Miracle-dz/UniFAR-FTUs huggingface dataset:
Iterative Learning Control with variable pass length applied to trajectory tracking on a crane with output constraints

A typical application of Iterative Learning Control (ILC), namely trajectory tracking on a lab-scale gantry crane, is considered. However, the load is only allowed to move in the close proximity of the reference trajectory. Since these output constraints lead to disrupted trials, the pass length in this ILC system is not constant. In this contribution, we present new results on convergence and new combinations of methods for this class of ILC systems and apply them to the given application. Simulation and experimental results are provided which demonstrate that both maximum pass length and small tracking error can be achieved in very few iterations even in the presence of tight constraints and model uncertainties.
HoLEP: the gold standard for the surgical management of BPH in the 21(st) Century.

INTRODUCTION For many years, transurethral resection of the prostate (TURP) has been accepted as the gold standard to surgically alleviate obstructive voiding dysfunction in men with benign prostatic hyperplasia (BPH). This historical standard has been challenged repeatedly over the last decade by consistent data demonstrating the superiority of Holmium enucleation of the prostate (HoLEP). This review summarizes the literature comparing HoLEP and traditional therapies for BPH that are widely used and have long term efficacy data, primarily TURP, open prostatectomy (OP), and alternative laser therapies (PVP, ThuLEP, etc). RESULTS Patients undergoing HoLEP have greater improvements in post-operative Qmax, greater reduction in post-operative subjective symptom scores, and lower rates of repeat endoscopic procedures for recurrent symptoms at 5-10 year follow up compared with TURP, OP, and other laser therapies. Furthermore, patients undergoing HoLEP benefit from significantly shortened catheterization times, decreased length of hospital stay (LOS), and fewer serious post-operative complications. In particular, randomized controlled trials (RCT) have demonstrated that HoLEP can be used to resect adenomas greater than 100 grams with equivalent efficacy to open prostatectomy, but with radically decreased morbidity. CONCLUSION Numerous large, RCTs demonstrate HoLEP to be objectively superior to other surgical therapies for BPH. The urologic community should embrace HoLEP as the new gold standard for surgical BPH therapy, especially in men with large prostates who would otherwise be considered for an OP or staged TURP. The only obstacle to widespread implementation of HoLEP remains its difficult learning curve when compared with traditional transurethral resection. Further allocation of resources towards appropriate mentoring and teaching of HoLEP is warranted, particularly in residency training programs.
Fractional Lambda Switching Principles of Operation and Performance Issues

This article introduces fractional lambda (λ) switching (FλS) and studies its blocking issues. FλS uses a global common time reference (CTR) for implementing pipeline forwarding (PF) inside the network. A global CTR is conveniently realized with the UTC (coordinated universal time) standard. Resource reservation over an FλS network requires a schedule. As in other scheduling cases, a call may not be accepted, even though there is enough capacity, because the schedule is not available—the call is then considered blocked. This work studies the probability of call blocking as a function of link utilization. The results show that (especially if multiple-wavelength division multiplexing channels are deployed on optical links between fractional λ switches) high-link utilization can be achieved with negligible call blocking, even when the switching fabric is a Banyan network.
In Vitro Susceptibility to Ceftazidime-Avibactam of Carbapenem-Nonsusceptible Enterobacteriaceae Isolates Collected during the INFORM Global Surveillance Study (2012 to 2014)

ABSTRACT The activity of ceftazidime-avibactam was assessed against 961 isolates of meropenem-nonsusceptible Enterobacteriaceae. Most meropenem-nonsusceptible metallo-β-lactamase (MBL)-negative isolates (97.7%) were susceptible to ceftazidime-avibactam. Isolates that carried KPC or OXA-48-like β-lactamases, both alone and in combination with extended-spectrum β-lactamases (ESBLs) and/or AmpC β-lactamases, were 98.7% and 98.5% susceptible to ceftazidime-avibactam, respectively. Meropenem-nonsusceptible, carbapenemase-negative isolates demonstrated 94.7% susceptibility to ceftazidime-avibactam. Ceftazidime-avibactam activity was compromised only in isolates for which carbapenem resistance was mediated through metallo-β-lactamases.
Early Outcomes of Minimally Invasive Anterior Longitudinal Ligament Release for Correction of Sagittal Imbalance in Patients with Adult Spinal Deformity

The object of this study was to evaluate a novel surgical technique in the treatment of adult degenerative scoliosis and present our early experience with the minimally invasive lateral approach for anterior longitudinal ligament release to provide lumbar lordosis and examine its impact on sagittal balance. Methods. All patients with adult spinal deformity (ASD) treated with the minimally invasive lateral retroperitoneal transpsoas interbody fusion (MIS LIF) for release of the anterior longitudinal ligament were examined. Patient demographics, clinical data, spinopelvic parameters, and outcome measures were recorded. Results. Seven patients underwent release of the anterior longitudinal ligament (ALR) to improve sagittal imbalance. All cases were split into anterior and posterior stages, with mean estimated blood loss of 125 cc and 530 cc, respectively. Average hospital stay was 8.3 days, and mean follow-up time was 9.1 months. Comparing pre- and postoperative 36′′ standing X-rays, the authors discovered a mean increase in global lumbar lordosis of 24 degrees, increase in segmental lumbar lordosis of 17 degrees per level of ALL released, decrease in pelvic tilt of 7 degrees, and decrease in sagittal vertical axis of 4.9 cm. At the last followup, there was a mean improvement in VAS and ODI scores of 26.2% and 18.3%. Conclusions. In the authors' early experience, release of the anterior longitudinal ligament using the minimally invasive lateral retroperitoneal transpsoas approach may be a feasible alternative in correcting sagittal deformity.
A coupling technique for stochastic comparison of functions of Markov Processes

The aim of this work is to obtain explicit conditions (i.e., conditions on the transition rates) for the stochastic comparison of Markov Processes. A general coupling technique is used to obtain necessary and sucient conditions for the construction of a coupling Markov Process which stays in a xed set K for all times and with given marginal processes. The strong stochastic comparison|or, more generally, the stochastic comparison through states functions|appears as a particular case. An example in the Reliability Theory is developed and proves the eciency of the method. Systems with multiple component types and redundant units are stochastically compared directly or through particular functions. Stochastic comparison is a useful tool in the study of complex stochastic systems. Stoyan's book (1983) gives a broad survey on the subject. In this paper, the classical stochastic ordering is generalized to the comparison of processes through state functions. For example, in a Stochastic Petri Net (Murata (1989)) where tokens are moved randomly across the places, the total load of the system (sum of all marks) is a quantity of interest for the saturation conditions. Furthermore, a mark in a place can have a cost. The associated linear combination of marks, is a measure of the cost of the corresponding state system. Two processes obtained by changing the transition rates, can be stochastically compared through such state functions. Let X =fXt; t 0g and Y =fYt; t 0g be two Markov processes with values in E and F respectively and '; two functions from E and F respectively into G (ordered by ). X and Y will be stochastically compared by means of ' and using the stochastic ordering in G. We shall call this kind of comparison the ' - comparison. The comparison of functions of Markov processes with a stochastically monotone Markov process has been already studied by Massey (1987). Whitt (1986) compares general non-Markovian processes by assuming that they can be completed by ad- ditional information to become Markovian and always by mean of a stochastically monotone Markov process. We shall use a direct technique developed in particular in Liggett (1985) for interacting particle systems, the comparison by coupling. For
Induction of haemolytic activity in Escherichia coli by the slyA gene product

The Salmonella typhimurium protein SlyAST, originally described as a cytolysin, shows sequence similarities to several known bacterial regulatory proteins. A homologue to the slyASt gene has been localised to min 37 of the Eschericia coli K‐12 chromosome and has been designated slyAEC When introduced in trans on a plasmid, the slyAEC gene conferred a haemolytic phenotype on wild‐type but not clyA‐knockout strains of E. coli K‐12. The clyA gene encodes a novel haemolysin that is not expressed by wild‐type E. coli under tested laboratory conditions. Western and Northern blot analyses, and DNA‐band‐shift assays support a model whereby the SlyAEC protein activates clyA expression by binding to the clyA promoter region, thereby supporting the sequence similarity data in suggesting that SlyAST is a haemolysin activator rather than being a haemolysin per se.
Overexpression of tumstatin in genetically modified megakaryocytes changes the proangiogenic effect of platelets

Thrombocytopenia is a common side effect of tumor chemotherapy, the main management approach to which is based on platelet (PLT) transfusion. However, PLTs, containing angiogenesis regulators, play a major role in boosting tumor growth and metastasis. The purpose of the study was to determine whether PLTs have the capacity to overexpress tumstatin by modified megakaryocyte (MK) and PLT precursors using lentivirus‐mediated gene transfer, which might lead to alteration in proangiogenic effect of PLTs.
Modeling and Experiments of Untethered Quadrupedal Running with a Bounding Gait: The Scout II Robot

In this paper we compare models and experiments involving Scout II, an untethered four-legged running robot with only one actuator per compliant leg. Scout II achieves dynamically stable running of up to 1.3 m s -1 on flat ground via a bounding gait. Energetics analysis reveals a highly efficient system with a specific resistance of only 1.4. The running controller requires no task-level or body-state feedback, and relies on the passive dynamics of the mechanical system. These results contribute to the increasing evidence that apparently complex dynamically dexterous tasks may be controlled via simple control laws. We discuss general modeling issues for dynamically stable legged robots. Two simulation models are compared with experimental data to test the validity of common simplifying assumptions. The need for including motor saturation and non-rigid torque transmission characteristics in simulation models is demonstrated. Similar issues are likely to be important in other dynamically stable legged robots as well. An extensive suite of experimental results documents the robot’s performance and the validity of the proposed models.
Organization of the six motor nuclei innervating the ocular muscles in lamprey

The topography of motoneurons supplying each of the six ocular muscles of the lamprey, Lampetra fluviatilis, was studied by selective application of HRP to the cut nerves of identified muscles. In addition, the distributions of motoneuron populations to both eyes were studied simultaneously with fluoresceine and rhodamine coupled dextran‐amines (FDA and RDA) applied to cut ocular muscle nerves of either side. The motoneuron pool of the caudal oblique muscle is represented bilaterally in the trochlear (N IV) motor nucleus. The dorsal rectus muscle is innervated from a contralateral group of oculomotor (N III) motoneurons and the remaining four muscles exclusively from the ipsilateral side (N III and N VI). The inferior and posterior rectus muscles are both innervated by the abducens nerve. In contrast to all jawed vertebrates, only three eye muscles (the dorsal rectus, rostral rectus, and rostral oblique) are innervated by the oculomotor nerve in lampreys (N III). Lampreys have a motor nucleus similar to the accessory abducens nucleus previously described only in tetrapods. They lack the muscle homologous to the nasal rectus muscle of elasmobranchs and the medial rectus muscle of osteognathostomes. The distribution of the dendrites of different groups of motoneurons was studied and is considered in relation to inputs from tectum and the different cranial nerves.
Peginterferon α‐2a (40 kDa): an advance in the treatment of hepatitis B e antigen‐positive chronic hepatitis B

Current therapies for chronic hepatitis B (CHB) have a number of limitations, and better treatment options are needed. Peginterferon α‐2a (40 kDa) is superior to conventional interferon α‐2a in the treatment of chronic hepatitis C. This is the first report on peginterferon α‐2a (40 kDa) in the treatment of CHB. In this phase II study, 194 patients with CHB not previously treated with conventional interferon‐α were randomized to receive weekly subcutaneous doses of peginterferon α‐2a (40 kDa) 90, 180 or 270 μg, or conventional interferon α‐2a 4.5 MIU three times weekly. Twenty‐four weeks of therapy were followed by 24 weeks of treatment‐free follow‐up. All subjects were assessed for loss of hepatitis B e antigen (HBeAg), presence of hepatitis B antibody (anti‐HBe), suppression of hepatitis B virus (HBV) DNA, and normalization of serum alanine transaminase (ALT) after follow‐up.
Measuring the dynamic behaviour of AspectJ programs

This paper proposes and implements a rigorous method for studying the dynamic behaviour of AspectJ programs. As part of this methodology several new metrics specific to AspectJ programs are proposed and tools for collecting the relevant metrics are presented. The major tools consist of: (1) a modified version of the AspectJ compiler that tags bytecode instructions with an indication of the cause of their generation, such as a particular feature of AspectJ; and (2) a modified version of the *J dynamic metrics collection tool which is composed of a JVMPI-based trace generator and an analyzer which propagates tags and computes the proposed metrics. This dynamic propagation is essential, and thus this paper contributes not only new metrics, but also non-trivial ways of computing them. We furthermore present a set of benchmarks that exercise a wide range of AspectJ's features, and the metrics that we measured on these benchmarks. The results provide guidance to AspectJ users on how to avoid efficiency pitfalls, to AspectJ implementors on promising areas for future optimization, and to tool builders on ways to understand the runtime behaviour of AspectJ.
Cellulo: Versatile Handheld Robots for Education

In this article, we present Cellulo, a novel robotic platform that investigates the intersection of three ideas for robotics in education: designing the robots to be versatile and generic tools; blending robots into the classroom by designing them to be pervasive objects and by creating tight interactions with (already pervasive) paper; and finally considering the practical constraints of real classrooms at every stage of the design. Our platform results from these considerations and builds on a unique combination of technologies: groups of handheld haptic-enabled robots, tablets and activity sheets printed on regular paper. The robots feature holonomic motion, haptic feedback capability and high accuracy localization through a microdot pattern overlaid on top of the activity sheets, while remaining affordable (robots cost about 125 at the prototype stage) and classroom-friendly. We present the platform and report on our first interaction studies, involving about 230 children.
Investment Strategies Used as Spectroscopy of Financial Markets Reveal New Stylized Facts

We propose a new set of stylized facts quantifying the structure of financial markets. The key idea is to study the combined structure of both investment strategies and prices in order to open a qualitatively new level of understanding of financial and economic markets. We study the detailed order flow on the Shenzhen Stock Exchange of China for the whole year of 2003. This enormous dataset allows us to compare (i) a closed national market (A-shares) with an international market (B-shares), (ii) individuals and institutions, and (iii) real traders to random strategies with respect to timing that share otherwise all other characteristics. We find in general that more trading results in smaller net return due to trading frictions, with the exception that the net return is independent of the trading frequency for A-share individual traders. We unveiled quantitative power laws with non-trivial exponents, that quantify the deterioration of performance with frequency and with holding period of the strategies used by traders. Random strategies are found to perform much better than real ones, both for winners and losers. Surprising large arbitrage opportunities exist, especially when using zero-intelligence strategies. This is a diagnostic of possible inefficiencies of these financial markets.
Cisplatin and gemcitabine for advanced biliary tract cancer: a meta-analysis of two randomised trials.

BACKGROUND Two recent studies (ABC-02 [UK] and BT22 [Japan]) have demonstrated the superiority of cisplatin and gemcitabine (CisGem) chemotherapy over gemcitabine (Gem) alone for patients with pathologically proven advanced biliary tract cancer (BTC: cholangiocarcinoma, gallbladder and ampullary cancers). This pre-planned analysis evaluates the efficacy of CisGem with increased statistical power. PATIENTS AND METHODS We carried out a meta-analysis of individual patient-level data of these studies to establish the effect of CisGem versus Gem on progression-free survival (PFS), overall survival (OS) and carried out exploratory subgroup analyses. RESULTS CisGem demonstrates a significant improvement in PFS [hazard ratio (HR)=0.64, 95% confidence interval (CI) 0.53-0.76, P<0.001] and OS (HR=0.65, 95% CI 0.54-0.78, P<0.001) over Gem. This effect is most marked among patients with good performance status (PS 0-1): HR for PFS is 0.61 (95% CI 0.51-0.74), P<0.001 and OS HR=0.64 (95% CI 0.53-0.77), P<0.001. CisGem resulted in improved PFS and OS for intra- and extra-hepatic cholangiocarcinomas and gallbladder cancer. The treatment effect between UK and Japanese patients was consistent with respect to OS (HR=0.65, 95% CI 0.53-0.79 and 0.65, 95% CI 0.42-1.03, respectively); with similar OS in the combination arms (median 11.7 and 11.1 months, respectively). Subgroups least likely to benefit included patients with ampullary tumours and poor performance status (PS2). CONCLUSIONS CisGem is the standard of care for the first-line treatment of good-PS patients with advanced BTC regardless of ethnicity. Future studies should aim to enhance the effectiveness of this regimen in the first-line setting, establish the role of subsequent (second-line) therapy and assess the role of rationally developed molecular-targeted therapies.
Complete asymptotic expansion of the spectral function of multidimensional almost-periodic Schrodinger operators

We prove the existence of a complete asymptotic expansion of the spectral function (the integral kernel of the spectral projection) of a Schrodinger operator H=−Δ+bH=−Δ+b acting in RdRd when the potential bb is real and either smooth periodic, or generic quasiperiodic (finite linear combination of exponentials), or belongs to a wide class of almost-periodic functions.
Towards distributed software transactional memory systems

The recent architectural trend that has lead to the widespread adoption of multi-core CPUs has fostered a remarkable research interest in Software Transactional Memory (STM). As STMs are starting to face the high availability and scalability requirements of real-world production environments, it is natural to foresee the need for replication solutions specifically tailored for STMs. Since databases and STMs share the same key abstraction of atomic transaction, one could wonder whether the mechanisms originally designed for database replication could be successfully and seamlessly exploited also to support replication of STM systems. This paper seeks an answer to this question, highlighting some critical performance issues related to the application of state of the art database replication techniques in the context of STM systems, and presenting some of our recent research directions aimed at designing and implementing high performance replication strategies able to meet the unique requirements of STMs.
Effect of Anaerobic Digestion and Initial pH on Metal Bioleaching from Sewage Sludge

The effects of anaerobic digestion and initial pH on the bioleaching of metals from sewage sludge were investigated in shake flask experiments. A strain of Acidithiobacillus thiooxidans was employed in the assays using secondary and anaerobic sludges, which resulted in similar solubilization yields of the metals chromium, copper, lead, nickel, and zinc for both the sludges investigated. The effect of initial pH (7.0 and 4.0) on metal bioleaching was assayed by using the anaerobic sludge inoculated with indigenous sulfur-oxidizing thiobacilli. Although the time required to reach the end of the experiment (final pH close to 1.0) was shortened at initial pH of 4.0, final metal solubilization was not significantly different for both initial pH values, resulting in higher solubilization yields for copper, nickel, and zinc (higher than 80%). Chromium and lead presented solubilization yields close to 50%. The results obtained in this work showed that the metal bioleaching process can be applied to sewage sludge regardless of the type of sludge and without the requirement of pH adjustment.