Miracle-dz/UniFAR-FTUs huggingface dataset:
Robust and uncalibrated visual servoing without Jacobian using a simplex method

In this paper, we present a robot positioning task with respect to a static target using visual servoing and optimization techniques. The vision system is uncalibrated and the kinematic model of the robot may be totally unknown. The displacements of the robot are generated in real time in order to minimize an objective function. The objective function includes the quadratic error between the current target image and the desired target image. A simplex method is used to minimize the objective function. Our method allows the system to include constraints in the image as well as in joint-space. We successfully validate this method, with simulations under the graphic library QpenGL and with experiments on a 6-DOF industrial manipulator.
A Dose‐Finding Study of Zoledronate in Hypercalcemic Cancer Patients

Zoledronate is a new heterocyclic imidazole bisphosphonate that is the most potent bisphosphonate administered in humans because it is 100–850 times more potent than pamidronate, according to in vitro or animal models of bone resorption. We conducted an open‐label, dose‐finding, single‐dose phase I study in tumor‐induced hypercalcemia (TIH), which has been similarly used as a model to determine the active doses of other bisphosphonates. The primary objective was to determine, with a dose escalation schedule, two nontoxic dose levels of zoledronate able to induce normocalcemia in at least 80% of patients with TIH after rehydration (corrected Ca for albumin levels ≥2.75 mmol/l). Based on estimates of potency, the starting dose was 0.002 mg/kg, and further tested doses were 0.005, 0.01, 0.02, and 0.04 mg/kg. To obtain a more precise estimate of the response rate, we treated 10 more patients at the highest of the two effective dose levels. The median infusion time of zoledronate was 30 minutes. Thirty out of the 33 treated patients were evaluable for efficacy. Thirty percent of the patients had breast cancer and 54% had metastatic bone involvement. For all groups combined, mean Ca levels at baseline was 3.0 mmol/l. The two effective dose levels were 0.02 mg/kg and 0.04 mg/kg. Five out of five patients became normocalcemic after 0.02 mg of zoledronate/kg and 14 out of 15 after 0.04 mg of zoledronate/kg. The success rate of the latter dose was thus 93% (95% confidence interval [CI] 68–100%). At this dose, the first day of normocalcemia was day 2 or 3 for all but one patient. The duration of normocalcemia for the two effective doses could be assessed in nine patients; seven patients remained normocalcemic throughout the trial (32–39 days). The fall in serum Ca was accompanied by a marked fall in fasting urinary Ca excretion. Zoledronate was well tolerated: 7 out of 33 patients developed transient hypophosphatemia, and 3 developed transient hypocalcemia. The only clinically detectable side effect was an increase in body temperature occurring in 10 (30%) patients. In summary, very low doses of zoledronate (0.02 mg/kg and 0.04 mg/kg, i.e., 1.2 mg and 2.4 mg for a 60‐kg individual, respectively) administered by a short‐time infusion effectively treated patients with TIH. The fall in serum Ca was rapid, and normocalcemia was often maintained for several weeks. Zoledronate was well tolerated. Future trials will determine whether prolonged treatment with this potent compound can have greater effects on the skeletal morbidity rate in patients with tumor bone disease than can be achieved with currently available bisphosphonates.
New global marine gravity model from CryoSat-2 and Jason-1 reveals buried tectonic structure

High-resolution tectonic solutions Detailed topographic maps are available for only a small fraction of the ocean floor, severely limited by the number of ship crossings. Global maps constructed using satellite-derived gravity data, in contrast, are limited in the size of features they can resolve. Sandwell et al. present a new marine gravity model that greatly improves this resolution (see the Perspective by Hwang and Chang). They identify several previously unknown tectonic features, including extinct spreading ridges in the Gulf of Mexico and numerous uncharted seamounts. Science, this issue p. 65; see also p. 32 A high-resolution marine gravity model shows buried tectonic features and ocean-floor topography. [Also see Perspective by Hwang and Chang] Gravity models are powerful tools for mapping tectonic structures, especially in the deep ocean basins where the topography remains unmapped by ships or is buried by thick sediment. We combined new radar altimeter measurements from satellites CryoSat-2 and Jason-1 with existing data to construct a global marine gravity model that is two times more accurate than previous models. We found an extinct spreading ridge in the Gulf of Mexico, a major propagating rift in the South Atlantic Ocean, abyssal hill fabric on slow-spreading ridges, and thousands of previously uncharted seamounts. These discoveries allow us to understand regional tectonic processes and highlight the importance of satellite-derived gravity models as one of the primary tools for the investigation of remote ocean basins.
The knowledge base of teaching in linguistically diverse contexts: 10 grounded principles of multilingual classroom pedagogy for EAL

ABSTRACT This paper aims to define the knowledge base of teaching in linguistically diverse secondary schools in England. Based on extensive interviews with the teachers across two schools, the paper identifies a range of good practices centred on flexibility and differentiation. These include diversifying teaching resources by using bilingual materials and dialogic tasks, as well as making adjustments to teaching by simplifying input and including cultural references. These practices are characterised by ‘a situated child-centred approach’ which is underpinned by 10 core principles of multilingual classroom pedagogy for English as an additional language. Implications for education policy and practice are also discussed.
THE CHESS SURVEY OF THE L1157-B1 SHOCK REGION: CO SPECTRAL SIGNATURES OF JET-DRIVEN BOW SHOCKS

The unprecedented sensitivity of Herschel coupled with the high resolution of the HIFI spectrometer permits studies of the intensity–velocity relationship I(v) in molecular outflows, over a higher excitation range than possible up to now. Over the course of the CHESS Key Program, we have observed toward the bright bow shock region L1157-B1, the CO rotational transitions between J = 5–4 and J = 16–15 with HIFI, and the J = 1–0, 2–1, and 3–2 with the IRAM 30 m and the Caltech Submillimeter Observatory telescopes. We find that all the line profiles ICO(v) are well fit by a linear combination of three exponential laws ∝exp (− |v/v0|) with v0 = 12.5, 4.4, and 2.5 km s−1. The first component dominates the CO emission at J ⩾ 13, as well as the high-excitation lines of SiO and H2O. The second component dominates for 3 ⩽ Jup ⩽ 10 and the third one for Jup ⩽ 2. We show that these exponentials are the signature of quasi-isothermal shocked gas components: the impact of the jet against the L1157-B1 bow shock (Tk ≃ 210 K), the walls of the outflow cavity associated with B1 (Tk ≃ 64 K), and the older cavity L1157-B2 (Tk ≃ 23 K), respectively. Analysis of the CO line flux in the large-velocity gradient approximation further shows that the emission arises from dense gas (n(H2) ⩾ 105–106 cm−3) close to LTE up to J = 20. We find that the CO J = 2–1 intensity–velocity relation observed in various other molecular outflows is satisfactorily fit by similar exponential laws, which may hold an important clue to their entrainment process.
Evaluating the use of sub-gigahertz wireless technologies to improve message delivery in opportunistic networks

The message delivery ratio of mobile opportunistic networks strongly depends on the transmission time, which is closely related either to the mobility of users and to the communication properties of the mobile devices. A larger radio transmission range allows longer contact durations, improving the message dissemination. Furthermore, user mobility is a crucial factor to be considered, especially when the mobile nodes are vehicles, because of their limited freedom of movement and the high relative speed. In this paper, we evaluate the use of a sub-gigahertz wireless technology, namely LoRa (Long Range), to establish links between the mobile users in an opportunistic network in order to augment the number of contacts and their duration. We evaluate the performance of LoRa, comparing it with WiFi, using the Epidemic protocol for message diffusion with realistic vehicular traces. Through simulations, we compare the message delivery probability and the network overhead. These experiments were carried out using the ONE simulator with minor modifications to model the typical behaviour of mobile users. The results show that, in opportunistic networks, increasing the range even while reducing the available bandwidth increases the message delivery ratio.
Restoration and re-creation: spirituality in the lives of healthcare professionals

Purpose of reviewThe clinician–patient relationship is essential to the practice of person-centered care. This healing relationship can present challenges to clinicians when working with patients who suffer. Clinicians today are looking for ways to deal with the stress of care-giving and to find greater meaning in their professional lives. Recent findingsProfessional guidelines recognize that medicine, nursing and other healthcare professions are vocations, not jobs. Reports indicate that physicians and other clinicians feel the current healthcare environment is too business-like yet, patient relationships continue to be the primary source of satisfaction for many clinicians. The relationships can be rewarding but also stressful. Spirituality is proposed as a way for clinicians to reconnect with their professional roots to serve those who suffer. Resources are suggested that might enable clinicians to find greater meaning in their profession. SummaryProfessional development should address spiritual development especially as it relates to the healthcare professional's sense of calling to their profession, the basis of relationship-centered care, and the provision of compassionate care.
A Simple Scheme for Realizing the Promised Gains of Downlink Nonorthogonal Multiple Access

In this paper, the downlink nonorthogonal multiple access (NOMA) system is studied where purely discrete input distributions are found that achieve the capacity region to within a constant gap without successive interference cancellation (SIC). The approach is a two-step approach where the corresponding linear deterministic model is first studied and the results are then systematically translated into purely discrete input distributions for the original model. A simple yet powerful coding scheme, which adopts off-the-shelf turbo codes with pulse amplitude modulations (PAM) is then used to simulate the proposed input distributions. Simulation results show that the proposed simple scheme under turbo decoding, both with and without SIC, can operate close to information-theoretic bounds of the proposed input distributions, which lies outside the achievable rate region of any orthogonal multiple access (OMA)-type scheme.
The cellular basis of site-specific tumor metastasis.

THE year 1989 marked the 100th anniversary of the publication of a seminal paper in the study of the biology of human tumors. Stephen Paget, having collected the autopsy records of 735 patients who died of breast cancer, noted that the majority of the metastatic lesions were found in the liver and brain, whereas other organs, such as the kidney and spleen, were much less frequently involved. Paget inferred from this observation that certain tumors were predisposed to spread to particular tissues, on the basis of the tissue's ability to support the growth of these tumors.1 He likened this process .
Nuevas didácticas geográficas: el modelo TPACK, los MOOCs y Google EarthTM en el aula

Se presenta una propuesta didactica online para la ensenanza y el aprendizaje de los contenidos geograficos relativos al espacio fisico. El recurso tecnologico implementado ha sido el programa Google Earth TM a traves de un Cursos Online Masivo y Abierto (MOOC) alojado en la plataforma virtual Google Course Builder . El contexto de la intervencion analizada ha sido la Facultad de Educacion de la Universidad de Alicante, en el Grado de Educacion Primaria. En el estudio, se han desarrollado los contenidos pedagogicos y disciplinares relativos a la Geografia Fisica, incidiendo en la correcta inclusion de la tecnologia para lo que se ha propuesto una metodologia basada en el modelo de ensenanza-aprendizaje Technological Pedagogical Content Knowledge (TPACK). El estudio realizado ha sido mixto, cuasi-experimental y se han extraido valores descriptivos de media, desviacion tipica y varianza. Los resultados de la propuesta ponen de relieve: la importante funcion de los recursos digitales en la formacion del profesorado; la necesidad de su correcta insercion en la ensenanza; su relevancia en la adquisicion de contenidos pedagogicos y curriculares y la vital capacitacion en competencias digitales de los futuros/as docentes.
Minocycline affects microglia activation, Aβ deposition, and behavior in APP‐tg mice

Activated microglia and reactive astrocytes invade and surround cerebral β amyloid (Aβ) plaques in Alzheimer's disease (AD), but the role of microglia in plaque development is still unclear. In this study, minocycline was administered for 3 months, prior to and early in Aβ plaque formation in amyloid precursor protein transgenic mice (APP‐tg). When minocycline was given to younger mice, there was a small but significant increase in Aβ deposition in the hippocampus, concurrent with improved cognitive performance relative to vehicle treated mice. If APP‐tg mice received minocycline after Aβ deposition had begun, microglial activation was suppressed but this did not affect Aβ deposition or improve cognitive performance. In vitro studies demonstrated that minocycline suppressed microglial production of IL‐1β, IL‐6, TNF, and NGF. Thus, minocycline has different effects on Aβ plaque deposition and microglia activation depending on the age of administration. Our data suggest that this may be due to the effects of minocycline on microglial function. Therefore, anti‐inflammatory therapies to suppress microglial activation or function may reduce cytokine production but enhance Aβ plaque formation early in AD. © 2006 Wiley‐Liss, Inc.
Asian doctors in the NHS: service and betrayal.

Current estimates suggest that almost one-third of doctors practising in the NHS are from overseas and that the vast majority of these overseas doctors are from the Indian subcontinent.1 This of course is a surprising statistic because within the general population ethnic minorities represent only about 8% of the population of the UK.2 Why are so many doctors from the Indian subcontinent practising in the UK? Why do they come here and what has been their experience of working in the NHS? Although they are such a significant and visible part of the NHS, it is surprising how little we know about this group. The purpose of this paper is to make an attempt at understanding the contribution of Asian doctors to the development of the NHS, and more generally, to British medicine. Understanding what happened in the past is important because it should inform current changes that are taking place, especially in relation to the medical workforce and, one would hope, avoid the mistakes of the past. Following the publication of the NHS Plan ,3 the NHS has undergone a period of massive expansion not dissimilar to that which took place in the 1960s. The policy initiatives being developed now bear a striking resemblance to what was being proposed then, most notably the huge dependence that has been placed on the expansion of the medical workforce through the active recruitment of overseas qualified doctors. And, not surprisingly, we are encountering the same problems again — overseas qualified doctors now constitute nearly 60% of new registrations with the General Medical Council (GMC)4 — and the medical press is full of stories about the plight of these doctors. Recent changes to the immigration rules once again complete the repetition of history, as the over expansion of the …
Tailoring tabletop interfaces for musical control

The computer control of sound and musical processes through performer interaction places certain requirements on the electronic interface. This paper outlines the ongoing development of a musically effective tabletop controller through modification of the common camera-based framework. The notion of control intimacy is introduced alongside design goals that foster this sense of close relationship between player and instrument. Limitations of some existing systems are noted and our specific approaches to the provision of musical control and feedback are presented. Progress to date on a number of novel implementations is described. ACM Classification: H5.2 [Information interfaces and presentation]: User Interfaces. Graphical user interfaces. General terms: Human Factors, Performance, Design, Experimentation, Theory.
Protective effect of eugenol against restraint stress-induced gastrointestinal dysfunction: Potential use in irritable bowel syndrome

Abstract Context: Eugenol, an essential constituent found in plants such as Eugenia caryophyllata Thunb. (Myrtaceae) is reported to possess neuroprotective and anti-stress activities. These activities can potentially be useful in the treatment of stress-induced irritable bowel syndrome (IBS). Objective: The protective effect of eugenol was assessed against restraint stress (RS)-induced IBS-like gastrointestinal dysfunction in rats. Further, its centrally mediated effect was evaluated in this model. Materials and methods: Eugenol (12.5, 25, and 50 mg/kg), ondansetron (4.0 mg/kg, p.o.), and vehicle were administered to rats for 7 consecutive days before exposure to 1 h RS. One control group was not exposed to RS-induction. The effect of eugenol (50 mg/kg) with and without RS exposure was evaluated for mechanism of action and per se effect, respectively. The hypothalamic–pituitary–adrenal cortex (HPA)-axis function was evaluated by estimating the plasma corticosterone level. The levels of brain monoamines, namely serotonin, norepinephrine, dopamine, and their metabolites were estimated in stress-responsive regions such as hippocampus, hypothalamus, pre-frontal cortex (PFC), and amygdala. Oxidative damage and antioxidant defenses were also assessed in brain regions. Results: Eugenol (50 mg/kg) reduced 80% of RS-induced increase in fecal pellets similar to that of ondansetron. Eugenol attenuated 80% of stress-induced increase in plasma corticosterone and modulated the serotonergic system in the PFC and amygdala. Eugenol attenuated stress-induced changes in norepinephrine and potentiated the antioxidant defense system in all brain regions. Conclusion: Eugenol protected against RS-induced development of IBS-like gastrointestinal dysfunction through modulation of HPA-axis and brain monoaminergic pathways apart from its antioxidant effect.
Comparison of Maximum Likelihood and Generalized Monopulse DOA estimation techniques on SOSTAR-X GMTI-STAP data

The Maximum Likelihood (ML) angle estimator is widely considered the “optimum” angle estimator, particularly in presence of Adaptive Digital Beam Forming (ADBF). A number of papers in literature suggest several solutions to implement the bi-dimensional Doppler - azimuth angle ML estimation in a cost-efficient manner. Nickel [12] demonstrated that the Generalized Monopulse technique can be derived from the ML technique just as a first order Taylor approximation of the ML estimator, at a minor implementation cost. This paper compares the results obtained by implementing the ML and the generalized monopulse techniques on the GMTI-STAP data gathered during the SOSTAR-X flight trials.
Chronic beryllium disease among dental technicians in Israel.

BACKGROUND AND AIM The potential risks of beryllium use in the dental industry have been recognized for some time. This is the first case series that focuses on the effect of a number of potentially harmful effects of substances that induce lung disease among dental technicians with emphasis on beryllium as a major risk factor in the work environment of dental technicians. METHODS All the dental technicians consecutively recruited to this study had past occupational exposure to beryllium. They were evaluated in order to confirm immunological evidence of beryllium exposure for differential diagnosis between sarcoidosis and chronic beryllium disease (CBD). They were tested for beryllium sensitization by the beryllium lymphocyte proliferation test (BeLPT), and underwent lung function and induced sputum (IS) studies. Each had earlier undergone a comprehensive evaluation that included high-resolution computerized tomography, bronchoscopy and transbronchial biopsy to establish the final diagnosis of their condition. RESULTS There were 24 enrollees (mean age 49.7 +/- 13.7 years, 17 males, 7 females) of whom 12 (50%) had positive BeLPT findings and were finally diagnosed as suffering from CBD, 7 (29%) had negative BeLPT findings and were diagnosed as suffering from another pulmonary pathology (sarcoidosis, chronic obstructive pulmonary disease, rejection of transplanted lung), and 5 (20.8%) had negative BeLPT findings and were diagnosed as being free of pulmonary disease. CONCLUSION This case series study demonstrates that dental technicians are exposed to beryllium and various other occupational dusts and chemicals and are at high risk of developing CBD and other lung diseases. Our findings emphasize the need for awareness of the medical community to detect occupation related diseases in this profession.
Quadriceps strengthening with and without blood flow restriction in the treatment of patellofemoral pain: a double-blind randomised trial

Background Quadriceps strengthening exercises are part of the treatment of patellofemoral pain (PFP), but the heavy resistance exercises may aggravate knee pain. Blood flow restriction (BFR) training may provide a low-load quadriceps strengthening method to treat PFP. Methods Seventy-nine participants were randomly allocated to a standardised quadriceps strengthening (standard) or low-load BFR. Both groups performed 8 weeks of leg press and leg extension, the standard group at 70% of 1 repetition maximum (1RM) and the BFR group at 30% of 1RM. Interventions were compared using repeated-measures analysis of variance for Kujala Patellofemoral Score, Visual Analogue Scale for ‘worst pain’ and ‘pain with daily activity’, isometric knee extensor torque (Newton metre) and quadriceps muscle thickness (cm). Subgroup analyses were performed on those participants with painful resisted knee extension at 60°. Results Sixty-nine participants (87%) completed the study (standard, n=34; BFR, n=35). The BFR group had a 93% greater reduction in pain with activities of daily living (p=0.02) than the standard group. Participants with painful resisted knee extension (n=39) had greater increases in knee extensor torque with BFR than standard (p<0.01). No between-group differences were found for change in Kujala Patellofemoral Score (p=0.31), worst pain (p=0.24), knee extensor torque (p=0.07) or quadriceps thickness (p=0.2). No difference was found between interventions at 6 months. Conclusion Compared with standard quadriceps strengthening, low load with BFR produced greater reduction in pain with daily living at 8 weeks in people with PFP. Improvements were similar between groups in worst pain and Kujala score. The subgroup with painful resisted knee extension had larger improvements in quadriceps strength from BFR. Trial registration number 12614001164684.