Miracle-dz/UniFAR-FTUs huggingface dataset:
Mars microrover navigation: Performance evaluation and enhancement

In 1996, NASA will launch the Mars Pathfinder spacecraft, which will carry an 11 kg rover to explore the immediate vicinity of the lander. To assess the capabilities of the rover, as well as to set priorities for future rover research, it is essential to evaluate the performance of its autonomous navigation system as a function of terrain characteristics. Unfortunately, very little of this kind of evaluation has been done, for either planetary rovers or terrestrial applications. To fill this gap, we have constructed a new microrover testbed consisting of the Rocky 3.2 vehicle and an indoor test arena with overhead cameras for automatic, real-time tracking of the true rover position and heading. We create Mars analog terrains in this arena by randomly distributing rocks according to an exponential model of Mars rock size frequency created from Viking lander imagery. To date, we have recorded detailed logs from over 85 navigation trials in this testbed. In this paper, we outline current plans for Mars exploration over the next decade, summarize the design of the lander and rover for the 1996 Pathfinder mission, and introduce a decomposition of rover navigation into four major functions: goal designation, rover localization, hazard detection, and path selection. We then describe the Pathfinder approach to each function, present results to date of evaluating the performance of each function, and outline our approach to enhancing performance for future missions. The results show key limitations in the quality of rover localization, the speed of hazard detection, and the ability of behavior control algorithms for path selection to negotiate the rock frequencies likely to be encountered on Mars. We believe that the facilities, methodologies, and to some extent the specific performance results presented here will provide valuable examples for efforts to evaluate robotic vehicle performance in other applications.
Differential Influence of Chemokine Receptors CCR2 and CXCR3 in Development of Atherosclerosis In Vivo

Background—Recruitment of mononuclear leukocytes within atherosclerotic lesions is a critical step in atherogenesis. Mice lacking the chemokine receptor CCR2, highly expressed on macrophages but also on T lymphocytes, show a striking reduction of atherosclerotic lesion formation. The chemokine receptor CXCR3 is a marker of activated T helper type 1 lymphocytes, the principal T lymphocyte type detected within atheroma. We investigated whether the deletion of both of these 2 important receptors expressed on the principal inflammatory cells present in atheroma would further affect atherogenesis in vivo. Methods and Results—We crossed ApoE−/− mice with either CCR2−/− or CXCR3− mice and crossed ApoE−/− CCR2−/− mice with the ApoE−/− CXCR3− mice to generate a triple knockout strain. Analysis of atherosclerosis development after 10 weeks of high-cholesterol diet revealed differential effects on early atherosclerotic lesions in the abdominal aorta and on advanced lesions in aortic roots. ApoE−/− CXCR3− mice, but not the triple knockout mice, displayed significantly reduced atherosclerotic lesion development within abdominal aortas compared with ApoE−/− CCR2−/− and ApoE−/− mice. This reduction of lesion formation correlated with an upregulation of antiinflammatory molecules such as interleukin-10, interleukin-18BP, and endothelial nitric oxide synthase and with an increased number of regulatory T lymphocytes within atherosclerotic lesions. In contrast, lesion size development within the aortic roots was more enhanced in ApoE−/− and ApoE−/− CXCR3− mice compared with ApoE−/− CCR2−/− and triple knockout mice. Conclusions—Blocking chemokine signaling in vivo through deletion of the chemokine receptors CCR2 and CXCR3 has differential effects during atherogenesis. In addition, our results point to an important role of regulatory T lymphocytes during early atherogenesis.
Fitness versus fatness: Moving beyond weight loss in nonalcoholic fatty liver disease

The rapid emergence of nonalcoholic fatty liver disease (NAFLD) as a cause of both liver‐related morbidity and mortality and cardiometabolic risk has led to the search for effective lifestyle strategies to reduce liver fat. Lifestyle intervention comprising dietary restriction in conjunction with increased physical activity has shown clear hepatic benefits when weight loss approximating 3%‐10% of body weight is achieved. Yet, the poor sustainability of weight loss challenges the current therapeutic focus on body weight and highlights the need for alternative strategies for NAFLD management. Epidemiologic data show an independent relationship between liver fat, physical activity, and fitness, and a growing body of longitudinal research demonstrates that increased physical activity participation per se significantly reduces hepatic steatosis and serum aminotransferases in individuals with NAFLD, independent of weight loss. Mechanistic insights to explain this interaction are outlined, and recommendations for the implementation of lifestyle intervention involving physical activity are discussed. In light of the often poor sustainability of weight loss strategies, and the viability of physical activity therapy, clinicians should assess physical fitness and physical activity habits, educate patients on the benefits of fitness outside of weight loss, and focus on behavior change which promotes physical activity adoption. (HEPATOLOGY 2010)
Integrated Mechatronic Design for a New Generation of Robotic Hands

Abstract In this paper, an overall description of the design of a robotic hand is discussed, with particular attention to the required sensory subsystem, its integration within the mechanical structure of the hand and the required control architecture. Different solutions for the joint configuration and the structure of the tendon network adopted for the transmission system are present together with three types of sensors applied on the finger and on the actuators. The integrated design of the hand finger and the sensors is reported and the motivations leading to this particular implementation are thoroughly addressed, taking into account both the mechanical constraints and the control requirements.
Relationship predictors of prenatal maternal representations of the child and parenting experiences one year after birth

Bowlby’s attachment theory (Bowlby, 1969/1982) is one of the most dominant approaches used to describe and investigate attachment relationships and emotional development throughout the entire lifespan. However, attachment research is typically conducted through two distinct fields of psychology: developmental and social/ personality psychology. These two fields tend to use different research strategies and measures and focus on different types and aspects of relationships, yet both make important contributions to the attachment literature (Bartholomew & Shaver, 1998). The goal of this investigation was to integrate attachment research from these two fields of psychology in order to broaden psychological and scientific understanding of the continuity of attachment quality (and relationship quality, more generally) from childhood to the transition to parenthood. Structural equation modeling was used to analyze data from a sample of 120 mostly economically disadvantaged single women who were followed from their third trimester of pregnancy to their child’s first birthday. Results were consistent with attachment theory and hypotheses. They indicated that a history of better relationship quality with one’s own mother, as well as better attachment with romantic partners, as reported during pregnancy, was related to more positive and balanced prenatal maternal representations of the child. In addition, a history of better attachment and more general relationship quality was related to lower parenting strain when children were 1 year of age. Finally, more positive and balanced prenatal maternal representations of the child were related to lower parenting strain, and partially mediated the association between maternal relationship experiences and parenting strain. Implications for these findings and directions for future research are discussed. PREDICTORS AND EFFECTS OF PRENATAL MATERNAL REPRESENTATIONS iv
Probiotics for pediatric antibiotic-associated diarrhea: a meta-analysis of randomized placebo-controlled trials

Background: Antibiotic treatment is known to disturb gastrointestinal microflora, which results in a range of clinical symptoms — most notably, diarrhea. This is especially important in children, for whom antibiotics are prescribed frequently. Although meta-analyses have been conducted to evaluate the ability of probiotics to prevent antibiotic-induced diarrhea in the general population, little is known about which probiotic strains and doses might be of most benefit to children. Our objective in this study was to assess the efficacy of probiotics (of any specified strain or dose) for the prevention of antibiotic-associated diarrhea in children and to assess adverse events associated with the use of probiotics when coadministered with antibiotics to children. Methods: A comprehensive search was performed of the major electronic databases (e.g., CENTRAL, MEDLINE, EMBASE, CINAHL, AMED) from their inception to January 2005. We also contacted experts and searched registries and meeting abstracts for additional relevant articles. Randomized controlled trials that compared probiotic treatment with placebo or no treatment, involving pediatric subjects less than 19 years of age were included. Two reviewers independently applied eligibility criteria and assessed the studies for methodological quality. Data were independently extracted by 2 reviewers and analyzed via the standard Cochrane methodology. Results: Six studies were included (total n = 707 patients). The combined results, analyzed with a per-protocol method that reported on the incidence of diarrhea during antibiotic treatment, showed significant benefit for the use of probiotics over placebo (relative risk [RR] 0.43, 95% confidence interval [CI] 0.25–0.75, Ι2 = 70.1%). In contrast, results from intention-to-treat analysis were nonsignificant overall (RR 1.01, 95% CI 0.64–1.61). Subgroup analysis on 4 studies that provided at least 5 billion single-strain colony-forming units (CFUs) daily (range 5.5–40 × 109 Lactobacillus GG, L. sporogens or Saccharomyces boulardii) showed strong evidence with narrow CIs for the preventative effects of probiotics for antibiotic-associated diarrhea (RR 0.36, 95% CI 0.25–0.53, Ι2 = 3.5%). No serious adverse events were reported. Interpretation: The potential protective effects of probiotics to prevent antibiotic-associated diarrhea in children do not withstand intention-to-treat analysis. Before routine use is recommended, further studies (with limited losses of subjects to follow-up) are merited. Trials should involve those probiotic strains and doses with the most promising evidence (i.e., Lactobacillus GG, L. sporogens or S. boulardii at 5–40 × 109 CFUs daily).
Scanning the Effects of Ethyl Methanesulfonate on the Whole Genome of Lotus japonicus Using Second-Generation Sequencing Analysis

Genetic structure can be altered by chemical mutagenesis, which is a common method applied in molecular biology and genetics. Second-generation sequencing provides a platform to reveal base alterations occurring in the whole genome due to mutagenesis. A model legume, Lotus japonicus ecotype Miyakojima, was chemically mutated with alkylating ethyl methanesulfonate (EMS) for the scanning of DNA lesions throughout the genome. Using second-generation sequencing, two individually mutated third-generation progeny (M3, named AM and AS) were sequenced and analyzed to identify single nucleotide polymorphisms and reveal the effects of EMS on nucleotide sequences in these mutant genomes. Single-nucleotide polymorphisms were found in every 208 kb (AS) and 202 kb (AM) with a bias mutation of G/C-to-A/T changes at low percentage. Most mutations were intergenic. The mutation spectrum of the genomes was comparable in their individual chromosomes; however, each mutated genome has unique alterations, which are useful to identify causal mutations for their phenotypic changes. The data obtained demonstrate that whole genomic sequencing is applicable as a high-throughput tool to investigate genomic changes due to mutagenesis. The identification of these single-point mutations will facilitate the identification of phenotypically causative mutations in EMS-mutated germplasm.
Dairy consumption and lung cancer risk: a meta-analysis of prospective cohort studies

Background Lung cancer risk is the leading cause of cancer-related deaths worldwide. We conducted a meta-analysis to evaluate the relationship between dairy consumption and lung cancer risk. Methods The databases included EMBASE, Medline (PubMed), and Web of Science. The relationship between dairy consumption and lung cancer risk was analyzed by relative risk or odds ratio estimates with 95% confidence intervals (CIs). We identified eight prospective cohort studies, which amounted to 10,344 cases and 61,901 participants. Results For milk intake, relative risk was 0.95 (95% CI: 0.76–1.15); heterogeneity was 70.2% (P=0.003). For total dairy product intake, relative risk was 0.96 (95% CI: 0.89–1.03), heterogeneity was 68.4% (P=0.004). Conclusion There was no significant association between dairy consumption and lung cancer risk.
The Role and Impact of the Specialist Trauma Nurse: An Integrative Review

To identify the scope, context, and impact on patient and health service outcomes of the specialist trauma nurse. Integrative review with data sourced from CINAHL, OvidSP, Scopus, and hand searching of references. Abstracts were screened for inclusion/exclusion criteria with 56 articles appraised for quality, analyzed, and synthesized into 3 main categories. This international review shows a widely varied scope and context of practice with positive impacts on patient and health service outcomes. Further research and exploration are recommended to develop a consistent model of care and further ascertain the benefits of the specialist trauma nurse role.
Towards direct reconstruction from a gamma camera based on Compton scattering

The Compton scattering camera (sometimes called the electronically collimated camera) has been shown by others to have the potential to better the photon counting statistics and the energy resolution of the Anger camera for imaging in SPECT. By using coincident detection of Compton scattering events on two detecting planes, a photon can be localized to having been sourced on the surface of a cone. New algorithms are needed to achieve fully three-dimensional reconstruction of the source distribution from such a camera. If a complete set of cone-surface projections are collected over an infinitely extending plane, it is shown that the reconstruction problem is not only analytically solvable, but also overspecified in the absence of measurement uncertainties. Two approaches to direct reconstruction are proposed, both based on the photons which travel perpendicularly between the detector planes. Results of computer simulations are presented which demonstrate the ability of the algorithms to achieve useful reconstructions in the absence of measurement uncertainties (other than those caused by quantization). The modifications likely to be required in the presence of realistic measurement uncertainties are discussed.
Hematologic Risk Factors of Vascular Disease and Their Relation to Dementia

Multiple studies have implicated vascular-related conditions as risk factors for dementia. Clarification of these factors in dementia is important because most are modifiable, and may serve as the basis for preventive strategies. Several hematologic factors are associated with vascular diseases, but their relation to dementia is unclear. This review examines biological and epidemiological evidence concerning the role of these hematologic factors in dementia, and dementia subtypes. Reviewed factors include homocysteine, cholesterol, fatty acids, antioxidants, and C-reactive protein. The vast majority of studies reviewed are cross-sectional. Longitudinal studies with serial hematologic measures are needed to clarify the relationship between these factors and dementia over the lifespan. A necessary step is to examine multiple hematologic factors simultaneously, rather than in isolation, to determine how these factors are interrelated.
Relationship of bull fertility to sperm nuclear shape.

The relationship between sperm nuclear shape and bull fertility was determined. Two groups of bulls, 3 per group, were selected. Bulls differed in fertility based on lifetime nonreturn rates. Digital images of propidium iodide-stained sperm from each bull were collected and shape-evaluated by Fourier harmonic amplitudes 0 to 5. A discriminant function (P < .05) was constructed based on harmonic amplitudes and the 2 fertility groups. When individual sperm were classified as being of high or lower fertility, the percentage of each bull's sperm placed in the high-fertility group had a linear relationship (r = .89, P < .05) with fertility. To construct a plot of mean sperm shapes, a novel technique to automatically orient and identify the anterior tip of the sperm head was developed. The mean nuclear shape of high-fertility sperm was more elongated and tapered than those of lower fertility. A discriminant function (P < .05) was also constructed that separated the 6 bulls into 2 groups based only on the harmonic amplitudes or sperm nuclear shape. The bulls were correctly classified into the 2 fertility groups. A comparison of sperm chromatin structure analysis (SCSA) and harmonic amplitudes found that overall size variance, anterior roundness, and posterior taperedness of sperm nuclei were related to chromatin stability (P < .05). Some of the differences observed in sperm nuclear shape between the high- and lower-fertility bulls may be explained by varying levels of chromatin stability. However, sperm nuclear shape appears to contain additional information from chromatin stability alone. In this particular study, with 6 bulls, all with good chromatin quality, sperm nuclear shape was a better predictor of bull fertility.
Hip, knee, and ankle kinematics of high range of motion activities of daily living

Treatment of joint disease that results in limited flexion is often rejected by patients in non‐Western cultures whose activities of daily living require a higher range of motion at the hip, knee, or ankle. However, limited information is available about the joint kinematics required for high range of motion activities, such as squatting, kneeling, and sitting cross‐legged, making it difficult to design prosthetic implants that will meet the needs of these populations. Therefore, the objective of this work was to generate three‐dimensional kinematics at the hip, knee, and ankle joints of Indian subjects while performing activities of daily living. Thirty healthy Indian subjects (average age: 48.2 ± 7.6 years) were asked to perform six trials of the following activities: squatting, kneeling, and sitting cross‐legged. Floating axis angles were calculated at the joints using the kinematic data collected by an electromagnetic motion tracking device with receivers located on the subject's foot, shank, thigh, and sacrum. A mean maximum flexion of 157° ± 6° at the knee joint was required for squatting with heels up. Mean maximum hip flexion angles reached up to 95° ± 27° for squatting with heels flat. The high standard deviation associated with this activity underscored the large range in maximum hip flexion angles required by different subjects. Mean ankle range of flexion reached 58° ± 14° for the sitting cross‐legged activity. The ranges of motion required to perform the activities studied are greater than that provided by most currently available joint prostheses, demonstrating the need for high range of motion implant design. © 2006 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res
Dissemination-based data delivery using broadcast disks

Mobile computers and wireless networks are emerging technologies which promise to make ubiquitous computing a reality. One challenge that must be met in order to truly realize this potential is that of providing mobile clients with ubiquitous access to data. One way (and perhaps the only way) to address these challenges is to provide stationary server machines with a relatively high-bandwidth channel over which to broadcast data to a client population in anticipation of the need for that data by the clients. Such a system can be said to be asymmetric due to the disparity in the transmission capacities of clients and servers. We have proposed a mechanism called broadcast disks to provide database access in this environment as well as in other asymmetric systems such as cable and direct broadcast satellite television networks and information distribution services. The broadcast disk approach enables the creation of an arbitrarily fine-grained memory hierarchy on the broadcast medium. This hierarchy, combined with the inversion of the traditional relationship between clients and servers that occurs in a broadcast-based system, raises fundamental new issues for client cache management and data prefetching. In this article we present a brief overview of asymmetric environments and describe our approaches to broadcast disk organization, client cache management, and prefetching.
A nurse led intermediate care package in patients who have been hospitalised with an acute exacerbation of chronic obstructive pulmonary disease

Objectives: To determine the effects of a nurse led intermediate care programme in patients who have been hospitalised with an acute exacerbation of chronic obstructive pulmonary disease (AECOPD). Design: Randomised controlled trial. Setting: Community and hospital care in west London. Participants: 122 patients with COPD. Intervention: A care package incorporating initial pulmonary rehabilitation and self-management education, provision of a written, personalised COPD action plan, monthly telephone calls and 3 monthly home visits by a specialist nurse for a period of 2 years. Main outcome measure: Hospital readmission rate. Secondary outcomes: Unscheduled primary care consultations and quality of life. Results: There were no differences in hospital admission rates or in exacerbation rates between the two groups. Self-management of exacerbations was significantly different and the intervention group were more likely to be treated with oral steroids alone or oral steroids and antibiotics, and the initiators of treatment for exacerbations were statistically more likely to be the patients themselves. 12 patients in the control group died during the 2 year period, eight as a result of COPD, compared with six patients in the intervention group, of whom one died from COPD. This is a significant difference. When the numbers were adjusted to reflect the numbers still alive at 2 years, in the intervention group patients reported a total of 171 unscheduled contacts with their general practitioner (GP) and in the control group, 280 contacts. The number needed to treat was 0.558—ie, for every one COPD patient receiving the intervention and self-management advice, there were 1.79 fewer unscheduled contacts with the GP. Conclusions: An intermediate care package incorporating pulmonary rehabilitation, self-management education and the receipt of a written COPD action plan, together with regular nurse contact, is associated with a reduced need for unscheduled primary care consultations and a reduction in deaths due to COPD but did not affect the hospital readmission rate.