Miracle-dz/UniFAR-FTUs huggingface dataset:
Total Energy Shaping Control of Mechanical Systems: Simplifying the Matching Equations Via Coordinate Changes

Total energy shaping is a controller design methodology that achieves (asymptotic) stabilization of mechanical systems endowing the closed-loop system with a Lagrangian or Hamiltonian structure with a desired energy function - that qualifies as Lyapunov function for the desired equilibrium. The success of the method relies on the possibility of solving two PDEs which identify the kinetic and potential energy functions that can be assigned to the closed loop. Particularly troublesome is the partial differential equation (PDE) associated to the kinetic energy which is nonlinear and inhomogeneous and the solution, that defines the desired inertia matrix, must be positive-definite. In this note, we prove that we can eliminate or simplify the forcing term in this PDE by modifying the target dynamics and introducing a change of coordinates in the original system. Furthermore, it is shown that, in the particular case of transformation to the Lagrangian coordinates, the possibility of simplifying the PDEs is determined by the interaction between the Coriolis and centrifugal forces and the actuation structure. The examples of pendulum on a cart and Furuta's pendulum are used to illustrate the results.
The allantois and chorion, when isolated before circulation or chorio-allantoic fusion, have hematopoietic potential

The chorio-allantoic placenta forms through the fusion of the allantois (progenitor tissue of the umbilical cord), with the chorionic plate. The murine placenta contains high levels of hematopoietic stem cells, and is therefore a stem cell niche. However, it is not known whether the placenta is a site of hematopoietic cell emergence, or whether hematopoietic cells originate from other sites in the conceptus and then colonize the placenta. Here, we show that the allantois and chorion, isolated prior to the establishment of circulation, have the potential to give rise to myeloid and definitive erythroid cells following explant culture. We further show that the hematopoietic potential of the allantois and chorion does not require their union, indicating that it is an intrinsic property of these tissues. These results suggest that the placenta is not only a niche for, but also a source of, hematopoietic cells.
Full-length extracellular region of the var2CSA variant of PfEMP1 is required for specific, high-affinity binding to CSA

Pregnancy-associated malaria (PAM) is a serious consequence of sequestration of Plasmodium falciparum-parasitized erythrocytes (PE) in the placenta through adhesion to chondroitin sulfate A (CSA) present on placental proteoglycans. Recent work implicates var2CSA, a member of the PfEMP1 family, as the mediator of placental sequestration and as a key target for PAM vaccine development. Var2CSA is a 350 kDa transmembrane protein, whose extracellular region includes six Duffy-binding-like (DBL) domains. Due to its size and high cysteine content, the full-length var2CSA extracellular region has not hitherto been expressed in heterologous systems, thus limiting investigations to individual recombinant domains. Here we report for the first time the expression of the full-length var2CSA extracellular region (domains DBL1X to DBL6ε) from the 3D7 parasite strain using the human embryonic kidney 293 cell line. We show that the recombinant extracellular var2CSA region is correctly folded and that, unlike the individual DBL domains, it binds with high affinity and specificity to CSA (KD = 61 nM) and efficiently inhibits PE from binding to CSA. Structural characterization by analytical ultracentrifugation and small-angle x-ray scattering reveals a compact organization of the full-length protein, most likely governed by specific interdomain interactions, rather than an extended structure. Collectively, these data suggest that a high-affinity, CSA-specific binding site is formed by the higher-order structure of the var2CSA extracellular region. These results have important consequences for the development of an effective vaccine and therapeutic inhibitors.
Warming‐Induced Earlier Greenup Leads to Reduced Stream Discharge in a Temperate Mixed Forest Catchment

The phenological response of vegetation to ongoing climate change may have great implications for hydrological regimes in the eastern United States. However, there have been few studies that analyze its resultant effect on catchment discharge dynamics, separating from dominant climatic controls. In this study, we examined the net effect of phenological variations on the long‐term and interannual gross primary production (GPP) and evapotranspiration (ET) fluxes in a temperate deciduous forest, as well as on the catchment discharge behavior in a mixed deciduous‐conifer forest catchment. First, we calibrated the spring and autumn leaf phenology models for the Harvard Forest in the northeastern United States, where the onsets of greenup and senescence have been significantly advanced and delayed, 10.3 and 6.0 days respectively, over the past two decades (1992–2011). We then integrated the phenology models into a mechanistic watershed ecohydrological model (RHESSys), which improved the interannual and long‐term simulations of both the plot‐scale daily GPP and ET fluxes and the catchment discharge dynamics. We found that the phenological changes amplified the long‐term increases in GPP and ET driven by the climatic controls. In particular, the earlier greenup onsets resulted in increases in annual ET significantly, while the delayed senescence onsets had less influence. Consequently, the earlier greenup onsets reduced stream discharge not only during the growing season but also during the following dormant season due to soil water depletion. This study highlights the importance of understanding vegetation response to ongoing climate change in order to predict the future hydrological nonstationarity in this region.
Nowcasting severe convective activity over southeast India using ground‐based microwave radiometer observations

In the present study, the feasibility of nowcasting convective activity is examined by using thermodynamic indices derived from the ground‐based microwave radiometer (MWR) observations located at a tropical station, Gadanki (13.5°N, 79.2°E). There is a good comparison between thermodynamic parameters derived from MWR and colocated GPS radiosonde observations, indicating that MWR observations can be used to develop techniques for nowcasting severe convective activity. Using MWR observations, a nowcasting technique was developed with the data of 26 thunderstorm cases observed at Gadanki. The analysis showed that there are sharp changes in some thermodynamic indices, such as the K index, the humidity index, precipitable water content, the stability index, and equivalent potential temperature lapse rates, about 2–4 h before the occurrence of thunderstorm. A superepoch analysis was made to examine the composite temporal variations of the thermodynamic indices associated with the occurrence of thunderstorms. The superepoch analysis revealed that 2–4 h prior to the storm occurrence, appreciable variations in many parameters are observed, suggesting thermodynamic evolution of the boundary layer convective instability. It is further demonstrated that by monitoring these variations it is possible to predict the ensuing thunderstorm activity over the region at least 2 h in advance. The association between the temporal evolution of thermodynamic indices and convective activity has been tested for the independent case of nine thunderstorms. The present results suggest that ground‐based MWR observations can be used effectively to predict the occurrence of thunderstorms at least 2 h in advance.
Concordance of human papillomavirus in the cervix and urine among inner city adolescents

Objectives. To evaluate concordance for human papillomaviruses (HPVs) between cervix and urine in sexually active adolescents. Methods. Cervical swabs and urine were collected from 80 adolescents in Baltimore, MD. Specimens were tested for 34 HPVs by PCR and for cancer-associated HPVs by Hybrid Capture (HC II) Probe B. Cervical vs. urine prevalence was evaluated by logistic regression with general estimating equations. Risk factors for prevalence and viral burden were evaluated by Fisher’s exact and Kruskal-Wallis tests, respectively. Results. HPV prevalence by PCR, for any HPV, was very high in the cervix (90.0%) and somewhat lower in urine (75.0%) (odds ratio, 1.07; 95% confidence interval 1.07 to 1.34). Only one adolescent was HPV-positive in urine alone. Among HPV-PCR positives at either or both sites, concordance was 82% for presence of any HPV and 40% for specific HPV types. Multiple infections were common at both sites. On an average, HC II viral burden (relative light unit ratio) was 9-fold higher in cervix than in urine (median, 47.3 vs. 4.9;P = 0.005) but correlated poorly between the two sites of the same individual (r = 0.14). Compared with normal adolescents, those with squamous intraepithelial lesions had a much higher prevalence of HPV by HC II in cervix (100%vs. 28.6, P < 0.0001) as well as in urine (86.7%vs. 35.4%, P = 0.002) and a significantly higher viral burden in the cervix (median, 141.8 vs. 7.3, P = 0.0045) but not in urine (median, 22.7 vs. 4.38;P = 0.13). Conclusion. There was a very high prevalence of HPV in cervix and urine of sexually active adolescents. Testing urine for HPV may be useful in epidemiologic investigations and in monitoring of infected women.
The Missing Part of Seed Dispersal Networks: Structure and Robustness of Bat-Fruit Interactions

Mutualistic networks are crucial to the maintenance of ecosystem services. Unfortunately, what we know about seed dispersal networks is based only on bird-fruit interactions. Therefore, we aimed at filling part of this gap by investigating bat-fruit networks. It is known from population studies that: (i) some bat species depend more on fruits than others, and (ii) that some specialized frugivorous bats prefer particular plant genera. We tested whether those preferences affected the structure and robustness of the whole network and the functional roles of species. Nine bat-fruit datasets from the literature were analyzed and all networks showed lower complementary specialization (H2' = 0.37±0.10, mean ± SD) and similar nestedness (NODF = 0.56±0.12) than pollination networks. All networks were modular (M = 0.32±0.07), and had on average four cohesive subgroups (modules) of tightly connected bats and plants. The composition of those modules followed the genus-genus associations observed at population level (Artibeus-Ficus, Carollia-Piper, and Sturnira-Solanum), although a few of those plant genera were dispersed also by other bats. Bat-fruit networks showed high robustness to simulated cumulative removals of both bats (R = 0.55±0.10) and plants (R = 0.68±0.09). Primary frugivores interacted with a larger proportion of the plants available and also occupied more central positions; furthermore, their extinction caused larger changes in network structure. We conclude that bat-fruit networks are highly cohesive and robust mutualistic systems, in which redundancy is high within modules, although modules are complementary to each other. Dietary specialization seems to be an important structuring factor that affects the topology, the guild structure and functional roles in bat-fruit networks.
Position Estimation for Mobile Robots in Dynamic Environments

For mobile robots to be successful, they have to navigate safely in populated and dynamic environments. While recent research has led to a variety of localization methods that can track robots well in static environments, we still lack methods that can robustly localize mobile robots in dynamic environments, in which people block the robot's sensors for extensive periods of time or the position of furniture may change. This paper proposes extensions to Markov localization algorithms enabling them to localize mobile robots even in densely populated environments. Two different filters for determining the "believability" of sensor readings are employed. These filters are designed to detect sensor readings that are corrupted by humans or unexpected changes in the environment. The technique was recently implemented and applied as part of an installation, in which a mobile robot gave interactive tours to visitors of the "Deutsches Museum Bonn. " Extensive empirical tests involving datasets recorded during peak traffic hours in the museum demonstrate that this approach is able to accurately estimate the robot's position in more than 98% of the cases even in such highly dynamic environments.
Sensitivity of prefrontal cortex to changes in target probability: A functional MRI study

Electrophysiological studies suggest sensitivity of the prefrontal cortex to changes in the probability of an event. The purpose of this study was to determine if subregions of the prefrontal cortex respond differentially to changes in target probabilities using functional magnetic resonance imaging (fMRI). Ten right‐handed adults were scanned using a gradient‐echo, echo planar imaging sequence during performance of an oddball paradigm. Subjects were instructed to respond to any letter but “X”. The frequency of targets (i.e., any letter but X) varied across trials. The results showed that dorsal prefrontal regions were active during infrequent events and ventral prefrontal regions were active during frequent events. Further, we observed an inverse relation between the dorsal and ventral prefrontal regions such that when activity in dorsal prefrontal regions increased, activity in ventral prefrontal regions decreased, and vice versa. This finding may index competing cognitive processes or capacity limitations. Most importantly, these findings taken as a whole suggest that any simple theory of prefrontal cortex function must take into account the sensitivity of this region to changes in target probability. Hum. Brain Mapping 13:26–33, 2001. © 2001 Wiley‐Liss, Inc.
Functional Polymorphism rs13306560 of the MTHFR Gene Is Associated With Essential Hypertension in a Mexican-Mestizo Population

Background—Polymorphisms of methylenetetrahydrofolate reductase (MTHFR) have been associated with diastolic blood pressure, hypertension, and other cardiovascular diseases; however, results of these studies are still controversial. In this study, we sought to determine whether 2 functional variants (rs1801133 and rs13306560) within the MTHFR are associated with hypertension in Mexican-Mestizos. Methods and Results—We performed a case–control study with 1214 subjects including adults and children to test for the association of both single nucleotide polymorphisms with essential hypertension. The adult group included 764 participants (372 patients and 391 controls) and the group of children included 418 participants (209 patients and 209 controls). rs13306560 was associated with essential hypertension in adults (odds ratio, 4.281; 95% confidence interval, 1.841–9.955; P=0.0003) with a statistical power >0.8. In children, none of the polymorphisms was associated with essential hypertension. In addition, we assessed the effect of the rs13306560 polymorphism on the MTHFR promoter region by means of luciferase reporter gene assays using human umbilical vein endothelial cells. Cells transfected with the pMTHFRaLUC construct showed an ≈25% reduction in luciferase activity (P=0.003). Furthermore, the promoter activity was reduced considerably by in vitro methylation of CpG sequences. Conclusions—Our data suggest that the rs13306560 polymorphism of the MTHFR may be part of the observed hypertension process in Mexican-Mestizo populations, but further studies are warranted. In addition, the allele A of the rs13306560 polymorphism as well as the in vitro methylation of CpGs reduced the promoter activity of the MTHFR regulatory region.
Convolutional Neural Fabrics

Despite the success of CNNs, selecting the optimal architecture for a given task remains an open problem. Instead of aiming to select a single optimal architecture, we propose a "fabric" that embeds an exponentially large number of architectures. The fabric consists of a 3D trellis that connects response maps at different layers, scales, and channels with a sparse homogeneous local connectivity pattern. The only hyper-parameters of a fabric are the number of channels and layers. While individual architectures can be recovered as paths, the fabric can in addition ensemble all embedded architectures together, sharing their weights where their paths overlap. Parameters can be learned using standard methods based on back-propagation, at a cost that scales linearly in the fabric size. We present benchmark results competitive with the state of the art for image classification on MNIST and CIFAR10, and for semantic segmentation on the Part Labels dataset.
Dorsal and Ventral Attention Systems: Distinct Neural Circuits but Collaborative Roles

The idea of two separate attention networks in the human brain for the voluntary deployment of attention and the reorientation to unexpected events, respectively, has inspired an enormous amount of research over the past years. In this review, we will reconcile these theoretical ideas on the dorsal and ventral attentional system with recent empirical findings from human neuroimaging experiments and studies in stroke patients. We will highlight how novel methods—such as the analysis of effective connectivity or the combination of neurostimulation with functional magnetic resonance imaging—have contributed to our understanding of the functionality and interaction of the two systems. We conclude that neither of the two networks controls attentional processes in isolation and that the flexible interaction between both systems enables the dynamic control of attention in relation to top-down goals and bottom-up sensory stimulation. We discuss which brain regions potentially govern this interaction according to current task demands.
Drug induced QT prolongation and torsades de pointes

In 1966, Francois Dessertenne described a specific electrocardiographic form of polymorphic ventricular tachycardia, which he termed “torsades de pointes” (TdP). w1 w2 The word “torsades” refers to an ornamental motif imitating twisted hairs or threads as seen on classical architectural columns, and “pointes” referred to points or peaks.w1 w2 In the seminal article, Dessertenne made no attempt to suggest the mechanism of TdP and, until recently, there has been considerable conjecture as to the pathophysiology of this arrhythmia. Since the original work by Dessertenne, it has been well recognised that many conditions may cause prolonged or abnormal repolarisation (that is, QT interval prolongation and/or abnormal T or T/U wave morphology), which is associated with TdP. If TdP is rapid or prolonged, it can lead to ventricular fibrillation and sudden cardiac death (fig 1). Essentially, TdP may be caused by either congenital or acquired long QT syndrome (LQTS). In recent years, there has been considerable renewed interest in the assessment and understanding of ventricular repolarisation and TdP. There are several reasons for this. Firstly, the cloning of cardiac ion channels has improved the understanding of the role of ionic channels in mediating cardiac repolarisation, the pathophysiological mechanism of LQTS (congenital and acquired forms), and the pathogenesis of TdP. Secondly, modern molecular techniques have unravelled the mutations in genes encoding cardiac ion channels that cause long QT syndrome, although the genetic defects in about 50% of patients are still unknown. Thirdly, there has been considerable enthusiasm for the development and use of class III antiarrhythmic drugs, which prolong repolarisation and cardiac refractoriness. Unfortunately, drugs that alter repolarisation have now been recognised to increase the propensity for TdP. Finally, an increasing number of drugs, especially non-cardiac drugs, have been recognised to delay cardiac repolarisation and to share the ability with class III …
Manipal Cervical Scoring System by Transvaginal Ultrasound in Predicting Successful Labour Induction.

INTRODUCTION Induction of labour (IOL) nowadays is a common procedure in obstetric practice. The success of IOL largely depends upon "favourability" or "readiness" cervix which is traditionally assessed by manual examination and Scored as Bishop Score. However, this method is limited by subjectivity and reproducibility and though done in all the patients prior to IOL, several studies have demonstrated poor correlation between Bishop Score and outcome of labour. OBJECTIVE To evaluate the role of preinduction transvaginal ultrasonographic (TVS) cervical assessment in predicting labour outcome and to compare its performance against Bishop Score in patients undergoing induction of labour (IOL). SETTING A tertiary medical college hospital in Southern India. DESIGN Prospective observational and investigational study. MATERIALS AND METHODS Transvaginal ultrasound was performed in 131 patients who underwent labour induction at term with intact membranes and live fetus. Bishop Score was assessed by pervaginal examination and was compared with preinduction TVS cervical Score (parameters being cervical length, funneling, position of cervix and distance of presenting part from external os). Labour was induced within one hour of cervical assessment. The labour induction was considered successful if patient could get into active labour i.e., onset of regular uterine contractions (at interval of 2-3 minutes) and cervical dilatation of 4 cm or greater within 24 hours of induction. RESULTS Labour induction was successful in 86.9% of patients. At cut off Scores of ≥ 4, TVS cervical Score performed better than Bishop Score (Sensitivity 77% vs. 65%, Specificity 93% vs. 86%). ROC analysis indicated that Area Under Curve (AUC) was more for TVS Score (0.90, 95% CI 0.84 - 0.95), compared to Bishop Score. It was found that an increase in cervical length and distance from the os by 1 mm from their means were associated with an increase in odds for failure of induction and there by caesarean delivery by 6.5% and 11% respectively. CONCLUSION In women experiencing labour induction, transvaginal ultrasound score comprising of five different parameters indicated success of induction better than Bishop Score. Further, two of its components (longer cervical length and increased distance of presenting part from external os) demonstrated significant and independent prediction of the likelihood of failure of induction and risk of operative delivery.
Enhancing the Ignition, Hardness and Compressive Response of Magnesium by Reinforcing with Hollow Glass Microballoons

Magnesium (Mg)/glass microballoons (GMB) metal matrix syntactic foams (1.47–1.67 g/cc) were synthesized using a disintegrated melt deposition (DMD) processing route. Such syntactic foams are of great interest to the scientific community as potential candidate materials for the ever-changing demands in automotive, aerospace, and marine sectors. The synthesized composites were evaluated for their microstructural, thermal, and compressive properties. Results showed that microhardness and the dimensional stability of pure Mg increased with increasing GMB content. The ignition response of these foams was enhanced by ~22 °C with a 25 wt % GMB addition to the Mg matrix. The authors of this work propose a new parameter, ignition factor, to quantify the superior ignition performance that the developed Mg foams exhibit. The room temperature compressive strengths of pure Mg increased with the addition of GMB particles, with Mg-25 wt % GMB exhibiting the maximum compressive yield strength (CYS) of 161 MPa and an ultimate compressive strength (UCS) of 232 MPa for a GMB addition of 5 wt % in Mg. A maximum failure strain of 37.7% was realized in Mg-25 wt % GMB foam. The addition of GMB particles significantly enhanced the energy absorption by ~200% prior to compressive failure for highest filler loading, as compared to pure Mg. Finally, microstructural changes in Mg owing to the presence of hollow GMB particles were elaborately discussed.