Relevant bibliographies by topics / Mind and body – Juvenile literature

Academic literature on the topic 'Mind and body – Juvenile literature'

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Published: 26 July 2024
Last updated: 27 July 2024

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Journal articles on the topic "Mind and body – Juvenile literature"

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Gao, Zitong. "The Analysis of Juvenile Game Addiction and Its Influence." Communications in Humanities Research 5, no. 1 (September 14, 2023): 73–76. http://dx.doi.org/10.54254/2753-7064/5/20230072.

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With the development of the Internet, online games are becoming more and more popular. Boys, middle school students, and children have a higher percentage of minors playing online games, according to data from the 2020 National Research Report on Minors' Internet Use. The purpose of this paper is to study the reasons why minors are addicted to games and its impact on body and mind. Through literature reading and analysis, it is found that the important factors of teenagers addicted to the Internet are family factors and school factors. In the family, parents should try not to use mobile phones when they are with their children. In schools, schools should also teach students in accordance with their aptitude, pay attention to the all-round development of students, and enrich their cultural life.
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Navarrete-Dualde, Jorge. "Socioeconomic Challenges of Adolescent Obesity." Health Economics and Management Review 3, no. 4 (2022): 62–73. http://dx.doi.org/10.21272/hem.2022.4-07.

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Obesity is the epidemic of the century, due to its prevalence, impact on national budgets, loss in a gross domestic product, productivity loss, and impact on mortality, morbidity and quality of life. National behaviour change campaigns have not yet shown acceptable long-term results, and there is a need for higher taxation on unhealthy food. Besides, adolescents are vulnerable and easily targeted by “ultra-funded” sophisticated marketing campaigns. Modest evidence on first and second-line treatments makes bariatric surgery the main treatment of choice. Bariatric surgery could be the standard of care provided to those adolescents who failed weight loss attempts for more than six months and present pre-specified high body mass index and obesity-related comorbidities. To confirm whether the findings extracted from the initial narrative search were still valid, an additional, more profound narrative search, including systematic literature review features, was performed, extracting information before the COVID-19 pandemic from three databases: PubMed from 2018 to 2019; Google Scholar from 2018 to 2019; and The Centre for Reviews and Dissemination from the University of York (from 2010 to 2019). Policymakers need to commit with community health campaigns to change societal behaviour on the real impact of obesity. There is a need for earmarked taxation on unhealthy food to prevent obesity publicly and provide enough funds to increase the provision and reimbursement of bariatric surgery. Bariatric surgery at early ages can reduce the progression of morbid obesity-related comorbidities. However, evaluations of morbidly obese adolescents are not performed in time, due to barriers, which avoid upcoming bariatric surgery procedures. Stakeholders should develop strategies to reduce attrition rate and improve patient retention through juvenile-oriented care. There are still ethical aspects pending since we do not fully know the long-term effects and complications. Given the low impact of public preventive campaigns targeting voluntary behavioural change in the long run, and the lax taxation and regulation on the food industry, decision makers should change their mind on bariatric surgery, from an indulgent waste of money to an effective fund-saver.
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Wayne, Peter M., Gloria Yeh, and Darshan Mehta. "Minding the Mind-Body Literature." Journal of Alternative and Complementary Medicine 22, no. 11 (November 2016): 849–52. http://dx.doi.org/10.1089/acm.2016.29013.lit.

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Kapparis, K. "Mind—Body." Classical Review 51, no. 2 (October 2001): 305–7. http://dx.doi.org/10.1093/cr/51.2.305.

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Wayne, Peter M., Darshan Mehta, and Gloria Yeh. "Minding the Mind–Body Literature: Focusing on Veterans." Journal of Alternative and Complementary Medicine 23, no. 6 (June 2017): 401–4. http://dx.doi.org/10.1089/acm.2017.29029.pjw.

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Saxena, Kirti, Janet J. Baek, and Graham J. Emslie. "MIND-BODY INTERVENTIONS FOR YOUTH IN SCHOOLS, JUVENILE HALLS, AND CLINICAL SETTINGS." Journal of the American Academy of Child & Adolescent Psychiatry 59, no. 10 (October 2020): S48. http://dx.doi.org/10.1016/j.jaac.2020.07.207.

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Kambi, Mrs Rajeshwari, Mr Mahendrakumar Nalatwadmath, and Ms Samarin J. Awati. "“Impact of Yoga in Daily Life”-A Literature Review." Saudi Journal of Nursing and Health Care 5, no. 7 (July 29, 2022): 156–57. http://dx.doi.org/10.36348/sjnhc.2022.v05i07.005.

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Yoga is a way to achieve complete balance between the body, mind, and soul. The Sanskrit word yuj, which implies union, is where the word yoga first appeared. Fusion of the individual and the collective mind. Practicing yoga can help you keep your equilibrium. Avoiding various health issues requires proper equilibrium. Your body gains a lot from yoga. Your ability to focus and how you approach problems both increase. It's a lifetime choice rather than just an activity. Your mind, body, and spirit will all benefit from it in various ways.
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Kashyap, Divya, Abhishek Kumar Sandilya, R. Arunmozhi, and Meghna Wadhwa. "Integrating Mind-Body Techniques in Physiotherapy Rehabilitation: A Review of Literature." Scholars International Journal of Traditional and Complementary Medicine 7, no. 06 (June 3, 2024): 69–77. http://dx.doi.org/10.36348/sijtcm.2024.v07i06.001.

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Aim- This study aimed to examine the usefulness of various mind-body interventions in physiotherapy rehabilitation. Methods- Through a comprehensive review of the literature on topics such as yoga, mind-body exercise, Tai Chi, pain neuroscience education, and mindfulness-based stress reduction, the researchers identified the potential benefits and drawbacks of incorporating these interventions into clinical practice. Result- These results indicate that combining mind-body therapies with physiotherapy rehabilitation may lead to positive outcomes for patients in terms of their recovery and overall well-being. Conclusion- The integration of mind-body techniques in physiotherapy rehabilitation holds significant promise for improving recovery and fostering general psychological well-being in individuals with musculoskeletal, neurological, and other conditions.
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Wayne, Peter, Darshan Mehta, and Gloria Yeh. "Minding the Mind-Body Literature: Frontiers in Cancer Treatment." Journal of Alternative and Complementary Medicine 23, no. 1 (January 2017): 4–7. http://dx.doi.org/10.1089/acm.2016.29017.pjw.

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Wayne, Peter M., Gloria Yeh, and Darshan H. Mehta. "Minding the Mind–Body Literature: Aging and Cognitive Decline." Journal of Alternative and Complementary Medicine 24, no. 3 (March 2018): 196–99. http://dx.doi.org/10.1089/acm.2018.29044.pjw.

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Dissertations / Theses on the topic "Mind and body – Juvenile literature"

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Seymour, Emma Ursula Harriet. "#Dangerous conceits' : mind, body, and metaphor 1590-1640." Thesis, University of Cambridge, 1993. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.295352.

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Mason, Joel W. "The concept of mind in Pauline literature." Theological Research Exchange Network (TREN), 1988. http://www.tren.com.

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Perham, John. "SCIENCEFRICTION: OF THE POSTHUMAN SUBJECT, ABJECTION, AND THE BREACH IN MIND/BODY DUALISM." CSUSB ScholarWorks, 2016. https://scholarworks.lib.csusb.edu/etd/268.

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This thesis investigates the multiple readings that arise when the division between the biological and technological is interrupted--here abjection is key because the 
binary between abjection and gadgetry gives multiple meanings to other binaries, including male/female. Using David Cronenberg’s Videodrome and eXistenZ, I argue that multiple readings arise because of people’s participation with electronically mediated technology. Indeed, abjection is salient because Cronenberg’s films present an ambivalent relationship between people and technology; this relationship is often an uneasy one because technology changes people on both a somatic and cognitive level.
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Frendo, Ruth. "The tyranny of the soul : mind, body and humanity in Katherine Anne Porter, Caroline Gordon and Flannery O'Connor." Thesis, University of Essex, 2002. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.391537.

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Lang, Christopher T. "The importance of consciousness and the mind/body problem exploring social systems of containment in 19th century American literature /." Instructions for remote access. Click here to access this electronic resource. Access available to Kutztown University faculty, staff, and students only, 2006. http://www.kutztown.edu/library/services/remote_access.asp.

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Thesis (M.A.)--Kutztown University of Pennsylvania, 2006.
Source: Masters Abstracts International, Volume: 45-06, page: 2833. Typescript. Abstract precedes thesis as 1 leaf (iii). Includes bibliographical references (leaves 461-474).
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Jones, William Timothy. "Paper Tower: Aesthetics, Taste, and the Mind-Body Problem in American Independent Comics." Bowling Green State University / OhioLINK, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=bgsu1395604923.

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Harris, Raymond. "Mechanics of the soul : the rhetoric of the interrupted self in twentieth-century narratives /." Thesis, Connect to this title online; UW restricted, 1997. http://hdl.handle.net/1773/9440.

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Watkins, Emily Stuart. "“That I should always listen to my body and love it”: Finding the Mind-Body Connection in Nineteenth- and Twentieth-Century Slave Texts." VCU Scholars Compass, 2011. http://scholarscompass.vcu.edu/etd/2363.

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This thesis explores the presence of the movement theories of Irmgard Bartenieff, Peggy Hackney, and Rudolf Von Laban in the following texts: Narrative of the Life of Frederick Douglass, An American Slave. Written by Himself (1845), The History of Mary Prince: A West Indian Slave (1831), Incidents in the Life of a Slave Girl, Written by Herself, Linda Brent (1861), Sherley Anne Williams’s Dessa Rose (1986) and Toni Morrison’s Beloved (1987). The terms and phrases of movement theory will be introduced to the contemporary critical discussion already surrounding the texts, both furthering and challenging existing arguments.
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Schnabl, Ruth. "Gravity-bound the articulation of the body in art and the possibility of community /." Diss., Online access via UMI:, 2008.

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Hellman, James. ""As Mind to the Body": Prudence and Artificial Memory in the Illustrations and Commentary of George Sandys' Ovid's Metamorphosis Englished (1632)." VCU Scholars Compass, 2013. http://scholarscompass.vcu.edu/etd/506.

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This thesis is an analysis of an English verse translation of Ovid's Metamorphoses, published in 1632 by the Englishman George Sandys. This book included a full English commentary and was illustrated by several full-plate engravings. This study examines the edition's elaborate utilization of the rhetorical practices of artificial memory and related concepts of rhetorical invention. It demonstrates that these rhetorical practices were chosen and implemented for their inherent structural appropriateness for the cultivation of prudence, or practical wisdom. It reveals that the lessons in practical wisdom encoded in the work through the techniques of artificial memory were particularly aimed at political issues and the concerns of rulers. From the work's preoccupation with prudence as appropriate for a ruler, and from the dedication and prefatory texts, it becomes clear that it was intended to provide a means of counsel, or advice, to the King Charles I in an elaborate poetic format.
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Books on the topic "Mind and body – Juvenile literature"

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Inc, Ripley Entertainment, ed. Body & mind. Broomall, Pa: Mason Crest Publishers, 2010.

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Inc, Ripley Entertainment, ed. Body & mind. Broomall, Pa: Mason Crest Publishers, 2009.

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Kim, Jeannie. Body and mind. New York: Scholastic, 2002.

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Easy mind and body tricks. Mankato, MN: Smart Apple Media, 2014.

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Check, William A. The mind-body connection. New York: Chelsea House, 1990.

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Cohen, Daniel. Jesse Ventura: The body, the mouth, the mind. Brookfield, Conn: Twenty-First Century Books, 2001.

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Burstein, John. The mind. Minneapolis: Fairview Press, 1996.

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Miriam, Cohen. Marijuana, its effects on mind and body. New York: Chelsea House, 1985.

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Hermes, William J. Marijuana: Its effects on mind & body. New York: Chelsea House, 1992.

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Hermes, William J. Marijuana: Its effects on mind & body. New York: Chelsea House, 1992.

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Book chapters on the topic "Mind and body – Juvenile literature"

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Martin, Matthew E. "Controlling the Mind for the Body: The Deintellectualization of Women within the American Gothic." In Intimate Relationships in Cinema, Literature and Visual Culture, 159–68. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-55281-1_12.

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Taylor, Jenny Bourne. "Body and mind." In The Cambridge Companion to English Literature, 1830–1914, 184–204. Cambridge University Press, 2010. http://dx.doi.org/10.1017/ccol9780521882880.011.

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Maudsley, Henry. "From Body and Mind (1870)." In Literature and Science in the Nineteenth Century. Oxford University Press, 2009. http://dx.doi.org/10.1093/owc/9780199554652.003.0110.

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The British alienist Henry Maudsley (1835–1918) was one of the strongest advocates of the idea that mental illnesses had biological causes. His textbook Body and Mind went through numerous editions, and he was widely cited in popular journals. I pass on now to exhibit the...
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"Introduction Body, mind and literature Introduction." In Cognitive Poetics, 1–12. Routledge, 2005. http://dx.doi.org/10.4324/9780203995143-1.

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Stepien, Rafal K. "The Original Mind Is the Literary Mind, the Original Body Carves Dragons." In Buddhist Literature as Philosophy, Buddhist Philosophy as Literature, 231–60. SUNY Press, 2020. http://dx.doi.org/10.1515/9781438480725-011.

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"Mind–Body Interactions as Described in the Literature." In Intervertebral Disk Diseases, edited by Juergen Kraemer. Stuttgart: Georg Thieme Verlag, 2009. http://dx.doi.org/10.1055/b-0034-63601.

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Humble, Nicola. "The Body in the Library." In Libraries in Literature, 128–39. Oxford University PressOxford, 2022. http://dx.doi.org/10.1093/oso/9780192855732.003.0009.

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Abstract This chapter considers the trope of the body in the library in the Golden Age crime fiction of the first half of the twentieth century—both the corpse on the hearthrug of the country house library that becomes a cliché of much early clue-puzzle crime fiction, and the reading, writing, lounging, snoozing, shelving, dusty bodies to be found in university libraries. It identifies a wide range of library-focussed crime fiction from both the USA and the UK, examining descriptions of libraries through a deployment of Bachelard’s poetics of space. Its central focus is Agatha Christie’s The Body in the Library (1942) and Dorothy L. Sayers’s Gaudy Night (1936). It suggests that for Christie the trope functions as a synecdoche for the distancing effects with which the Golden Age crime novel treats violence, while for Sayers the material paradoxes of bodies, books, and libraries undermine the novel’s ostensible valorization of the life of the mind.
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Ogden, Jenni A. "A Body In The Mind." In Fractured Minds, 99–112. Oxford University PressNew York, NY, 2005. http://dx.doi.org/10.1093/oso/9780195171358.003.0006.

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Abstract One of the most exciting aspects of working in the area of clinical neuropsychology is the ever-present possibility that a patient will present with behaviors you have never seen before and at first find almost unbelievable. Even when your case is very unusual, a literature search will probably turn up a few other cases with similar symptoms. These cases will provide you with some background knowledge and assist you in your choice of tests with which to begin assessing and comparing your patient with previous cases. Nevertheless, it is likely that the case will not be exactly the same as other published cases, and you may need to use all your creativity to design new tests that will enable you to gradually narrow down the possible underlying causes of your patient’s deficits. If the patient has a stable brain lesion, you will be able to take your time and not only read the literature carefully but also analyze one set of test results before embarking on the design of follow-up tests. Michael, the man with visual agnosia and prosopagnosia, is an example of such a case (Chapter 8). His lesion is stable, and his deficits have remained relatively unchanged over many years, allowing thoughtful and ongoing assessment of his deficits to test new hypotheses about brain– behavior relations.
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Saunders, Corinne. "2 Mind, Body and Affect in Medieval English Arthurian Romance." In Emotions in Medieval Arthurian Literature, 31–46. Boydell and Brewer, 2015. http://dx.doi.org/10.1515/9781782045915-005.

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"The Relational Conception of Mind and Body in the Seventeenth Century." In Psychosomatic Disorders in Seventeenth-Century French Literature, 27–72. Routledge, 2016. http://dx.doi.org/10.4324/9781315602820-6.

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Conference papers on the topic "Mind and body – Juvenile literature"

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Moreira Da Silva, Ana. "Creativity and Emotion in Design." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1001996.

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Creativity in Design can be related to Emotion, particularly to the Emotional Mind. We perceive, interpret and memorize things differently depending on our emotional states. We are emotional and emphatic beings. The experiences we have gone through, the challenges we have learned from and the circumstances that have made us, reflect on our work as designers.Creativity is the process of solving a new problem by creating a new pattern of brain connections; it is a spark between previously unrelated concepts acquired through learning and experiencing. The act of creation requires the brain to find new associations, new connections between its neurons. The creation of something new and unusual is literally a spark that links previously unrelated neural groups and joins previously distant conceptual areas: the creative thinking.Sketching can stimulate a re-interpretive cycle in the individual designer’s idea generation process. It appears that sketches stimulate creativity in this ideas generation process, by providing new directions for ideas to breed in an individual generate-interpret cycle. A drawing happens when we engage our hands to capture what we are thinking or experiencing. The hand is an extension for our brain which can make visible our ideas through sketches. The proportion of sensorimotor cortex devoted to hand function is considerably greater than that devoted to other body segments. Several authors even call the hand has ‘the outer brain’. We are developing an ongoing research concerned with investigating the ways in which the activity of sketching stimulates creativity in design.Under a qualitative research, based on literature review methodology, through the study and interpretation of several authors’ statements, this paper investigates the relations between Creativity and Emotion in Design, and also, aims to stimulate reflection and bring new perspectives on the nowadays use of sketching within this relation creativity/emotions present in the designers mind as an emotional human being.
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Adar, Michal, Renate De Bruin, and David Keyson. "Promoting Physical Wellbeing in the Workplace: Providing Working Adults with a Tool to Reduce their Sedentary Behavior." In 13th International Conference on Applied Human Factors and Ergonomics (AHFE 2022). AHFE International, 2022. http://dx.doi.org/10.54941/ahfe1002600.

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Whether it is from the office-office or the home office, creating a physical work environment is essential for both improving work performance as well as for the physical and mental wellbeing of employees. But as jobs are becoming increasingly less active, and working adults are spending almost a third of their lives in the office, most of their time is now spent sitting behind a desk. This time in sedentary behavior is increasing rapidly on a global scale and has become a great area of concern, as research has proven that this behavior is linked to an increase in all-cause mortality. To reduce the sedentary nature of the workplace, many companies are now replacing the standard desk with sit-stand desks (SSDs). SSDs are height adjustable desks that allow the user to work in either a sitting position or a standing position. Unfortunately, even as more companies are implementing these desks in their workspace, many studies indicate that there is a lack of utilization among working adults, with many only transitioning the desks to a standing position once a month or less.This paper presents a user-centered design project examining how to reduce the long-term sedentary behavior of desk-based working adults by motivating them to utilize their SSDs to make more transitions between sitting and standing. The project involved an agile design approach based on a cyclic process where a range of design techniques and research methods were used to look deeper into the practices and habits of working adults and better understand why this lack of use occurs and how it can be changed. These design techniques and research methods include a literature study, auto-ethnographical research, and 11 interviews with both active and non-active SSD users. An analysis of the differences between active and non-active users,led to the hypothesis that to reduce the SB of desk-based working adults, the use of SSDs in the workplace should be normalized by ensuring that working adults understand the benefits and proper use of SSDs while also offering the key tools: (1) reminders of when to transiting between sitting & standing; (2) social support; (3) awareness of effects on body & mind ; (4) task-based transitions. . This hypothesis was then used to initiate an empirical research through design process. Through this process, the final concept, BMDesk Application and Controller, was created. The BMDesk showcases an interactive digital platform and controller which utilizes the previously defined design opportunities to aid desk-based working adults in becoming more in tune with their physical and mental state while also providing them with the support they need to reduce their long-term sedentary behavior by utilizing their SSDs. The platform provides the user with an interactive tool that (1) gives them control over setting up their workday and defining how many sit-stand transitions they want to make and how long they want to remain in each position; (2) triggers a light reminder indicating to the user when it is time to check in and (3) provides a step-by-step body and mind self-evaluation included in the digital application; (4) based on the self-evaluation, the application provides a personalized tip and option to “learn more” about how the user can alter their position to relieve them of any physical or mental pain they are experiencing; (5) allows the user to choose if they actually want to change position and provides an additional reminder after a preset amount of time in the case they do not switch; (6) uses a two-way LED infrared sensor to automatically track the number of transitions and how long the user is in each position; and (7) allows the user to connect with the coworkers or friends to setup challenges or select times to standup together.
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Al Maainah, Meera Ahmed. "Unique Development Plans for UAE Nationals in Dolphin Energy." In ADIPEC. SPE, 2022. http://dx.doi.org/10.2118/210924-ms.

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Abstract People Development Breakthrough Strategies for Staff Development Objectives/Scope: Please list the objectives and/or scope of the proposed paper. (25-75 words) The purpose of this paper is to highlight Dolphin Energy's workforce development programs. Striving to develop and support employees is one of the company's top priorities. Hence, multiple strategies have been developed and put in place to focus on employees’ development to meet the company's growth requirements and achieve long-term success. Methods, Procedures, Process: Briefly explain your overall approach, including your methods, procedures, and process. (75 -100 words) Dolphin Energy's Talent Acquisition and Learning Department has designed and customized comprehensive development plans to ensure employees have the necessary competencies to perform their work safely, efficiently, and effectively. The process begins with a thorough analysis of the employee's performance, experience, and education background, in addition to their roles and responsibilities. Following this analysis, a customized career development plan is created to ensure the competency of the employee within their respective role. The company's current development plans are: Individual Development Plans (IDPs)Career Enhancement Plans (CEPs)Open Development Plans (ODPs)Performance Improvement Plans (PIPs) Results, Observations, Conclusions: Please describe the results, observations, and conclusions of the proposed paper (100-200 words) Development plans are tools to develop and prepare employees to excel in their career and hold higher positions in the future. With this in mind, the company is proud that its executive and senior level employees have completed customized development plans, which proved to be successful tools in their career progression. The company implements high standard development plans to support its employees’ development and growth. These plans also help develop fresh graduate associates and prepare them to be fully qualified job holders by providing them with knowledge, experience and required competencies within a two year time-frame. Dolphin Energy has succeeded in promoting UAE nationals to senior level positions through multiple career development programs, where currently the majority of UAE nationals hold senior level positions within the organization. Novel/Additive Information: Please explain how this paper will present novel (new) or additive information to the existing body of literature that can be of benefit t and/or add to the state of knowledge in the petroleum industry. (25-75 words) As the Oil and Gas industry is always evolving, it's important to maximize employees’ knowledge and development within their respective fields. This paper will present details and highlight benefits of our development plans, supported with statistics on how successful they are. In addition, this paper will shed light on major milestones and advantages of our career development programs, as well as best practices which may be of interest to other business partners.
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Massari, Mauro, Davide Invernizzi, Marco Lovera, Pietro Ghignoni, and Lorenzo Ticozzi. "Robust Control of Free-Flying Space Manipulator for Capturing Uncontrolled Thumbling Objects." In ESA 12th International Conference on Guidance Navigation and Control and 9th International Conference on Astrodynamics Tools and Techniques. ESA, 2023. http://dx.doi.org/10.5270/esa-gnc-icatt-2023-146.

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The potential of In-Orbit Servicing (IOS) to extend the operational life of satellites and the need to implement Active Debris Removal (ADR) to effectively tackle the space debris problem are well known among the space community. Research on technical solutions to enable this class of missions is thriving, also pushed by the development of new control systems. Several solutions have been proposed over the years to safely capture orbital objects, the majority of which rely on robotic systems. A promising solution is the employment of an autonomous spacecraft (chaser) equipped with a highly dexterous robotic arm able to perform the berthing with a resident space object. In this respect, the design of an effective, reliable, and robust Guidance Navigation and Control (GNC) system, for which several architectures and hardware configurations are possible, plays a key role to ensure a safe mission execution. The proposed solution aims at the implementation of a combined control strategy wherein the spacecraft base and the robotic arm are controlled together. As shown by recent works, a combined architecture has several advantages over decoupled control strategies, from fuel efficiency improvement to performance improvement. Robust control methods are adopted to design control laws for the uncertain, nonlinear dynamics of the chaser and of the complete chaser-target stack after capture. Space robots are characterized by a high level of complexity due to the kinematic and dynamic coupling between its elements. The motion of a single body (be it the base or one of the links) is transmitted downstream (in the direction of the end-effector) according to the properties of the kinematic chain, while it dynamically affects the system also in the upstream direction (towards the satellite-base). From a practical standpoint this means that, unlike ground-fixed robots, the motion of the manipulator causes a motion of the base. Keeping these aspects in mind, the dynamic model of a space robot is mostly built upon the traditional theory of rigid multibody system. In this work a recursive method has been applied to the system of interconnected rigid bodies which, unlike the direct equivalent, models the interconnections in terms of forces and kinematic constraints acting at a single-body level. This results in a large set of equations which can be solved by exploiting recurrence relations descending from the tree-like structure of the system. The proposed recursive method leverages a floating-base version of both the Newton-Euler algorithm (RNEA) and the composite rigid-body algorithm (CRBA); in particular, spatial vector algebra has been used to increase compactness and efficiency of the algorithms. Following this approach, a rigid multi-body model of the system has been developed including the chaser platform and a 7 degrees-of-freedom redundant manipulator mounted on the spacecraft base. As for control design, the chosen architecture is based on a combined approach wherein base and manipulator states are controlled together, following ideas recently proposed in the literature. The specific approach developed in this work consists in using nonlinear control laws, based on extensions of the well–known computed torque controller to space robot, together with a systematic tuning procedure based on the H-Infinity framework. Indeed, while computed torque controllers deliver good tracking performance in a large domain of operating conditions, they suffer from modelling uncertainty (they are based feedback linearization) and no rule is given to tune the gains of the feedback component of the control law, which is typically based on a (nonlinear) Proportional Derivative (PD) law. Hence, trial and error procedures are often employed in practice to select the gains and achieve acceptable performance. Such an approach is made more challenging by the large number of states of space robots. Therefore, the following systematic tuning approach has been considered: first, both the plant and the control law are linearized about a nominal operating point and a linear uncertain description of the closed–loop system is derived; then, the gains of the control law are tuned by leveraging the structured H∞ framework. In this manner, the control law handles by design the rigid body nonlinearities while performance requirements can be imposed in the neighborhood of the desired configurations when tuning the gains. The proposed synthesis approach allows accounting for dynamics effects at synthesis time, such as sloshing, actuator dynamics, flexibility, orbital dynamics, which are neglected when deriving the nonlinear control law. The proposed robust control is designed in joint space and thus requires computing a reference trajectory in joint space. However, the capture of uncontrolled thumbling objects poses requirements to the trajectory generation in task space. A trajectory generation for the end effector in task space is proposed together with an inverse kinematic approach which exploits the manipulator redundancy to locally optimize the manipulability index. In addition, a feedback term is added in the inverse kinematic algorithm to make up for possible location and attitude errors, according to the Closed-Loop Inverse Kinematics (CLIK) algorithm. As the target is in an uncontrolled thumbling state, the reference trajectory generation is generated propagating forward in time the target motion, but continuously updating the propagation with information on the current state of the target coming from the Navigation System. After the controller synthesis, a robustness analysis with respect to rigid-body uncertainties (mass, moments of inertia (MoI), products of inertia (PoI) and center of mass (CoM) position) and sloshing is performed, while the performances of the proposed controller are evaluated on a representative scenario for the capturing of an uncontrolled thumbling object using a full nonlinear model of the dynamics.
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