Miracle-dz/UniFAR-FTUs huggingface dataset:
Library of actions: Implementing a generic robot execution framework by using manipulation action semantics

When a robot has to imitate an observed action sequence, it must first understand the inherent characteristic features of the individual actions. Such features need to reflect the semantics of the action with a high degree of invariance between different demonstrations of the same action. At the same time the machine needs to be able to execute the action sequence in any appropriate situation. In this study, we introduce a new library of actions, which is a generic framework for executing manipulation actions on robotic systems by combining features that capture action semantics with a framework for execution. We focus on manipulation actions and first create a generic representation consisting of symbolic and sub-symbolic components. To link these two domains we introduce a finite state machine allowing for sequential execution with error handling. The framework is developed from observing humans which provides us with a high degree of grounding. To quantitatively evaluate the scalability of the proposed approach, we conducted a large set of experiments involving different actions performed either individually or sequentially with various types of objects in different scene contexts.
On the duality of quadratic minimization problems using pseudo inverses

In this paper we consider the minimization of a positive semidefinite quadratic form, having a singular corresponding matrix H. We state the dual formulation of the original problem and treat both problems only using the vectors x ∈ N (H)⊥ instead of the classical approach of convex optimization techniques such as the null space method. Given this approach and based on the strong duality principle, we provide a closed formula for the calculation of the Lagrange multipliers λ in the cases when (i) the constraint equation is consistent and (ii) the constraint equation is inconsistent, using the general normal equation. In both cases the Moore-Penrose inverse will be used to determine a unique solution of the problems. In addition, in the case of a consistent constraint equation, we also give sufficient conditions for our solution to exist using the well known KKT conditions. c ⃝ 2019 IAUCTB. All rights reserved.
Kemiskinan : Model Pengukuran, Permasalahan dan Alternatif Kebijakan

Kemiskinan merukan masalah multidimensi karena berkaitan dengan ketidakmampuan akses secara ekonomi, sosial budaya, politik dan partisipasi dalam masyarakat.Bentuk-bentuk kemiskinan yang ada di Indonesia serta berbagai ragam faktor penyebabnya, tentunya sangat mempengaruhi rumusan kebijakan yang dibuat. Berbagai kebijakan dan program yang ada dirasakan masih kurang efektif dalam upaya menurunkan jumlah penduduk yang hidup di bawah garis kemiskinan, hal ini terbukti dengan adanya kecenderungan peningkatan jumlah penduduk miskin dari masa ke masa. Tentunya rumusan kebijakan dan program perlu dibenahi dan dilakukan rumusan kebijakan sesuai dengan pentahapan, dalam merumuskan kebijakan tersebut harus diperhatikan dan dipahami karakteristik kemiskinan di masing-masing daerah. Kata kunci : kemiskinan, model pengukuran, permasalahan, alternative kebijakan, Indonesia
Development of the high throughput mammalian PIG-A gene mutation assay in vitro

Use policy: _________________________________________________________________________ This item is brought to you by Swansea University. Any person downloading material is agreeing to abide by the terms of the repository licence: copies of full text items may be used or reproduced in any format or medium, without prior permission for personal research or study, educational or non-commercial purposes only. The copyright for any work remains with the original author unless otherwise specified. The full-text must not be sold in any format or medium without the formal permission of the copyright holder. Permission for multiple reproductions should be obtained from the original author.
Anaerobic biodegradation and dewaterability of aerobic granular sludge

BACKGROUND: Although a growing number of full‐scale wastewater treatment plants have already been constructed and operated with aerobic granular sludge (AGS), only limited information is available about further post‐treatment, in particular about sludge stabilization and dewaterability. The aim of the present study was to investigate the biodegradation and methane yield of AGS by the use of anaerobic laboratory‐scale reactors operated under mesophilic conditions and hydraulic retention times of 25 and 40 days. RESULTS: The methane yield of AGS was ca 260 mL gVSS⁻¹ (volatile suspended solids) and thus slightly increased compared to that of suspended activated sludge (SAS; 240 mL gVSS⁻¹). A clear difference between the methane yield was found for separated pure granules (500 μm), which was ca 50% higher compared to that for SAS. VSS removal of AGS during anaerobic degradation was ca 52%. Dewaterability of AGS after anaerobic digestion was slightly lower compared to SAS. Extracellular polymeric substance (EPS) extraction and fluorescence analysis showed tryptophan contents which were almost twice as high compared to the EPS extracted from SAS. CONCLUSIONS: Overall, the anaerobic digestion of AGS was found to be a suitable stabilization strategy with the benefit of recovering energy in the form of methane. Further tests are needed to validate the decreased dewatering behaviour with full‐scale applications. The presented approach for tryptophan measurement allows the transfer of qualitative results from a fluorescence analysis into quantitative values and could be further adapted for identifying relevant EPS constituents. © 2019 The Authors. Journal of Chemical Technology & Biotechnology published by John Wiley & Sons Ltd on behalf of Society of Chemical Industry.
Granulated and Biosolid Fertilizers on the Quality of Schinus terebinthifolius Raddi Seedlings

The objectives of this study were to evaluate substrates produced from the peach-palm agroindustry waste and sewage sludge as a source of nutrients for the production of Brazilian Peppertree seedlings (Schinus terebinthifolius Raddi), and to compare the performance of these substrates under various levels of slow release fertilizer for this species. Four levels of fertilizer were tested (0, 2.0, 4.0 and 6.0 g dm–3) in three types of substrates: BIOCPI = Sewage sludge + Peach-palm bark (1:1 v:v); BIOCPII = Sewage sludge + Peach-palm bark (1:2 v:v) and BIOCPIII = Sewage sludge + Peach-palm bark (1:3 v:v). Plant height, stem diameter, dry matter (shoot and root), height/diameter ratio, Dickson quality index and N, P, K, Ca, Mg, and S contents in the shoot were measured. The use of the substrates BIOCPII and BIOCPIII proved to be viable for the production of Brazilian Peppertree seedlings. Doses above 4.0 gdm–3 of granular fertilizer are recommended for better results.
Computational Thinking Initiation. An experience with robots in Primary Education

Received: April 15, 2108 ▪ Accepted: May 14, 2018 Abstract: Computational Thinking (CT) is an increasingly interesting educational trend, since it is currently thought that the next generation will need to master this skill in order to succeed in modern life. At the same time, research indicates that motivation is a key element that affects the effectiveness of educational processes. Consequently, educators should take into account this fact when designing teaching sequences. In this paper, we present a robotics-based instruction for third-grade students aimed at introducing computational thinking ideas. The experience was carried out with 63 students. An assessment of different indicators concerning learning outcomes, such as mental rotation or computation thinking gains, was performed. In particular, from a motivational perspective, a test developed by Keller (1983; 1987; 2010) was employed in order to assess four dimensions: attention, relevance, confidence and satisfaction. Results show the participants’ high motivation after working with robot computational ideas. These results may eventually support the use of educational robotics in order to promote students’ development of computational thinking in primary schools.
Hibernating Myocardium: Chronic Inhomogeneity of Sympathetic Innervation in the Absence of

We have previously shown that ex vivo counting of 131I-metaiodobenzylguanidine can identify regional reductions in sympathetic norepinephrine uptake in pigs with hibernating myocardium. However, nonneuronal uptake limited relative differences between regions and would preclude accurate assessment with conventional imaging. We therefore hypothesized that the superior specificity of the positron-emitting isotope 11C-hydroxyephedrine (HED) would facilitate the imaging of regional differences, and we designed this study to determine whether altered uptake of norepinephrine by sympathetic nerves in viable, dysfunctional myocardium can be imaged in vivo and to determine the temporal progression and stability of sympathetic dysinnervation in hibernating myocardium. Methods: Pigs (n 15) were chronically instrumented with a 1.5-mm stenosis of the left anterior descending coronary artery, a procedure that we have previously shown to produce viable chronically dysfunctional myocardium with reduced resting flow, or hibernating myocardium, after 3 mo. Physiologic studies and HED PET were performed 1‐5 mo later with the animals in the closed-chest sedated state. One animal with a myocardial infarct was analyzed separately. Results: After 3 mo, anterior hypokinesis developed (wall thickening, 32% 4% vs. 60% 4%, P 0.001), with reductions in resting flow (subendocardial flow, 0.81 0.11 vs. 1.20 0.18 mL/min/g, P 0.05) and a critical reduction in subendocardial flow reserve (subendocardial adenosine flow, 0.53 0.20 vs. 3.96 0.43 mL/min/g, P 0.001). Extensive defects in HED uptake were found for hibernating myocardium, with regional retention 50% lower than that in normally perfused remote myocardium (0.035 0.002 vs. 0.066 0.002 min 1 , P 0.001). Relative HED uptake (left anterior descending coronary artery/remote) was lower in chronically instrumented animals than in control animals (n 4, P 0.001) and animals studied 1 mo after instrumentation (n 2, P 0.05). The regional reduction in sympathetic nerve function was persistent and unaltered for at least 2 mo after the development of hibernating myocardium. Conclusion: Hibernating myocardium is associated with persistent reductions in regional uptake of norepinephrine by sympathetic nerves. The inhomogeneity in sympathetic innervation in viable dysfunctional myocardium is similar to that occurring after myocardial infarction and may contribute to arrhythmic death in patients with ischemic cardiomyopathy.
Supporting informed engineering design across formal and informal contexts with WISEngineering

This paper describes the design of WISEngineering, a computer-based engineering design environment focused on helpinglearners in formal and informal settings engage in informed engineering design activities. This paper compares andcontrasts results of implementing WISEngineering projects in both formal and informal learning settings. In particular,this paper reports on insights gleaned from implementing WISEngineering middle school science and math classrooms aswell as in after-school settings with Boys and Girls Clubs. We discuss design principles guiding the development ofWISEngineering for school settings and how these principles were adapted and refined for youth and facilitators ininformal learning contexts. We provide implications for the design of technology-enhanced engineering learningenvironments across school and out-of-school time settings.
The Vegetative and Minimally Conscious States: A Comparison of Clinical Features and Functional Outcome

Objective:To compare the vegetative (VS) and minimally conscious states (MCS) with regard to the incidence of specific clinical features and differences in functional outcome across the first year post injury. It was hypothesized that patients diagnosed with MCS on admission to rehabilitation would have more favorable outcomes at 1 year post injury relative to patients diagnosed with VS and that this difference would be more pronounced for traumatic (TBI) versus nontraumatic brain injury (NTB1). Design: Retrospective analysis of clinical findings collected using a standardized methodology (ie, Coma Recovery Scale). Findings were utilized to determine diagnosis and functional outcome at 1, 3, 6, and 12 months post injury. Setting: Acute and extended care brain injury rehabilitation hospital. Patients: 104 patients (62 male, 42 female; mean age = 37 years; mean weeks post injury to admission = 10) with severe TBI or NTB1 (VS = 55; MCS = 49) admitted to a rehabilitation-based coma intervention program. Results: Functional outcome at 3,6, and 12 months post Injury was significantly more favorable for patients diagnosed with MCS relative to those with an admitting diagnosis of VS, and this difference was greatest for patients in MCS following TBI. Visual tracking and motor agitation were found to occur in VS but were of low frequency in comparison to MCS. Conclusions: In patients with severe disorders of consciousness, those diagnosed with MCS show more continuous improvement and attain significantly more favorable outcomes by 1 year post injury than those diagnosed with VS. The presence of specific clinical features, particularly visual tracking, may contribute additional information to differential diagnosis in patients whose level of behavioral responsiveness is severely diminished.
Inhibitory Effect of Nano-gel/emulsion of Chitosan Coating Incorporated with Ziziphora Clinopodioides Essential Oil and Nisin on Escherichia Coli O157:H7 Inoculated in Beef at Cold Storage Condition

Introduction: This study was conducted to evaluate the influence of chitosan Nano-gel/emulsion coating functionalized by Ziziphora clinopodioides essential oil (ZCEO) and nisin on growth inhibition of Escherichia coli O157: H7 inoculated in beef samples during 16 days in cold storage condition (4˚C). Methods: Beef sample was divided into six groups after inoculation of E. coli O157:H7. Treatments including control (no coating), chitosan 2%, sonicated chitosan 2%, Nano-emulsion of chitosan coating containing ZCEO (0.5%), Nano-gel of chitosan coating containing nisin (200 IU/g), Nano-emulsion of chitosan coating containingZCEO (0.5%) and nisin (200 IU/g) were stored at refrigeration temperature and bacterial count were performed on days: 0, 1, 2, 4, 8, 12 and 16. Data were analyzed using repeated measure ANOVA and Bonferroni post hoc tests. Results: Result indicated a significant reduction in E. coli O157:H7 count in all treatments when compared to control group and the highest inhibitory activity was observed in chitosan Nano-emulsion coating containing ZCEO (0.5%) and nisin (200 IU/g). Conclusion: Accordingly, it is suggested that chitosan Nano-emulsion coating with ZCEO and nisinpractically be applied in beef to increase its safety against pathogenic bacteria especially E. coli O157: H7.
Distributed Convex Optimization Compressed Sensing Method for Sparse Planar Array Synthesis in 3-D Imaging Sonar Systems

Synthesis of sparse planar arrays can effectively reduce hardware costs and computational complexity in phased array 3-D imaging sonar systems. Traditional stochastic methods, such as simulated annealing, require multiple experiments and parameter adjustments to obtain optimal results. Methods based on compressed sensing (CS) can overcome this defect. However, when applied to large arrays, CS methods require vast computational complexity and may not obtain optimal sparse results because of violating the restricted isometry property. To make CS methods more practical, a distributed convex optimization CS method is proposed here for the sparse planar array synthesis in 3-D imaging sonar systems. This method is based on the CS theory, solving the minimum number of active elements under certain beam pattern constraints using the iterative reweighted l1-norm minimization algorithm. Then, a multistage distributed framework is proposed to decompose the array into multistage subarrays, and the array synthesis is performed sequentially for each stage subarray to reduce computational complexity and obtain higher sparsity rates. Some applications of sparse planar array synthesis are employed to evaluate the efficiency of the proposed method.
Role of keratin filaments on B-cell mitochondrial behavior and functionality

Keratin (K) intermediate filaments (IFs) are IFs of epithelial cell, and one of the most abundant IFs found in the cells, Keratins have various functions including stress protection, cell signaling and protein targeting. In pancreatic β-cells K8 and K18 are the main keratins expressed. Presence or absence of keratin IFs have shown to change the mitochondrial morphology in pancreatic β-cells which in turn likely influences the insulin production in the β-cells. Reduction in insulin production or insulin resistance causes diabetes mellitus (DM). Type I and type II DM was responsible for 1.6 million deaths according to study by World Health Organization (WHO) in 2016. The aim of this thesis work was to find the role of keratin IFs in mitochondrial morphology and dynamics to better understand the insulin production by using a cancerous pancreatic cell line, Murine Insulinoma 6 (MIN6) cells. Various microscopes were used to acquire images from the fluorescently labelled fixed and live cell samples followed by image analysis. In this study, it was found that the overexpression of wild type K8/K18 significantly decreased the mitochondrial motility and insulin vesicle count per unit area of the cell while mitochondrial count per unit cell area, mitochondrial fragmentation level and cell area were significantly increased. Likewise, the K18R90C mutation which disrupts keratins filaments, decreased the cell area, insulin vesicle count per unit cell area and mitochondrial count per unit cell area. The liver disease associated mutation K8G62 resulted in higher mitochondrial fragmentation and higher insulin vesicle count per unit area compared to the K8WT/K18WT overexpressing MIN6 cells. In conclusion, these results provide valuable insight to understand the role of keratin in the mitochondrial behavior and functionality which influence the insulin production in the pancreatic cells. _________________________________________________________________________
Persistence of Herbicides in Fallow Desert Cropland

Four herbicides were applied at 6-month intervals, and incorporated by disking, to desert cropland soils at two locations. Trifluralin (α,α,α-trifluoro-2,6-dinitro-N,N-dipropyl-p-toluidine) was applied at 0.9 kg/ha; and 2,4-bis(isopropylamino)-6-(methylthio)-s-triazine (prometryne), 2-chloro-4-(ethylamino)-6-(isopropylamino)-s-triazine (atrazine), and 3-(3,4-dichlorophenyl)-1,1-dimethylurea (diuron) were applied at 1.8 kg/ha. Following treatment the soils remained fallow without irrigation for 24, 18, 12, 6, or 0 months before planting eight crops. Sugarbeet (Beta vulgaris L.) growth was affected 24 months after applications of trifluralin. Growth of two or three crops at each location was affected 18 months after application of prometryne. Residues of atrazine and diuron usually caused greater injury to most crops than did prometryne or trifluralin. Six months after the first planting four additional crops were planted. In plots planted 30 months after treatment diuron reduced sorghum (Sorghum bicolor (L.) Moench) stands by 70% and reduced fresh weights of three crops at Mesa. Trifluralin reduced fresh weight of sorghum by 80% at Yuma. Crops responded differently to herbicide residues at the two locations. Injury to crops was most severe at Mesa despite higher rainfall during the fallow period at this location.
Evaluation of Infant Feeding and Care Practices Among Mothers in Nassarawa Eggon Local Government Area of Nasarawa state

A cross sectional survey was carried out among 200 mothers with infant/child aged between 6–24 months purposively selected from two communities in Nasarawa Eggon, to examined breastfeeding and care practices of mothers in Nasarawa Eggon, LGA. Data were collected using a pretested structured questionnaire. Data collected were analyzed using frequency count and percentages. The results showed that only 2.0% of the respondents did not have any form of education. Seventy six percent (76.0%) of mothers were breast feeding at the time of the study. Seventy three (73.0%) of the respondents gave colostrums (yellow milk) to their babies Majority of mothers (85.0%) have good knowledge on the benefits of breast feeding. Sixty-nine percent (69.0%) of the mothers introduced complementary food before the age of six month. The common complementary foods used were pap only (19%) and infant formula (21.0%). The main sources of drinking water for majority (40.0%) was river/stream. Most respondents (84.0%) did not boil their drinking water. The findings revealed that breastfeeding is universal, also water management and hygiene practices were found to be poor in the two communities under study. The study shows the need for not only nutrition education but also the need to educate the mothers on the importance of proper sanitation and hygiene practices to the growth and development of a child.
EFFECTS OF TEMPERATURE, SUBSTRATE AND LUMINOSITY CONDITIONS ON CHIA SEED GERMINATION

ABSTRACT The aim of the present study was to evaluate the effects of temperature, substrate, and luminosity on chia seeds in order to determine adequate conditions for a germination test. The experiment consisted of a completely randomized design, in a 4 × 5 × 2 factorial scheme (four substrates × five temperatures × two luminosity conditions), with four replications. The following variables were analyzed: first germination count, germination, germination speed index, and mean germination time. Germination was best at 15, 20, 25, and 30 °C for the on-paper, paper roll, and sand substrates. However, in the presence of luminosity and at 25 °C, the on-paper substrate had the highest mean. For all substrates, the lowest germination was achieved at 35 °C, proving that high temperatures reduce chia seed germination. Germination speed index was highest at 25 and 30 °C for on-paper, paper roll, and sand substrates, in both the presence and absence of luminosity. Chia seeds are considered to be neutral photoblasts. Germination tests should be performed with the on-paper substrate, at 25 °C, and with a duration of seven days. The first count should be carried out four days after establishment of the test.
Use of First- and Second-Generation Cyclooxygenase-2–Selective Nonsteroidal Antiinflammatory Drugs and Risk of Acute Myocardial Infarction

Background— The cardiovascular safety of cyclooxygenase (COX)-2–selective nonsteroidal antiinflammatory drugs (NSAIDs) has come under scrutiny after the withdrawal of rofecoxib and halting of the Adenoma Prevention with Celecoxib trial. Whether the newer second-generation COX-2 inhibitors (etoricoxib, valdecoxib) also increase the cardiovascular risk is unknown. Methods and Results— We performed a nested case-control study in a cohort of 486 378 persons registered within the United Kingdom General Practice Research Database with at least 1 prescription of an NSAID between June 1, 2000, and October 31, 2004. A total of 3643 cases with acute myocardial infarction (AMI) were matched to 13 918 controls on age, sex, year of cohort entry, and general practice. Rate ratios (RRs) of AMI associated with use of COX-2–selective and –nonselective NSAIDs were calculated. Current use of etoricoxib was associated with a 2.09-fold (95% confidence interval [CI], 1.10 to 3.97) risk of AMI compared with no use of NSAIDs dur.