Miracle-dz/UniFAR-FTUs huggingface dataset:
Development of a Safety- and Energy-Aware Impedance Controller for Collaborative Robots

In contexts where robots share their workspace with humans, safety is of utmost importance. Consequently, in recent years, a big impulse has been given to the design of human-friendly robots by involving both mechanical and control design aspects. Regarding controller design, this often involves introducing compliance and ensuring asymptotic stability using an interaction control scheme and passivity theory. Moreover, when human operators physically interact with the robot during work, strict safety measures become necessary with some of these including power and force limitations [1]. In this letter, a novel impedance control technique for collaborative robots is presented. The featured controller allows a safe human–robot interaction through energy and power limitations, assuring passivity through energy tanks. The proposed controller is evaluated with a KUKA LWR 4+ arm in a comanipulation environment.
Risk Factors for Malnutrition in Seniors Aged 75+ Living in Home Environment in Selected Regions of the Czech Republic.

BACKGROUND AND AIM Nutrition is an important social determinant of health that influences the ageing process. The aim of this study was to evaluate the nutritional condition of a group of seniors and identify the bio-psycho-social factors that increase the risk of malnutrition. METHODS The research was conducted using a quantitative method. The standardised scales Mini Nutritional Assessment - Short Form (MNA-SF) and the Geriatric depression scale (GDS-5) were used to evaluate the nutritional condition and tendency towards depression of the tested group. This group consisted of seniors aged 75 and above living in home environment in the České Budějovice region. The group was comprised of 320 seniors, 115 men (35.9%) and 205 women (64.1%), which corresponds to the composition of the population in the chosen region of the Czech Republic. Statistical data analysis was conducted using SASD 1.4. 10 and SPSS 15.0 programs. Pearson's chi-squared test (Χ²) and Cramér's V were chosen for statistical testing. The significance level was set at 5%. RESULTS The average BMI value of the seniors was 26.2 kg/m² (overweight). This value decreased with age. More than one third of the respondents were evaluated as being at risk of malnutrition (36.3%). Unintended weight loss was determined as the strongest risk factor of malnutrition. Seniors who had lowered their food intake stated unintended weight loss 10 times more often than respondents with no noticeable reduction in food intake. Seniors who showed signs of depression indicated weight loss three and a half times more often than respondents without depression. Meanwhile acute illness increased the risk by three times. Depression was found to be the cause and also the consequence of malnutrition. CONCLUSION Despite the high prevalence of overweight and obesity, a large proportion of the respondents were running the risk of malnutrition. It was concluded that the strongest risk factors for malnutrition in the respondents were unintended weight loss, depression and lowered food intake. Compared to biological factors, social and economic factors were less significant in causing malnutrition in seniors.
A Longitudinal Study of Depressive Symptoms, Neuropsychological Functioning, and Medical Responsibility in Youth With Spina Bifida: Examining Direct and Mediating Pathways

Objective Given the increased risk for cognitive deficits and development of depressive symptoms in youth with spina bifida (SB), this study aimed to examine two pathways through which depressive symptoms and neuropsychological dysfunction may be associated with medical autonomy in this population: (1) depressive symptoms as predictors of medical autonomy as mediated by attention/executive functioning (the cognitive scarring model), and (2) attention/executive functioning as predictors of medical autonomy as mediated by depressive symptoms (the cognitive vulnerability model). Methods Participants were recruited as part of a larger, longitudinal study, and included 114 youth with SB (M age = 10.96 at Time 1), their parents, and teachers. Neuropsychological constructs included attention, working memory, and planning/organizing abilities, which were measured with questionnaire and performance-based data. Depressive symptoms and medical responsibility were assessed via questionnaires from multiple respondents. Results Bootstrapped mediation analyses revealed that teacher-reported depressive symptoms significantly mediated the relations between neuropsychological functioning (i.e., attention and working memory) and medical responsibility (all p's < .05); neuropsychological dysfunction did not mediate the relationship between depressive symptoms and medical responsibility. Conclusions One way in which neurocognitive dysfunction may hinder the development of medical autonomy in youth with SB is through an increased risk for depressive symptoms.
Impact of the Reclassification of “Noninvasive Encapsulated Follicular Variant of Papillary Thyroid Carcinoma” to “Noninvasive Follicular Thyroid Neoplasm With Papillary-Like Nuclear Features” on the Bethesda System for Reporting Thyroid Cytopathology: A Large Academic Institution’s Experience

Objectives Noninvasive encapsulated follicular variant of papillary thyroid carcinoma (NEFVPTC) was recently reclassified as noninvasive follicular thyroid neoplasm with papillary-like nuclear features (NIFTP). Excluding "carcinoma" from the new terminology shifted NIFTP out of the malignant category and altered Bethesda System for Reporting Thyroid Cytopathology (BSRTC) rates of malignancy (ROMs) on thyroid fine-needle aspiration (FNA). Because of potential effects on management guidelines, we examined our ROM data. Methods In total, 750 thyroid FNAs with surgical resections from January 2013 to June 2016 were reviewed (including 87 NIFTPs). ROM was recorded for each BSRTC category: classifying NEFVPTC/NIFTP as "malignant" and reclassifying NEFVPTC/NIFTP as "nonmalignant. " Results ROM changes were as follows: nondiagnostic (ND), no change; benign, 5.5% to 2.5%; atypia of undetermined significance/follicular lesion of undetermined significance (AUS/FLUS), 42.3% to 22.3%; follicular neoplasm/suspicious for follicular neoplasm (FN/SFN), 48.7% to 17.9%; suspicious for malignancy (SFM), 93.6% to 61.7%; and positive for malignancy, 100% to 97%. Conclusions Decreased ROM was seen in most BSRTC categories, most significantly in AUS/FLUS, FN/SFN, and SFM categories.
Chronic Hypopituitarism Associated with Increased Postconcussive Symptoms Is Prevalent after Blast-Induced Mild Traumatic Brain Injury

The most frequent injury sustained by US service members deployed to Iraq or Afghanistan is mild traumatic brain injuries (mTBI), or concussion, by far most often caused by blast waves from improvised explosive devices or other explosive ordnance. TBI from all causes gives rise to chronic neuroendocrine disorders with an estimated prevalence of 25–50%. The current study expands upon our earlier finding that chronic pituitary gland dysfunction occurs with a similarly high frequency after blast-related concussions. We measured circulating hormone levels and accessed demographic and testing data from two groups of male veterans with hazardous duty experience in Iraq or Afghanistan. Veterans in the mTBI group had experienced one or more blast-related concussion. Members of the deployment control (DC) group encountered similar deployment conditions but had no history of blast-related mTBI. 12 of 39 (31%) of the mTBI participants and 3 of 20 (15%) veterans in the DC group screened positive for one or more neuroendocrine disorders. Positive screens for growth hormone deficiency occurred most often. Analysis of responses on self-report questionnaires revealed main effects of both mTBI and hypopituitarism on postconcussive and posttraumatic stress disorder (PTSD) symptoms. Symptoms associated with pituitary dysfunction overlap considerably with those of PTSD. They include cognitive deficiencies, mood and anxiety disorders, sleep problems, diminished quality of life, deleterious changes in metabolism and body composition, and increased cardiovascular mortality. When such symptoms are due to hypopituitarism, they may be alleviated by hormone replacement. These findings suggest consideration of routine post-deployment neuroendocrine screening of service members and veterans who have experienced blast-related mTBI and are reporting postconcussive symptoms.
Reduced Cell-Associated DNA and Improved Viral Control in Macaques following Passive Transfer of a Single Anti-V2 Monoclonal Antibody and Repeated Simian/Human Immunodeficiency Virus Challenges

ABSTRACT A high level of V1V2-specific IgG antibodies (Abs) in vaccinees' sera was the only independent variable that correlated with a reduced risk of human immunodeficiency virus (HIV) acquisition in the RV144 clinical trial. In contrast, IgG avidity, antibody neutralization, and antibody-dependent cellular cytotoxicity each failed as independent correlates of infection. Extended analyses of RV144 samples demonstrated the antiviral activities of V1V2-specific vaccine-induced antibodies. V2-specific antibodies have also been associated with protection from simian immunodeficiency virus (SIV), and the V2i-specific subset of human monoclonal antibodies (MAbs), while poor neutralizers, mediates Fc-dependent antiviral functions in vitro. The objective of this study was to determine the protective efficacy of a V2i-specific human MAb, 830A, against mucosal simian/human immunodeficiency virus (SHIV) challenge. V2i MAb binding sites overlap the integrin binding site in the V2 region and are similar to the epitopes bound by antibodies associated with reduced HIV infection rates in RV144. Because the IgG3 subclass was a correlate of reduced infection rates in RV144, we compared passive protection by both IgG1 and IgG3 subclasses of V2i MAb 830A. This experiment represents the first in vivo test of the hypothesis emanating from RV144 and SIV studies that V2i Abs can reduce the risk of infection. The results show that passive transfer with a single V2i MAb, IgG1 830A, reduced plasma and peripheral blood mononuclear cell (PBMC) virus levels and decreased viral DNA in lymphoid tissues compared to controls, but too few animals remained uninfected to achieve significance in reducing the risk of infection. Based on these findings, we conclude that V2i antibodies can impede virus seeding following mucosal challenge, resulting in improved virus control. IMPORTANCE Since the results of the HIV RV144 clinical trial were reported, there has been significant interest in understanding how protection was mediated. Antibodies directed to a subregion of the envelope protein called V1V2 were directly correlated with a reduced risk, and surprisingly low virus neutralization was observed. To determine whether these antibodies alone could mediate protection, we used a human monoclonal antibody directed to V2 with properties similar to those elicited in the vaccine trial for passive infusions in rhesus macaques and challenge with SHIV. The single V2 antibody at the dose given did not significantly reduce the number of infections, but there was a significant reduction in the seeding of virus to the lymph nodes and a decrease in plasma viremia in the HIV antibody-infused macaques compared with the control antibody-infused animals. This finding shows that V2 antibodies mediate antiviral activities in vivo that could contribute to a protective HIV vaccine.
The Palaeocene–Eocene carbon isotope excursion: constraints from individual shell planktonic foraminifer records

The Palaeocene–Eocene thermal maximum (PETM) is characterized by a global negative carbon isotope excursion (CIE) and widespread dissolution of seafloor carbonate sediments. The latter feature supports the hypothesis that the PETM and CIE were caused by the rapid release of a large mass (greater than 2000 Gt C) of 12C-enriched carbon. The source of this carbon, however, remains a mystery. Possible sources include volcanically driven thermal combustion of organic-rich sediment, dissociation of seafloor methane hydrates and desiccation and oxidation of soil/sediment organics. A key constraint on the source(s) is the rate at which the carbon was released. Fast rates would be consistent with a catastrophic event, e.g. massive methane hydrate dissociation, whereas slower rates might implicate other processes. The PETM carbon flux is currently constrained by high-resolution marine and terrestrial records of the CIE. In pelagic bulk carbonate records, the onset of the CIE is often expressed as a single- or multiple-step excursion extending over 104 years. Individual planktonic shell records, in contrast, always show a single-step CIE, with either pre-excursion or excursion isotope values, but no transition values. Benthic foraminifera records, which are less complete owing to extinction and diminutive assemblages, show a delayed excursion. Here, we compile and evaluate the individual planktonic shell isotope data from several localities. We find that the most expanded records consistently show a bimodal isotope distribution pattern regardless of location, water depth or depositional facies. This suggests one of several possibilities: (i) the isotopic composition of the surface ocean/atmosphere declined in a geologic instant (<500 yr), (ii) that during the onset of the CIE, most shells of mixed-layer planktonic foraminifera were dissolved, or (iii) the abundances or shell production of these species temporarily declined, possibly due to initial pH changes.
Assessing the benefits of crop albedo bio-geoengineering

It has been proposed that growing crop varieties with higher canopy albedo would lower summer-time temperatures over North America and Eurasia and provide a partial mitigation of global warming (‘bio-geoengineering’) (Ridgwell et al 2009 Curr. Biol. 19 1–5). Here, we use a coupled ocean–atmosphere–vegetation model (HadCM3) with prescribed agricultural regions, to investigate to what extent the regional effectiveness of crop albedo bio-geoengineering might be influenced by a progressively warming climate as well as assessing the impacts on regional hydrological cycling and primary productivity. Consistent with previous analysis, we find that the averted warming due to increasing crop canopy albedo by 0.04 is regionally and seasonally specific, with the largest cooling of ∼1 °C for Europe in summer whereas in the low latitude monsoonal SE Asian regions of high density cropland, the greatest cooling is experienced in winter. In this study we identify potentially important positive impacts of increasing crop canopy albedo on soil moisture and primary productivity in European cropland regions, due to seasonal increases in precipitation. We also find that the background climate state has an important influence on the predicted regional effectiveness of bio-geoengineering on societally-relevant timescales (ca 100 years). The degree of natural climate variability and its dependence on greenhouse forcing that are evident in our simulations highlights the difficulties faced in the detection and verification of climate mitigation in geoengineering schemes. However, despite the small global impact, regionally focused schemes such as crop albedo bio-geoengineering have detection advantages.
Focal Cerebral Arteriopathy: Do Steroids Improve Outcome?

Background and Purpose— Focal cerebral arteriopathy accounts for up to 35% of arterial ischemic stroke (AIS) in children and is the most important predictor of stroke recurrence. The study objective was to compare outcomes for children with focal cerebral arteriopathy treated with combined corticosteroid antithrombotic treatment (CAT) to those receiving antithrombotic treatment (AT) alone. Methods— This multicenter retrospective Swiss/Australian cohort study analyzed consecutive children, aged 1 month to 18 years, presenting with first AIS because of a focal cerebral arteriopathy from 2000 to 2014. Children with CAT were compared with those treated with AT. Primary outcome was the presence of neurological deficits at 6 months post–AIS as measured by the Pediatric Stroke Outcome Measure. Secondary outcomes included resolution of stenosis and stroke recurrence. Analysis of covariance was used to adjust for potential confounders (baseline pediatric National Institute of Health Stroke Scale and concomitant acyclovir use). Results— A total of 73 children (51% males) were identified, 21 (29%) of whom received CAT. Mean (SD) age at stroke for the entire group was 7.9 years (4.7). Median (interquartile range) pediatric National Institute of Health Stroke Scale was 3 (2.0–8.0) in the CAT group and 5 (3.0–9.0) in the AT group (P=0.098). Median (interquartile range) Pediatric Stroke Outcome Measure 6 months post-AIS was 0.5 (0–1.5) in the CAT group compared with 1.0 (0.5–2.0) in the AT group (P=0.035), the finding was sustained after adjusting for potential confounders. Complete resolution of stenosis at last MRI was noted in 17 (81%) in the CAT group compared with 24 (59%) in the AT group (P=0.197). Stroke recurrence occurred in 1 patient in each group. Conclusions— Corticosteroid treatment may provide additional benefit over AT for improved neurological outcome in childhood AIS because of focal cerebral arteriopathy. Larger prospective studies are warranted to further investigate these differences and understand mechanisms by which steroids modify outcome.
Lead, Mercury, and Cadmium Exposure in the Korean General Population

Background Lead (Pb), mercury (Hg), and cadmium (Cd) are well-known environmental pollutants. They are unnecessary in the biological processes of humans. This study was performed to estimate the representative background exposure levels to the metals by measuring concentrations in whole blood of the Korean general population. Methods This population-based cross-sectional study included 4,000 subjects (1,886 males and 2,114 females) 0–83 years of age in 2010 and 2011. Adult subjects (≥ 19 years of age) were collected by sex- and age-stratified probability method, and preschool- and school-aged subjects were recruited by a cluster sampling method. Written consent was provided prior to blood sampling. Pb and Cd blood concentrations were determined by a flameless atomic absorption spectrophotometry, and blood Hg was analyzed by a direct Hg analyzer. Results The geometric mean, median and 95th percentile of blood Pb was 1.82 µg/dL, 1.83 µg/dL, and 3.78 µg/dL, respectively. The respective values were 2.92 µg/L, 2.87 µg/L, 9.12 µg/L for Hg, and 0.56 µg/L, 0.59 µg/L, 2.20 µg/L for Cd. Blood Pb and Hg were higher in males than in females, but no sex difference was observed, respectively, in subjects 0–4 years of age for Pb and in subjects less than 20 years for Hg. However, blood Cd was higher in females than in males and no sex difference was observed in subjects < 30 years of age. Conclusion This study provides representative data of human exposure to Pb, Hg, and Cd covering whole age groups of the general population in Korea.
Investigation of Exposure Factors for Various Breast Composition and Thicknesses in Digital Screening Mammography Related to Breast Dose

Objective: To investigate the effect of exposure factors used in digital screening mammography on image quality of different breast compositions. Material and Methods: A digital mammography unit, with tungsten (W) as target, rhodium (Rh) and silver (Ag) as filters, and amorphous selenium detectors, was used to image Computerized Imaging Reference Systems (CIRS) Model 12A phantoms of thickness 4, 5, and 6 cm. Images of each phantom were obtained using target-filter combinations of W/Rh and W/Ag, at 28, 30, and 32 kVp. Images were evaluated by 5 senior technologists with experience in mammography. Image scores were assigned, for each type of feature present in the phantom. Statistical analysis was performed using nonparametric tests to compare sets of image scores at p = 0.05. Results: A small but statistically significant improvement was detected in the visibility of microcalcifications (8.8 ± 0.2; p = 0.031) for the W/Rh combination but this did not show any differences in the visibility of masses or fibers. The entrance skin dose (ESD) and mean glandular dose (MGD) were lower for the W/Ag (ESD = 1.30–3.70; MGD = 0.44–0.93 mGy) combination compared to W/Rh (ESD = 1.66–5.40; MGD = 0.52–1.12 mGy). The Mann-Whitney test revealed that 30-kV exposure with the W/Rh combination showed a significantly better visibility of specks in the 30/70 phantom compared to other exposures. Conclusion: The use of an Rh filter showed a better image quality for all phantoms. 28 and 30 kVp with the W/Rh combination provided a slightly better image quality, and the MGD is less than 1.2 mGy.
Treatment choices and neuropsychological symptoms of a large cohort of early MS

Objective To assess clinical characteristics, distribution of disease-modifying treatments (DMTs), and neuropsychological symptoms in a large cohort of patients with early-stage MS. Methods The German National MS Cohort is a multicenter prospective longitudinal cohort study that has recruited DMT-naive patients with clinically isolated syndrome (CIS) and relapsing-remitting MS (RRMS) since 2010. We evaluated their baseline characteristics and the prevalence of neuropsychological symptoms. Results Of 1,124 patients, with a 2.2:1 female-to-male ratio and median age at onset of 31.71 years (interquartile range [IQR]: 26.06–40.33), 44.6% and 55.3% had CIS and RRMS, respectively. The median Expanded Disability Status Scale (EDSS) score at baseline was 1.5 (IQR: 1.0–2.0). A proportion of 67.8% of patients started DMT after a median time of 167.0 days (IQR 90.0–377.5) since the first manifestation. A total of 64.7% and 70.4% of the 762 patients receiving early DMT were classified as CIS and RRMS, respectively. Fatigue, depressive symptoms, and cognitive dysfunction were detected in 36.5%, 33.5%, and 14.7% of patients, respectively. Conclusion Baseline characteristics of this large cohort of patients with early, untreated MS corroborated with other cohorts. Most patients received early DMT within the first year after disease onset, irrespective of a CIS or RRMS diagnosis. Despite the low EDSS score, neuropsychological symptoms affected a relevant proportion of patients.
D2D enhanced cloud radio access networks with coordinated multi-point

In this paper, we integrate device-to-device (D2D) communications with coordinated multi-point (CoMP) in downlink cloud radio access network (C-RAN), targeting at using the proximity nature of D2D communications to improve system spectral efficiency. In particular, using stochastic geometry, we first derive the signal-to-interference ratio (SIR) distribution at a typical downlink user and a typical D2D receiver, considering zero-forcing beamforming (ZFBF) as the CoMP scheme. Based on the results, we analyze the effect of D2D communications on enhancing the area spectral efficiency (ASE) of the CoMP enabled C-RAN system. Numerical results show that increasing the cooperative cluster size would potentially degrade the system ASE when the network is heavily loaded. Furthermore, it is observed that the addition of D2D links, despite introducing excessive cross-tier interference to downlink users, can provide significant gains if properly designed.