance, ensure equitable deployment of countermeasures, secure supply chains and embed One Health approaches for increased resilience.

Infectious and parasitic diseases
DOAJ Open Access 2025
Uncovering the Tradeoffs and Synergies of Ecosystem Services in Mining Landscapes: Spatiotemporal and Factor Detection Perspective

Jiao Pan, Tao Chen, Antonio Plaza

Revealing the spatial-temporal evolution and interactions of ecosystem services (ESs) in mining area is critical for sustainable environmental management. The temporal and spatial characteristics and changing trends of six ESs in Yuzhong mining area from 2000 to 2020 were analyzed. Pearson correlation analysis explored and elucidated the intricate tradeoffs and synergies that manifest across diverse ecosystems. The integrated ecosystem service landscape index (IESLI) was constructed on this basis, and 8 factors (both natural and human) were selected to identify the driving forces. The findings indicated that: 1) Over the past two decades, five categories of ESs have exhibited a declining trend, with water yield experiencing the most significant reduction, reaching 38.7% . 2) Among the 15 ESs pairings, tradeoffs were predominantly negatively correlated. 3) The interaction between land use/land cover and precipitation (54.5% ) emerged as the primary driving force behind the spatial heterogeneity of ESs. 4) The IESLI showed a general downward trend, decreasing from 0.51 in 2005 to 0.44 in 2020. This study provides quantitative evidence of ecosystem degradation and the intricate interrelationships among ESs in mining landscapes, highlighting the critical role of coupled spatial models in uncovering underlying patterns and mechanisms. The findings offer a scientific foundation for ecological restoration and policy-making in mining regions.

Ocean engineering, Geophysics. Cosmic physics
arXiv Open Access 2025
Designing AI Systems that Augment Human Performed vs. Demonstrated Critical Thinking

Katelyn Xiaoying Mei, Nic Weber

The recent rapid advancement of LLM-based AI systems has accelerated our search and production of information. While the advantages brought by these systems seemingly improve the performance or efficiency of human activities, they do not necessarily enhance human capabilities. Recent research has started to examine the impact of generative AI on individuals' cognitive abilities, especially critical thinking. Based on definitions of critical thinking across psychology and education, this position paper proposes the distinction between demonstrated and performed critical thinking in the era of generative AI and discusses the implication of this distinction in research and development of AI systems that aim to augment human critical thinking.

en cs.HC
arXiv Open Access 2025
DeBiasMe: De-biasing Human-AI Interactions with Metacognitive AIED (AI in Education) Interventions

Chaeyeon Lim

While generative artificial intelligence (Gen AI) increasingly transforms academic environments, a critical gap exists in understanding and mitigating human biases in AI interactions, such as anchoring and confirmation bias. This position paper advocates for metacognitive AI literacy interventions to help university students critically engage with AI and address biases across the Human-AI interaction workflows. The paper presents the importance of considering (1) metacognitive support with deliberate friction focusing on human bias; (2) bi-directional Human-AI interaction intervention addressing both input formulation and output interpretation; and (3) adaptive scaffolding that responds to diverse user engagement patterns. These frameworks are illustrated through ongoing work on "DeBiasMe," AIED (AI in Education) interventions designed to enhance awareness of cognitive biases while empowering user agency in AI interactions. The paper invites multiple stakeholders to engage in discussions on design and evaluation methods for scaffolding mechanisms, bias visualization, and analysis frameworks. This position contributes to the emerging field of AI-augmented learning by emphasizing the critical role of metacognition in helping students navigate the complex interaction between human, statistical, and systemic biases in AI use while highlighting how cognitive adaptation to AI systems must be explicitly integrated into comprehensive AI literacy frameworks.

en cs.HC
arXiv Open Access 2025
Human-Robot collaboration in surgery: Advances and challenges towards autonomous surgical assistants

Jacinto Colan, Ana Davila, Yutaro Yamada et al.

Human-robot collaboration in surgery represents a significant area of research, driven by the increasing capability of autonomous robotic systems to assist surgeons in complex procedures. This systematic review examines the advancements and persistent challenges in the development of autonomous surgical robotic assistants (ASARs), focusing specifically on scenarios where robots provide meaningful and active support to human surgeons. Adhering to the PRISMA guidelines, a comprehensive literature search was conducted across the IEEE Xplore, Scopus, and Web of Science databases, resulting in the selection of 32 studies for detailed analysis. Two primary collaborative setups were identified: teleoperation-based assistance and direct hands-on interaction. The findings reveal a growing research emphasis on ASARs, with predominant applications currently in endoscope guidance, alongside emerging progress in autonomous tool manipulation. Several key challenges hinder wider adoption, including the alignment of robotic actions with human surgeon preferences, the necessity for procedural awareness within autonomous systems, the establishment of seamless human-robot information exchange, and the complexities of skill acquisition in shared workspaces. This review synthesizes current trends, identifies critical limitations, and outlines future research directions essential to improve the reliability, safety, and effectiveness of human-robot collaboration in surgical environments.

en cs.RO, cs.HC
S2 Open Access 2021
Fossil apes and human evolution

S. Almécija, Ashley S. Hammond, Nathan E. Thompson et al.

A distinctive ancestor There has been much focus on the evolution of primates and especially where and how humans diverged in this process. It has often been suggested that the last common ancestor between humans and other apes, especially our closest relative, the chimpanzee, was ape- or chimp-like. Almécija et al. review this area and conclude that the morphology of fossil apes was varied and that it is likely that the last shared ape ancestor had its own set of traits, different from those of modern humans and modern apes, both of which have been undergoing separate suites of selection pressures. Science, this issue p. eabb4363 A Review describes the unique and varied morphologies in fossil and modern apes, including humans. BACKGROUND Ever since the writings of Darwin and Huxley, humans’ place in nature relative to apes (nonhuman hominoids) and the geographic origins of the human lineage (hominins) have been heavily debated. Humans diverged from apes [specifically, the chimpanzee lineage (Pan)] at some point between ~9.3 million and ~6.5 million years ago (Ma), and habitual bipedalism evolved early in hominins (accompanied by enhanced manipulation and, later on, cognition). To understand the selective pressures surrounding hominin origins, it is necessary to reconstruct the morphology, behavior, and environment of the Pan-Homo last common ancestor (LCA). “Top-down” approaches have relied on living apes (especially chimpanzees) to reconstruct hominin origins. However, “bottom-up” perspectives from the fossil record suggest that modern hominoids represent a decimated and biased sample of a larger ancient radiation and present alternative possibilities for the morphology and geography of the Pan-Homo LCA. Reconciling these two views remains at the core of the human origins problem. ADVANCES There is no consensus on the phylogenetic positions of the diverse and widely distributed Miocene apes. Besides their fragmentary record, disagreements are due to the complexity of interpreting fossil morphologies that present mosaics of primitive and derived features, likely because of parallel evolution (i.e., homoplasy). This has led some authors to exclude known Miocene apes from the modern hominoid radiation. However, most researchers identify some fossil apes as either stem or crown members of the hominid clade [i.e., preceding the divergence between orangutans (pongines) and African great apes and humans (hominines), or as a part of the modern great ape radiation]. European Miocene apes have prominently figured in discussions about the geographic origin of hominines. “Kenyapith” apes dispersed from Africa into Eurasia ~16 to 14 Ma, and some of them likely gave rise to the European “dryopith” apes and the Asian pongines before 12.5 Ma. Some authors interpret dryopiths as stem hominines and support their back-to-Africa dispersal in the latest Miocene, subsequently evolving into modern African apes and hominins. Others interpret dryopiths as broadly ancestral to hominids or an evolutionary dead end. Increased habitat fragmentation during the late Miocene in Africa might explain the evolution of African ape knuckle walking and hominin bipedalism from an orthograde arboreal ancestor. Bipedalism might have allowed humans to escape the great ape “specialization trap“—an adaptive feedback loop between diet, specialized arboreal locomotion, cognition, and life history. However, understanding the different selection pressures that underlie knuckle walking and bipedalism is hindered by locomotor uncertainties about the Pan-Homo LCA and its Miocene forebears. In turn, the functional interpretation of Miocene ape mosaic morphologies is challenging because it depends on the relevance of primitive features. Furthermore, adaptive complexes can be co-opted to perform new functions during evolution. For instance, features that are functionally related to quadrupedalism or orthogrady can be misinterpreted as bipedal adaptations. Miocene apes show that the orthograde body plan, which predates below-branch suspension, is likely an adaptation for vertical climbing that was subsequently co-opted for other orthograde behaviors, including habitual bipedalism. OUTLOOK Future research efforts on hominin origins should focus on (i) fieldwork in unexplored areas where Miocene apes have yet to be found, (ii) methodological advances in morphology-based phylogenetics and paleoproteomics to retrieve molecular data beyond ancient DNA limits, and (iii) modeling driven by experimental data that integrates morphological and biomechanical information, to test locomotor inferences for extinct taxa. It is also imperative to stop assigning a starring role to each new fossil discovery to fit evolutionary scenarios that are not based on testable hypotheses. Early hominins likely originated in Africa from a Miocene LCA that does not match any living ape (e.g., it might not have been adapted specifically for suspension or knuckle walking). Despite phylogenetic uncertainties, fossil apes remain essential to reconstruct the “starting point” from which humans and chimpanzees evolved. The evolutionary history of apes and humans is largely incomplete. Whereas the phylogenetic relationships among living species can be retrieved using genetic data, the position of most extinct species remains contentious. Surprisingly, complete-enough fossils that can be attributed to the gorilla and chimpanzee lineages remain to be discovered. Assuming different positions of available fossil apes (or ignoring them owing to uncertainty) markedly affects reconstructions of key ancestral nodes, such as that of the chimpanzee-human LCA. Humans diverged from apes (chimpanzees, specifically) toward the end of the Miocene ~9.3 million to 6.5 million years ago. Understanding the origins of the human lineage (hominins) requires reconstructing the morphology, behavior, and environment of the chimpanzee-human last common ancestor. Modern hominoids (that is, humans and apes) share multiple features (for example, an orthograde body plan facilitating upright positional behaviors). However, the fossil record indicates that living hominoids constitute narrow representatives of an ancient radiation of more widely distributed, diverse species, none of which exhibit the entire suite of locomotor adaptations present in the extant relatives. Hence, some modern ape similarities might have evolved in parallel in response to similar selection pressures. Current evidence suggests that hominins originated in Africa from Miocene ape ancestors unlike any living species.

129 sitasi en Medicine
DOAJ Open Access 2024
RNA-guided RNA silencing by an Asgard archaeal Argonaute

Carolien Bastiaanssen, Pilar Bobadilla Ugarte, Kijun Kim et al.

Abstract Argonaute proteins are the central effectors of RNA-guided RNA silencing pathways in eukaryotes, playing crucial roles in gene repression and defense against viruses and transposons. Eukaryotic Argonautes are subdivided into two clades: AGOs generally facilitate miRNA- or siRNA-mediated silencing, while PIWIs generally facilitate piRNA-mediated silencing. It is currently unclear when and how Argonaute-based RNA silencing mechanisms arose and diverged during the emergence and early evolution of eukaryotes. Here, we show that in Asgard archaea, the closest prokaryotic relatives of eukaryotes, an evolutionary expansion of Argonaute proteins took place. In particular, a deep-branching PIWI protein (HrAgo1) encoded by the genome of the Lokiarchaeon ‘Candidatus Harpocratesius repetitus’ shares a common origin with eukaryotic PIWI proteins. Contrasting known prokaryotic Argonautes that use single-stranded DNA as guides and/or targets, HrAgo1 mediates RNA-guided RNA cleavage, and facilitates gene silencing when expressed in human cells and supplied with miRNA precursors. A cryo-EM structure of HrAgo1, combined with quantitative single-molecule experiments, reveals that the protein displays structural features and target-binding modes that are a mix of those of eukaryotic AGO and PIWI proteins. Thus, this deep-branching archaeal PIWI may have retained an ancestral molecular architecture that preceded the functional and mechanistic divergence of eukaryotic AGOs and PIWIs.

DOAJ Open Access 2024
A unified analysis of evolutionary and population constraint in protein domains highlights structural features and pathogenic sites

Stuart A. MacGowan, Fábio Madeira, Thiago Britto-Borges et al.

Abstract Protein evolution is constrained by structure and function, creating patterns in residue conservation that are routinely exploited to predict structure and other features. Similar constraints should affect variation across individuals, but it is only with the growth of human population sequencing that this has been tested at scale. Now, human population constraint has established applications in pathogenicity prediction, but it has not yet been explored for structural inference. Here, we map 2.4 million population variants to 5885 protein families and quantify residue-level constraint with a new Missense Enrichment Score (MES). Analysis of 61,214 structures from the PDB spanning 3661 families shows that missense depleted sites are enriched in buried residues or those involved in small-molecule or protein binding. MES is complementary to evolutionary conservation and a combined analysis allows a new classification of residues according to a conservation plane. This approach finds functional residues that are evolutionarily diverse, which can be related to specificity, as well as family-wide conserved sites that are critical for folding or function. We also find a possible contrast between lethal and non-lethal pathogenic sites, and a surprising clinical variant hot spot at a subset of missense enriched positions.

Biology (General)
DOAJ Open Access 2024
The Theme of Gender-Violence in Zinaida Tulub’s Novel “Man-hunters”

Ganna Pletnyova

The article suggest to identify the principal types of descriptions of gender violence and their role in shaping the female characters of the historical novel «Man eaters» by the Ukrainian writer Zinaida Tulub, as well as to trace the influence of social and gender issues on the stylistic structure of the novel. Attention is drawn to the reflection of the theme of violence and its evolution in the history of Ukrainian literature. Attention is focused on the writer’s critical view of women’s fate in the Polish-Lithuanian Commonwealth, the Ottoman Empire, and the Tsardom of Muscovy of the 17th century. The following types of gender-based violence are systematized: rape, murder and abduction of children, human trafficking, everyday violence, religious control over women, etc. The author has recorded the main stylistic means used by Zinaida Tulub when depicting gender violence in the novel (landscapes, symbolic images, similes, etc.). The article offers a comparative analysis of two central female characters in the novel who are victims of these forms of gender violence: the Ukrainian peasant Horpyna Korzh, who finds herself in captivity in a Tatar village, and the Tatar peasant Medzhe, who is kidnapped by Ukrainian Cossacks. The parallel development of these female characters in the novel allows us to draw conclusions about the universality of this violence. An attempt is made to consider Zinaida Tulub’s works in the context of women’s prose in the 19th and at the beginning of the 20th centuries. Delving into the inner state of female characters experiencing deep emotional catastrophes is one of the characteristics of this prose. The appeal to the facts of the writer’s biography makes it possible to offer a feminist understanding of the work’s issues from the point of view of modern humanities. The article emphasizes the relevance of the study of gender violence in contemporary literary studies.

Philology. Linguistics
DOAJ Open Access 2024
Ovule and seed development of crop plants in response to climate change

Mohammad Erfatpour, Dustin MacLean, Rachid Lahlali et al.

The ovule is a plant structure that upon fertilization, transforms into a seed. Successful fertilization is required for optimum crop productivity and is strongly affected by environmental conditions including temperature and precipitation. Climate change refers to sustained changes in global or regional climate patterns over an extended period, typically decades to millions of years. These shifts can result from natural processes like volcanic eruptions and solar radiation fluctuations, but in recent times, human activities—especially the burning of fossil fuels, deforestation, and industrial emissions—have accelerated the pace and scale of climate change. Human-induced climate change impacts the agricultural sector mainly through global warming and altering weather patterns, both of which create conditions that challenge agricultural production and food security. With food demand projected to sharply increase by 2050, urgent action is needed to prevent the worst impacts of climate change on food security and allow time for agricultural production systems to adapt and become more resilient. Gaining insights into the female reproductive part of the flower and seed development under extreme environmental conditions is important to oversee plant evolution, agricultural productivity, and food security in the face of climate change. This review summarizes the current knowledge on plant reproductive development and the effects of temperature and water stress, soil salinity, elevated carbon dioxide, and ozone pollution on the female reproductive structure and development across grain legumes, cereal, oilseed, and horticultural crops. It identifies gaps in existing studies for potential future research and suggests suitable mitigation strategies for sustaining crop productivity in a changing climate.

Nutrition. Foods and food supply, Food processing and manufacture
DOAJ Open Access 2024
The impact of phage and phage resistance on microbial community dynamics.

Ellinor O Alseth, Rafael Custodio, Sarah A Sundius et al.

Where there are bacteria, there will be bacteriophages. These viruses are known to be important players in shaping the wider microbial community in which they are embedded, with potential implications for human health. On the other hand, bacteria possess a range of distinct immune mechanisms that provide protection against bacteriophages, including the mutation or complete loss of the phage receptor, and CRISPR-Cas adaptive immunity. While our previous work showed how a microbial community may impact phage resistance evolution, little is known about the inverse, namely how interactions between phages and these different phage resistance mechanisms affect the wider microbial community in which they are embedded. Here, we conducted a 10-day, fully factorial evolution experiment to examine how phage impact the structure and dynamics of an artificial four-species bacterial community that includes either Pseudomonas aeruginosa wild-type or an isogenic mutant unable to evolve phage resistance through CRISPR-Cas. Additionally, we used mathematical modelling to explore the ecological interactions underlying full community behaviour, as well as to identify general principles governing the impacts of phage on community dynamics. Our results show that the microbial community structure is drastically altered by the addition of phage, with Acinetobacter baumannii becoming the dominant species and P. aeruginosa being driven nearly extinct, whereas P. aeruginosa outcompetes the other species in the absence of phage. Moreover, we find that a P. aeruginosa strain with the ability to evolve CRISPR-based resistance generally does better when in the presence of A. baumannii, but that this benefit is largely lost over time as phage is driven extinct. Finally, we show that pairwise data alone is insufficient when modelling our microbial community, both with and without phage, highlighting the importance of higher order interactions in governing multispecies dynamics in complex communities. Combined, our data clearly illustrate how phage targeting a dominant species allows for the competitive release of the strongest competitor while also contributing to community diversity maintenance and potentially preventing the reinvasion of the target species, and underline the importance of mapping community composition before therapeutically applying phage.

Biology (General)
arXiv Open Access 2024
Human Robot Pacing Mismatch

Muchen Sun, Peter Trautman, Todd Murphey

A widely accepted explanation for robots planning overcautious or overaggressive trajectories alongside human is that the crowd density exceeds a threshold such that all feasible trajectories are considered unsafe -- the freezing robot problem. However, even with low crowd density, the robot's navigation performance could still drop drastically when in close proximity to human. In this work, we argue that a broader cause of suboptimal navigation performance near human is due to the robot's misjudgement for the human's willingness (flexibility) to share space with others, particularly when the robot assumes the human's flexibility holds constant during interaction, a phenomenon of what we call human robot pacing mismatch. We show that the necessary condition for solving pacing mismatch is to model the evolution of both the robot and the human's flexibility during decision making, a strategy called distribution space modeling. We demonstrate the advantage of distribution space coupling through an anecdotal case study and discuss the future directions of solving human robot pacing mismatch.

en cs.RO, cs.HC

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