LLukas22/scidocs huggingface dataset:
Online Optimization of Swimming and Crawling in an Amphibious Snake Robot

An important problem in the control of locomotion of robots with multiple degrees of freedom (e.g., biomimetic robots) is to adapt the locomotor patterns to the properties of the environment. This article addresses this problem for the locomotion of an amphibious snake robot, and aims at identifying fast swimming and crawling gaits for a variety of environments. Our approach uses a locomotion controller based on the biological concept of central pattern generators (CPGs) together with a gradient-free optimization method, Powell's method. A key aspect of our approach is that the gaits are optimized online, i.e., while moving, rather than as an off-line optimization process. We present various experiments with the real robot and in simulation: swimming, crawling on horizontal ground, and crawling on slopes. For each of these different situations, the optimized gaits are compared with the results of systematic explorations of the parameter space. The main outcomes of the experiments are: 1) optimal gaits are significantly different from one medium to the other; 2) the optimums are usually peaked, i.e., speed rapidly becomes suboptimal when the parameters are moved away from the optimal values; 3) our approach finds optimal gaits in much fewer iterations than the systematic search; and 4) the CPG has no problem dealing with the abrupt parameter changes during the optimization process. The relevance for robotic locomotion control is discussed.
The York-Mason technique for recto-urethral fistulas.

OBJECTIVE
Recto-urethral fistula formation following radical prostatectomy is an uncommon but potentially devastating event. There is no consensus in the literature regarding the treatment of these fistulas. We present here our experiences treating recto-urethral fistulas.


MATERIAL AND METHODS
We analyzed 8 cases of rectourethral fistula treated at our institution in the last seven years. Seven of the patients underwent repair of the fistula using the modified York-Mason procedure.


RESULTS
The causes of the fistula were radical retropubic prostatectomy in five patients, perineal debridement of Fournier's gangrene in one, transvesical prostatectomy in one and transurethral resection of the prostate in the other patient. The most common clinical manifestation was fecaluria, present in 87.5% of the cases. The mean time elapsed between diagnosis and correction of the fistula was 29.6 (7-63) months. One spontaneous closure occurred after five months of delayed catheterization. Urinary and retrograde urethrocystography indicated the site of the fistula in 71.4% of the cases. No patient presented recurrence of the fistula after its correction with the modified York-Mason procedure.


CONCLUSION
The performance of routine colostomy and cystostomy is unnecessary. The technique described by York-Mason permits easy access, reduces surgical and hospitalization times and presents low complication and morbidity rates when surgically correcting recto-urethral fistulas.
The interdisciplinary management of hypodontia: orthodontics

Orthodontic treatment can greatly facilitate any restorative treatment or sometimes even eliminate the need for it. There are several issues that commonly arise in the orthodontic management of patients with hypodontia. These include: space management; uprighting and aligning teeth; and management of deep overbite and retention and stability. The following paper discusses these aspects of orthodontic management.
What are the important surgical factors affecting the wound healing after primary total knee arthroplasty?

BACKGROUND
Wound condition after primary total knee arthroplasty (TKA) is an important issue to avoid any postoperative adverse events. Our purpose was to investigate and to clarify the important surgical factors affecting wound score after TKA.


METHODS
A total of 139 knees in 128 patients (mean 73 years) without severe comorbidity were enrolled in the present study. All primary unilateral or bilateral TKAs were done using the same skin incision line, measured resection technique, and wound closure technique using unidirectional barbed suture. In terms of the wound healing, Hollander Wound Evaluation Score (HWES) was assessed on postoperative day 14. We performed multiple regression analysis using stepwise method to identify the factors affecting HWES. Variables considered in the analysis were age, sex, body mass index (kg/m(2)), HbA1C (%), femorotibial angle (degrees) on plain radiographs, intraoperative patella eversion during the cutting phase of the femur and the tibia in knee flexion, intraoperative anterior translation of the tibia, patella resurfacing, surgical time (min), tourniquet time (min), length of skin incision (cm), postoperative drainage (ml), patellar height on postoperative lateral radiographs, and HWES. HWES was treated as a dependent variable, and others were as independent variables.


RESULTS
The average HWES was 5.0 ± 0.8 point. According to stepwise forward regression test, patella eversion during the cutting phase of the femur and the tibia in knee flexion and anterior translation of the tibia were entered in this model, while other factors were not entered. Standardized partial regression coefficient was as follows: 0.57 in anterior translation of the tibia and 0.38 in patella eversion.


CONCLUSIONS
Fortunately, in the present study using the unidirectional barbed suture, major wound healing problem did not occur. As to the surgical technique, intraoperative patella eversion and anterior translation of the tibia should be avoided for quality cosmesis in primary TKA.
A Wireless Sensor Network-Based Structural Health Monitoring System for Highway Bridges

An integrated structural health monitoring (SHM) system for highway bridges is presented. The system is based on a customized wireless sensor network platform with a flexible design that provides a variety of sensors typical in SHM. These sensors include accelerometers, strain gauges, and temperature sensors with ultra-low power consumption. An S-Mote node, an acceleration sensor board, and a strain sensor board are developed to satisfy the requirements of bridge structural monitoring. Communication software components are integrated within TinyOS operating system to provide a flexible software platform whereas the data processing software performs analysis of acceleration, dynamic displacement, and dynamic strain data. The prototype system comprises a nearly linear multi-hop topology and is deployed on an in-service highway bridge. Data acquired from the system are used to examine network performance and to help evaluate the state of the bridge. Experimental results show that the system enables continuous or regular interval monitoring for in-service
Towards Creative Case Based Reasoning

Case Based Reasoning (CBR) solves new problems by re-using the old solutions in similar contexts. However, repetition of previous solutions in new situations is not creative and thus becomes an issue to CBR, considering the fact that creativity is required to solve new problems. The majority of existing CBR applications is still used for solving routine problems. Consequently, this paper firstly identifies the possible root causes that may restrict the CBR method to be applied into creative problem-solving tasks. Then, in order to address the CBR issue in creativity, a concept of Creative Case Based Reasoning (CCBR) is proposed, which not only re-highlights the importance of creativity in CBR, but also serves as an initiative for exploring the CBR’s potential in generating creative solutions. Finally, this paper is summarised with concluding remarks.
SYQ: Learning Symmetric Quantization for Efficient Deep Neural Networks

Inference for state-of-the-art deep neural networks is computationally expensive, making them difficult to deploy on constrained hardware environments. An efficient way to reduce this complexity is to quantize the weight parameters and/or activations during training by approximating their distributions with a limited entry codebook. For very low-precisions, such as binary or ternary networks with 1-8-bit activations, the information loss from quantization leads to significant accuracy degradation due to large gradient mismatches between the forward and backward functions. In this paper, we introduce a quantization method to reduce this loss by learning a symmetric codebook for particular weight subgroups. These subgroups are determined based on their locality in the weight matrix, such that the hardware simplicity of the low-precision representations is preserved. Empirically, we show that symmetric quantization can substantially improve accuracy for networks with extremely low-precision weights and activations. We also demonstrate that this representation imposes minimal or no hardware implications to more coarse-grained approaches. Source code is available at https://www.github.com/julianfaraone/SYQ.
Development and content validity of a patient reported outcomes measure to assess symptoms of major depressive disorder

BACKGROUND
Although many symptoms of Major Depressive Disorder (MDD) are assessed through patient-report, there are currently no patient-reported outcome (PRO) instruments that incorporate documented evidence of patient input in PRO instrument development. A review of existing PROs used in MDD suggested the need to conduct qualitative research with patients with MDD to better understand their experience of MDD and develop an evaluative instrument with content validity. The aim of this study was to develop a disease-specific questionnaire to assess symptoms important and relevant to adult MDD patients.


METHODS
The questionnaire development involved qualitative interviews for concept elicitation, instrument development, and cognitive interviews to support content validity. For concept elicitation, ten MDD severity-specific focus group interviews with thirty-eight patients having clinician-confirmed diagnoses of MDD were conducted in January 2009. A semi-structured discussion guide was used to elicit patients' spontaneous descriptions of MDD symptoms. Verbatim transcripts of focus groups were coded and analyzed to develop a conceptual framework to describe MDD. A PRO instrument was developed by operationalizing concepts elicited in the conceptual framework. Cognitive interviews were carried out in patients (n = 20) to refine and test the content validity of the instrument in terms of item relevance and comprehension, instructions, recall period, and response categories.


RESULTS
Concept elicitation focus groups identified thirty-five unique concepts falling into several domains: i) emotional, ii) cognitive, iii) motivation, iv) work, v) sleep, vi) appetite, vii) social, viii) activities of daily living, ix) tired/fatigue, x) body pain, and xi) suicidality. Concept saturation, the point at which no new relevant information emerges in later interviews, was achieved for each of the concepts. Based on the qualitative findings, the PRO instrument developed had 15 daily and 20 weekly items. The cognitive interviews confirmed that the instructions, item content, and response scales were understood by the patients.


CONCLUSIONS
Rigorous qualitative research resulted in the development of a PRO measure for MDD with supported content validity. The MDD PRO can assist in understanding and assessing MDD symptoms from patients' perspectives as well as evaluating treatment benefit of new targeted therapies.
Reactive Whole-Body Control: Dynamic Mobile Manipulation Using a Large Number of Actuated Degrees of Freedom

As a result of intensive research over the last few decades, several robotic systems are approaching a level of maturity that allows robust task execution and safe interaction with humans and the environment. Particularly when considering the aging of the population, service and household robotics is expected to play an important role in future domestic environments. To provide the ability to accomplish a huge range of tasks with different requirements, it appears to be inevitable to equip the robot with a large number of degrees of freedom (DoF). Just imagine an ostensibly simple service task like filling a glass with water and placing it on a table. A variety of constraints has to be dealt with simultaneously: No liquid should be slopped, collisions with the environment must be avoided, and possible interactions with humans residing in the workspace of the robot have to be handled properly.
Maximizing Fun by Creating Data with Easily Reducible Subjective Complexity

The Formal Theory of Fun and Creativity (1990–2010) [Schmidhuber, J.: Formal theory of creativity, fun, and intrinsic motivation (1990–2010). IEEE Trans. Auton. Mental Dev. 2(3), 230–247 (2010b)] describes principles of a curious and creative agent that never stops generating nontrivial and novel and surprising tasks and data. Two modules are needed: a data encoder and a data creator. The former encodes the growing history of sensory data as the agent is interacting with its environment; the latter executes actions shaping the history. Both learn. The encoder continually tries to encode the created data more efficiently, by discovering new regularities in it. Its learning progress is the wow-effect or fun or intrinsic reward of the creator, which maximizes future expected reward, being motivated to invent skills leading to interesting data that the encoder does not yet know but can easily learn with little computational effort. I have argued that this simple formal principle explains science and art and music and humor. Note: This overview heavily draws on previous publications since 1990, especially Schmidhuber (2010b), parts of which are reprinted with friendly permission by IEEE.
Kilovoltage rotational external beam radiotherapy on a breast computed tomography platform: a feasibility study.

PURPOSE
To demonstrate the feasibility of a dedicated breast computed tomography (bCT) platform to deliver rotational kilovoltage (kV) external beam radiotherapy (RT) for partial breast irradiation, whole breast irradiation, and dose painting.


METHODS AND MATERIALS
Rotational kV-external beam RT using the geometry of a prototype bCT platform was evaluated using a Monte Carlo simulator. A point source emitting 178 keV photons (approximating a 320-kVp spectrum with 4-mm copper filtration) was rotated around a 14-cm voxelized polyethylene disk (0.1 cm tall) or cylinder (9 cm tall) to simulate primary and primary plus scattered photon interactions, respectively. Simulations were also performed using voxelized bCT patient images. Beam collimation was varied in the x-y plane (1-14 cm) and in the z-direction (0.1-10 cm). Dose painting for multiple foci, line, and ring distributions was demonstrated using multiple rotations with varying beam collimation. Simulations using the scanner's native hardware (120 kVp filtered by 0.2-mm copper) were validated experimentally.


RESULTS
As the x-y collimator was narrowed, the two-dimensional dose profiles shifted from a cupped profile with a high edge dose to an increasingly peaked central dose distribution with a sharp dose falloff. Using a 1-cm beam, the cylinder edge dose was <7% of the dose deposition at the cylinder center. Simulations using 120-kVp X-rays showed distributions similar to the experimental measurements. A homogeneous dose distribution (<2.5% dose fluctuation) with a 20% decrease in dose deposition at the cylinder edge (i.e., skin sparing) was demonstrated by weighted summation of four dose profiles using different collimation widths. Simulations using patient bCT images demonstrated the potential for treatment planning and image-guided RT.


CONCLUSIONS
Rotational kV-external beam RT for partial breast irradiation, dose painting, and whole breast irradiation with skin sparing is feasible on a bCT platform with the potential for high-resolution image-guided RT.
POLYNOMIAL-CHAOS-BASED KRIGING

Computer simulation has become the standard tool in many engineering fields for designing and optimizing systems, as well as for assessing their reliability. Optimization and uncertainty quantification problems typically require a large number of runs of the computational model at hand, which may not be feasible with high-fidelity models directly. Thus surrogate models (a.k.a metamodels) have been increasingly investigated in the last decade. Polynomial Chaos Expansions (PCE) and Kriging are two popular non-intrusive metamodelling techniques. PCE surrogates the computational model with a series of orthonormal polynomials in the input variables where polynomials are chosen in coherency with the probability distributions of those input variables. A least-square minimization technique may be used to determine the coefficients of the PCE. On the other hand, Kriging assumes that the computer model behaves as a realization of a Gaussian random process whose parameters are estimated from the available computer runs, i.e. input vectors and response values. These two techniques have been developed more or less in parallel so far with little interaction between the researchers in the two fields. In this paper, PC-Kriging is derived as a new non-intrusive meta-modeling approach combining PCE and Kriging. A sparse set of orthonormal polynomials (PCE) approximates the global behavior of the computational model whereas Kriging manages the local variability of the model output. An adaptive algorithm similar to the least angle regression algorithm determines the optimal sparse set of polynomials. PC-Kriging is validated on various benchmark analytical functions which are easy to sample for reference results. From the numerical investigations it is concluded that PC-Kriging performs better than or at least as good as the two distinct meta-modeling techniques. A larger gain in accuracy is obtained when the experimental design has a limited size, which is an asset when dealing with demanding computational models.
Extended Object Tracking: Introduction, Overview and Applications

This article provides an elaborate overview of current research in extended object tracking. We provide a clear definition of the extended object tracking problem and discuss its delimitation to other types of object tracking. Next, different aspects of extended object modelling are extensively discussed. Subsequently, we give a tutorial introduction to two basic and well used extended object tracking approaches – the random matrix approach and the Kalman filter-based approach for star-convex shapes. The next part treats the tracking of multiple extended objects and elaborates how the large number of feasible association hypotheses can be tackled using both Random Finite Set (RFS) and Non-RFS multi-object trackers. The article concludes with a summary of current applications, where four example applications involving camera, X-band radar, light detection and ranging (LIDAR), red-green-blue-depth (RGBD) sensors are highlighted.
Lispro is superior to regular insulin in transient intensive insulin therapy in type 2 diabetes.

OBJECTIVE
The optimal approach to relatively recent onset type 2 diabetes patients is still unknown. We speculated that the use of short-acting insulin analogs might be of particular benefit in this context.


PATIENTS AND METHODS
To explore this possibility, we compared the effect on beta- and alpha-cell function of transient intensive insulin therapy using lispro versus human regular insulin in a total of 21 type 2 diabetic patients who were randomly assigned to 14-days intensive insulin therapy consisting of bedtime NPH insulin plus three injections of mealtime lispro (n=11) or regular insulin (n=10). The dosages of both types of insulin were adjusted to attain preprandial glucose levels of <6.1 mmol/l within 1 week with similar rates of glucose decline. An oral glucose tolerance test (OGTT) was performed at day 0 (baseline), 7, and 14; plasma glucose, serum insulin, and plasma glucagon responses over 0-120 minutes were measured, and calculated as the area under the curve (AUC).


RESULTS
Lispro led to a significant reduction in glucose-AUC and also an increase in insulin-AUC versus regular insulin on day 7. Glucagon secretion following OGTT was well suppressed with lispro on day 14 compared to regular insulin.


CONCLUSION
Two-week intensive insulin therapy with lispro appeared to be more effective than that with regular insulin in type 2 diabetes in attaining both more rapid beta-cell rest and greater suppression of glucagon. These changes may provide significant long-term benefits.
Relationship between linear and nonlinear dynamics of heart rate and impairment of lung function in COPD patients

BACKGROUND
In chronic obstructive pulmonary disease (COPD), functional and structural impairment of lung function can negatively impact heart rate variability (HRV); however, it is unknown if static lung volumes and lung diffusion capacity negatively impacts HRV responses. We investigated whether impairment of static lung volumes and lung diffusion capacity could be related to HRV indices in patients with moderate to severe COPD.


METHODS
Sixteen sedentary males with COPD were enrolled in this study. Resting blood gases, static lung volumes, and lung diffusion capacity for carbon monoxide (DLCO) were measured. The RR interval (RRi) was registered in the supine, standing, and seated positions (10 minutes each) and during 4 minutes of a respiratory sinus arrhythmia maneuver (M-RSA). Delta changes (Δsupine-standing and Δsupine-M-RSA) of the standard deviation of normal RRi, low frequency (LF, normalized units [nu]) and high frequency (HF [nu]), SD1, SD2, alpha1, alpha2, and approximate entropy (ApEn) indices were calculated.


RESULTS
HF, LF, SD1, SD2, and alpha1 deltas significantly correlated with forced expiratory volume in 1 second, DLCO, airway resistance, residual volume, inspiratory capacity/total lung capacity ratio, and residual volume/total lung capacity ratio. Significant and moderate associations were also observed between LF/HF ratio versus total gas volume (%), r=0.53; LF/HF ratio versus residual volume, %, r=0.52; and HF versus total gas volume (%), r=-0.53 (P<0.05). Linear regression analysis revealed that ΔRRi supine-M-RSA was independently related to DLCO (r=-0.77, r (2)=0.43, P<0.05).


CONCLUSION
Responses of HRV indices were more prominent during M-RSA in moderate to severe COPD. Moreover, greater lung function impairment was related to poorer heart rate dynamics. Finally, impaired lung diffusion capacity was related to an altered parasympathetic response in these patients.