LLukas22/scidocs huggingface dataset:
Iterative inverse kinematics with manipulator configuration control

A new method, termed the ofiet mdfiut ion method (OM method), for solving the manipulator inverse kinematics problem is presented. The OM method works by modifying the link offset values of a manipulator until it is possible to derive closed-form inverse kinematics equations for the resulting manipulator (termed the model manipulator). This procedure allows one to derive a set of three nonlinear equations in three unknowns that, when numerically solved, give an inverse kinematics solution for the original manipulator. The OM method can be applied to manipulators with MY number of degrees of freedom, as long as the manipulator satisfies a given set of conditions (Theorem 1). The OM method is tested on a 6-degree-of-freedom manipulator that has no known dosed-form inverse kinematics equations. It is shown that the OM method is applicable to real-time manipulator control, can be used to guarantee convergence to a desired endpoint position and orientation (ii it exkts), and allows one to directly choose which inverse kinematics solution tho algorithm wil l converge to (as speci6ed in the model manipulator dosed-form inverse kinematics equations). Applications of the method to other 6-DOF manipulator geometries and to redundant manipulators (i.e. greater than 6 DOF geometries) are discussed.
A Subgroup Analysis of Chinese Patients Switched to Paliperidone Palmitate One-Month Injectable by Prior Oral Antipsychotic Treatment.

INTRODUCTION
Safely tapering current antipsychotic medication, while balancing efficacy and tolerability, is an important consideration when switching patients from their antipsychotic therapy to a new treatment. The efficacy and tolerability of paliperidone palmitate one-month (PP1M) in Chinese patients switched from previous antipsychotic treatments were examined in order to develop effective switching and dosing strategies.


METHODS
A 13-week open-label, single arm, prospective, interventional study was conducted in Chinese patients (n = 610) with acute schizophrenia to examine their response, by previous treatment group, when switched to PP1M (75-150 mg eq).


RESULTS
Among 610 patients with ≥ 30% reduction in PANSS total score were 191/263 (72.6%) risperidone/paliperidone extended-release patients, 36/52 (69.2%) olanzapine patients, and 214/293 (73.0%) other antipsychotic patients. Patient functioning and adherence were significantly (p ≤ 0.05) improved for all subgroups.


DISCUSSION
Patients on higher doses of prior antipsychotics generally took longer to withdraw from their current medication. Most patients were administered the 100 mg eq dose, and all subgroups received a similar mean dose (114-119 mg eq) of PP1M. Recommendations for transitioning patients to PP1M from each subgroup are discussed.
Antihypertensive treatment prolongs tissue plasminogen activator door-to-treatment time: secondary analysis of the INSTINCT trial.

BACKGROUND AND PURPOSE
Identifying modifiable tissue plasminogen activator treatment delays may improve stroke outcomes. We hypothesized that prethrombolytic antihypertensive treatment (AHT) may prolong door-to-treatment time (DTT).


METHODS
We performed an analysis of consecutive tissue plasminogen activator-treated patients at 24 randomly selected community hospitals in the Increasing Stroke Treatment through Interventional Behavior Change Tactics (INSTINCT) trial between 2007 and 2010. DTT among stroke patients who received prethrombolytic AHT were compared with those who did not receive prethrombolytic AHT. We then calculated a propensity score for the probability of receiving prethrombolytic AHT using logistic regression with demographics, stroke risk factors, home medications, stroke severity (National Institutes of Health Stroke Scale), onset-to-door time, admission glucose, pretreatment blood pressure, emergency medical service transport, and location at time of stroke as independent variables. A paired t test was performed to compare the DTT between the propensity-matched groups.


RESULTS
Of 534 tissue plasminogen activator-treated stroke patients analyzed, 95 received prethrombolytic AHT. In the unmatched cohort, patients who received prethrombolytic AHT had a longer DTT (mean increase, 9 minutes; 95% confidence interval, 2-16 minutes) than patients who did not. After propensity matching, patients who received prethrombolytic AHT had a longer DTT (mean increase, 10.4 minutes; 95% confidence interval, 1.9-18.8) than patients who did not receive prethrombolytic AHT.


CONCLUSIONS
Prethrombolytic AHT is associated with modest delays in DTT. This represents a potential target for quality-improvement initiatives. Further research evaluating optimum prethrombolytic hypertension management is warranted.
Acute inhibition of iron bioavailability by zinc: studies in humans

Iron (Fe) and zinc (Zn) deficiencies constitute two of the most important nutritional and public health problems affecting developing countries. Combined supplementation or fortification with Zn and Fe are strategies that can be used to improve the Zn and Fe status of a population. However, there is concern about potential negative interactions between these two micronutrients due to a competitive binding to DMT1 and Zip14 transporter. Studies performed in humans have shown an inhibitory effect of Zn on Fe absorption when both minerals are given together as a solution in fasting conditions. We found that at low doses of iron (0.5 mg) the threshold for the inhibition of iron bioavailability was at a Zn:Fe wt/wt ratio ≥5.9:1, whereas at higher doses of Fe (10 mg) this inhibition occurred at 1:1 Zn:Fe wt/wt ratio. This differential response could be explained by the variation in the abundance of both cations as they compete for a limited number of shared transporters at the enterocyte. Conflicting results have been obtained when this interaction was studied in different food matrices. A negative interaction was not observed when Fe and Zn were provided in a composite hamburger meal, premature formula, human milk, or cow milk. A decrease on Fe absorption was observed in only 1 of 3 studies when Fe and Zn were supplied in wheat flour. The possibility of a negative interaction should be considered for supplementation or fortification programs with both microminerals.
Risk management in a polio-free world.

Inherent in the decision to launch the Global Polio Eradication Initiative in 1988 was the expectation for many people that immunization against poliomyelitis would eventually simply stop, as had been the case with smallpox following its eradication in 1977. However, the strategies for managing the risks associated with a "polio-free" world must be continuously refined to reflect new developments, particularly in our understanding of the live polioviruses in the oral poliovirus vaccine (OPV) and in the international approach to managing potential biohazards. The most important of these developments has been the confirmation in 2000 that vaccine-derived polioviruses (VDPVs) can circulate and cause polio outbreaks, making the use of OPV after interruption of wild poliovirus transmission incompatible with a polio-free world. A comprehensive strategy has been developed to minimize the risks associated with eventual OPV cessation, centered on appropriate long-term biocontainment of poliovirus stocks (whether for vaccine production, diagnosis, or research), the controlled reintroduction of any live poliovirus vaccine (i.e., from an OPV stockpile), and appropriate use of the inactivated poliovirus vaccine (IPV). Although some aspects of this risk management strategy are still debated, there is wide agreement that no strategy would entirely eliminate the potential risks to a polio-free world. The current strategy for risk management in a polio-free world will continue to evolve with better characterization of these risks and the development of more effective approaches both to reduce those risks and to limit their consequences should they occur.
Neural fate of ignored stimuli: dissociable effects of perceptual and working memory load

Observers commonly experience functional blindness to unattended visual events, and this problem has fuelled an intense debate concerning the fate of unattended visual information in neural processing. Here we used functional magnetic resonance imaging (fMRI) to demonstrate that the type of task that a human subject engages in determines the way in which ignored visual background stimuli are processed in parahippocampal cortex. Increasing the perceptual difficulty of a foveal target task attenuated processing of task-irrelevant background scenes, whereas increasing the number of objects held in working memory did not have this effect. These dissociable effects of perceptual and working memory load clarify how task-irrelevant, unattended stimuli are processed in category-selective areas in human ventral visual cortex.
Cloud assisted HetNets toward 5G wireless networks

With the proliferation of connected devices and emerging data-hungry applications, the volume of mobile data traffic is predicted to have a 1000-fold growth by the year 2020. To address the challenge of this data explosion, industry and academia have initiated research and development of 5G wireless networks, which are envisaged to cater to the massive data traffic volume, while providing ubiquitous connectivity and supporting diverse applications with different quality of service (QoS) requirements. To support the expected massive growth of mobile data, a large number of small cells are expected to be deployed indoors and outdoors, giving rise to heterogeneous networks (HetNets), which are considered to be the key path toward 5G. With such large-scale HetNets, network operators face many serious challenges in terms of operation and management, cost-effective small cell deployment, and intercell interference mitigation. To deal with those issues, a cloud based platform is introduced, aiming to simplify the deployment, operation and management, and facilitate round-the-clock optimization of the network, to pave the way for the development of 5G. Two case studies are provided to illustrate the benefits of the cloud based architecture. Finally, the related standardization activities are provided and some research topics essential for a successful development of 5G are discussed.
Activity-based costing in radiology. Application in a pediatric radiological unit.

PURPOSE
To get an informative and detailed picture of the resource utilization in a radiology department in order to support its pricing and management.


MATERIAL AND METHODS
A system based mainly on the theoretical foundations of activity-based costing (ABC) was designed, tested and compared with conventional costing. The study was performed at the Pediatric Unit of the Department of Radiology, Oulu University Hospital. The material consisted of all the 7,452 radiological procedures done in the unit during the first half of 1994, when both methods of costing where in use. Detailed cost data were obtained from the hospital financial and personnel systems and then related to activity data captured in the radiology information system.


RESULTS
The allocation of overhead costs was greatly reduced by the introduction of ABC compared to conventional costing. The overhead cost as a percentage of total costs dropped to one-fourth of total costs, from 57% to 16%. The change of unit costs of radiological procedures varied from -42% to +82%.


CONCLUSION
Costing is much more detailed and precise, and the percentage of unspecified allocated overhead costs diminishes drastically when ABC is used. The new information enhances effective departmental management, as the whole process of radiological procedures is identifiable by single activities, amenable to corrective actions and process improvement.
Spontaneous spinal cerebrospinal fluid leaks and minor skeletal features of Marfan syndrome: a microfibrillopathy.

OBJECT
Spontaneous spinal cerebrospinal fluid (CSF) leaks are increasingly recognized as a cause of postural headaches. The authors examined a group of patients suffering from spontaneous spinal CSF leaks who also had minor skeletal features of Marfan syndrome for abnormalities of fibrillin-containing microfibrils.


METHODS
Patients with spontaneous CSF leaks were evaluated for the clinical characteristics of connective tissue disorders. Skin biopsies were obtained in three patients with skeletal manifestations that constitute part of the Marfan syndrome phenotype. Cultured fibroblasts were studied for fibrillin-1 synthesis and incorporation into the extracellular matrix (ECM) by performing quantitative metabolic labeling and immunohistochemical analysis. Among 20 consecutive patients found to have spinal CSF leaks, four (20%) exhibited minor skeletal features of Marfan syndrome, but lacked any ocular or cardiovascular abnormalities. The mean age of these patients (30 years) was lower than that of the 16 patients without skeletal abnormalities (44 years; p = 0.01). Abnormalities in fibrillin-1 metabolism and immunostaining were detected in all three patients with the skeletal abnormalities who underwent examination, but not in a control patient without these skeletal manifestations.


CONCLUSIONS
Twenty percent of patients who experience spontaneous spinal CSF leaks have minor skeletal features of Marfan syndrome. The authors demonstrated abnormalities in fibrillin-1 protein deposition in all patients examined, but only one person was found to have a fibrillin-1 abnormality typically found in classic Marfan syndrome. The results indicate that there is a heterogeneous involvement of other components of ECM microfibrils at the basis of this cerebrospinal manifestation. In addition, the authors identified a connective-tissue etiological factor in a group of disorders not previously classified as such.
Software to Sketch Interface Designs

This paper describes the development and evaluation of an electronic sketch environment for interface design. The tool provides a pen-based interface on an electronic whiteboard for designing Visual Basic forms, it is tightly integrated into the Visual Basic IDE. Our evaluation showed that this type of environment is likely to be of benefit to novice programmers as it provides an enticing shared workspace for small groups and encourages checking and revision.
Mobile computing acceptance factors in the healthcare industry: A structural equation model

OBJECTIVE
This paper presents a revised technology acceptance model to examine what determines mobile healthcare systems (MHS) acceptance by healthcare professionals.


METHOD
Conformation factor analysis was performed to test the reliability and validity of the measurement model. The structural equation modeling technique was used to evaluate the causal model.


RESULTS
The results indicated that compatibility, perceived usefulness and perceived ease of use significantly affected healthcare professional behavioral intent. MHS self-efficacy had strong indirect impact on healthcare professional behavioral intent through the mediators of perceived usefulness and perceived ease of use. Yet, the hypotheses for technical support and training effects on the perceived usefulness and perceived ease of use were not supported.


CONCLUSION
This paper provides initial insights into factors that are likely to be significant antecedents of planning and implementing mobile healthcare to enhance professionals' MHS acceptance. The proposed model variables explained 70% of the variance in behavioral intention to use MHS; further study is needed to explore extra significant antecedents of new IT/IS acceptance for mobile healthcare. Such as privacy and security issue, system and information quality, limitations of mobile devices; the above may be other interesting factors for implementing mobile healthcare and could be conducted by qualitative research.
Enhance illumination and contrast A Processing Pipeline for Low-Light Burst Images

A processing pipeline to align, merge, denoise, and enhance low-light images taken on iPhone ’burst’ mode was proposed and tested. Patch-based and corner-based registered images were found to perform better than a single reference. Low-light illumination mapping, dehazing, and exposure fusion further enhanced results.
Development and validation of a new measure to evaluate psychological resistance to insulin treatment.

OBJECTIVE
To develop a psychometric questionnaire to measure psychological barriers to insulin treatment in patients with type 2 diabetes.


RESEARCH DESIGN AND METHODS
Scale development was based on principal component analyses in two cross-sectional studies of insulin-naïve patients with type 2 diabetes. The structure of the questionnaire was developed in the first sample of 448 patients and subsequently cross-validated in an independent sample of 449 patients.


RESULTS
Analyses in the first sample yielded five components that accounted for 74.5% of the variance based on 14 items and led to the following subscales: fear of injection and self-testing, expectations regarding positive insulin-related outcomes, expected hardship from insulin treatment, stigmatization by insulin injections, and fear of hypoglycemia. In addition, an overall sum score of all values was calculated. The structure of the questionnaire was cross-validated in the second sample, with almost identical component loadings and an explained variance of 69.4%. An additional confirmatory factor analysis also indicated an acceptable to good model fit with root mean square error of approximation equal to 0.04 and comparative fit index equal to 0.97. Coefficients of reliability (Cronbach's alpha 0.62-0.85 and 0.78 for overall sum score) were acceptable, considering the very small number of items for each scale.


CONCLUSIONS
The Barriers to Insulin Treatment Questionnaire appears to be a reliable and valid measure of psychological insulin resistance in patients with type 2 diabetes. This short instrument is easy to administer and may be used by both clinicians and researchers to assess the psychological barriers to insulin treatment.
School Vouchers and Student Achievement: Recent Evidence, Remaining Questions

In this article, we review the empirical evidence on the impact of education vouchers on student achievement, and briefly discuss the evidence from other forms of school choice. The best research to date finds relatively small achievement gains for students offered education vouchers, most of which are not statistically different from zero. Further, what little evidence exists regarding the potential for public schools to respond to increased competitive pressure generated by vouchers suggests that one should remain wary that large improvements would result from a more comprehensive voucher system. The evidence from other forms of school choice is also consistent with this conclusion. Many questions remain unanswered, however, including whether vouchers have longer-run impacts on outcomes such as graduation rates, college enrollment, or even future wages, and whether vouchers might nevertheless provide a costneutral alternative to our current system of public education provision at the elementary and secondary school level.
Minimal change nephropathy and focal segmental glomerulosclerosis

The terms minimal change nephropathy and focal segmental glomerulosclerosis describe histopathological entities diagnosed by renal biopsy, typically in patients presenting with heavy proteinuria and its consequences including nephrotic syndrome. Numerous alterations in the immune response have been reported, but there is uncertainty about whether these play a causal role. In both conditions, there is evidence of injury to glomerular epithelial cells (podocytes), a cell type with limited potential for repair or replacement. The mechanisms of injury are poorly understood but may include immunologically mediated processes such as the effects of soluble mediators produced by lymphocytes. Empirical immunosuppressive therapy with corticosteroids, alkylating agents, and/or calcineurin antagonists is often effective, but the potential for toxicity of these drugs is enormous, and more specific forms of treatment are needed. The focus in recent years has been on the podocyte, and in particular the potential importance of mutations/polymorphisms in podocyte-specific genes as predisposing factors, mechanisms of podocyte injury including study of the role of podocytes as active participants in disease pathogenesis, indices of podocyte injury as markers of disease activity or possible diagnostic tools, and strategies for podocyte repair including the recognition that existing therapies may have effects (beneficial or adverse) on podocytes. Future improvements in the understanding of these diseases and in our ability to successfully treat them can be confidently expected as a result of rapid advances in the study of podocyte biology in health and disease.
Barriers to evidence-based practice in primary care nursing--why viewing decision-making as context is helpful.

AIM
This paper reports a study examining the barriers associated with research knowledge transfer amongst primary care nurses in the context of clinical decision-making.


BACKGROUND
The research literature on barriers to nurses' use of research knowledge is characterized by studies that rely primarily on self-report data, making them prone to reporting biases. Studies of the barriers to evidence-based practice often fail to examine information use and behaviour in the context of clinical decision-making.


METHODS
A multi-site, mixed method, case study was carried out in 2001. Data were collected in three primary care organizations by means of interviews with 82 primary care nurses, 270 hours of non-participant observation and 122 Q-sorts. Nurses were selected using a published theoretical sampling frame. Between-methods triangulation was employed and data analysed according to the principles of constant comparison. Multiple linear regression was used to explore relationships between a number of independent demographic variables (such as length of clinical experience) and the dependent variable of nurses' perspectives on the barriers to their use of research knowledge.


RESULTS
Three perspectives on barriers to research information use emerged: the need to bridge the skills and knowledge gap for successful knowledge transfer; information formats need to maximize limited opportunities for consumption; and limited access in the context of limited time for decision-making and information consumption. Demographic variables largely failed to predict allegiance to any of the perspectives identified.


CONCLUSIONS
Researchers should consider using decision-making as a contextual backdrop for exploring information use and behaviour, avoid relying solely on self-reported behaviour as data, and use a variety of research methods to provide a richer picture of information-related behaviour. Practice developers need to recognize that understanding the decisions to which research knowledge is to be applied should be a characteristic of any strategy to increase research uptake by nurses.
Modeling Vehicular Traffic and Mobility for Vehicular Wireless Networks

Ad-hoc wireless communication among highly dynamic, mobile nodes in a urban network is a critical capability for a wide range of important applications including automated vehicles, real-time traffic monitoring, and battleground communication. When evaluating application performance through simulation, a realistic mobility model for vehicular ad-hoc networks (VANETs) is critical for accurate results. This technical report discusses the implementation of STRAW, a new mobility model for VANETs in which nodes move according to a realistic vehicular traffic model on roads defined by real street map data. The challenge is to create a traffic model that accounts for individual vehicle motion without incurring significant overhead relative to the cost of performing the wireless network simulation. We identify essential and optional techniques for modeling vehicular motion that can be integrated into any wireless network simulator. We then detail choices we made in implementing STRAW.