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Tag Archives: dynamics
Boston Dynamics’ Atlas robot grows a set of hands, attempts construction work
Boston Dynamics’ Atlas—the world’s most advanced humanoid robot—is learning some new tricks. The company has finally given Atlas some proper hands, and in Boston Dynamics’ latest YouTube video, Atlas is attempting to do some actual work. It also released another behind-the-scenes video showing some of the work that goes into Atlas. And when things don’t go right, we see some spectacular slams the robot takes in its efforts to advance humanoid robotics.
As a humanoid robot, Atlas has mostly been focused on locomotion, starting with walking in a lab, then walking on every kind of unstable terrain imaginable, then doing some sick parkour tricks. Locomotion is all about the legs, though, and the upper half seemed mostly like an afterthought, with the arms only used to swing around for balance. Atlas previously didn’t even have hands—the last time we saw it, there were only two incomplete-looking ball grippers at the end of its arms.
This newest iteration of the robot has actual grippers. They’re simple clamp-style hands with a wrist and a single moving finger, but that’s good enough for picking things up. The goal of this video is moving “inertially significant” objects—not just picking up light boxes, but objects that are so heavy they can throw Atlas off-balance. This includes things like a big plank, a bag full of tools, and a barbell with two 10-pound weights. Atlas is learning all about those “equal and opposite forces” in the world.
Like everything in robotics, picking up and carrying an object is more complicated than it seems. Atlas has to figure out where it is in the world in relation to the object it’s picking up, come up with a grasping plan for the hands, and lift and manipulate the object, all while calculating how this extra bit of mass will affect its balance. As Boston Dynamics software engineer Robin Deits explains in the video, “When we’re trying to manipulate something like a plank, we have to just make pretty educated guesses about where is the plank, how fast is it moving, how do we need to move the arms to cause the plank to spin 180 degrees very quickly, and if we get those estimates wrong we end up doing silly things and falling over.”
Atlas isn’t just clumsily picking things up and carrying them, though. It’s running, jumping, and spinning while carrying heavy objects. At one point it jumps and throws the heavy toolbox up to its construction partner, all without losing balance. It’s doing all this on rickety scaffolding and improvised plank walkways, too, so the ground is constantly moving under Atlas’ feet with every step. Picking up stuff is the start of teaching the robot to do actual work, and it looks right at home on a rough-and-tumble construction site. The simple claw grippers mean Atlas crushes everything it picks up, though, with objects like the plank showing visible damage where the hands dug into it. Maybe the next set of experiments will teach Atlas to be less of a hulking gorilla.
Watch a Boston Dynamics Atlas Robot Grab and Throw, Just Like People Can
Boston Dynamics’ Atlas machines are aiming to be the humans of the robot world when it comes to physical abilities. They can already do parkour and gymnastics, but recent upgrades have added new skills that make the bots even more like people than before.
When we saw Atlas slaying a parkour course in 2021, it had stubby appendages for hands. Today’s Atlas, star of a Boston Dynamics video released Wednesday, has grippers and a sense of show-robot-ship.
The video plays out as a work site vignette with a human who’s forgotten his tools while up on a high platform. The worker calls for Atlas to fetch his tool bag. The robot gamely builds a bridge, grabs the bag, hops to a higher spot and slings the bag up to its boss. It then performs a gymnastics-style dismount.
The video is a demonstration of the pincher-style hand grippers and the robot’s ability to alter its environment and accurately toss a heavy object to complete a task. A behind-the-scenes video goes into detail on how the robot is perceiving and manipulating items.
Atlas has come a long way. It was less than a decade ago that a CNET writer commented on an early version of the robot being “terrible at karate.” Boston Dynamics uses Atlas as a test bed to try out technologies and new robotic capabilities.
Another much-discussed humanoid robot is the AI-focused Tesla Optimus robot, which is a very different animal (excuse me — robot) from Atlas. It’s also in an earlier stage of development, so don’t expect any Atlas-Optimus face-offs in the near future. Both machines show how humanity is working toward the reality of the sci-fi dream of robots made in our own image.
Amazon to Support and Publish New Tomb Raider With Crystal Dynamics
Amazon Games has signed a deal with Crystal Dynamics to support the development of and publish the next mainline Tomb Raider game being made in Unreal Engine 5.
The companies announced the partnership today, December 15, saying they “have reached an agreement under which Crystal Dynamics will develop a new multiplatform Tomb Raider title, with Amazon Games providing full support and publishing the game globally.”
The game in question is the next-gen Tomb Raider that was announced in April 2022. Crystal Dynamics, which was purchased by Embracer Group in August, noted that the acquisition has allowed for more unconventional publishing agreements such as the deal with Amazon.
“Crystal Dynamics has an extraordinary opportunity following our acquisition by Embracer to redefine what a publishing relationship is for Tomb Raider,” said head of Crystal Dynamics Scot Amos.
“Transformative is what we’re looking for, and with Amazon Games, we found a team that shares our creative vision, ambitions, and values for a Lara Croft universe across the spectrum of possibilities. They’re uniquely positioned to rewrite what publishing and development collaborations are, and we’re eager to forge this new path together, starting with building the biggest and best Tomb Raider game yet.”
A relatively vague description of the new game was also shared, though it essentially conforms to what players would expect from Crystal Dynamics’ next game. “The as-yet-untitled new Tomb Raider game is a single-player, narrative-driven adventure that continues Lara Croft’s story in the Tomb Raider series.
“It includes all the elements that have made Tomb Raider one of the most revered franchises in gaming, giving players control of the confident and multidimensional hero Lara Croft in an environment that rewards exploration and creative pathfinding, with mind-bending puzzles to solve, and a wide variety of enemies to face and overcome.
“Crystal Dynamics is drawing on the power and cutting-edge technology of Unreal Engine 5 to take storytelling to the next level, in the biggest, most expansive Tomb Raider game to date. The title is currently in early development, and additional details will be announced at a later date.”
Little else was said about the game and, considering it’s still in early development, it will likely be a while longer before Crystal Dynamics, Embracer, or Amazon Games shares more.
In our 9/10 review of the previous game, IGN said: “Shadow of the Tomb Raider offers up a powerful finale to Lara Croft’s origin trilogy.”
Ryan Dinsdale is an IGN freelancer and acting UK news editor. He’ll talk about The Witcher all day.
NASA’s Solar Dynamics Observatory captured an image of the sun ‘smiling’
It’s been a busy week for NASA in the days leading up to Halloween. In the spirit of the season, the agency recently released a new image of the Eagle Nebula captured by the James Webb Space Telescope where the . By coincidence, NASA’s Solar Dynamics Observatory managed to capture a similarly spooky image of the sun.
Say cheese! 📸
Today, NASA’s Solar Dynamics Observatory caught the Sun “smiling.” Seen in ultraviolet light, these dark patches on the Sun are known as coronal holes and are regions where fast solar wind gushes out into space. pic.twitter.com/hVRXaN7Z31
— NASA Sun, Space & Scream 🎃 (@NASASun) October 26, 2022
On Wednesday, the agency shared a capture of the sun “smiling.” As , more than a few Twitter users were quick to point out how the star looks like a in NASA’s image. There’s a bit of interesting science behind the resemblance. “Seen in ultraviolet light, these dark patches on the sun are known as coronal holes and are regions where fast solar wind gushes out into space,” according to NASA. The sun is constantly sending out solar winds. At times, these geomagnetic storms have been known to knock power out here on Earth, as was the case in part of Canada in .
This isn’t the first time the Solar Dynamics Observatory has captured an interesting image of the sun. In 2016, NASA released an animation of the sun doing a . The capture was the result of a seven-hour maneuver the SDO completes once a year to take an accurate measure of the star’s edge.
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Steel Dynamics Boosts Outlook, U.S. Steel On Track After Nucor Warning
Steel Dynamics (STLD) said Thursday that third-quarter earnings are tracking above analyst estimates. That followed guidance from Nucor (NUE), which on Wednesday warned that profit will lag estimates.
X
U.S. Steel (X), which also updated business trends on Thursday, said profit is running a bit below analyst expectations amid “market headwinds that accelerated” during Q3.
Arconic (ARNC), which makes aluminum products for aerospace, automotive and industrial markets, cut guidance late Wednesday amid production issues in the U.S. and a hit from both lower demand and high energy costs in Europe.
STLD stock rose 1.1% in Thursday stock market action, following a 9% pounding on Wednesday. Nucor slipped another 2%, after tumbling 11.3% a day earlier. U.S. Steel slipped 1.8% on the heels of Wednesday’s 8.6% dive. ARNC stock plunged 15.5%.
Steel Dynamics Boosts Output
Like Nucor, Steel Dynamics highlighted lower steel pricing. The big difference is that Steel Dynamics said its output is rising from Q2 levels, while Nucor shipments will fall even more than expected.
“Lower average flat rolled steel pricing is expected to more than offset lower raw material costs and higher shipments,” Steel Dynamics said in a statement.
A day earlier, Nucor had attributed softer-than-expected earnings to “metal margin contraction and reduced shipping volumes particularly at our sheet and plate mills.”
The near-term futures contract for hot-rolled coil has pulled back to about $800 from about $915 when Nucor reported second-quarter earnings on July 21. That likely has contributed to narrower profit margins.
Nucor may be feeling the effects of increased steel industry supply, which was one of the reasons for caution going into 2022. That could explain why shipment volumes are apparently off more than expected. Nucor made no mention of production downtime.
Meanwhile, Steel Dynamics has been ramping output at its new Sinton, Texas, mill.
U.S. Steel Idles Capacity
Imports also appear to be adding to excess supply. In its update, U.S. Steel said that it idled a blast furnace and a tin line at its Gary Works complex, citing market conditions and elevated imports.
U.S. Steel also pulled forward a 30-day maintenance outage of a Mon Valley blast furnace and a 60-day outage of a European blast furnace.
“We have quickly adjusted our integrated steelmaking operating footprint to better match our order book and expect our Tubular segment to deliver another quarter of earnings growth,” CEO David Burritt said in a statement.
Revised Steel Earnings Outlooks
Steel Dynamics said it expects Q3 EPS of $5.33 to $5.37, excluding 40-cent startup costs for its Sinton mill. Analysts were expecting $5.03.
U.S. Steel said it’s on track to earning $1.90-$1.95 cents a share in Q3 vs. expectations of $2.09, according to FactSet.
Nucor now predicts earnings of $6.30 to $6.40 per share, well below estimates of $7.56 a share from analysts polled by FactSet.
In its second-quarter earnings statement, Nucor said it expected results to fall sequentially in the third quarter after a quarterly record profit of $9.67 per share. The company already anticipated lower expected shipment volumes and prices, but may have been surprised at the extent of the weakness.
Steel Dynamics said, “Broad underlying steel demand and corresponding order activity remains intact from the automotive, construction, industrial, and energy sectors.”
The company said profits from its steel fabrication operations should top record second quarter results, based on continued strong volume and expanding margins.
Nucor said its steel products segment is expected to have “another strong quarter,” with earnings roughly in line with the second quarter of 2022.
Raw materials segment earnings also are expected to be similar to the second quarter of 2022. And Nucor said it’s still on track for its most profitable year ever. That suggests things may be stabilizing at a lower level, rather than snowballing.
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‘Beyond the dark ages’: USU’s Space Dynamics Lab supplies pivotal parts to Webb Telescope
NASA revealed four new images last week taken by the James Webb Telescope. This image shows the Carina Nebula. Without crucial parts engineered by Utah State University’s Space Dynamics Lab, NASA’s James Webb Telescope may never have been able to capture the stunning images that it has so far. (NASA, ESA, CSA, and STScI)
Estimated read time: 3-4 minutes
LOGAN — Standing within the confines of the NASA Goddard Space Flight Center, Glen Hansen noticed a poster on the wall that intrigued him.
The poster said, “Looking beyond the dark ages.”
“It’s just great to see that the telescope is actually doing that. It’s looked well beyond where we’ve been able to see before, not only in space but in time, as we look back at the early beginnings of the universe,” said Hansen, chief engineer with Utah State University’s Space Dynamics Laboratory.
Hansen wasn’t just there as a spectator that day, either. He and his team at the lab we’re actively involved in creating technology for the now famed James Webb Space Telescope.
“To be a part of that, it makes you feel really good,” Hansen said.
Hansen said that the Space Dynamics Lab was working on developing technology for NASA’s SABER mission when they were selected to develop similar technology to support the Webb telescope “based on our heritage with being able to provide these types of straps.”
Without the work done by the Space Dynamics Lab, the Webb telescope may never have been able to capture the stunning images that it has so far.
The lab’s contribution to the telescope was to develop the thermal control system — in particular, heat straps that “conduct the heat away from each of the instruments out to the radiators on the telescope” and support structures for the straps.
Hansen explained that the instruments on the telescope endure extreme cold while in space, all the way down to 4 K, or -452 degrees Fahrenheit.
“The reason why they need to be cold like that is because you’re looking at some very cold objects out in deep space, so if your detectors are warmer than the object that you’re trying to see, you won’t see that,” Hansen said.
He said it’s like trying to stargaze in downtown Salt Lake City as opposed to doing so somewhere high up in the Wasatch Mountains, or deep within a desert in southern Utah.
“If you move out away from the city … you can see a whole myriad of stars out there, and that’s kind of the way it is with the detectors,” Hansen said. “If they’re not colder than the objects they’re trying to see … they get swamped by that infrared heat that the surroundings are radiating.”
So, the thermal control system and the heat straps engineered by the Space Dynamics Lab are essentially what keep the detectors cold, moving the heat that the detectors generate to the radiator to allow a peek into deep space.
Without the thermal control system, the telescope “would never be able to see what they’re trying to detect,” Hansen said.
For Hansen and the rest of the crew at the Space Dynamics Lab, who spent the better part of the last five years working on the technology, seeing the images that come back from the telescope is an extremely gratifying feeling.
“To finally see that it gets out there and then see the images come back, it’s very fulfilling,” Hansen said. “It’s a great sense of accomplishment.”
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Digital Flight Dynamics Updates us on Freeware A350 for MSFS
In a new video from Digital Flight Dynamics, we see how the team is progressing with their ambitious A350 freeware project.
The new 10-minute video from the team, we learn about some of the improvements being made to the model for the Airbus aircraft. Throughout, the developers talk about the design process, how elements were put together and what work is still to be done.
In the video, we see both external and internal progress. Towards the end, we see the plane in action in it’s very early state.
There certainly is some promise with the aircraft and being a freeware project, this will hopefully turn many heads. You can watch the video above to get the insight for how progress is coming.
You can follow the team over on Discord to stay up to date
Embracer Group To Acquire Crystal Dynamics, Square Enix Montréal, Eidos-Montréal, Plus IPs For $300 Million
Embracer Group, the Swedish video game holding company and parent of Gearbox, Saber Interactive and THQ Nordic (among many others), has entered into an agreement to acquire several studios and a selection of IP from Square Enix.
Included in the deal are three studios — Crystal Dynamics, Square Enix Montréal, and Eidos-Montréal — plus a catalogue of IP and games including Tomb Raider, Deus Ex, Thief, Legacy of Kain and over 50 “back-catalogue” titles. The acquisition will include over 1,100 employees across the three studios, with the total purchase price totalling $300 million.
The news was put out via a press release from both companies. Embracer expects the deal “to close during the second quarter of Embracer’s financial year 22/23 (July-September 2022)”.
Square Enix states in its press release that “the Transaction enables the launch of new businesses by moving forward with investments in fields including blockchain, AI, and the cloud.” The Japanese company also says that it “will continue to publish franchises such as Just Cause, Outriders, and Life is Strange”.
After closing this transaction, the US will be Embracer’s #1 country by number of game developers and Canada will be #2. In total, post pending closings, Embracer will have more than 14,000 employees, 10,000 engaged game developers, and 124 internal studios. Embracer’s upcoming content pipeline includes more than 230 games with more than 30 AAA games. This acquisition will bring additional scale to Embracer’s current AAA segment, and Embracer will have one of the largest pipelines of PC/Console games content across the industry, across all genres.
This is the latest in a series of high profile acquisitions in the video game industry, with Microsoft in the process of a $68.7 billion acquisition of Activision Blizzard, after picking up Bethesda and its IP in 2020.
Impact of population mixing between vaccinated and unvaccinated subpopulations on infectious disease dynamics: implications for SARS-CoV-2 transmission
Abstract
Background: The speed of vaccine development has been a singular achievement during the COVID-19 pandemic, although uptake has not been universal. Vaccine opponents often frame their opposition in terms of the rights of the unvaccinated. We sought to explore the impact of mixing of vaccinated and unvaccinated populations on risk of SARS-CoV-2 infection among vaccinated people.
Methods: We constructed a simple susceptible–infectious–recovered compartmental model of a respiratory infectious disease with 2 connected subpopulations: people who were vaccinated and those who were unvaccinated. We simulated a spectrum of patterns of mixing between vaccinated and unvaccinated groups that ranged from random mixing to complete like-with-like mixing (complete assortativity), in which people have contact exclusively with others with the same vaccination status. We evaluated the dynamics of an epidemic within each subgroup and in the population as a whole.
Results: We found that the risk of infection was markedly higher among unvaccinated people than among vaccinated people under all mixing assumptions. The contact-adjusted contribution of unvaccinated people to infection risk was disproportionate, with unvaccinated people contributing to infections among those who were vaccinated at a rate higher than would have been expected based on contact numbers alone. We found that as like-with-like mixing increased, attack rates among vaccinated people decreased from 15% to 10% (and increased from 62% to 79% among unvaccinated people), but the contact-adjusted contribution to risk among vaccinated people derived from contact with unvaccinated people increased.
Interpretation: Although risk associated with avoiding vaccination during a virulent pandemic accrues chiefly to people who are unvaccinated, their choices affect risk of viral infection among those who are vaccinated in a manner that is disproportionate to the portion of unvaccinated people in the population.
The remarkable speed of vaccine development, production and administration during the COVID-19 pandemic is a singular human achievement.1 While the ability to vaccinate to herd immunity has been held back by the increasing transmissibility of novel SARS-CoV-2 variants of concern (e.g., Delta and Omicron variants),2,3 and global distribution of vaccines is inequitable,4 the effectiveness of SARS-CoV-2 vaccines in reducing severity of disease and disrupting onward transmission even when breakthrough infections occur is likely to have saved many lives. The emergence of the immune-evasive Omicron variant may undermine some of these gains, although provision of booster vaccine doses may restore vaccination to a high level of potency, and vaccines developed specifically to enhance immunity to the Omicron variant may emerge in 2022.3,5–7
However, antivaccine sentiment, fuelled in part by organized disinformation efforts, has resulted in suboptimal uptake of readily available vaccines in many countries, with adverse health and economic consequences.8–10 Although the decision not to receive vaccination is often framed in terms of the rights of individuals to opt out,11,12 such arguments neglect the potential harms to the wider community that derive from poor vaccine uptake. Nonvaccination is expected to result in amplification of disease transmission in unvaccinated subpopulations, but the communicable nature of infectious diseases means that this also heightens risk for vaccinated populations, when vaccines confer imperfect immunity. Although assortative (like-with-like) mixing13 is characteristic of many communicable disease systems and may be expected to limit interaction between vaccinated and unvaccinated subpopulations to some degree, the normal functioning of society means that complete like-with-like mixing is not observed in reality. Furthermore, the airborne spread of SARS-CoV-214–20 means that close-range physical mixing of people from vaccinated and unvaccinated groups is not necessary for between-group disease transmission.
Historically, behaviours that create health risks for the community as well as individuals have been the subject of public health regulation. This is true of communicable infectious diseases but also applies to public health statutes that limit indoor cigarette smoking21 and legal restrictions on driving under the influence of alcohol and other intoxicants.22,23
Simple mathematical models can often provide important insights into the behaviour of complex communicable diseases systems.13,24,25 To better understand the implications of the interplay between vaccinated and unvaccinated populations under different assumptions about population mixing, we constructed a simple susceptible–infectious–recovered model to reproduce the dynamics of interactions between vaccinated and unvaccinated subpopulations in a predominantly vaccinated population. We sought to contrast contribution to epidemic size and risk estimates by subpopulation, and to understand the impact of mixing between vaccinated and unvaccinated groups on expected disease dynamics.
Methods
Model
We constructed a simple compartmental model of a respiratory viral disease.26 The model is described in Appendix 1 (available at www.cmaj.ca/lookup/doi/10.1503/cmaj.212105/tab-related-content). People are represented as residing in 3 possible “compartments:” susceptible to infection (S), infected and infectious (I), and recovered from infection with immunity (R). We divided the compartments to reflect 2 connected subpopulations: vaccinated and unvaccinated people. Susceptible people move into the infectious compartment after effective contacts (i.e., contacts of a nature and duration sufficient to permit transmission) with people who are infected. In the context of an airborne virus like SARS-CoV-2,14–20 effective contact may be conceptualized as “sharing air” with an infective case. After an infectious period, infectious people with SARS-CoV-2 recover with immunity. We also assumed that some fraction of the unvaccinated population had immunity at baseline owing to previous infection and that a fraction of the population was vaccinated. We treated immunity after vaccination as an all-or-none phenomenon, with a fraction of vaccinated people (as defined by vaccine effectiveness) entering the model in the immune state and the remainder being left in the susceptible state. For example, a vaccine that is 80% efficacious would result in 80% of vaccinated people becoming immune, with the remaining 20% being susceptible to infection. We did not model waning immunity.
Humans do not mix randomly and exhibit a tendency to interact preferentially with others like themselves,13,27 a phenomenon referred to as “assortativity.” The relative frequency of interactions between people within different groups occurs on a spectrum that lies between high assortativity (i.e., like-with-like mixing) and random mixing. For instance, age-assortative mixing is frequently observed; children are more likely to interact with other children than would be expected if contacts occurred at random across all age groups. The use of matrices to govern such interactions are described in Appendix 1.
However, with respect to contacts between people from 2 different groups, relative frequency of contacts will depend both on the relative size of the 2 groups and the degree of like-with-like mixing. In our model, like-with-like mixing is determined by a constant (η), with random mixing occurring when η = 0, complete like-with-like mixing occurring when η = 1 and intermediate degrees of like-with-like mixing occurring at intermediate values. For our model, with 20% of the population unvaccinated, when random mixing is assumed (η = 0), 20% of the contacts a vaccinated person has would be expected to occur with unvaccinated people. When exclusively like-with-like mixing is assumed (η = 1), 0% of contacts a vaccinated person has would be with unvaccinated people. For intermediate levels of like-with-like mixing (η = 0.5), 10% of a vaccinated person’s contacts would be with unvaccinated people.
We otherwise parameterized our base case model to represent a disease similar to SARS-CoV-2 infection with Delta variant, with a reproduction number of an infectious disease in the absence of immunity or control (R0) of 6,28 and we used higher values to capture the dynamics of the Omicron variant.29 Our lower-bound estimate for vaccine effectiveness (40%) reflected uncertainty about the emerging Omicron variant,3,7 whereas our upper bound (80%) reflected the higher effectiveness seen with the Delta variant.30 Base case parameters, plausible ranges and relevant references are presented in Table 1.
We used the model to explore the impact of varying rates of immunization and different levels of like-with-like mixing on the dynamics of disease in vaccinated and unvaccinated subpopulations. We evaluated the absolute contribution to overall case counts by these subpopulations, and within-group and overall infection risk. We calculated attack rates as the cumulative number of infections divided by the population size. We calculated a quantity (ψ), which we defined as the fraction of all infections among vaccinated people that derived from contact with unvaccinated people, divided by the fraction of all contacts that occurred with unvaccinated people. Effectively, this represents a normalized index of the degree to which risk in one group may be disproportionately driven by contact with another. For example, if 10% of contacts among vaccinated people are with unvaccinated people, but 50% of infections among vaccinated people derive from these contacts, ψ would have a value of 5. If infection were simply a function of frequency of contact between the groups and prevalence was the same across groups, ψ would have a value of 1. The value of ψ would increase above 1 either because of an increased fraction of infections derived from contact with unvaccinated people or a decrease in the amount of contact between the groups (i.e., an increase in like-with-like mixing).
A version of the model in Microsoft Excel is available at 10.6084/m9.figshare.15189576.
Ethics approval
Because this study involved the use of publicly available aggregate data, approval by a research ethics board was not required.
Results
We present simulated epidemics that assume different amounts of mixing between vaccinated and unvaccinated groups in Figure 1. With 20% baseline immunity among unvaccinated people and 80% of the population vaccinated, we found that the absolute number of cases from vaccinated and unvaccinated groups was similar when mixing was random; however, after we adjusted for the substantially larger population in the vaccinated group, the risk of infection was markedly higher among unvaccinated people during the epidemic. With increased like-with-like mixing, differences in incidence between the vaccinated and unvaccinated groups became more apparent, with cases in the unvaccinated subpopulation accounting for a substantial proportion of infections during the epidemic wave. Like-with-like mixing uncoupled the dynamics of vaccinated and unvaccinated subpopulations, with unvaccinated subpopulations having higher and earlier peak incidence than vaccinated subpopulations. For example, with random mixing, peak incidence was simultaneous in the vaccinated and unvaccinated groups, but with strong like-with-like mixing the epidemic peak among vaccinated people occurred about 1 week later than among unvaccinated people; population-adjusted peak incidence was 4 times higher in the unvaccinated population than in the vaccinated population with random mixing, but about 30 times higher with strong like-with-like mixing (Figure 1).
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We found that cumulative attack rates among vaccinated people were highest (15%) with random mixing and lowest (10%) with highly assortative mixing. In contrast, cumulative attack rates were lowest (62%) among unvaccinated people with random mixing, and highest (79%) with highly assortative mixing. The highest cumulative attack rates in the population overall were seen with intermediate levels of like-with-like mixing (27%) compared with random mixing (25%) and strong like-with-like mixing (24%) (Figure 1).
When we varied the degree of like-with-like mixing, changes in epidemic size in the vaccinated subpopulation occurred. As like-with-like mixing increased (i.e., with reduced contact between vaccinated and unvaccinated subpopulations), the final attack rate decreased among vaccinated people, but the contribution of risk to vaccinated people caused by infection acquired from contact with unvaccinated people (as measured by ψ) increased. The larger the value of ψ, the more unvaccinated people contributed to infections in the vaccinated subpopulation.
This pattern was consistent across a range of values for vaccine effectiveness and reproduction numbers (Figure 2). We found that increased like-with-like mixing reduced final outbreak size among vaccinated people most markedly at lower reproduction numbers but increased the value of ψ. With lower vaccine effectiveness, as observed with the Omicron variant, the effects of like-with-like mixing were attenuated. With either lower reproduction numbers or higher vaccine efficacy, transmission was more readily disrupted within the vaccinated subpopulation, such that risk arose increasingly from interactions with the unvaccinated subpopulation, where transmission continued. As like-with-like mixing increased, contribution to infection risk among vaccinated people was increasingly derived from (less and less common) interactions with unvaccinated people, increasing the value of ψ. We found similar patterns in sensitivity analyses in which vaccine coverage was increased from 80% to 99% (Figure 3). Increasing population vaccination coverage decreased the attack rate among vaccinated people (as expected, owing to indirect protective effects) but further increased the relative contribution to risk in vaccinated people by those who were unvaccinated at any level of like-with-like mixing.
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Interpretation
We use a simple deterministic model to explore the impact of assortative mixing on disease dynamics and contribution to risk in a partially vaccinated population during a pandemic modelled on the current pandemic of SARS-CoV-2. Notwithstanding the model’s simplicity, it provides a graphical representation of the expectation that even with highly effective vaccines, and in the face of high vaccination coverage, a substantial proportion of new cases can be expected to occur in vaccinated people, such that rates, rather than absolute numbers, represent the appropriate metric for presenting the impact of vaccination. However, we find that the degree to which people differentially interact with others who are like themselves is likely to have an important impact on disease dynamics and on risk in people who choose to get vaccinated.
Vaccinated people were, as expected, at markedly lower risk of SARS-CoV-2 infection during the epidemic; however, when random mixing with unvaccinated people occurred, they decreased attack rates in the unvaccinated people, by serving as a buffer to transmission. As populations became more separate with progressively increasing like-with-like mixing, final epidemic sizes declined in vaccinated people, but rose in unvaccinated people because of the loss of buffering via interaction with vaccinated people. Many opponents of vaccine mandates have framed vaccine adoption as a matter of individual choice. However, we found that the choices made by people who forgo vaccination contribute disproportionately to risk among those who do get vaccinated.
Increased mixing between vaccinated and unvaccinated groups increased final epidemic size among vaccinated people; conversely, more like-with-like mixing decreased final epidemic size among vaccinated people but resulted in enhancement of the degree to which risk among vaccinated people could be attributed to unvaccinated people. The fact that this excess contribution to risk cannot be mitigated by high like-with-like mixing undermines the assertion that vaccine choice is best left to the individual and supports strong public actions aimed at enhancing vaccine uptake and limiting access to public spaces for unvaccinated people, because risk cannot be considered “self-regarding.” 35 There is ample precedent for public health regulation that protects the wider community from acquisition of communicable diseases, even if this protection comes at a cost of individual freedom.36,37 We also note that the use of legal and regulatory tools for the prevention of behaviours and practices that create risk for the wider public also extend beyond communicable infectious diseases, such as statutes that limit indoor cigarette smoking.21–23
In the context of immune evasion seen with the newly emerged Omicron variant, we found that like-with-like mixing is less protective when vaccine effectiveness is low. This finding underlines the dynamic nature of the pandemic, and the degree to which policies need to evolve in a thoughtful manner as the nature of the disease and the protective effects of vaccines evolve. Boosting with mRNA vaccines appears to restore vaccine effectiveness at least temporarily against Omicron,5 and it is likely that the higher vaccine effectiveness estimates used in our model will be relevant to public policy as booster campaigns are scaled up in Canada and elsewhere.
Despite reduced protection against infection by the Omicron variant, vaccinated people, including those who have not received third vaccine doses, have continued to receive strong protection against admission to hospital and death from SARS-CoV-2 infection.38,39 This means that acceptance of vaccination is a means of ensuring that greater health care capacity is available for those with other illnesses. For example, in Ontario, capacity for COVID-19 cases in intensive care units was created by cancelling elective surgeries for cancer and cardiac disease, which resulted in extensive backlogs.40 By contributing to these backlogs, unvaccinated people are creating a risk that those around them may not be able to obtain the care they need and, consequently, the risk they create cannot be considered self-regarding.
The robustness of our findings in the face of wide-ranging sensitivity analysis will allow this work to be applied in the future, when new variants arise, as we understand the length of time vaccination confers immunity and as new vaccine formulations become available.
Limitations
The simplicity of our model is both a strength (it is transparent and easily modified to explore the impact of uncertainty) and a weakness, because it does not precisely simulate a real-world pandemic process in all its complexity. For instance, we modelled vaccine effectiveness against infection but not the additional benefits of vaccination for preventing severe illness. Although this benefit is not captured by a simple model focused on transmission, an advantage of models such as ours is that they provide a ready platform for layering on increasing complexity, so our model can be adapted or expanded to consider impacts on the health system, or to incorporate additional structural elements or alternate assumptions. We have also likely underestimated vaccine benefit in this model, as we have not attempted to capture the impact of vaccines on prevention of forward transmission by vaccinated, infected individuals; this effect appears to be substantial.41
Conclusion
Using simple mathematical modelling, we have shown that, although risk associated with avoiding vaccination during a virulent pandemic accrues chiefly to those who are unvaccinated, the choice of some individuals to refuse vaccination is likely to affect the health and safety of vaccinated people in a manner disproportionate to the fraction of unvaccinated people in the population. Risk among unvaccinated people cannot be considered self-regarding, and considerations around equity and justice for people who do choose to be vaccinated, as well as those who choose not to be, need to be considered in the formulation of vaccination policy. It is unlikely that SARS-CoV-2 will be eliminated, and our findings will likely be relevant to future seasonal SARS-CoV-2 epidemics or in the face of emerging variants.
Footnotes
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Competing interests: David Fisman has served on advisory boards related to influenza and SARS-CoV-2 vaccines for Seqirus, Pfizer, AstraZeneca and Sanofi-Pasteur Vaccines, and has served as a legal expert on issues related to COVID-19 epidemiology for the Elementary Teachers Federation of Ontario and the Registered Nurses Association of Ontario. He also served as a volunteer scientist on the Ontario COVID-19 Science Advisory Table. Ashleigh Tuite was employed by the Public Health Agency of Canada when the research was conducted. The work does not represent the views of the Public Health Agency of Canada. No other competing interests were declared.
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This article has been peer reviewed.
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Contributors: All of the authors made substantial contributions to the conception and design of this work, drafting and revision for important intellectual content, gave final approval of the version to be published and agreed to be accountable for all aspects of the work.
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Funding: This research was supported by a grant from the Canadian Institutes of Health Research (to David Fisman; 2019 COVID-19 rapid researching funding OV4-170360). The funder had no direct role in this work.
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Data sharing: A version of the model in Microsoft Excel is freely available at 10.6084/m9.figshare.15189576.
This is an Open Access article distributed in accordance with the terms of the Creative Commons Attribution (CC BY-NC-ND 4.0) licence, which permits use, distribution and reproduction in any medium, provided that the original publication is properly cited, the use is noncommercial (i.e., research or educational use), and no modifications or adaptations are made. See: https://creativecommons.org/licenses/by-nc-nd/4.0/