Journal articles on the topic 'Knowledge related to joint task and motion planning'

Various path planning algorithms have been used to deduce optimal manipulator joint trajectories for spacecraft attitude regulation using arm motion. However, few papers have considered the unexpected factors when applying those planned path into actual situations. Even though conventional feedback control would drive the arm dynamics to the desired one, this only appears when time evolves to infinity which means during some time the actual joint paths deviate from the desired ones. However, the spacecraft attitude change is related to the entire process of arm motion. So, even a small deviation of the actual joint movement from the desired one would cause the failure of spacecraft attitude regulation task. In this paper, sliding mode control technique is adopted to force the actual joint moves along the desired trajectory from the start. Further, saturation function is used to eliminate the chattering phenomenon. Moreover, the relation between attitude regulation accuracy and controller parameters is deduced which gives instructions in tuning the controller parameters. In the end, numerical simulation is conducted to show the feasibility of the proposed controllers.

Although extensive efforts have been dedicated to investigating the risk factors of low back pain in the workplace, a clear knowledge of their effects on the facet joint (FJ) mechanics is lacking. In this study, fourteen healthy participants performed dynamic lifting task with varying external load while a dynamic stereo-radiography system captured their lumbar motion continuously. The FJ kinematics in the lumbar spine were ascertained using a volumetric model-based tracking method. The FJ kinematics data from seven participants were processed and analyzed using non-parametric statistical test. The results indicated significant (p<0.05) effects of external load on the FJ flexion and superior-inferior translation at all segments, showing more consistent trends at the L2-L3, L3-L4, and L4-L5 joints during trunk flexion angles of approximately 20° and 40°. Findings of this study provide a preliminary but important foundation in elucidating facet-related injury mechanism due to strenuous exertions in workplaces.

Background The objective kinematic assessments of activities of daily living are desired. However, the limited knowledge regarding age- and sex-related differences prevents the adaptation of these measurements to clinical settings and in-home exercises. Therefore, this study aimed to determine the effects of age and sex on joint and endpoint kinematics during a common activity of daily living, specifically, drinking from a glass. Methods In total, 32 healthy adults (18 males and 14 females) aged 22–77 years performed a drinking task comprising reaching for a glass, bringing it forward and sipping, returning it, and placing the hand back to the starting position, which was recorded using a three-dimensional motion-capturing system. A two-way analysis of variance was used to statistically compare joint angles at five different time points and endpoint kinematic variables in the four drinking phases between older and younger age groups and sexes. Results Wrist radial deviation was greater in older adults than in younger participants at all five different time points (F = 5.16–7.34, p ≤ 0.03, η2 = 0.14–0.21). Moreover, lesser shoulder abduction and greater shoulder internal rotation and forearm pronation when moving and returning the hand to the starting position were observed in the female group than in the male group (F = 4.21–20.03, p ≤ 0.0497, η2 = 0.13–0.41). Trunk flexion was lower in the female group than in the male group at all time points (F = 4.25–7.13, p ≤ 0.0485, η2 = 0.12–0.19). Regarding endpoint kinematics, the performance time in the reaching phase was longer in older adults than in younger individuals (F = 4.96, p = 0.03, η2 = 0.14). Furthermore, a shorter time while returning the hand to the starting position was observed in the female group than in the male group (F = 9.55, p < 0.01, η2 = 0.22). Conclusions The joint kinematics of drinking were partially characterized by an age effect, whereas endpoint kinematics were scattered in all drinking phases. Sex-related effects in most upper-body motions and postures may cause rapid motions in females. Therefore, clinicians could use this knowledge for precise assessments and to suggest feasible in-home exercises.

Humanoid robots are equipped with humanoid arms to make them more acceptable to the general public. Humanoid robots are a great challenge in robotics. The concept of digital twin technology complies with the guiding ideology of not only Industry 4.0, but also Made in China 2025. This paper proposes a scheme that combines deep reinforcement learning (DRL) with digital twin technology for controlling humanoid robot arms. For rapid and stable motion planning for humanoid robots, multitasking-oriented training using the twin synchro-control (TSC) scheme with DRL is proposed. For switching between tasks, the robot arm training must be quick and diverse. In this work, an approach for obtaining a priori knowledge as input to DRL is developed and verified using simulations. Two simple examples are developed in a simulation environment. We developed a data acquisition system to generate angle data efficiently and automatically. These data are used to improve the reward function of the deep deterministic policy gradient (DDPG) and quickly train the robot for a task. The approach is applied to a model of the humanoid robot BHR-6, a humanoid robot with multiple-motion mode and a sophisticated mechanical structure. Using the policies trained in the simulations, the humanoid robot can perform tasks that are not possible to train with existing methods. The training is fast and allows the robot to perform multiple tasks. Our approach utilizes human joint angle data collected by the data acquisition system to solve the problem of a sparse reward in DRL for two simple tasks. A comparison with simulation results for controllers trained using the vanilla DDPG show that the designed controller developed using the DDPG with the TSC scheme have great advantages in terms of learning stability and convergence speed.

ABSTRACT In 2010, the American Petroleum Institute coordinated the establishment of an Oil Spill Preparedness and Response Joint Industry Task Force (JITF) comprised of experts from industry and government. The JITF was established to examine the efforts implemented during recent oil spill events, assess the current state of the industry's ability to respond to significant spills, and identify potential learnings. A remote sensing technical working group (TWG) was formed under the Oil Sensing and Tracking program to document current remote sensing technology and future research and development needs related to tracking oil on the water's surface. Since its inception, the Remote Sensing TWG has held face-to-face meetings, engaged with other joint industry groups, and completed a planning guide, “Remote Sensing in Support of Oil Spill Response,” to assist in the identification of surveillance technologies, sensors, and platforms that could enhance response efforts. The document provides information related to both strategic and tactical response activities. The guide was designed as a practical “Users Guide” as well as a planning and preparedness tool for response personnel that may be required direct surveillance activities. The group also identified key areas for industry and academia for future research and development, including:Quantifying the aerial extent and concentration of oil on the water's surface; andEnhancing ways to provide quality-assessed data in near real-time to both field resources and command centers. In addition, the TWG is currently researching the development of a web-based tool that would aid in the selection of appropriate satellite sensors for a particular response scenario. The group is working with the National Aeronautics and Space Administration (NASA) to customize and expand an existing NASA satellite tool for use during oil spill response. The TWG plans to continue collaboration and knowledge-sharing with other joint industry projects, and to continue to hold regular meetings to share recent experiences, collaborate on potential technology areas that need development, and disseminate scientific findings in the field of remote sensing that will enhance the capabilities and readiness for response.

Highly articulated systems are capable of executing a variety of behaviors by coordinating their many internal degrees of freedom to help them move more effectively in complex terrains. However, this inherent variety poses significant challenges that have been the subject of a great deal of previous work: What are the most effective or most efficient methods for achieving the intrinsic coordination necessary to produce desired global objectives? This work takes these questions one step further, asking how different levels of coordination, which we quantify in terms of kinematic coupling, affect articulated locomotion in environments with different degrees of underlying structure. We introduce shape functions as the analytical basis for specifying kinematic coupling relationships that constrain the relative motion among the internal degrees of freedom for a given system during its nominal locomotion. Furthermore, we show how shape functions are used to derive shape-based controllers (SBCs) that manage the compliant interaction between articulated bodies and the environment while explicitly preserving the inter-joint coupling defined by shape functions. Initial experimental evidence provides a comparison of the benefits of different levels of coordination for two separate platforms in environments with different degrees of inherent structure. The experimental results show that decentralized implementations, where there is relatively little inter-joint coupling, perform well across a spectrum of different terrains but that there are potential benefits to higher degrees of coupling in structured terrains. We discuss how this observation has implications related to future planning and control approaches that actively “tune” their underlying structure by dynamically varying the assumed level of coupling as a function of task specification and local environmental conditions.

Unlike a purely reactive system where the motor output is exclusively controlled by the actual sensory input, a cognitive system must be capable of running mental processes which virtually simulate action sequences aimed at achieving a goal. The mental process either attempts to find a feasible course of action compatible with a number of constraints (Internal, Environmental, Task Specific etc) or selects it from a repertoire of previously learned actions, according to the parameters of the task. If neither reasoning process succeeds, a typical backup strategy is to look for a tool that might allow the operator to match all the task constraints. This further necessitates having the capability to alter ones own goal structures to generate sub-goals which must be successfully accomplished in order to achieve the primary goal. In this paper, we introduce a forward/inverse motor control architecture (FMC/IMC) that relaxes an internal model of the overall kinematic chain to a virtual force field applied to the end effector, in the intended direction of movement. This is analogous to the mechanism of coordinating the motion of a wooden marionette by means of attached strings. The relaxation of the FMC/IMC pair provides a general solution for mentally simulating an action of reaching a target position taking into consideration a range of geometric constraints (range of motion in the joint space, internal and external constraints in the workspace) as well as effort-related constraints (range of torque of the actuators, etc.). In case, the forward simulation is successful, the movement is executed; otherwise the residual "error" or measure of inconsistency is taken as a starting point for breaking the action plan into a sequence of sub actions. This process is achieved using a recurrent neural network (RNN) which coordinates the overall reasoning process of framing and issuing goals to the forward inverse models, searching for alternatives tools in solution space and formation of sub-goals based on past context knowledge and present inputs. The RNN + FMC/IMC system is able to successfully reason and coordinate a diverse range of reaching and grasping sequences with/without tools. Using a simple robotic platform (5 DOF Scorbot arm + Stereo vision) we present results of reasoning and coordination of arm/tool movements (real and mental simulation) specifically directed towards solving the classical 2-stick paradigm from animal reasoning at a non linguistic level.

Abstract More precise knowledge concerning gait patterns of movement in stroke patients incorporating modern diagnostic tools is necessary. Exact information about qualitative and quantitative changes during the process of rehabilitation based on reeducation of functions and relating it to possible changes of motor deficit will possibly lead to better physiotherapy planning. Goal of this study is to assess some components and changes of gait pattern and motor deficit after stroke to develop better physiotherapy this group of patients Materials and methods Consecutively admitting to rehabilitation unit first stroke patients who met inclusion criteria ( time from the onset of stroke between 1st and 3th month, independent walking skills on the distance of 10m, motor deficit, self awareness of disease, signed inform consent form) were enrolled to the study. Patients were participating in physiotherapy five days a week for 12 weeks. Rivermead Motor Assessment (Lower Extremity Section), Fugl-Meyer Motor Deficit Scale, Nottingham Extended Activities of Daily Living Scale and three-dimension motion analysis system Vicon 460 (amplitude of hip joint range of motion, walking speed, cadence, steps length) were used. All measurement procedures were carried out three times: before therapy, after 6 weeks and after 12 weeks of treatment. Results: Twelve patients were enrolled to the study (4 female, 8 man, mean age 58 years old, 5 persons suffering from right side paresis). All patients improved after 6 and 12 weeks. Alterations were related both to clinical assessment and to objective movement analysis and they were positively correlated. Mean motor deficit (FM) stated 140,148, 161p, ADL -30, 42, 47p., walking speed: 0,4m/s, 0,5m/s, 0,6m/s, cadence (steps/min):70, 81, 89. Conclusions: Results indicate relatively constant progress of motor abilities in this group of patients however it decreased during second period. Clinical improvements were accompanied by similar progress of walking speed and cadence. Further studies are necessary

It is difficult to introduce highly versatile automation using robots to handling deformable objects such as thread, cloth, wire, long beams, and thin plates in plant production processes, compared to the handling of rigid objects. Office equipment handles deformable objects such as paper and plastic. Problems unique to these objects is caused by speeding up such equipment and demand for upgrading its accuracy. In agriculture and medical care, automatic, intelligent handling of deformable objects such as fruit and animals has long been desired and practical systems sought. Deformable objects whose handling should be versatiley and accurately automated are classified into two groups based on handling: (A) Flexible, mostly thin, fine objects capable of elastic deformation (B) Soft objects easily crushed, such as soft fruits or animals The problem in handling the first group is controlling object deformation of an infinite degree of freedom with a finite number of manipulated variables. In contrast, a significant problem in handling the second group is often how to handle them without exerting excessive stress and how to handle them safely and reliably. The handling of these two groups differ greatly in mechanics and control theory, and this special issue focuses on the first group — flexible objects — mechanical collection and transport studies, control, and software. Recent studies on their handling are classified into four groups for convenience based on handled objects and types of handling task: (a) Control of deformation, internal force, and vibration or path planning of flexible objects (mainly thin plates and beams) using single or multiple manipulators. (b) Task understanding in insertion of elastic into rigid parts and vice versa, and the study of human skills to help robots accomplish these task. (c) Approaches on improved accuracy, intelligent control, and vibration damping in handling and transfer of sheets and strings with low flexural rigidity, represented by paper or wire. (d) Strategies for grasping and unfolding sheets such as cloth whose flexural rigidity is almost nil. For (a), studies are active on deformation control by two robot hands attempting to grasp cloth. 1-3) In the automobile industry, so-called flexible fixtureless assembly systems are advancing in which two robots process or assemble parts in mid-air without a fixed table to reduce lead time and cost. These systems are mostly developed assuming handled parts are rigid. Nguyen et al. work assuming parts such as sheet metal whose deformation must be taken into consideration.1) Nakagaki et al. propose form estimation that considers even plastic deformation in wire handling by robots, in connection with the development of robots for electric wire installation.4) Many studies cover flexible wire as elastic beams,3-9) but comparatively few focus on bending deformation of thin plates. This special edition includes a paper by Kosuge et al. on thin-plate deformation control. Vibration control of grasped objects becomes important as speed increases. Matsuno kindly contributed his paper on optimum path planning in elastic plate handling. In controlling the deformation of elastic bodies, the mechanics of objects handled is often unknown. This special issue features a paper by Kojima et al. on an approach to this problem by adaptive feed-forward control. For (b), we consider three cases: (1) A cylindrical rigid body inserted into a hole on an elastic plate. (2) An elastic bar inserted into a hole on a rigid body. (3) A tubular elastic body put on a cylindrical rigid body. This special issue carries papers on these problems by Brata et al., Matsuno et al., and Hirai. For (2), a paper by Nakagaki et al.10) covers electric wire installation. For (3), the paper by Shima et al.11) covers insertion of a rigid axis into an elastic hose. Robot skill acquisition is an important issue in robotics in general, and the above papers should prove highly interesting and information because they treat studies by comparing robot and human skills in accomplishing work and acquiring concrete skills knowledge. For (c), attempts are made to theoretically analyze sheet handling mechanisms and control developed based on trial and error, and to structure design theory based on such analysis. These attempts are related to the increased accuracy and speed and enhanced intelligence of sheet-handling office automation equipment such as printers, facsimile machines, copiers, and automated teller machines. Yoshida et al. conducted a series of studies on the effects of guides forming paper feed paths and of inertia force of paper by approximating sheets with a chain of discrete masses and springs.12-14) This special edition also features a study on sheet sticking and jamming. Okuna et al. handles a system of similar nature, mechanical studying the form of paper guides.15) Introducing mechanisms to control the positioning of sheets is effective in raising sheet transfer accuracy. Feedback control that regulates feed roller skew angle as a manipulated variable is proposed.16) Increased reliability in separating single sheets from stacked effectively reduces the malfunction rate in sheet-handling equipment. Ways of optimizing the form of sheet-separation rollers17) and estimating frictional force between separation gates and sheets 18) are also proposed. This special issue contains a proposal by Nakazawa et al. of a mechanism that uses reactive sheet buckling force, made in connection with development of a newspaper page turner for the disabled as technology for separating single sheets. Dry frictional force is most widely used for transporting sheets, but is not stable and may even act as an obstacle to improving accuracy. Niino et al. propose a sheet transfer mechanism that uses electrostatic force.19) For improving the accuracy of flexible wire transmission, this special issue carries a study on transporting flexible thin wire through tension control at multiple points, from a study by Morimitsu et al. on optical fiber installation. The thickness of wire used in equipment is becoming increasingly slim and flexible, along with the equipment it is used in. Tension control in the production process is an important factor in the manufacture of such thin wire. Production efficiency constantly calls for increased transfer speed. It has thus become important to estimate air resistance and inertia and to measure and control the tension of running wire. Studies20,21) by Batra, Fraser, et al. which deal the motion of string in the spinning process provide good examples for learning analytical techniques for air drag and inertia. In string vibration where inertia dominates, attempts are made to control vibration by boundary shaking22,23) and feed-forward/back control.24) For (d), highly versatile robots for handling cloth are being developed, and the software technology for automatic cloth selection and unfolding by robot hands is a popular topic.25-27) Ono et al. comment on the nature of problems in developing intelligent systems for handling cloth and similar objects whose bending rigidity is low and which readily fold and overlap—a paper that will prove a good reference in basic approaches in this field. Mechanical analyses are indispensable to studies on (a) through (c). In contrast, information technology such as characteristic variable measurement, image processing, and discrimination, rather than mechanical analyses, play an important roles in studies on (d). This special issue features a study by Hamashima, Uraya et al. on cloth unfolding as an example of such studies. Studies up to now largely assumed that properties of grasped objects did not change environmental influences such as temperature and humidity. Such influence is often, however, a major factor in handling fiber thread and cloth. This special issue has a paper contributed by Taylor, who studies handling method to prevent influence by such environmental factors. The objective of this special issue will have been achieved if it aids those studying the handling of flexible objects by providing approaches and methodologies of researchers whose target objects differ and if it aids those planning to take up study in this field by providing a general view of this field. 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JSME, 61-583, 938-943, (1995). 9) Sun, D. and Liu, Y., ""Modeling and Impedance Control of a Two-Manipulator System Handling a Flexible Beam,"" Trans. of the ASME, 119, 736-742, (1997). 10) Nakagaki, H., Kitagaki, K. and Tukune, H., ""Contact Motion in Inserting a Flexible Wire into a Hole,"" Annual Conference on Robotics and Mechatronics (ROBOMEC'95), 175-178, (1995). 11) Shimaji, S., Brata, A. and Hattori, H., ""Robot Skill in Assembling a Cylinder into an Elastic Hose,"" Annual Conference on Robotics and Mechatronics (ROBOMEC'95), 752-755, (1995). 12) Yoshida, K. and Kawauchi, M., ""The Analysis of Deformation and Behavior of Flexible Materials (1st Reprt, Study of Spring-Mass Beam Model of the Sheet,"" Trans. of JSME, 58-552, 1474-1480, (1992). 13) Yoshida, K., ""Analysis of Deformation and Behavior of Flexible Materials (2nd Report, Static Analysis for Deformation of the Sheet in the Space Formed by Guide Plates),"" Trans. JSME, 60-570, 501-507, (1994). 14) Yoshida, K., ""Dynamic Analysis of Sheet Defofmation Using Spring-Mass-Beam Model,"" Trans. JSME, 63-615, 3926-3932 (1997). 15) Okuna, K., Nishigaito, T. and Shina, Y., ""Analysis of Paper Deformation Considering Guide Friction (Improvement of Paper Path for Paper-Feeding Mechanism),"" Trans. JSME, 60-575, 2279-2284, (1994). 16) Fujimura, H. and Ono, K., ""Analysis of Paper Motion Driven by Skew-Roll Paper Feeding System,"" Trans. JSME, 62-596, 1354-1360, (1996). 17) Shima, Y., Hattori, S., Kobayashi, Y. and Ukai, M., ""Optimum of Gate-Roller Shape in Paper Isolating Methods,"" Conference of Information, Intelligence and Precision Equipment (IIP'96), 61-62, (1996). 18) Suzuki, Y, Hattori, S., Shima, Y. and Ukai, M., ""Contact Analysis of Paper in Gate-Roller Handling Method"", Conference on Information, Intelligence and Precision Equipment (IIP'95), 19-20, (1995). 19) Niino, T., Egawa, S. and Higuchi, T., ""An Electrostatic Paper Feeder,"" J. of the Japan Society for Precision Engineering, 60-12,1761-1765, (1994). 20) Batra, S., Ghosh, T. and Zeidman, M., ""An Integrated Approach to Dynamic Analysis of the Ring Spinning Process , PartII: With Air Drag,"" Textile Research Journal, 59, 416-424, (1989). 21) Fraser, W., Ghosh, T. and Batra, S., ""On Unwinding Yarn from a Cylindrical Package,"" Proceedings of Royal Society of London, A, 436, 479-438, (1992). 22) Jacob, S., ""Control of Vibrating String Using Impedance Matching,"" Proceedings of the American Control Conference (San Francisco),468-472, (1993). 23) Lee, S. and Mote, C., ""Vibration Control of an Axially Moving String by Boundary Control,"" Trans. of the ASME, J. of Dynamic Systems, Measurement, and Control, 118, 66-74, (1996). 24) Ying, S. and Tan, C., ""Active Vibration Control of the Axially Moving String Using Space Feedforward and Feedback Controllers,"" Trans. 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IntroductionReinforcement learning has been widely used in robot motion planning. However, for multi-step complex tasks of dual-arm robots, the trajectory planning method based on reinforcement learning still has some problems, such as ample exploration space, long training time, and uncontrollable training process. Based on the dual-agent depth deterministic strategy gradient (DADDPG) algorithm, this study proposes a motion planning framework constrained by the human joint angle, simultaneously realizing the humanization of learning content and learning style. It quickly plans the coordinated trajectory of dual-arm for complex multi-step tasks.MethodsThe proposed framework mainly includes two parts: one is the modeling of human joint angle constraints. The joint angle is calculated from the human arm motion data measured by the inertial measurement unit (IMU) by establishing a human-robot dual-arm kinematic mapping model. Then, the joint angle range constraints are extracted from multiple groups of demonstration data and expressed as inequalities. Second, the segmented reward function is designed. The human joint angle constraint guides the exploratory learning process of the reinforcement learning method in the form of step reward. Therefore, the exploration space is reduced, the training speed is accelerated, and the learning process is controllable to a certain extent.Results and discussionThe effectiveness of the framework was verified in the gym simulation environment of the Baxter robot's reach-grasp-align task. The results show that in this framework, human experience knowledge has a significant impact on the guidance of learning, and this method can more quickly plan the coordinated trajectory of dual-arm for multi-step tasks.

Robotics is a highly practical, multidisciplinary, and rapidly developing field of study which lies at the intersection of computer science, automatic control, mechanical engineering, and materials science, as well as other disciplines. Designing a suitable yet challenging robotics course project is incredibly important and beneficial for teaching the subject effectively. Carrying out a practical robotics project helps students consolidate their knowledge and connect concepts across disparate areas of computer science and mechatronics engineering as they design and develop an integrated robotic system. Additionally, a practical project helps deepen a student’s understanding of how recent ground-breaking results in Artificial Intelligence (AI) can be implemented in a real robotic system. This paper provides an overview of a project for the Intelligent Robots graduate course. In the proposed course project, each team programs a small-scale humanoid robot to carry out a multi-task robot challenge on a terrestrial map. The course project is organized into a series of milestones, each of which is related to the corresponding module of the robot (e.g., joint motion, visual servoing, etc.). The students’ performance in the course project over the past three years has been summarized and reviewed. The evaluation results and the student feedback show that the proposed course project is interesting and engaging, and provides the students with a comprehensive opportunity to apply their theoretical knowledge in robotics, as well as to implement the findings of contemporary research in AI, to a real robotic system.

The clinical assessment of the human hand is typically conducted through questionnaires or tests that include objective (e.g., time) and subjective (e.g., grasp quality) outcome measures. However, there are other important indicators that should be considered to quantify grasp and movement quality in addition to the time needed by a subject to execute a task, and this is essential for human and artificial hands that attempt to replicate the human hand properties. The correct estimation of hand kinematics is fundamental for computing these indicators with high fidelity, and a technical background is typically required to perform this analysis. In addition, to understand human motor control strategies as well as to replicate them on artificial devices, postural synergies were widely explored in recent years. Synergies should be analyzed not only to investigate possible modifications due to musculoskeletal and/or neuromuscular disorders, but also to test biomimetic hands. The aim of this work is to present an open source toolbox to perform all-in-one kinematic analysis and clinical assessment of the hand, as well as to perform postural synergies extraction. In the example provided in this work, the tool takes as input the position of 28 retroreflective markers with a diameter of 6 mm, positioned on specific anatomical landmarks of the hand and recorded with an optoelectronic motion capture system, and automatically performs 1) hand kinematic analysis (i.e., computation of 23 joint angles); 2) clinical assessment, by computing indicators that allow quantifying movement efficiency (Peak Grip Aperture), smoothness (Normalized Dimensionless Jerk Grasp Aperture) and speed (Peak Velocity of Grasp Aperture), planning capabilities (Time to Peak Grip Aperture), spatial posture (Wrist and Finger Joint Angles) and grasp stability (Posture of Hand Finger Joints), and 3) postural synergies extraction and analysis through the Pareto, Scree and Loadings plots. Two examples are described to demonstrate the applicability of the toolbox: the first one aiming at performing a clinical assessment of a volunteer and the second one aiming at extracting and analyzing the volunteer’s postural synergies. The tool allows calculating joint angles with high accuracy (reconstruction errors below 4 mm and 3.2 mm for the fingers and wrist respectively) and automatically performing clinical assessment and postural synergies extraction. Results can be visually inspected, and data can be saved for any desired post processing analysis. Custom-made protocols to extract joint angles, based on different markersets, could be also integrated in the toolbox. The tool can be easily exploitable in clinical contexts, as it does not require any particular technical knowledge to be used, as confirmed by the usability evaluation conducted (perceived usability = 94.2 ± 5.4). In addition, it can be integrated with the SynGrasp toolbox to perform grasp analysis of underactuated virtual hands based on postural synergies.

Abstract Background The control of the dynamic functional leg alignment (dFLA) and biomechanical load are important joint-related aspects regarding the development of osteoarthritis (OA). Research on level walking with feedback on load-related parameters has provided innovative treatment possibilities. With regard to walking on sloped surfaces, fundamental biomechanical knowledge exists. However, comprehensive data on the agreement of kinematics and kinetics of self-paced ramp versus sloped treadmill walking is lacking. Further, deeper insights into the control of the dFLA during decline walking and the usefulness of real-time feedback are missing. Methods/design Thirty healthy participants aged between 18 and 35 years will be included. They will complete a three-dimensional gait analysis walking self-paced up and down on a 5-m ramp with a 10° inclination. Subsequently, speed-matched to ramp-up walking and self-paced 10° incline split-belt treadmill walking will be assessed. Afterwards, the participants will be observed under four different conditions of 10° declined walking on the same treadmill (a) self-paced walking, (b) self-paced walking with an internal focus of attention, (c) self-paced walking with real-time feedback, and (d) condition c speed-matched walking. The primary outcome parameter will be the frontal knee range of motion (fKROM). Secondary outcomes include the ground reaction force loading rate, spatial-temporal parameters, as well as sagittal, frontal and transversal kinematics, and kinetics for the lower extremities. Discussion The findings aim at improving the understanding of the effects of real-time feedback on the control of the dFLA and lower limb loading. Following clinical practicable methods for effective feedback devices can be developed and evaluated. Additionally, the first dataset comparing kinematic and kinetic parameters for decline and incline ramp walking versus walking on an instrumented treadmill will be available for appropriate intervention planning. Trial registration ClinicalTrials.govNCT04763850. Prospectively registered on 21 February 2021.

Watch the VIDEO here. Presenter – Maria SöderholmResearch data management (RDM) is a complex and dynamic topic, and demands diverse expertise, skills and knowledge. The RDM expertise includes subtopics like collection/provision of data; storage and processing of data; long-term preservation requirements of the data; and funders’ demands and solutions to share, re-find and re-use research data. Usually the expertise related to these RDM subtopics is spread to several university units, both academic and administrative. Therefore, many tasks related to RDM, for example, day-to-day practices, the supply of services and the development work are best carried out in a network-based cooperation.In the presentation, we will introduce our RDM related partnership and networking of Aalto University. As a starting point, we introduce the internal service development working principles that our RDM network work is based on. However, the focus will be on describing our RDM working group and development activities.Aalto’s Research Data Management Programme forms the backbone for RDM work. It establishes seven separate action points for RDM activities: 1) open access publishing; 2) implementation of data management planning tool; 3) metadata catalogue for open data; 4) data publishing; 5) comprehensive repository service for storage, back-up and collaboration; 6) combining openness and innovation; and 7) RDM awareness building activities. The actors in the RDM network consist of Research and Innovation Services (leading the group), IT Services, and Learning Centre (previously Library).In the presentation, we will introduce the core actors in more detail, paying attention to the complementarity of the roles; and the activities and the aims, which steer the work. We also discuss the meaning and consequences of the network-based cooperation for the working group.First, the RDM group acts as a joint platform for comprehensive RDM information. Important means of data gathering are surveys and informal discussion with researcher. In the future, formal group discussions on RDM needs are hosted. The previous discussions with researchers have underlined the importance of arranging services for both disciplinary and data specific needs in addition to common university level service needs.Second, the group is a messenger of the RDM topics. Our task is to rise internal RDM awareness and disseminate national and international information and development trends in the university.The third and the most challenging aim is the RDM service planning and delivery. Our task is to identify the existing in-house services, to map the suitable services provided by national and international agents as well as to recognize the needs for new services. Our service portfolio covers both consultation/informational services and technical, hands-on services. However, many of our research data services are still in the planning or piloting stage, thus cooperation with researchers is essential.In our experience, the network-based collaboration model that foster individuals’ interconnectedness is crucial for surviving with the built-in dynamism of RDM. This model provides a non-hierarchical and flexible environment for actions to meet the increasing expectations for research data services we face from the funders, governments, and researchers.

PurposeThe current pandemic will introduce many novel policies, adaptations, innovations and procedures by innovative human resource (HR) creativity. In particular, information technology (IT) implementation is a field that needs more significant focus and a wider range of creative interventions. The author would undoubtedly see a more human-focused approach to HR management (HRM) in the post-coronavirus disease 2019 (post-COVID-19) era, where enterprises and workers have had to reinvent themselves in a brief amount of time drastically. Following the nationwide lockdown caused by COVID-19, many companies were pushed to opt for remote working, which presents both difficulties and benefits for workers and employers. So the purpose of this study is to investigate some key consequences resulting from COVID-19’s effect on multiple HRM roles, how technology is empowering and fostering HRM, informative forecasts based on how organizations are coping and finally, the path in the post-pandemic environment.Design/methodology/approachThe COVID-19 epidemic has had a significant effect on every area of the global economy. It has had severe implications for public institutions and raises particular questions for medical schools. The emergence of COVID-19 has disrupted many activities and requires intense and prompt attention from medical educators. So, HR leaders now face the difficult task of managing the interests of workers and their corporations. The outbreak of COVID-19 has proved that this is not just a difficult time but rather a testing time for companies across the globe to check and ensure how swiftly they adapt themselves by thinking and planning differently. An enterprise evolves with nature, and change is unavoidable if performance and productivity are to improve. Changes in structure, technology and priorities are overgrowing, posing big obstacles to leaders. Corporations worldwide have looked to technology to pursue creative solutions to some of the world’s most pressing problems. This study provides a review of articles related to the role of technology in HRM in the COVID-19 period. The analyzed articles are divided into three groups, including articles related to the role of information communication technology, cloud computing and teleworking in HRM in the COVID-19 era. Also, the most important key challenges are collected, and solutions are provided for them.FindingsIn times of trouble, authentic leadership shines through. The actions of pioneering HR leaders throughout the COVID-19 epidemic will significantly affect their respective organizations. When COVID-19 expanded around the world, HR agencies made their workers’ health and welfare a top priority. HRM’s long-term sustainability can be dictated by how they deal with the current crisis. Web-based solutions, such as cloud computing, will also address a vital resource allocation gap. It illustrates the possible efficacy of patient-oriented, web-based applications built on result-driven design, which continues to be validated by more testing and assessment. Many studies have emphasized business innovation as a necessity due to changes in the environment and various challenges and requirements facing businesses. The challenge of observing social distance and limiting face-to-face business services is the challenge of the COVID-19 pandemic era.Research limitations/implicationsThis study could entail a joint international collaboration initiative among research centers, allowing information about COVID-19 impacts to be shared more easily. It will favor a worldwide policy to find a response to the epidemic but still address cultural and social issues.Practical implicationsThe survey concludes that, whenever possible, employers and medicals should explore remote working opportunities in all industries to alleviate uncertainty and improve employee psychological well-being. The facilitating considerations and problems are often addressed in order to supply practical views for developing cloud-based solutions.Originality/valueThis research aims to lead to the advancement of scientific knowledge in the HRM area through the use of IT-based technology. It allows businesses to reinvent HRM techniques to save money and maximize efficiency without compromising their employees’ life quality and well-being. More in-depth studies at various pandemic stages would yield more valuable insights into HRM’s emerging position.

‘The joint residents’ initiative aimed at renewable energy optimization has been increasing in The Netherlands. This is evident from the survey carried out for this study during 2012 of ‘renewable energy residents initiative’ in The Netherlands, as well as the changing government policy. The engineering sector is contributing to this development by introducing new types of energy systems for housing complexes with multiple households. The underlying reasons for this change are the societal change towards less government involvement and the increase of civilian initiative in society. The underlying reason is the disappointing outcome of the current energy program, referring to the monitoring of the ‘Central Planning Bureau’ (CPB, 2009), and the ‘Energy Research Centre of The Netherlands’ ( ECN, 2010). The agreements with third parties, housing associations and developers did not result in the required and desired results (Ministry VROM & NEPROM, 2008) (Ministry VROM & Aedes, 2009). The task of the governmental program ‘Clean and Efficient ‘ for the ‘ urban environment’ is daunting (Ministry VROM, 2007a). Before 2020, CO2 emissions must (with 1990 as reference) be reduced by 30 %. Renewable energy share will have to contribute 20% to this decrease (in the less stringent ‘Energy Agreement’ (Ministry EZ, 2013) this contribution of renewable energy has remained unchanged unless the new 14% target for 2020). This is in accordance with the restated agreements with the rental sector and project development entrepreneurs (Ministry BZK & Hire Partners, 2012) (Ministry BZK & Partners, 2012). This is further supported by recent government policies. In 2011, the government developed, the ‘Plan for energy saving within urban environment‘ (Ministry BiZa, 2011b), including the ‘Block for Block’ program (Ministry BiZa, 2011a) which was aimed at reducing the energy consumption on the basis of clusters of homes. In addition, the program ‘Promoting Renewable Energy’ ( SDE ) emerged during this period and the subsequent ‘National Energy Agreement for Sustainable Growth’ (hereinafter called the ‘Energy Agreement’) (Ministry EZ, 2013 ) which are focusing on the achievement of the national goals for renewable energy emphasizing on citizen participation and initiative. However, in practice there is no breakthrough in this field: the inventory of ‘joint residents initiative’ for ‘renewable energy’ conducted in 2012 showed that only 0.2 % of Dutch households are involved. This result is consistent with the conceptual model of the ‘Transition Theory‘ ( Rotmans, 2003) (Rogers 2003). According to this model- based approach for the introduction of renewable energy innovations only 2 to 3% of the population of the ‘innovation type’ would like to participate in new developments. This could increase to 15% if the group described as ‘early adopters ‘ would participate as well. As such it will be necessary to further research the possibilities of stimulating sustainable development through ‘joint residents initiatives’. Sustainable development according to the approach of the UN Brundtland Commission (1987), includes both a physical as well a social and sustainable developments places in a durable context: ‘the developments that meet the needs of the present without compromising those of future generations.’ This would require a perfect and sustainable balance of ecological, economic and social interests. Within an urban environment, the restructuring activities (technical quality, the quality of living and quality of life in neighbourhoods and districts), social problem solving (how people interact in social cohesion) and sustainability challenges (environmental, energy -related) as well as the sustainability challenge (now and in the future) are to be the most timely and urgent. The relationships, described by Brundtland between physical, social and sustainable, laid the groundwork to involve the knowledge and experience of ‘residents initiatives’ in the Dutch neighbourhood restructuring challenges, for investigating ‘the potential’ of residents initiating renewable energy in the home environment. As was reflected in the central research question: ‘Under which conditions do social cohesion and sustainable corporate residents initiative influence each other successfully, for the sake of renewable energy in the built environment for living?’ In order to be able to answer the central research question, two lines of research were followed; in addition to research on conditions for social cohesion (a social collective of residents), conditions for residents collectives to invest in renewable energy were investigated. The research methodology included a combination of literature review, case studies at various levels (group discussions, interviews) and research among professionals (group discussions). This included (besides the literature search) all qualitative research to get the motivations and reasons behind ‘residents decisions’ more clear. The above mentioned case studies included both neighbourhoods that are known for the present social cohesion and sustainability realized as a result of ‘residents initiative’. This included the districts IJburg Amsterdam and Hoograven Utrecht, some ecological neighbourhoods in The Netherlands, as well as the GWL site in Amsterdam and ‘City of the Sun’ in Heerhugowaard. The geographic scale on which ‘residents initiatives’ appear, has therewith a part of the research and a component in analyses. Finally, group discussions with professionals regarding the role of resident initiatives, both in urban development (real estate professionals) and energy transition (renewable energy) in the environment (energy professionals) were conducted. This was included to establish the attitude and roles of professionals towards ‘residents initiative’. The conclusion is that three ‘Blocking dilemmas’ further prevent the development of ‘joint residents initiative’ for renewable energy. These ‘Blocking themes’ are: the limited motivation of residents to act sustainably, that social and sustainable ‘residents initiatives’ are not mutual acting together giving start conditions, and the fact that the professionals involved primarily act with a long term view and not short term as residents that generally do. The survey results also provide insight into new perspective for a more significant transition to renewable energy from joint initiative of resident groups. Three ‘Chance Full development opportunities’ may also contribute. These are: mainly the ‘Pull’ conditions motivate residents, residents are willing to follow ‘leaders’ (residents and/or professionals), and social cohesion provides durability on ‘joint residents initiatives’. Involvement and integration of renewable energy through ‘joint residents initiative’ cannot therefore be considered separately from the entire spectrum of sustainable development of energy sources. This because residents (individually and in groups) derive their motivation to improve the quality of life in their home environment rather, both socially and physically, as that on the basis of the renewable energy aspects alone. For a far-reaching transition of ‘residents involvement’, beyond that of the ‘early adopters’, it is not only necessary that professionals and residents are aware of this, leaders (initiating residents or professionals) are needed to start such initiatives. Only when this condition is fulfilled, projects on neighbourhood scale will be successful. The underlying reason is that residents and professionals due to their underlying interests rather act on the scale of the individual property (including the immediate environment) and the scale of the neighbourhood, the city and the region, respectively. Both local and national government can make a substantial contributions by informing citizens on a less fragmented basis, and more so as a part of the viability statement. Furthermore, taken the above aspects in the contract and covenant formation with professional companies will also improve the situation. Above all, professionals will need to listen (and to act in accordance with) to what motivates people in any situation. To obtain a full impression of the ‘Pull’ factors of residents is the first step to a successful transition towards a more significant integration of renewable energy sources in the urban environment in The Netherlands.

‘The joint residents’ initiative aimed at renewable energy optimization has been increasing in The Netherlands. This is evident from the survey carried out for this study during 2012 of ‘renewable energy residents initiative’ in The Netherlands, as well as the changing government policy. The engineering sector is contributing to this development by introducing new types of energy systems for housing complexes with multiple households. The underlying reasons for this change are the societal change towards less government involvement and the increase of civilian initiative in society. The underlying reason is the disappointing outcome of the current energy program, referring to the monitoring of the ‘Central Planning Bureau’ (CPB, 2009), and the ‘Energy Research Centre of The Netherlands’ ( ECN, 2010). The agreements with third parties, housing associations and developers did not result in the required and desired results (Ministry VROM & NEPROM, 2008) (Ministry VROM & Aedes, 2009). The task of the governmental program ‘Clean and Efficient ‘ for the ‘ urban environment’ is daunting (Ministry VROM, 2007a). Before 2020, CO2 emissions must (with 1990 as reference) be reduced by 30 %. Renewable energy share will have to contribute 20% to this decrease (in the less stringent ‘Energy Agreement’ (Ministry EZ, 2013) this contribution of renewable energy has remained unchanged unless the new 14% target for 2020). This is in accordance with the restated agreements with the rental sector and project development entrepreneurs (Ministry BZK & Hire Partners, 2012) (Ministry BZK & Partners, 2012). This is further supported by recent government policies. In 2011, the government developed, the ‘Plan for energy saving within urban environment‘ (Ministry BiZa, 2011b), including the ‘Block for Block’ program (Ministry BiZa, 2011a) which was aimed at reducing the energy consumption on the basis of clusters of homes. In addition, the program ‘Promoting Renewable Energy’ ( SDE ) emerged during this period and the subsequent ‘National Energy Agreement for Sustainable Growth’ (hereinafter called the ‘Energy Agreement’) (Ministry EZ, 2013 ) which are focusing on the achievement of the national goals for renewable energy emphasizing on citizen participation and initiative. However, in practice there is no breakthrough in this field: the inventory of ‘joint residents initiative’ for ‘renewable energy’ conducted in 2012 showed that only 0.2 % of Dutch households are involved. This result is consistent with the conceptual model of the ‘Transition Theory‘ ( Rotmans, 2003) (Rogers 2003). According to this model- based approach for the introduction of renewable energy innovations only 2 to 3% of the population of the ‘innovation type’ would like to participate in new developments. This could increase to 15% if the group described as ‘early adopters ‘ would participate as well. As such it will be necessary to further research the possibilities of stimulating sustainable development through ‘joint residents initiatives’. Sustainable development according to the approach of the UN Brundtland Commission (1987), includes both a physical as well a social and sustainable developments places in a durable context: ‘the developments that meet the needs of the present without compromising those of future generations.’ This would require a perfect and sustainable balance of ecological, economic and social interests. Within an urban environment, the restructuring activities (technical quality, the quality of living and quality of life in neighbourhoods and districts), social problem solving (how people interact in social cohesion) and sustainability challenges (environmental, energy -related) as well as the sustainability challenge (now and in the future) are to be the most timely and urgent. The relationships, described by Brundtland between physical, social and sustainable, laid the groundwork to involve the knowledge and experience of ‘residents initiatives’ in the Dutch neighbourhood restructuring challenges, for investigating ‘the potential’ of residents initiating renewable energy in the home environment. As was reflected in the central research question: ‘Under which conditions do social cohesion and sustainable corporate residents initiative influence each other successfully, for the sake of renewable energy in the built environment for living?’ In order to be able to answer the central research question, two lines of research were followed; in addition to research on conditions for social cohesion (a social collective of residents), conditions for residents collectives to invest in renewable energy were investigated. The research methodology included a combination of literature review, case studies at various levels (group discussions, interviews) and research among professionals (group discussions). This included (besides the literature search) all qualitative research to get the motivations and reasons behind ‘residents decisions’ more clear. The above mentioned case studies included both neighbourhoods that are known for the present social cohesion and sustainability realized as a result of ‘residents initiative’. This included the districts IJburg Amsterdam and Hoograven Utrecht, some ecological neighbourhoods in The Netherlands, as well as the GWL site in Amsterdam and ‘City of the Sun’ in Heerhugowaard. The geographic scale on which ‘residents initiatives’ appear, has therewith a part of the research and a component in analyses. Finally, group discussions with professionals regarding the role of resident initiatives, both in urban development (real estate professionals) and energy transition (renewable energy) in the environment (energy professionals) were conducted. This was included to establish the attitude and roles of professionals towards ‘residents initiative’. The conclusion is that three ‘Blocking dilemmas’ further prevent the development of ‘joint residents initiative’ for renewable energy. These ‘Blocking themes’ are: the limited motivation of residents to act sustainably, that social and sustainable ‘residents initiatives’ are not mutual acting together giving start conditions, and the fact that the professionals involved primarily act with a long term view and not short term as residents that generally do. The survey results also provide insight into new perspective for a more significant transition to renewable energy from joint initiative of resident groups. Three ‘Chance Full development opportunities’ may also contribute. These are: mainly the ‘Pull’ conditions motivate residents, residents are willing to follow ‘leaders’ (residents and/or professionals), and social cohesion provides durability on ‘joint residents initiatives’. Involvement and integration of renewable energy through ‘joint residents initiative’ cannot therefore be considered separately from the entire spectrum of sustainable development of energy sources. This because residents (individually and in groups) derive their motivation to improve the quality of life in their home environment rather, both socially and physically, as that on the basis of the renewable energy aspects alone. For a far-reaching transition of ‘residents involvement’, beyond that of the ‘early adopters’, it is not only necessary that professionals and residents are aware of this, leaders (initiating residents or professionals) are needed to start such initiatives. Only when this condition is fulfilled, projects on neighbourhood scale will be successful. The underlying reason is that residents and professionals due to their underlying interests rather act on the scale of the individual property (including the immediate environment) and the scale of the neighbourhood, the city and the region, respectively. Both local and national government can make a substantial contributions by informing citizens on a less fragmented basis, and more so as a part of the viability statement. Furthermore, taken the above aspects in the contract and covenant formation with professional companies will also improve the situation. Above all, professionals will need to listen (and to act in accordance with) to what motivates people in any situation. To obtain a full impression of the ‘Pull’ factors of residents is the first step to a successful transition towards a more significant integration of renewable energy sources in the urban environment in The Netherlands.

‘The joint residents’ initiative aimed at renewable energy optimization has been increasing in The Netherlands. This is evident from the survey carried out for this study during 2012 of ‘renewable energy residents initiative’ in The Netherlands, as well as the changing government policy. The engineering sector is contributing to this development by introducing new types of energy systems for housing complexes with multiple households. The underlying reasons for this change are the societal change towards less government involvement and the increase of civilian initiative in society. The underlying reason is the disappointing outcome of the current energy program, referring to the monitoring of the ‘Central Planning Bureau’ (CPB, 2009), and the ‘Energy Research Centre of The Netherlands’ ( ECN, 2010). The agreements with third parties, housing associations and developers did not result in the required and desired results (Ministry VROM & NEPROM, 2008) (Ministry VROM & Aedes, 2009). The task of the governmental program ‘Clean and Efficient ‘ for the ‘ urban environment’ is daunting (Ministry VROM, 2007a). Before 2020, CO2 emissions must (with 1990 as reference) be reduced by 30 %. Renewable energy share will have to contribute 20% to this decrease (in the less stringent ‘Energy Agreement’ (Ministry EZ, 2013) this contribution of renewable energy has remained unchanged unless the new 14% target for 2020). This is in accordance with the restated agreements with the rental sector and project development entrepreneurs (Ministry BZK & Hire Partners, 2012) (Ministry BZK & Partners, 2012). This is further supported by recent government policies. In 2011, the government developed, the ‘Plan for energy saving within urban environment‘ (Ministry BiZa, 2011b), including the ‘Block for Block’ program (Ministry BiZa, 2011a) which was aimed at reducing the energy consumption on the basis of clusters of homes. In addition, the program ‘Promoting Renewable Energy’ ( SDE ) emerged during this period and the subsequent ‘National Energy Agreement for Sustainable Growth’ (hereinafter called the ‘Energy Agreement’) (Ministry EZ, 2013 ) which are focusing on the achievement of the national goals for renewable energy emphasizing on citizen participation and initiative. However, in practice there is no breakthrough in this field: the inventory of ‘joint residents initiative’ for ‘renewable energy’ conducted in 2012 showed that only 0.2 % of Dutch households are involved. This result is consistent with the conceptual model of the ‘Transition Theory‘ ( Rotmans, 2003) (Rogers 2003). According to this model- based approach for the introduction of renewable energy innovations only 2 to 3% of the population of the ‘innovation type’ would like to participate in new developments. This could increase to 15% if the group described as ‘early adopters ‘ would participate as well. As such it will be necessary to further research the possibilities of stimulating sustainable development through ‘joint residents initiatives’. Sustainable development according to the approach of the UN Brundtland Commission (1987), includes both a physical as well a social and sustainable developments places in a durable context: ‘the developments that meet the needs of the present without compromising those of future generations.’ This would require a perfect and sustainable balance of ecological, economic and social interests. Within an urban environment, the restructuring activities (technical quality, the quality of living and quality of life in neighbourhoods and districts), social problem solving (how people interact in social cohesion) and sustainability challenges (environmental, energy -related) as well as the sustainability challenge (now and in the future) are to be the most timely and urgent. The relationships, described by Brundtland between physical, social and sustainable, laid the groundwork to involve the knowledge and experience of ‘residents initiatives’ in the Dutch neighbourhood restructuring challenges, for investigating ‘the potential’ of residents initiating renewable energy in the home environment. As was reflected in the central research question: ‘Under which conditions do social cohesion and sustainable corporate residents initiative influence each other successfully, for the sake of renewable energy in the built environment for living?’ In order to be able to answer the central research question, two lines of research were followed; in addition to research on conditions for social cohesion (a social collective of residents), conditions for residents collectives to invest in renewable energy were investigated. The research methodology included a combination of literature review, case studies at various levels (group discussions, interviews) and research among professionals (group discussions). This included (besides the literature search) all qualitative research to get the motivations and reasons behind ‘residents decisions’ more clear. The above mentioned case studies included both neighbourhoods that are known for the present social cohesion and sustainability realized as a result of ‘residents initiative’. This included the districts IJburg Amsterdam and Hoograven Utrecht, some ecological neighbourhoods in The Netherlands, as well as the GWL site in Amsterdam and ‘City of the Sun’ in Heerhugowaard. The geographic scale on which ‘residents initiatives’ appear, has therewith a part of the research and a component in analyses. Finally, group discussions with professionals regarding the role of resident initiatives, both in urban development (real estate professionals) and energy transition (renewable energy) in the environment (energy professionals) were conducted. This was included to establish the attitude and roles of professionals towards ‘residents initiative’. The conclusion is that three ‘Blocking dilemmas’ further prevent the development of ‘joint residents initiative’ for renewable energy. These ‘Blocking themes’ are: the limited motivation of residents to act sustainably, that social and sustainable ‘residents initiatives’ are not mutual acting together giving start conditions, and the fact that the professionals involved primarily act with a long term view and not short term as residents that generally do. The survey results also provide insight into new perspective for a more significant transition to renewable energy from joint initiative of resident groups. Three ‘Chance Full development opportunities’ may also contribute. These are: mainly the ‘Pull’ conditions motivate residents, residents are willing to follow ‘leaders’ (residents and/or professionals), and social cohesion provides durability on ‘joint residents initiatives’. Involvement and integration of renewable energy through ‘joint residents initiative’ cannot therefore be considered separately from the entire spectrum of sustainable development of energy sources. This because residents (individually and in groups) derive their motivation to improve the quality of life in their home environment rather, both socially and physically, as that on the basis of the renewable energy aspects alone. For a far-reaching transition of ‘residents involvement’, beyond that of the ‘early adopters’, it is not only necessary that professionals and residents are aware of this, leaders (initiating residents or professionals) are needed to start such initiatives. Only when this condition is fulfilled, projects on neighbourhood scale will be successful. The underlying reason is that residents and professionals due to their underlying interests rather act on the scale of the individual property (including the immediate environment) and the scale of the neighbourhood, the city and the region, respectively. Both local and national government can make a substantial contributions by informing citizens on a less fragmented basis, and more so as a part of the viability statement. Furthermore, taken the above aspects in the contract and covenant formation with professional companies will also improve the situation. Above all, professionals will need to listen (and to act in accordance with) to what motivates people in any situation. To obtain a full impression of the ‘Pull’ factors of residents is the first step to a successful transition towards a more significant integration of renewable energy sources in the urban environment in The Netherlands.

We are very proud to launch this special issue of Approaches entitled ‘Guided Imagery and Music: Contemporary European perspectives and developments’. With its body of articles, we hope to inspire practitioners, researchers and educators from many fields: Guided Imagery and Music (GIM) therapists, music therapists as well as professionals from other health professions. But, why a special issue on GIM in Europe? And why now? The most obvious reason is the celebration of the formation of an independent European branch of the American Association of Guided Imagery and Music that took place at the 12th European GIM Conference in Athens, Greece, September 2016. But we have to go back to the beginning. Guided Imagery and Music The music therapy method GIM, being one of the top five music therapy approaches in the world according to the amount of practice, research and publications (Wheeler et al. 2012), was originally founded in USA in the 1970s by the music therapist, musician, and researcher Helen Lindquist Bonny (1921-2010) (Bonny 2002; Bonny & Savary 1973). Bonny was inspired by humanistic and existential philosophies at her time, as well as by her own spiritual experiences with music. After providing music for LSD psychotherapy sessions together with Stanislav Grof as part of their research in Maryland Hospital, Baltimore, she discovered that listening to classical Western music in itself, in an expanded state of consciousness, could serve as a vehicle of deep inner transformation and unravelling of unconscious material. She saw music as a rich source of inspiration and creativity beyond words that could reach the very core of the human soul to bring out repressed emotions and memories, as well as serving as a method for the exploration of consciousness and inner growth. Bonny selected pieces from different composers and compiled programmes of music with titles such as “Peak Experience”, “Transitions” and “Explorations” (Meadows, 2010), although realising the multiple and deep reaching individual imagery experience that the music would set into motion. In GIM, imagery implies visual images, all sensory and kinaesthetic experiences, emotions, and memories or thoughts that can be elicited by the music during listening in an expanded (non-ordinary) state of consciousness. An individual GIM session is composed of five phases: a pre-talk, a guided relaxation to get the ’traveller’ (client) into an expanded state of consciousness, a music listening phase with ongoing verbal dialogue between traveller and ‘guide’ (therapist) about the imagery experience, a guiding back and expression of the experience in a painting (mandala), and a processing post-talk. It is important to note that in GIM, it is not the therapist that “guides” the client into the imagery, but the music itself. The client free-associates during the music listening period, as opposed to other methods where the process is based on a given script provided by the therapist or a recorded voice. Since the beginning, GIM has spread from USA to many countries around the world, many new music programmes have been created, and adaptations of the method to the needs of populations in mental health and medical settings have been applied with enriched perspectives on humanistic, psychodynamic, transpersonal/ archetypal and even cognitive-behavioural theoretical frameworks. Neuroscience findings have amplified our understanding of the effects of music and imagery in the brain and consequently to the human body. Subsequently, a developing amount of research in GIM is now being carried out (Bonde 2015; Grocke 2010; McKinney 2002; McKinney & Honig 2017). In the Aalborg graduate music therapy programme in Denmark, eight out of 46 PhD theses are GIM-related (http://www.mt-phd.aau.dk/phd-theses/), and four additional GIM studies are in process (http://www.mt-phd.aau.dk/organisation/current/). Short history of the development of GIM associations The American “Association for Music & Imagery” (AMI) was created in 1987 and has grown to be an international organisation with the purpose to provide basic information about GIM, practitioners, training programmes, ethical standards, conferences and the biannual publishing of the Journal of Association for Music & Imagery (see https://ami-bonnymethod.org, and Parker 2010). The “Music & Imagery Association of Australia” was created in 1994 (http://www.musicandimagery.org.au/). In Europe, an intense work of consolidation and identity forming has been taking place over the years, and a continued work to found an independent association has been undertaken, first by a ‘steering boat’ consisting of the four European GIM primary trainers Margareta Wärja, Leslie Bunt, Torben Moe and Dag Körlin, and since the Oslo conference in 2008, by the European Network of GIM (ENGIM) with an expanded steering boat (Wärja 2010). In the European GIM Conference in Berlin (2014), a preliminary association was formed, and finally in Athens (2016), a formal European Association of Music and Imagery (EAMI) union was founded (https://www.music-and-imagery.eu/) with the support from the Australian sister organisation (chair: Denise Grocke) and from AMI (president-elect: Suzannah Scott-Moncrieff) (see also conference report by Samara 2017, and Moe and Lund 2017, in this issue). Several passionate speeches inspired the final vote towards the formation of EAMI. Margareta Wärja said: “We (Europeans) do not have what you (Australians and Americans) have – we have diversity, cultural differences, different training formats, challenges – and this is rich like a gem – we need to embrace the differences, and to be able to communicate and find harmony, in order to grow!” Marilyn Clark from USA shared an inner image of Bonny extending her hands to her across a stream, asking her to jump. Marilyn imparted the trust she learned from Bonny with the Europeans and encouraged them to trust – as if it was Bonny herself who extended her hands to embrace and unite us all: “At this time, we are not pulling you to the United States, but pulling you into a deeper river with music and imagery, and all the things you will do with it, which will be above and beyond and different from what the Bonny method of Guided Imagery is”. Marilyn addressed the loss Europeans will be to AMI, but at the same time shared how amazing the growth of the method has been; Bonny did her first sessions in her spare bedroom, and now we have three organisations, and there even might be a Pacific AMI in the future as GIM is spreading to the East. She quoted Bonny that “we have the ‘tiger by the tail’”, the tiger being “empathy, bringing the beauty of music to people who really need it, creating a bridge to transformation”. It was a touching moment for all to receive this support from Marilyn and her connection with Helen Bonny. The formation of EAMI has raised a question of identity: Is there a special profile of GIM in Europe compared to the rest of the world? It might well be that the clinical application of GIM into medical health and social service institutions have informed the development of adaptations of GIM more in Europe than in the rest of the world by now, supported by research showing beneficial outcomes of GIM and Music and Imagery (MI), and inspiring the training formats to include more ‘modified GIM’ formats. Having said that, it is important to bear in mind that Europe consists of different countries with large differences in their health care systems and education regulations, not to mention different languages. Given this diversity, it has not been an easy task to find a common ground for the description of standards and demands for GIM education – a development that is still in process. According to EAMI, professional training in GIM/MI is geared towards mental health professionals and is designed to develop skills on the uses of the method in various clinical and socio-educational contexts, mainly (but not exclusively) as a music-assisted psychotherapy or self-development technique. As GIM is the most established and widespread method in receptive music therapy, perhaps it is now time for EAMI to strengthen the bonds with other music therapy organisations, especially the European Music Therapy Confederation (EMTC) and the World Federation of Music Therapy (WFMT) – an issue raised previously also by Bonde (2015). Towards the spectrum of GIM/MI approaches Bonny herself worked with both an individual Guided Music and Imagery (GIM) format and an unguided group format, which she called group GIM or Music and Imagery (MI) respectively, and adaptations to different clinical groups were already described from the early days of GIM. Though, the nomenclature of GIM in research and practice has been an issue for years. When is it “traditional” Bonny method? When can a modification be considered a specific method with a new name? What are the different forms of modifications? When does a modification go beyond the limits, so that it is not GIM anymore? In this issue, we have chosen to embrace the issue of nomenclature with an open attitude allowing the individual authors to use their own definitions. However, we would like to refer to the recent book on GIM adaptations (Grocke & Moe 2015), Muller’s book on variations (2014), Bruscia’s (2017) note on definitions, and the European training standards of EAMI (in effect from 2019) that acknowledge the use of GIM modifications and describe them within a hierarchy where the term GIM is used as the overarching umbrella term (see also Bonde 2017, in this issue). In figure 1, different formats of GIM can be seen: the individual GIM formats include the full 1.5 to 2 hours session Bonny Method of GIM (BMGIM), the short GIM (a full session but shortened in time and music listening period), modified GIM (modifications of one or more parts of the method, i.e. using non-classical music) and Music and Imagery (MI) which includes music listening without verbal interaction/guiding during the music. GIM in groups usually is a MI method without guiding during the music (GrpMI); however, interactive communication between group members can also take place in a specific format (Group GIM). Modifications of GIM also include the combination of GIM and other therapeutic methods and approaches, as described in several of the papers in the present issue. The spectrum of GIM and MI methods Individual work Individual GIM(The Bonny method) Short individual GIM Modified individual GIM Music and Imagery (MI) Group work Interactive group GIM Group Music and Imagery (MI) Figure 1: The spectrum of GIM and MI methods (according to EAMI’s Training Standards, 2017) Hence, in Europe we embrace the full Bonny method as well as a whole spectrum of GIM and MI methods, including short forms and modified approaches in individual therapy and group work. The theory formation of GIM is continuously developing, both concerning the understanding of the GIM process itself related to different philosophies and therapeutic theories, and concerning the development of specific adaptations for different clinical purposes. EAMI has developed its own competency-based standards in education of GIM, offering a wide range of approaches and flexibility in the practice of the method in various settings (EAMI, 2017). Contents of the current issue This special issue of GIM in Europe received an abundance of submissions which we experience as an illustration of the current creativity and liveliness of the GIM development in the continent. We are happy to be able to present 16 papers, including original research, theoretical developments, descriptions of GIM adaptations, case studies, presentations of new GIM programmes, a conference report, an interview with the current chair of EAMI, and a book review. The first three papers illustrate GIM in the light of somatic and neurological theories. First Gabriella Rudstam, Ulf Elofsson, Hans Peter Søndergaard, from Sweden with supervisors Lars Ole Bonde and Bolette Daniels Beck from Denmark present original research results from a pilot study on a trauma-focused adaptation of group GIM with women suffering from PTSD and Complex PTSD. Italian psychiatrist and GIM primary trainer Gabriella Giordanelli Perilli discusses aspects of neurological research that describes how GIM can bring forward “tacit knowledge”. Furthermore, she describes a combination of GIM with “redescriptive technique”, as she draws theory from cognitive sciences that introduces a homework assignment for the GIM traveller to do a written narrative about core imagery, serving as a help to integrate the GIM experience. Music therapist, GIM therapist and researcher Ilan Sanfi together with Erik Christensen with a background in music phenomenology, both from Denmark, present a literature review covering the use of music therapy and music medicine in the treatment of chronic pain with a neuroscientific perspective. They find that music interventions such as GIM and Music and Imagery (MI) exert a considerable impact on the physiological and psychological aspects of pain. The next two papers are concerned with clinical aspects of GIM from the therapist perspective. Isabelle Frohne Hagemann, music therapist and GIM primary trainer from Germany writes on GIM supervision adapting a multi-perspective and meta-hermeneutic perspective. Political, theoretical, ethical and practical dimensions are presented and a case example illustrating the complexity of GIM supervision. Psychotherapist and GIM therapist Katarina Mårtenson Blom presents a lyrical first-person analysis of the process of the GIM therapist based on intersubjectivity theory and the concept “the process of surrender”. Another original theoretical contribution is a theoretical essay by the GIM primary trainer Martin Lawes from the UK who draws from the works of the psychoanalyst Ehrenzweig and the physicist Bohm (among others) to describe the deep nature of music as “unfolding wholes”. This theoretical paper is going to the roots of music and consciousness. Lars Ole Bonde, GIM primary trainer, professor at Aalborg University and at the Centre for Research in Music and Health in Oslo, has investigated the use of GIM and its adaptations among professional GIM therapists in Denmark. He finds that adaptations of GIM are used widely in many populations whereas the full Bonny method is applied in a much smaller scale, and he advocates for more training in modifications/adaptations of GIM in the education of GIM therapists. GIM in combination with other psychotherapeutic methods are illustrated by the next two authors. Medical practitioner and GIM therapist Gert Tuinmann from Germany presents his use of a combination of the cognitive method Schema therapy and GIM, exemplified with a case example. The psychologists Evdokia Smirnioti and Sofia Trifonopoulou together with music therapist and primary school teacher Eleni Tsolka, all advanced GIM students from Greece, have described their combination of group GIM processes with fairy tales. The participants “travel” to the music together and tell each other about their imagery along with the music, and their joint story is made into a shared fairy tale, reflecting unconscious processes in the group. Two case studies are going into depth about the clinical process in GIM. Katarina Mårtenson Blom presents a case study that is informed by psychodynamic and relational theory. She analyses the GIM process of a 52-year-old woman with a history of trauma and loss through the “experiential categories of analysis”, that was developed in her doctoral research. Another case study by music therapist and GIM practitioner Alice Pehk from Estonia is based on psychodynamic theory and recounts the GIM process of a young woman with music performance anxiety. Two GIM music programmes are introduced by Norwegian GIM therapists and researchers. Professor Gro Trondalen presents the use of the programme “Soundscapes” that is based on Norwegian compositions. National cultural and nature associations to the music are illustrated through a case study. Associate professor, GIM therapist and assistant trainer Svein Fuglestad presents his music programme called “New blood”, that is a compilation of instrumental recordings of pop songs by Peter Gabriel. Fuglestad provides an analysis of the music based on mood and music profile. GIM therapist with studies in psychology/philosophy Steen Teis Lund from Denmark has interviewed the current chair of EAMI Torben Moe about his background and opinions regarding the future of GIM in Europe; flexibility and openness are discussed as important for the ongoing development and application of the method. Maria Samara, music therapist and GIM therapist from Greece/Switzerland has written a report regarding the 12th GIM conference held in Athens, Greece, where EAMI was established. The report mirrors the special atmosphere of the conference and sees the many new GIM adaptations as answers to the challenges we are faced with in the world, with a specific focus on Europe. Finally, Martin Lawes reviews the book “Variations in Guided Imagery and Music: Taking a Closer Look” by Muller. With this colourful fan of perspectives on GIM, we wish the readers inspiration for future practice, research and development. Acknowledgement We would like to give special thanks to all the contributing authors of this special edition, to the board of reviewers who were specially selected for the present issue, to “SONORA”, a Greek-based Organisation for Music Therapy & Research, for the support and promotion of this special issue, and, last but not least, to the editor in chief Giorgos Tsiris and the team at Approaches for hosting this issue, guiding the process, and proofreading the manuscripts. We hope to be able to host GIM therapists and students, health professionals, and researchers from the entire world in future European conferences, and to continue collaboration and sharing the amazing process of GIM: “May the music take you where you need to go…” References Bonde, L. O. (2015). The Bonny Method of Guided Imagery and Music (GIM) in Europe. Approaches: Music Therapy & Special Music Education, Special Issue 7(1), 86-90. Retrieved from: https://approaches.gr/the-bonny-method-of-guided-imagery-and-music-gim-in-europe-lars-ole-bonde/ Bonde, L.O. (2017). The future of the Bonny Method: A perspective on Danish practice with a forecast to the future. Approaches: An Interdisciplinary Journal of Music Therapy, Special Issue 9(2). Retrieved from: https://approaches.gr/special-issue-9-2-2017 Bonny, H. (2002). Music Consciousness: The Evolution of Guided Imagery and Music (Edited by L. Summer). Gilsum, NH: Barcelona Publishers. Bonny, H., & Savary, L. (1973). Music and Your Mind: Listening with a New Consciousness (1st ed.). New York: Harper & Row. Bruscia, K. (2017). Notes on the Practice of Guided Imagery and Music. Dallas TX: Barcelona Publishers. Bruscia, K. E., & Grocke, D. E. (Eds.). (2002). Guided Imagery and Music: The Bonny Method and Beyond. Gilsum, NH: Barcelona Publishers. European Association for Music & Imagery (EAMI) (2017). Standards for Training in Guided Imagery & Music (GIM). Copenhagen: EAMI. Grocke, D. (2010). An overview of research in the Bonny method of Guided Imagery and Music. Voices: A World Forum for Music Therapy, 10(3). Retrieved from: https://voices.no/index.php/voices/article/view/340 Grocke, D. & Moe, T. (Eds.). (2015). Guided imagery & Music (GIM) and Music Imagery Methods for Individual and Group Therapy: A Spectrum of Approaches. London: Jessica Kingsley Publishers. McKinney, C. (2002). Quantitative GIM. In K. E. Bruscia & D. E. Grocke (Eds.), The Bonny Method of Guided Imagery and Music and Beyond (pp. 449-466). Gilsum: Barcelona Publishers. McKinney, C. H., & Honig, T. J. (2017). Health outcomes of a series of Bonny Method of Guided Imagery and Music sessions: A systematic review. Journal of Music Therapy, 54(1), 1-34. Meadows, A. (2010). The evolution of GIM programming. Voices: A World Forum for Music Therapy, 10(3). Retrieved from: https://voices.no/index.php/voices/article/view/497 Moe, T., & Lund, S.T. (2017). In search of the lost grail: An interview with Torben Moe. Approaches: An Interdisciplinary Journal of Music Therapy, Special Issue 9(2). Retrieved from: https://approaches.gr/special-issue-9-2-2017 Muller, F. (2014). Variations in Guided Imagery & Music: Taking a Closer Look. Dallas TX: Barcelona Publishers. Parker, A. (2010). Report on the Association for Music and Imagery: The development of Guided Imagery and Music around the world. Voices: A World Forum for Music Therapy 10(3). Retrieved from: https://voices.no/index.php/voices/article/view/443 Samara, M. (2017). Conference Report: 12th European Guided Imagery and Music (GIM) Conference “European perspectives on Guided Imagery and Music: Visions, challenges and crossroads’. Approaches: An Interdisciplinary Journal of Music Therapy, Special Issue 9(2), 367-374. Retrieved from: https://approaches.gr/special-issue-9-2-2017 Wärja, M. (2010). Roots and branches of the European Network of Guided Imagery and Music (ENGIM). Voices: A World Forum for Music Therapy, 10(3). Retrieved from: https://voices.no/index.php/voices/article/view/559 Wheeler, B., Wagner, G., Summer, L., Clifford, M., Turry, A., & Eschen, J. T. (2012). Five international models of music therapy practice. Voices: A World Forum for MusicTherapy, 12(1). Retrieved from: https://voices.no/index.php/voices/article/view/634/507 Suggested citation:Papanikolaou, E., & Beck, B. D. (2017). Celebrating GIM developments in Europe. Approaches: An Interdisciplinary Journal of Music Therapy, Special Issue 9(2), 191-195.