LLukas22/scidocs huggingface dataset:
Persistent self-supervised learning principle: from stereo to monocular vision for obstacle avoidance

Self-Supervised Learning (SSL) is a reliable learning mechanism in which a robot uses an original, trusted sensor cue for training to recognize an additional, complementary sensor cue. We study for the first time in SSL how a robot’s learning behavior should be organized, so that the robot can keep performing its task in the case that the original cue becomes unavailable. We study this persistent form of SSL in the context of a flying robot that has to avoid obstacles based on distance estimates from the visual cue of stereo vision. Over time it will learn to also estimate distances based on monocular appearance cues. A strategy is introduced that has the robot switch from stereo vision based flight to monocular flight, with stereo vision purely used as ‘training wheels’ to avoid imminent collisions. This strategy is shown to be an effective approach to the ‘feedbackinduced data bias’ problem as also experienced in learning from demonstration. Both simulations and real-world experiments with a stereo vision equipped AR drone 2.0 show the feasibility of this approach, with the robot successfully using monocular vision to avoid obstacles in a 5 × 5m room. The experiments show the potential of persistent SSL as a robust learning approach to enhance the capabilities of robots. Moreover, the abundant training data coming from the own sensors allows to gather large data sets necessary for deep learning approaches. Keywords—Persistent self-supervised learning, stereo vision, monocular depth estimation, robotics.
Engineering Route Planning Algorithms

Algorithms for route planning in transportation networks have recently undergone a rapid development, leading to methods that are up to three million times faster than Dijkstra’s algorithm. We give an overview of the techniques enabling this development and point out frontiers of ongoing research on more challenging variants of the problem that include dynamically changing networks, time-dependent routing, and flexible objective functions.
A Survey of Quantum Learning Theory

This paper surveys quantum learning theory: the theoretical aspects of machine learning using quantum computers. We describe the main results known for three models of learning: exact learning frommembership queries, and Probably Approximately Correct (PAC) and agnostic learning from classical or quantum examples.
When will it happen?: relationship prediction in heterogeneous information networks

Link prediction, i.e., predicting links or interactions between objects in a network, is an important task in network analysis. Although the problem has attracted much attention recently, there are several challenges that have not been addressed so far. First, most existing studies focus only on link prediction in homogeneous networks, where all objects and links belong to the same type. However, in the real world, heterogeneous networks that consist of multi-typed objects and relationships are ubiquitous. Second, most current studies only concern the problem of whether a link will appear in the future but seldom pay attention to the problem of when it will happen. In this paper, we address both issues and study the problem of predicting when a certain relationship will happen in the scenario of heterogeneous networks. First, we extend the link prediction problem to the relationship prediction problem, by systematically defining both the target relation and the topological features, using a meta path-based approach. Then, we directly model the distribution of relationship building time with the use of the extracted topological features. The experiments on citation relationship prediction between authors on the DBLP network demonstrate the effectiveness of our methodology.
New mechanisms, new worries

Growing levels of resistance to available antimicrobial medicines are causing tens of thousands of deaths each year across the world (1). By 2050, the overall costs associated with antimicrobial resistance (AMR) could reduce global gross domestic product (GDP) by 2 to 3.5% (2). One concern is the development of resistance to the carbapenem antibiotics among Gram-negative bacteria, in particular, the carbapenemase-producing Enterobacteriaceae (CPE) (see the image). Enterobacteriaceae are the source of community- and hospital-acquired infections and commonly cause opportunistic infections, including pneumonia, and sometimes death (3). CPE are resistant to nearly all available antibiotics, with the exception of colistin. Emerging resistance to colistin therefore has troubling implications for patient care.
Lifetime fruit and vegetable consumption and arterial pulse wave velocity in adulthood: the Cardiovascular Risk in Young Finns Study.

BACKGROUND
The relationships between childhood lifestyle risk factors and adulthood pulse wave velocity (PWV) have not been reported. We studied whether childhood and adulthood lifestyle risk factors are associated with PWV assessed in adulthood.


METHODS AND RESULTS
The study cohort comprised 1622 subjects of the Cardiovascular Risk in Young Finns Study followed up for 27 years since baseline (1980; aged 3 to 18 years) with lifestyle risk factor data available since childhood. Arterial PWV was measured in 2007 by whole-body impedance cardiography device. Vegetable consumption in childhood was inversely associated with adulthood PWV (β=-0.06, P=0.02), and this association remained significant (β=-0.07, P=0.004) when adjusted for traditional risk factors (high-density lipoprotein cholesterol, low-density lipoprotein cholesterol, triglycerides, systolic blood pressure, body mass index, and smoking). Vegetable consumption was also an independent predictor of PWV in adulthood when adjusted for lifestyle or traditional risk factors (β=-0.08, P=0.002 and β=-0.07, P=0.0007, respectively). Persistently high consumption of both fruits and vegetables from childhood to adulthood was associated with lower PWV compared with persistently low consumption (P=0.03 for both). The number of lifestyle risk factors (the lowest quintile for vegetable consumption, fruit consumption, physical activity, and smoking) in childhood was directly associated with PWV in adulthood (P=0.001). This association remained significant when adjusted for the number of lifestyle risk factors in adulthood (P=0.003).


CONCLUSIONS
These findings suggest that lifetime lifestyle risk factors, with low consumption of fruits and vegetables in particular, are related to arterial stiffness in young adulthood.
Do patients with active RA have differences in disease activity and perceptions if anti-TNF naïve versus anti-TNF experienced? Baseline results of the optimization of adalimumab trial

BACKGROUND
The chance of a good response in RA is attenuated in previous anti-TNF users who start new anti-TNF therapy compared to biologic naïve patients. In active RA, those with previous anti-TNF exposure compared to anti-TNF naïve may have different baseline disease activity and patient perceptions when starting a new anti-TNF treatment that could explain the observed response differences.


MATERIAL/METHODS
The aim of this study was a post hoc analysis of baseline characteristics of patients enrolled in the Optimization of Adalimumab study that was a treat to target vs. routine care study in patients initiating adalimumab. As per the protocol, a maximum of 20% anti-TNF experienced patients were enrolled in the 300 patient trial. Twelve (4.0%) were excluded who previously used other biologics. Baseline characteristics including age, gender, tender and swollen joint counts, disease activity (DAS28), function (HAQ-DI), patient global assessment, patient satisfaction with current treatment, and inflammatory markers (CRP, ESR), were compared between previously anti-TNF experienced [etanercept or infliximab (EXP)], and anti-TNF naïve patients (NAÏVE).


RESULTS
The mean (SD) age was 54.8 (13.3) years; 81.0% were female, and 237 (79.0%) were anti-TNF naïve while 51 (17.0%) patients were anti-TNF experienced (29 with etanercept, 16 with infliximab, and 6 for both). The mean (SD) baseline in EXP versus NAÏVE groups respectively was: CRP=21.7(32.9) vs. 17.5(20.7); ESR=28.7(22.5) vs. 29.8(20.4); SJC=10.5(6.0) vs. 10.7(5.6); TJC=12.8(7.1) vs. 12.3(7.3); and DAS28=6.0(1.2) vs. 5.8(1.1). None of the between-group differences were statistically significant, however, the HAQ-DI in EXP was 1.7(0.6) compared to 1.5(0.7) for the NAÏVE (P=0.021). Additionally, EXP patients had a higher patient global score [71.3(26.1) vs. 61.9(26.2), P=0.021].


CONCLUSIONS
Although anti-TNF naïve and experienced patients who initiated adalimumab were similar, with respect to several baseline characteristics, significant differences in subjective measures were observed, which may indicate more severe patient measures (function and global disease activity) in anti-TNF experienced patients.
Significance of initial blood pressure and comorbidity for the efficacy of a fixed combination of an angiotensin receptor blocker and hydrochlorothiazide in clinical practice

BACKGROUND
Two-thirds of all patients with arterial hypertension need drug combinations to achieve blood pressure (BP) goals. Fixed combinations have high efficacy and result in high patient compliance. 300 mg irbesartan plus 25 mg hydrochlorothiazide (HCTZ) has been investigated only in clinical trials but not in daily practice.


METHODS
A multicenter, noninterventional, noncontrolled observational study with 8123 patients seen by 1604 physicians in daily practice. BP reduction (office measurements), co-morbid disease and tolerability were documented over a 6-month observational period.


RESULTS
At mean baseline BP of 161 +/- 15/94 +/- 10 mmHg, administering of fixed combination resulted in a substantial BP reduction averaging 28 +/- 15/14 +/- 10 mmHg (P < 0.001). Decrease of systolic BP ran parallel with increasing systolic baseline BP (Spearman's Rho -0.731; P < 0.0001; diastolic BP vs diastolic baseline BP Rho 0.740; P < 0.0001), independent from patient characteristics (age, obesity, diabetes or nephropathy) but enhanced with short history of hypertension (P < 0.0001 vs long history), prior beta blockers (P = 0.001 vs prior angiotensin receptor blockers [ARBs]), prior calcium channel blockers (P = 0.046 vs prior ARBs) and no prior medication (P = 0.012 vs prior ARBs). High compliance (>98%) and low incidence of adverse events (0.66%) were documented.


CONCLUSIONS
The fixed combination of 300 mg irbesartan with 25 mg HCTZ was efficacious and tolerable in an unselected patient population in primary care.
WIDEBAND CIRCULARLY POLARIZED UHF RFID READER ANTENNA WITH HIGH GAIN AND WIDE AXIAL RATIO BEAMWIDTHS

A broadband circularly polarized patch antenna with high gain and wide axial ratio beamwidths is proposed for ultra-highfrequency (UHF) RF identification (RFID) applications in this paper. The antenna is composed of a square patch, a feed network printed on the bottom side of the substrates and an antenna radome. The CP radiation of the proposed antenna is excited by four cylinder probes which transmit four signals that have equal amplitude with quadrature phase difference (0◦, 90◦, 180◦, and 270◦) generated from the feed network. To obtain an optimum peak gain and a broad CP bandwidth, 100Ω isolation resistor is omitted in the feed network for obtaining high radiation efficiency, and the effects of varying the feed positions and dimensions of the various parameters on the antenna performances are respectively investigated. Simulation results are compared with the measurements, and a good agreement is obtained. The measured results show that the proposed antenna can provide broad impendence bandwidth of 19.7% (815–993 MHz) (reflection coefficient less than −15 dB), a maximum gain of 9.65 dBi, and a 3-dB axial ratio (AR) bandwidth of about 11% (860–960 MHz). The results indicate that the proposed antenna is an excellent candidate for UHF RFID reader system. At last, read performance of the proposed antenna array in RFID systems is presented, which verify the superior features of the proposed antenna in practical RFID system applications. Received 25 April 2012, Accepted 7 June 2012, Scheduled 26 June 2012 * Corresponding author: Ping Wang (wangpingcqz@163.com).
Laparoscopic sutured anastomosis of the bowel

Background: Even though the safety and efficacy of sutured anastomosis have been proved in open surgery, laparoscopic sutured anastomosis is rarely performed because it is difficult and time-consuming. We aim at description of a standardized technique for laparoscopic sutured anastomosis of the bowel and definition of its learning curve. Methods: Fifty-six laparoscopic sutured anastomoses of cow small intestine were performed in a laparoscopic simulator. In a survival animal trial, 10 end-to-end, 2 gastrojejunostomy, 2 cholecystojejunostomy, 2 colocolic, and one side-to-side anastomoses were performed, using the same technique. Results: In the survival cases, we had no leaks or obstruction, minimal adhesions, and only one stenotic gastrojejunostomy. The mean end-to-end anastomotic time was 50 min. The technique was suitable for most sites in the GIT. The learning phase required 40 anastomoses in the simulator. Conclusions: The described technique seems relatively fast, safe, and universal, and it needs about 40 anastomoses to be mastered.
A design methodology for temperature variation insensitive low power circuits

Operating an integrated circuit at the prescribed nominal supply voltage is not preferable for reliable circuit operation under temperature fluctuations. A design methodology based on optimizing the supply voltage for temperature variation insensitive circuit performance is presented in this paper. Circuits display temperature variation insensitive delay characteristics when operated at a supply voltage 45% to 53% lower than the nominal supply voltage (VDD = 1.8V) in a 180nm CMOS technology. Integrated circuits operating at scaled supply voltages consume low power at the cost of reduced speed. The proposed design methodology of optimizing the supply voltage for temperature variation insensitive circuit performance is, therefore, particularly attractive in low power applications with relaxed speed requirements. The energy, delay, and energy-delay product (EDP) are compared at the supply voltages that yield temperature variation insensitive circuit performance and minimum energy-delay product. Results indicate that low-power integrated circuits can also be made insensitive to temperature fluctuations with a modest amount of increase in energy-delay product.
Wear behavior of Al12Si/TiB 2 coatings produced by laser cladding

Abstract Composite coatings consisting of an Al–12Si alloy matrix reinforced with TiB 2 particles were prepared by laser cladding, from mixtures of Al–12Si alloy and TiB 2 powders. The coating's microstructure is composed of TiB 2 particles dispersed in a matrix consisting of proeutectic α-Al dendrites and α-Al + Si eutectic. The coatings present a hardness of 156 HV and a wear coefficient of 2.65 × 10 −5  mm 3 /(Nm) in dry sliding wear tests, with a counterbody of AISI 440 C tool steel. The interaction between the sample and the counterbody leads to the formation of a tribolayer containing of a large proportion of oxides of the elements both of the sample and of the counterbody. The formation of this tribolayer can be explained by the oxidation of the tribological pair materials due to the high flash temperatures generated during asperity interactions, followed by cracking of the oxides and consolidation of the debris into a compact surface layer which protects the coating from further wear. Repeated loading causes cracking of the tribolayer and its delamination as the main material removal mechanism.
Integrated Solution for Physical Activity Monitoring Based on Mobile Phone and PC

OBJECTIVES
This study is part of the ongoing development of treatment methods for metabolic syndrome (MS) project, which involves monitoring daily physical activity. In this study, we have focused on detecting walking activity from subjects which includes many other physical activities such as standing, sitting, lying, walking, running, and falling. Specially, we implemented an integrated solution for various physical activities monitoring using a mobile phone and PC.


METHODS
We put the iPod touch has built in a tri-axial accelerometer on the waist of the subjects, and measured change in acceleration signal according to change in ambulatory movement and physical activities. First, we developed of programs that are aware of step counts, velocity of walking, energy consumptions, and metabolic equivalents based on iPod. Second, we have developed the activity recognition program based on PC. iPod synchronization with PC to transmit measured data using iPhoneBrowser program. Using the implemented system, we analyzed change in acceleration signal according to the change of six activity patterns.


RESULTS
We compared results of the step counting algorithm with different positions. The mean accuracy across these tests was 99.6 ± 0.61%, 99.1 ± 0.87% (right waist location, right pants pocket). Moreover, six activities recognition was performed using Fuzzy c means classification algorithm recognized over 98% accuracy. In addition we developed of programs that synchronization of data between PC and iPod for long-term physical activity monitoring.


CONCLUSIONS
This study will provide evidence on using mobile phone and PC for monitoring various activities in everyday life. The next step in our system will be addition of a standard value of various physical activities in everyday life such as household duties and a health guideline how to select and plan exercise considering one's physical characteristics and condition.
The missing link between BPM and accounting: Using event data for accounting in process-oriented organizations

Purpose – The purpose of this paper is to integrate BPM and accounting on a conceptual level in order to account for the economic implications of process-state changes in process design time and process run-time. Design/methodology/approach – The paper adopts a design science research paradigm. The research, grounded in an " events " approach to accounting theory, builds on the REA accounting model that has been adapted for the design of a process accounting model (PAM). Findings – The paper presents a process accounting model (PAM) that can be used to structure event records in process-aware information systems (PAIS) to enable process-oriented accounting. The PAM is specified as a light weight data structure that is intended for the integration of PAIS and accounting information systems. Research limitations/implications – As this paper is technical in nature, more research is needed to evaluate more thoroughly its approach in naturalistic settings. Practical implications – The PAM can support traditional accounting approaches, and because of the adopted events approach, it readily supports use cases related to real-time analyt-ics in BPM and accounting. Originality/value – The process accounting model presents a novel approach to integrating BPM and accounting. The novelty of this approach lies in its use of event records to document flows of economic resources.
How Vision Affects Kinematic Properties of Pantomimed Prehension Movements

When performing the reach-to-grasp movement, fingers open wider than the size of a target object and then stop opening. The recorded peak grip aperture (PGA) is significantly larger when this action is performed without vision during the movement than with vision, presumably due to an error margin that is retained in order to avoid collision with the object. People can also pretend this action based on an internal target representation (i.e., pantomimed prehension), and previous studies have shown that kinematic differences exist between natural and pantomimed prehension. These differences are regarded as a reflection of variations in information processing in the brain through the dorsal and ventral streams. Pantomimed action is thought to be mediated by the ventral stream. This implies that visual information during the movement, which is essential to the dorsal stream, has little effect on the kinematic properties of pantomimed prehension. We investigated whether an online view of the external world affects pantomimed grasping, and more specifically, whether the dorsal stream is involved in its execution. Participants gazed at a target object and were then subjected to a 3-s visual occlusion, during which time the experimenter removed the object. The participants were then required to pretend to make a reach-to-grasp action toward the location where the object had been presented. Two visual conditions (full vision and no vision) were imposed during the pantomimed action by manipulating shutter goggles. The PGA showed significant differences between the two visual conditions, whereas no significant difference was noted for terminal grip aperture, which was recorded at the movement end. This suggests the involvement of the dorsal stream in pantomimed action and implies that pantomimed prehension is a good probe for revealing the mechanism of interaction between the ventral and dorsal streams, which is also linked to embodied cognition.
Reading Shakespeare - Reading Modernity

From the mid 1700s onwards, the German literati and theatre community were engaged in a heated and wide-ranging debate over William Shakespeare’s drama. At stake were not only questions about the theatrical implications and impact of Elizabethan drama, but also a more systematic inquiry into the nature of art. In this context, one voice stands out: that of Johann Gottfried Herder. Herd er’s 1772 essay “Shakespear” (sic) sums up the contemporary discussion, but also brings it to a new philosophical level. For Herder, Shakespeare is the Bard of modernity. His theatre articulates patterns of diversity within and between cultures, thus also triggering a set of new hermeneutic problems and challenges. Through his work on Shakespeare, Herder brings forth a novel understanding of modernity – of art in modernity, of the conditions of self-understanding and understanding others – that differs from the way Hegel and his likes, a good thirty years later, would shape the discourse of hermeneutics as well as our understanding of the modern world and the role of art within it. Keywords : Theatre, Modernity, Herder, Hegel, Shakespeare, Aesthetics
Renal tubular function in patients with beta-thalassaemia major in Zahedan, southeast Iran.

INTRODUCTION
In patients with beta-thalassaemia major, impaired biosynthesis of the beta-globin leads to accumulation of unpaired alpha-globin chain. Shortened red cell lifespan and iron overload cause functional and physiological abnormalities in various organ systems. Thus, in patients with beta-thalassaemia major, the most important cause of mortality and morbidity is organ failure due to deposits of iron. The aim of this study is to investigate renal tubular and glomerular functions in patients with beta-thalassaemia major.


METHODS
166 subjects with beta-thalassaemia major (96 male, 70 female) were enrolled in the study. Fasting blood and 24-hour urine samples were obtained for haematological and biochemical analyses.


RESULTS
Patients with beta-thalassaemia major showed significant signs of renal tubulopathy, such as hypercalciuria (12.9 percent), proteinuria (8.6 percent), phosphaturia (9.2 percent), magnesiumuria (8.6 percent), hyperuricosuria (38 percent) and excretion of beta-2 microglobin (13.5 percent). We found that 95.1 percent of patients had iron overload (ferritin more than 1,000 ng/ml).


CONCLUSION
The determination of biochemical indices of renal function might help prevention of serious kidney damage before any clinical symptom is observed. Beta-thalassaemia patients present multiple renal abnormalities which may be due to iron overload. We suggest the appropriate chelation therapy and regular monitoring of the status of iron overload.