LLukas22/scidocs huggingface dataset:
Learning inverse kinematics with structured prediction

Learning inverse kinematics of robots with redundant degrees of freedom (DoF) is a difficult problem in robot learning. The difficulty lies in the non-uniqueness of the inverse kinematics function. Existing methods tackle non-uniqueness by segmenting the configuration space and building a global solution from local experts. The usage of local experts implies the definition of an oracle, which governs the global consistency of the local models; the definition of this oracle is difficult. We propose an algorithm suitable to learn the inverse kinematics function in a single global model despite its multivalued nature. Inverse kinematics is approximated from examples using structured output learning methods. Unlike most of the existing methods, which estimate inverse kinematics on velocity level, we address the learning of the direct function on position level. This problem is a significantly harder. To support the proposed method, we conducted real world experiments on a tracking control task and tested our algorithms on these models.
Clinical Genetic Basis of Tooth Agenesis

Tooth agenesis is one of the most common congenital malformations in humans. Hypodontia can either occur as an isolated condition (non-syndromic hypodontia) or can be associated with a syndrome (syndromic hypodontia), highlighting the heterogeneity of the condition. Gene anomalies or mutations in MSX1, PAX9, AXIN2 and EDA genes, appear to be most critical during the development of tooth, leading to various forms of tooth agenesis and systemic features. The aim of this paper is to review the genetic basis of hypodontia and identify the genes that have been definitively implicated in the agenesis of human dentition.
Non-local Neural Networks

Both convolutional and recurrent operations are building blocks that process one local neighborhood at a time. In this paper, we present non-local operations as a generic family of building blocks for capturing long-range dependencies. Inspired by the classical non-local means method [4] in computer vision, our non-local operation computes the response at a position as a weighted sum of the features at all positions. This building block can be plugged into many computer vision architectures. On the task of video classification, even without any bells and whistles, our nonlocal models can compete or outperform current competition winners on both Kinetics and Charades datasets. In static image recognition, our non-local models improve object detection/segmentation and pose estimation on the COCO suite of tasks. Code will be made available.
New findings and concepts about the G-spot in normal and absent vagina: precautions possibly needed for preservation of the G-spot and sexuality during surgery.

AIM
The aim of this study was to extend the clinicohistological study to involve the whole normal and absent vagina for confirming the presence of the G-spot and its relation to the surrounding organs and sexuality and to identify certain precautions for its preservation during surgery.


MATERIAL AND METHODS
This study was a descriptive randomized prospective study conducted at Kasr El Aini School of Medicine, Cairo University, Egypt. The G-spot was examined in 1500 women, 500 of them having vaginal and vulval surgery done for gynecological reasons. The G-spot was examined for its clinical and histological features and for determining the effect of surgery on its state and function.


RESULTS
The G-spot was found to be present in all women. It was a localized spot in 58% and diffuse in 42% of cases. Associated ejaculation was reported in all cases of the localized type and in 24.5% of the diffuse types. Clinical examination was found to be associated with certain local response in 52.7% of the local types. The G-spot was also found to be connected to the hymen in 100%, the urethra in 52.7%, the vulva in 82.2% and the cervix in 10.8% of cases. The mean of the sex scores and sexuality were significantly decreased in surgery involving the G-spot area. Recorded figures were 93.6 ± 3.4 and 88.2 ± 3.3 before and after surgery, respectively. The corresponding figures in the cases having a general spot were 86.4 ± 4.4 and 84.5 ± 2.4, respectively. The G-spot was found in cases of absent vagina to be localized in 59%, generalized in 28.2% and absent in 12.8% of cases.


CONCLUSIONS
The G-spot is actually present in all women. It is originally related to the lower urinary tract and it is connected to different parts of the genital tract. It may be localized or generalized. Its integrity is essential for obtaining normal physiological sexuality. Surgery may affect the integrity of the G-spot, so surgical precautions must be carried out to maintain the integrity of this spot and the patient's sexuality.
Clinical effects of a nine-month web-based intervention in subacute non-specific low back pain patients: a randomized controlled trial.

OBJECTIVE
To test the clinical effect of a web-based lower back pain intervention on quality of life and selected lower back pain outcomes.


DESIGN
A prospective single-blinded randomized intervention.


SETTING
Occupational preventive service.


SUBJECTS
One hundred office workers with non-specific subacute lower back pain.


INTERVENTION
The 50 intervention group subjects were educated daily about sitting correctly and asked to perform exercises shown by video demonstrations on the university website. The exercise routines included strengthening, mobility and stretching exercises focused on the postural stability muscles. The 50 control group subjects only received standard occupational care.


MEASURES
Outcomes were measured by the EuroQol questionnaire five dimensions three levels, the Oswestry Disability Index, and the StarT Back Screening Tool questionnaires. At nine months, the intervention group outcomes were compared to the baseline data and the control group outcomes.


RESULTS
For 97% (n = 45) of the experimental group quality of life (clinical utility) improved significantly; 3.58 times greater than the control group. Oswestry Disability Index showed an odds ratio (OR) of 5.42 with a 37% (n = 17) change for the intervention group with respect to the control group. With regard to the StarT Back Screening Tool, 76% (n = 35) of the intervention group improved their clinical state (odds ratio = 3.04 with respect to the control group improvement). Logistic regression analysis revealed positive changes in EuroQol questionnaire, increasing the likelihood of observing positive changes in StarT Back Screening Tool (OR = 15.5) and Oswestry Disability Index (OR = 4.5).


CONCLUSIONS
The intervention showed clinical improvements in quality of life and selected lower back pain outcomes in the experimental group compared to the control group.
Orbital occupation, atomic moments and magnetic ordering at interfaces of manganite thin films

We have performed x-ray linear and circular magnetic dichroism experiments at the Mn L2,3-edge of the La0.7Sr0.3MnO3 ultra thin films. Our measurements show that the antiferromagnetic (AF) insulating phase is stabilized by the interfacial rearrangement of the Mn 3d orbitals, despite the relevant magnetostriction anisotropic effect on the double-exchange ferromagnetic (FM) metallic phase. As a consequence, the Mn atomic magnetic moment orientation and how it reacts to strain differ in the FM and AF phases. In some cases a FM insulating (FMI) phase adds to the AF and FM. Its peculiar magnetic properties include in-plane magnetic anisotropy and partial release of the orbital moment quenching. Nevertheless the FMI phase appears little coupled to the other ones. PACS numbers: 75.47.Lx, 78.70.Dm
Tracking RDF Graph Provenance using RDF Molecules

The Semantic Web can be viewed as one large “universal” RDF graph distributed across many Web pages. This is an impractical for many reasons, so we usually work with a decomposition into RDF documents, each of which corresponds to an individual Web page. While this is natural and appropriate for most tasks, it is still too coarse for some. For example, many RDF documents may redundantly contain the same data and some documents comprise large amounts of weakly-related or unrelated data. Decomposing a document into its RDF triples is usually too fine a decomposition, information may be lost if the graph contains blank nodes. We define an intermediate decomposition of an RDF graph G into a set of RDF “molecules”, each of which is a connected sub-graph of the original. The decomposition is “lossless” in that the molecules can be recombined to yield G even if their blank nodes IDs are “standardized apart”. RDF molecules provide a useful granularity for tracking the provenance of or evidence for information found in an RDF graph. Doing so at the document level (e.g., find other documents with identical graphs) may find too few matches. Working at the triple level will just fail for any triples containing blank nodes. RDF molecules are the finest granularity at which we can do this without loss of information. We define the RDF molecule concept in more detail, describe an algorithm to decompose an RDF graph into its molecules, and show how these can be used to find evidence to support the original graph. The decomposition algorithm and the provenance application have both been prototyped in a simple Web-based demonstration.
Lattice Polygons and the Number 12

1. PROLOGUE. In this article, we discuss a theorem about polygons in the plane, which involves in an intriguing manner the number 12. The statement of the theorem is completely elementary, but its proofs display a surprisingly rich variety of methods, and at least some of them suggest connections between branches of mathematics that on the surface appear to have little to do with one another. We describe four proofs of the main theorem, but we give full details only for proof 4, which uses modular forms. Proofs 2 and 3, and implicitly the theorem, appear in [4].
Oral versus intravenous fludarabine as part of a reduced-intensity conditioning for allogeneic stem cell transplantation.

BACKGROUND
In 2003, oral fludarabine was introduced in the USA for the treatment of patients with hematologic malignancies as an alternative to its intravenous (i.v.) formulation; in 2008, it was introduced in México while the i.v. formulation was withdrawn. Accordingly, i.v. fludarabine had to be replaced by oral fludarabine as part of the conditioning regimen employed to conduct allogeneic stem cell transplantation in México.


METHODS
Nonrandomized retrospective analysis of 55 patients conditioned with oral fludarabine compared with 113 patients conditioned with the i.v. formulation. In addition to fludarabine, the conditioning regimen included oral busulfan and i.v. cyclophosphamide. Donors were HLA-matched siblings.


RESULTS
The clinical features of the two groups were comparable. There were no statistical differences in time to neutrophil engraftment, time to platelet engraftment, acute graft versus host disease rate and nonrelapse mortality at day 100. The overall survival of patients allografted with oral fludarabine was better than those allografted with i.v. fludarabine: 62 and 33% at 67 months, respectively (p = 0.0006).


DISCUSSION
Oral fludarabine can replace its i.v. formulation as part of reduced-intensity conditioning regimens with no deleterious effect on any of the early transplantation outcomes.
Pilot study: retreat intervention predicts improved quality of life and reduced psychological distress among breast cancer patients.

PURPOSE
Evaluate the effectiveness of a week-long residential retreat intervention incorporating photographic art therapy in concert with psychoanalytically oriented group therapy and mind-body practices in reducing psychological distress and improving quality of life (QoL) and spiritual well-being for breast cancer patients.


METHODS
28 female breast cancer patients completed self report assessments of psychological distress, QoL, and spiritual well-being on the first day of the retreat, the last day of the retreat, and a 6 week follow up assessment.


RESULTS
Repeated measures MANOVA with Bonferroni post-hoc comparisons revealed the retreat experience to predict significant and sustained reductions in depression, anxiety, and somatic stress, coupled with sustained improvements in QoL and spiritual well-being.


CONCLUSIONS
The current findings suggest that breast cancer patients may benefit from participation in a week-long multi-modal retreat center experience involving photographic art therapy and structured group therapy as a means to explore personal strain.
New Chaotic PSO-Based Neural Network Predictive Control for Nonlinear Process

In this letter, a novel nonlinear neural network (NN) predictive control strategy based on the new tent-map chaotic particle swarm optimization (TCPSO) is presented. The TCPSO incorporating tent-map chaos, which can avoid trapping to local minima and improve the searching performance of standard particle swarm optimization (PSO), is applied to perform the nonlinear optimization to enhance the convergence and accuracy. Numerical simulations of two benchmark functions are used to test the performance of TCPSO. Furthermore, simulation on a nonlinear plant is given to illustrate the effectiveness of the proposed control scheme
Esophageal hematoma after atrial fibrillation ablation: incidence, clinical features, and sequelae of esophageal injury of a different sort.

BACKGROUND
Esophageal hematoma recently has been reported as a form of esophageal injury after atrial fibrillation (AF) ablation, attributed to the use of transesophageal echocardiography (TEE). We sought to determine the incidence, clinical features, and sequelae of this form of esophageal injury.


METHODS AND RESULTS
This was a prospective series of 1110 AF ablation procedures performed under general anesthesia (GA) over 9 years. TEE was inserted after induction of GA to exclude left atrial appendage thrombus, define cardiac function, and guide transseptal puncture. The procedural incidence of esophageal hematoma was 0.27% (3/1110 procedures, mortality 0%). Odonyphagia, regurgitation, and hoarseness were the predominant symptoms, with an onset within 12 hours. There was absence of fever and neurological symptoms. Chest computed tomography excluded atrio-esophageal fistula and was diagnostic of esophageal hematoma localized to either the upper esophagus or extending the length of the mid and lower esophagus; endoscopy confirmed the diagnosis. Management was conservative in all cases comprising of ceasing oral intake and anticoagulation. Long term sequelae included esophageal stricture formation requiring dilatation, persistent esophageal dysmotility (mid esophageal hematoma), and vocal cord paralysis, resulting in hoarse voice (upper esophageal hematoma).


CONCLUSIONS
Esophageal hematoma is a rare but important differential diagnosis for esophageal injury after TEE-guided AF ablation under GA, and can result in significant patient morbidity. Key clinical features differentiate presentation of esophageal hematoma from that of an atrio-esophageal fistula.
Replacement of cereal grains by orange pulp and carob pulp in faba bean-based diets fed to lambs: effects on growth performance and meat quality

Fourteen weaned lambs (43 days of age) were divided into two equal groups of seven animals and received two different diets. The experimental diet contained 10% of carob pulp and 10% of orange pulp associated to 54% of faba bean. The control diet contained 12% of maize meal and 12% of barley meal associated to 49.2% of faba bean. Both diets were pelletted and given ad libitum. The two diets had comparable contents of dry matter, ash, crude fat, fibre and crude protein. Control diet was relatively higher in soluble nitrogen than the experimental one. However, experimental diet was higher in fibre-bound nitrogen and in total and condensed tannins than control one. At the end of the feeding trial (120 d of age) growth and slaughter performance were comparable between treatments. Chemical analysis of meat samples did not show any significant difference between groups. Physical analysis of meat showed a higher ( P < 0.05) lightness (L*) value in experimental group than in the control one. Sensory analysis allowed the panellists to discriminate lamb meat from the two groups. Flavour, tenderness and juiciness were judged to be more intense ( P < 0.01) in the meat of control group; also overall acceptability was higher ( P < 0.05) in this group. It was concluded that the replacement of cereal grains with carob and orange pulp in lamb fattening diet is useful to reduce feeding costs. Nevertheless, we need further investigations on the level of inclusion in the diet, in order to avoid the negative effects on sensory attributes without detrimental effect on growth performance. cereal grains / orange pulp / carob pulp / growth / meat quality / sheep Résumé — Remplacement des grains de céréales par la pulpe d’orange et la pulpe de caroube dans des régimes à base de féverole destinés aux agneaux. Effets sur la croissance et la qualité de la viande.Quatorze agneaux sevrés et âgés de 43 jours ont été répartis en deux lots homogènes.
An Overview of the OPTRAN System

OPTRAN is a batch-oriented system for the generation of compilers that support program transformations. Programs are represented by attributed abstract syntax trees (AAST). The transformation of AAST's is a powerful method to describe problems in compiler writing such as machine-independent optimizations, language-based editors, and source-to-source translations.
Noise Covariance Identification Based Adaptive UKF with Application to Mobile Robot Systems

A novel adaptive unscented Kalman filter (UKF) based on dual estimation structure is proposed. The filter is composed of two parallel master-slave UKFs, while the master one estimates the states and the slave one estimates the diagonal elements of the noise covariance matrix for the master UKF. By estimating the noise covariance online, the proposed method is able to compensate the errors resulting from the change of the noise statistics. Such a mechanism improves the adaptive ability of the UKF and enlarges its application scope. Simulations conducted on the dynamics of an omni-directional mobile robot indicate that the performance of the adaptive UKF is superior to the standard one in terms of fast convergence and estimation accuracy.
Screening for Chronic Obstructive Pulmonary Disease: Validity and Reliability of a Portable Device in Non-Specialized Healthcare Settings.

INTRODUCTION AND OBJECTIVES
The underdiagnosis of chronic obstructive pulmonary disease (COPD) could be improved through screening using portable devices simpler than conventional spirometers in specific healthcare settings to reach a higher percentage of the at-risk population. This study was designed to assess the validity and reliability of the COPD-6 portable device to screen for COPD in non-specialized healthcare settings.


METHODS
Prospective cohort study to validate a diagnostic test. Three cohorts were recruited: primary care (PC), emergency services (ES) and community pharmacies (CPh).


STUDY POPULATION
individuals with risk factors for COPD (>40 years, smoking >10 pack-years, with respiratory symptoms). The values measured using the COPD-6 were FEV1, FEV6 and the FEV1/FEV6 ratio. Subsequently, participants underwent conventional spirometry at hospital, using a post-bronchodilator FEV1/FVC value <0.7 as the gold standard criterion for the COPD diagnosis.


RESULTS
437 participants were included, 362 were valid for the analysis. COPD was diagnosed in 114 patients (31.5%). The area under the ROC curve for the COPD-6 for COPD screening was 0.8.The best cut-off point for the FEV1/FEV6 ratio was 0.8 (sensitivity, 92.1%) using spirometry with the bronchodilator test as the gold standard. There were practically no differences in the COPD-6 performance in the different settings and also regarding age, gender and smoking status.


CONCLUSIONS
The COPD-6 device is a valid tool for COPD screening in non-specialized healthcare settings. In this context, the best cut-off point for the FEV1/FEV6 ratio is 0.8.
Insulin-sensitizing effects on muscle and adipose tissue after dietary fiber intake in men and women with metabolic syndrome.

CONTEXT
Dietary fibers have been associated with a reduced incidence of type 2 diabetes mellitus in epidemiological studies; however, the precise mechanisms are unknown.


OBJECTIVE
The objective of the study was to evaluate the efficacy and site of action of an insoluble dietary fiber derived from maize (HAM-RS2) in improving insulin resistance in subjects at increased risk of type 2 diabetes mellitus.


DESIGN
This study was a randomized, controlled crossover, dietary intervention study.


SETTING
The study was conducted at the Centre for Diabetes, Endocrinology, and Research, Royal Surrey County Hospital, Guildford, United Kingdom.


PARTICIPANTS
Fifteen men and women with insulin resistance participated in the study.


INTERVENTION
The intervention included 40 g/d HAM-RS2 compared with a matched placebo for 8 wk.


MAIN OUTCOME MEASURES
After each supplement, participants underwent a two-step hyperinsulinemic-euglycemic clamp study with the addition of glucose tracers; a meal tolerance test; arteriovenous sampling across forearm muscle tissue; and a sc adipose tissue biopsy for assessment of gene expression.


RESULTS
There was enhanced uptake of glucose into the forearm muscle measured by arteriovenous sampling (65 ± 15% increase after resistant starch; P < 0.001). Adipose tissue function was also affected, with enhanced fatty acid suppression after HAM-RS2 treatment and an increase in gene expression for hormone sensitive lipase (P = 0.005), perilipin (P = 0.011), lipoprotein lipase (P = 0.014), and adipose triglyceride lipase (P = 0.03) in biopsy samples. There was no effect on the insulin sensitivity of hepatic glucose production or plasma lipids after HAM-RS2.


CONCLUSION
HAM-RS2 improved peripheral but not hepatic insulin resistance and requires further study as an intervention in patients with or at risk for type 2 diabetes.
Secure and auditable agent-based e-marketplace framework for mobile users

Mobile agent based e-marketplace auction trading requires a secure and auditable system with a solid framework to support it. In investigating the requirements, it transpired that there is a lack of such a standardised framework. While mobility helps in avoiding network latency, particularly in increasing fairness in applications with bounded response times such as trading of auctions, it nevertheless raises issues concerning security, privacy and trust in protecting personal confidential information, managing and regulating legitimate trading and payment processing. These issues are of paramount importance and must be taken into consideration when designing a framework for modelling an auditable e-marketplace for mobile users. This also implies that there is also an underlying need to provide mobile users with simple, transparent and unobtrusive user interface. This paper proposes a framework that accommodates these requirements through protocol scenarios and highlight further research work that need to be performed. © 2007 Elsevier B.V. All rights reserved.