Miracle-dz/UniFAR-FTUs huggingface dataset:
Distributed Estimation and Control for Robotic Networks

Mobile robots that communicate and cooperate to achieve a common task have been the subject of an increasing research interest in recent years. These possibly heterogeneous groups of robots communicate locally via a communication network and therefore are usually referred to as robotic networks. Their potential applications are diverse and encompass monitoring, exploration, search and rescue, and disaster relief. From a research standpoint, in this thesis we consider specific aspects related to the foundations of robotic network algorithmic development: distributed estimation, control, and optimization. The word “distributed” refers to situations in which the cooperating robots have a limited, local knowledge of the environment and of the group, as opposed to a “centralized” scenario, where all the robots have access to the complete information. The typical challenge in distributed systems is to achieve similar results (in terms of performance of the estimation, control, or optimization task) with respect to a centralized system without extensive communication among the cooperating robots. In this thesis we develop effective distributed estimation, control, and optimization algorithms tailored to the distributed nature of robotic networks. These algorithms strive for limiting the local communication among the mobile robots, in order to be applicable in practical situations. In particular, we focus on issues related to nonlinearities of the dynamical model of the robots and their sensors, to the connectivity of the communication graph through which the robots interact, and to fast feasible solutions for the common (estimation or control) objective.
Mechanisms Underlying the Frequency Dependence of Contraction and [Ca2+]i Transients in Mouse Ventricular Myocytes

In most mammalian species force of contraction of cardiac muscle increases with increasing rate of stimulation, i.e. a positive force‐frequency relationship. In single mouse ventricular cells, both positive and negative relationships have been described and little is known about the underlying mechanisms. We studied enzymatically isolated single ventricular mouse myocytes, at 30 °C. During field stimulation, amplitude of unloaded cell shortening increased with increasing frequency of stimulation (0.04 ± 0.01 ΔL/L0 at 1 Hz to 0.07 ± 0.01 ΔL/L0 at 4 Hz, n= 12, P < 0.05). During whole cell voltage clamp with 50 μM [K5‐fluo‐3]pip, both peak and baseline [Ca2+]i increased at higher stimulation frequencies, but the net Δ[Ca2+]i increased only modestly from 1.59 ± 0.08 ΔF/F0 at 1 Hz, to 1.71 ± 0.11 ΔF/F0 at 4 Hz (n= 17, P < 0.05). When a 1 s pause was interposed during stimulation at 2 and 4 Hz, [Ca2+]i transients were significantly larger (at 4 Hz, peak F/F0 increased by 78 ± 2 %, n= 5). SR Ca2+ content assessed during caffeine application, significantly increased from 91 ± 24 μmol l−1 at 1 Hz to 173 ± 20 μmol l−1 at 4 Hz (n= 5, P < 0.05). Peak ICa,L decreased at higher frequencies (by 28 ± 6 % at 2 Hz, and 45 ± 8 % at 4 Hz), due to slow recovery from inactivation. This loss of ICa,L resulted in reduced fractional release. Thus, in mouse ventricular myocytes the [Ca2+]i‐frequency response depends on a balance between the increase in SR content and the loss of trigger ICa,L. Small changes in this balance may contribute to variability in frequency‐dependent behaviour. In addition, there may be a regulation of the contractile response downstream of [Ca2+]i.
Radiolarians in the Adriatic Sea plankton (Eastern Mediterranean)

Samples for the study of radiolarians in the Southern Adriatic were collected during five cruises at three stations along the Dubrovnik transect (stations S-100 to S-1000) from April 1993 through February 1995. Moreover, samples were collected during 21 cruises at the deepest station, S-1000/1200, from June 2001 through December 2009. Samples were taken in 2 to 8 vertical layers with a Nansen net 53 µm equipped with a closing system. In the central part of the southern Adriatic Pit, a total of 95 radiolarian taxa were recorded: 32 species of spumellaria, 46 species of nassellaria and 17 species of phaeodaria. The present research added 49 taxa to the known radiolarian fauna of the Adriatic Sea. The most common species were the phaeodarian Challengeria xiphodon, the spumellarian Stylodictya multispina and the nassellarian Cornutella profunda, which were present in 99% of the vertical series. Radiolarians were rarely present in coastal areas and in the central Adriatic, whereas the highest abundances were recorded in the deepest parts of the south Adriatic Pit. Phaeodaria represented 20-86 % of the total average abundance. As a rule, very low abundances were noted in the euphotic layer except during October 2001, when a maximum of 169 ind.m-3 was recorded. Juvenile forms of the species Eucyrtidium acuminatum represented 98 % of the total number in these samples. In most cases, the maximum abundances were found in layers between depths of 200-300 m. The populations of most species were renewed by incoming eastern Adriatic currents from the Ionian Sea. Key words: Radiolaria, diversity, vertical distribution, indicator species, water masses, Adriatic Sea
Examination of the Metamax I and II oxygen analysers during exercise studies in the laboratory

The performance of the Metamax I and the Metamax II portable analysers for measuring the O 2 uptake has been examined during exercise. Healthy subjects ran on the treadmill or bicycled on ergometers while the O 2 uptake was measured by the Metamaxes and also by the Douglas bag technique or the Vmax 29 instrument. In the first series of experiments, O 2 uptake was measured by each instrument in turn. In later experiments two or more breathing valves were connected in a series, thus enabling measurement of the O 2 uptake simultaneously by more than one instrument. The O 2 uptake measured by the Metamax analysers rose linearly by the value given by the control methods. However, there were variations of 5% because the relationships differed between subjects. When the data from each subject were examined separately, the error of regression was 0.5 - 1 µmol s -1 kg -1 (2 - 3%), and the error of regression when relating the O 2 uptake to the exercise intensity was similar to that found when using the Douglas bag technique alone. In most cases the lung ventilation reported by the Metamaxes was a few percent less than that given by the control methods, while the fractional extraction of O 2 was higher for the Metamaxes. The respiratory exchange ratios (R-value) reported by the Metamaxes were in good agreement with those of the control methods in the range 0.9 - 1.0 only; for this parameter, the Metamaxes do not seem to be reliable for exercise testing. The O 2 uptake and the R-value were also calculated from the raw data reported by the Metamaxes. The calculated values differed somewhat from those reported by the instruments, and the calculated values were more in agreement with those obtained by the Douglas bag technique than those reported by the instrument. This study suggests that the O 2 uptake reported by the Metamaxes is precisely measured within subjects but that there are some systematic errors as well as variations between subjects.
Association of the Ala 54-thr Polymorphism in the Intestinal Fatty Acid – Binding Protein With 2h Postchallenge Insulin Levels in the Framingham Offspring Study

RESULTS — In women, carriers of the thr54 allele had significantly higher 2-h postchallenge insulin levels than noncarriers (104.4 6 73.0 vs. 93.4 6 61.5 mU/ml; P 5 0.0139). This relationship remained significant after adjustment for familial relationship, age, BMI, triglycerides, APOE genotype, smoking, alcohol intake, the use of b-blockers, menopausal status, and estrogen therapy. No such significant association was observed in men. In both men and women, there were no statistical associations between the FABP2 polymorphism and BMI, fasting glucose, fasting insulin, 2-h postchallenge glucose levels, HbA1c, and prevalence of type 2 diabetes.
Delamination Buckling Inst ability Near a Circular Hole in Laminated Composite Plates

The motivation for the present study stems from the importance of delamination buckling as a viable mode of failure in laminated composite plates. This part of the study focuses on the prediction of the buckling loads and modes of unilaterally constrained rectangular plates. The laminated plates were modeled along the lines of classical lamination plate theory. Due to the out-of-plane thickness ratio of the delaminated near surface plies to that of the sublaminate (parent), the sublaminate was modeled as an infinitely rigid foundation which constrained the plate's out-of-plane response t o be of one sign. The foundation was modeled as extensional springs exhibiting a nonlinear force-displacement relationship such that its stiffness as well as the plate's buckling mode sign can be controlled in a continuous fashion allowing the simulation of a rigid and tensionless foundation. Preliminary investigations of the buckling loads and modes of rectangular plates attached to such foundations and subjected to a uniform inplane stress field showed the validity of this model for the cases investigated and compared t o previous exact results reported in the literature.
Toward the Prevention of Childhood Undernutrition: Diet Diversity Strategies Using Locally Produced Food Can Overcome Gaps in Nutrient Supply

Background Chronic undernutrition is prevalent in Mozambique, where children suffer from stunting, vitamin A deficiency, anemia, and other nutrition-related disorders. Complete diet formulation products (CDFPs) are increasingly promoted to prevent chronic undernutrition. Objective Using linear programming, to investigate whether diet diversification using local foods should be prioritized in order to reduce the prevalence of chronic undernutrition. Methods Market prices of local foods were collected in Tete City, Mozambique. Linear programming was applied to calculate the cheapest possible fully nutritious food baskets (FNFB) by stepwise addition of micronutrient-dense local foods. Results Only the top quintile of Mozambican households, using average expenditure data, could afford the FNFB that was designed using linear programming from a spectrum of local standard foods. The addition of beef heart or liver, dried fish and fresh moringa leaves, before applying linear programming decreased the price by a factor of up to 2.6. As a result, the top three quintiles could afford the FNFB optimized using both diversification strategy and linear programming. CDFPs, when added to the baskets, were unable to overcome the micronutrient gaps without greatly exceeding recommended energy intakes, due to their high ratio of energy to micronutrient density. Conclusions Dietary diversification strategies using local, low-cost, nutrient-dense foods can meet all micronutrient recommendations and overcome all micronutrient gaps. The success of linear programming to identify a low-cost FNFB depends entirely on the investigators' ability to select appropriate micronutrient-dense foods. CDFPs added to food baskets are unable to overcome micronutrient gaps without greatly exceeding recommended energy intake.
A Prospective Observational Study of the Correlation between Obesity and the Autonomic Nervous System

Background: As the ANS is involved in energy metabolism and the regulation of the cardiovascular system, people with idiopathic obesity can be considered to suffer an alteration in their autonomic nervous system. Aim: To correlate the BMI with cardiovascular autonomic functions. Objectives: To correlate three different sample groups of BMI in relation to their Cardiovascular Sympathetic and Parasympathetic functions. Study design: This was a prospective observational study. Type of data: This was the Primary Data. Population: Data has been collected from Pravara Rural Hospital Loni, Maharashtra, India. Sample size: 69 completely healthy male subjects (not having any major illness or chronic addiction) were selected for the study. All the subjects were evaluated using «CANWIN» cardiac autonomic neuropathy analyzer; windows based cardiac autonomic neuropathy analysis system with interpretation. Statistical analysis: Descriptive statistics was done and presented using tables and graphs, including mean values for continuous data to discuss the results. Correlations of outcome parameters were calculated with significance test. Statistical software SPSS, version16.0 was used for analysis. Results: Orthostatic hypotension and Handgrip test (increase in DBP) were more pronounced in Group III. Valsalva ratio test showed very weak negative correlation in group I and very weak positive correlation in Group II and III. Conclusion: Increased sympathetic activity and to some degree decreased Parasympathetic activity were found in correlation with the obesity. The study concluded that a more marked influence of obesity on activation of the sympathetic nervous system was observed. IJBM 2011;
Polymerase chain reaction diagnosis and the changing pattern of vector ecology and malaria transmission dynamics in papua new Guinea.

The ecology and behavior of most of the 11 known members of the Anopheles punctulatus group remain unresolved and only the morphologic species An. farauti, An. koliensis, and An. punctulatus are known as vectors of malaria in Papua New Guinea. Of 1,582 mosquitoes examined morphologically, 737 were identified as An. farauti s.l. , 719 as An. koliensis, and 126 as An. punctulatus. All specimens identified morphologically as An. punctulatus were shown to be An. punctulatus by polymerase chain reaction-restriction fragment length polymorphism analysis, but the An. farauti and An. koliensis morphotypes consisted of three or more species including An. farauti s.s. , An. farauti No. 2, and An. farauti No. 4. The biting cycles and role in malaria transmission of some of these species are described here for the first time. We also show evidence that An. koliensis could be a sub-complex of two or more species. The epidemiologic implications of our findings are discussed.
Evaluation of the Carhart Effect in Congenital Middle Ear Malformation with Both an Intact External Ear Canal and a Mobile Stapes Footplate

The medical charts of 41 ears with congenital middle ear malformation with both an intact external ear canal and a mobile stapes footplate were reviewed retrospectively to study the Carhart effect. The operations were categorized as successful or unsuccessful according to the extent of decrease in the average air-bone gap. Statistically significant differences were observed between the 2 groups with respect to the changes in pure-tone average and the changes in the bone conduction (BC) threshold at 1 and 2 kHz. Linear regression analysis revealed weak correlations between the change in the BC threshold and the postoperative BC threshold at an overall level and at the 4 frequencies tested. Stapes ankylosis is a main cause of the Carhart effect. The present study showed that in congenital middle ear malformation, the Carhart effect was caused not only by stapes ankylosis but also by other types of disruption in the ossicular chain.
Construction and characterization of a humanized anti‐human CD3 monoclonal antibody 12F6 with effective immunoregulation functions

12F6 is a murine anti‐human CD3 monoclonal antibody, which competes with OKT3 for binding to human T cells and possesses more effective T‐cell suppression and activation properties compared to OKT3. It thus exhibits the potential to be developed as an immunoregulation agent for manipulating T‐cell functions and preventing acute allograft rejection. In an attempt to minimize the immunogenicity of murine 12F6 (m12F6) for potential clinical application, a humanized version of 12F6, denoted as hu12F6, was successfully constructed by complementary determining region (CDR) grafting and shown to maintain both T‐cell activation and suppression activities similar to m12F6. Furthermore, in order to reduce the first dose reaction syndrome caused by T‐cell activation following the first administration of anti‐CD3 antibodies, two amino acid mutations were introduced into the Fc region of hu12F6, resulting in the Fc‐mutated 12F6 humanized antibody (hu12F6mu). This Fc‐mutated version displayed a similar antigen‐binding affinity and specificity compared with hu12F6 and m12F6 but with much weaker FcR binding activity. hu12F6mu was shown to be much less potent in the induction of T‐cell proliferation, cytokine release (tumour necrosis factor‐α, interferon‐γ and interleukin‐10) and early activation marker expression on the cell surface (CD69 and CD25) than parental 12F6 and OKT3 did. In contrast, hu12F6mu was effective in modulating T‐cell receptor/CD3 and inhibiting mixed lymphocyte reaction with a similarity as compared to m12F6 and OKT3. In conclusion, the resultant hu12F6mu was much less mitogenic to T cells but retained potent immunosuppression, suggesting it might be an alternative to OKT3 as an immunosuppressive drug with less immunogenicity and toxicity for clinical application.
Toxoplasmic encephalitis in patients with the acquired immunodeficiency syndrome. Members of the ACTG 077p/ANRS 009 Study Team.

BACKGROUND In patients with the acquired immunodeficiency syndrome (AIDS), toxoplasmic encephalitis is usually a presumptive diagnosis based on the clinical manifestations, a positive antitoxoplasma-antibody titer, and characteristic neuroradiologic abnormalities. A response to specific therapy helps to confirm the diagnosis, but it is unclear how rapid the response should be. We studied the course of patients treated for acute toxoplasmic encephalitis and evaluated objective clinical criteria for this empirical diagnosis. METHODS A quantifiable neurologic assessment was used prospectively to evaluate the clinical outcome of patients with AIDS and toxoplasmic encephalitis who were treated with oral clindamycin (600 mg four times a day) and pyrimethamine (75 mg every day) for six weeks. RESULTS Thirty-five of 49 patients (71 percent) responded to therapy, and 30 of these (86 percent) had improvement by day 7. Thirty-two of those with a response (91 percent) improved with respect to at least half of their base-line abnormalities by day 14. Improvement in neurologic abnormalities within 7 to 14 days after the start of therapy was strongly associated with the neurologic response at 6 weeks. The four patients in whom treatment failed and the two patients with lymphoma had progressing neurologic abnormalities or new abnormalities during the first 12 days of therapy. Nonlocalizing abnormalities (headache and seizure) improved regardless of the clinical outcome. CONCLUSIONS Oral clindamycin and pyrimethamine are an effective treatment for toxoplasmic encephalitis. Patients who have early neurologic deterioration despite treatment or who do not improve neurologically after 10 to 14 days of appropriate antitoxoplasma therapy should be considered candidates for brain biopsy.
(Na+,K+)-activated adenosinetriphosphatase and hypertension in DAHL salt- sensitive and -resistant rats.

(Na+,K+)-ATPase activity was compared in Dahl salt-sensitive (S) and salt-resistant (R) rats. When S and R rats were maintained on 1% NaCl diet their blood pressures at 5 weeks of age were similar and their renal microsomal (Na+,K+)-ATPase activities were also similar. At 6 months of age, on 1% NaCl diet, S rats have markedly elevated blood pressure compared to R and renal microsomal (Na+,K+)-ATPase activity was suppressed in S compared to R. Feeding 8% NaCl diet for 5 weeks induced hypertension in young S rats but failed to alter renal or brain (Na+,K+)-ATPase activity. Heart (Na+,K+)- ATPase activity was elevated in S compared to R rats regardless of salt intake of blood pressure. It appears unlikely that mutations in the structural locus for the renal (Na+,K+)-ATPase molecule are involved in the strain specific differences in susceptibility to salt-induced hypertension since the physical-chemical properties of the enzyme from the two strains were found to be similar. Since renal (Na+,K+)-ATPase activities were unchanged by salt feeding and resultant blood pressure changes in young S rats, the suppressed renal (Na+,K+)-ATPase activity seen only in old S rats is probably a response to prolonged renal damage and not a response to "natriuretic factors. " Elevated heart (Na+,K+)-ATPase in S-rat hearts is unexplained.
Liver Involvement in Systemic Lupus Erythematosus: Case Review of 40 Patients

Objective Subclinical liver involvement is frequent in systemic lupus erythematosus (SLE). We sought to determine the presence of endstage liver disease in patients with SLE. Methods We carried out a retrospective chart review of our cohort of patients with SLE. Endstage liver disease was defined as presence or development of cirrhosis, portal hypertension, or hepatic encephalopathy. Results Forty patients with liver enzyme abnormalities were identified. Major clinical diagnostic groups were drug-induced (n = 4), viral hepatitis (hepatitis B or C and cytomegalovirus; n = 8), non-alcoholic fatty liver disease (NAFLD; n = 8), autoimmune hepatitis (AIH; n = 6), primary biliary cirrhosis (PBC; n = 3), and miscellaneous [n = 11; liver involvement from infection (2), cryptogenic cirrhosis (2), lymphoma (1), and indeterminate (6)]. There were no differences in mean age, total and direct bilirubin, or aspartate aminotransferase and alkaline phosphatase levels. Alanine aminotransferase levels were higher in the miscellaneous group. Biopsies were performed in 20 patients and showed changes of NAFLD (n = 5), AIH (n = 4), PBC (n = 3), hepatitis C (n = 3), and cryptogenic cirrhosis (n = 2), and 1 each with phenytoin-induced liver injury, hepatic granulomas due to systemic candidiasis, and lymphomatous involvement of the liver. The median followup was 44 months (range 10–576). The estimated 5-year serious liver disease-free survival was 93% (95% confidence interval 84%–100%). Eight patients died. Mortality was not directly related to liver disease in any patient. Conclusion Complications of portal hypertension, cirrhosis, and hepatic encephalopathy are rare manifestations of SLE unless coexistent liver disease such as NAFLD, viral hepatitis, or AIH is present.
Hair dye use and the risk of developing systemic lupus erythematosus.

OBJECTIVE To investigate the role of hair dye use in the etiology of systemic lupus erythematosus (SLE). METHODS Participants included 106,391 women enrolled in the Nurses' Health Study, a prospective cohort study. The subjects were ages 30-55 years in 1976, and were free from SLE and any other connective tissue disease at the time of enrollment. In 1976, 1978, 1980, and 1982, subjects were classified as never-users or ever-users of permanent hair dye, based on self-report. Incidence rates of SLE meeting American College of Rheumatology classification criteria were ascertained and confirmed by chart review. RESULTS Compared with never-users of permanent hair dye, the age-adjusted relative risks (RR) for the development of SLE among ever-users (n = 85 cases) was 0.96 (95% confidence interval [95% CI] 0.63-1.47). Duration of hair dye use was not related to risk of SLE. Women with 15 or more years of use had no increased risk (RR = 0.92, 95% CI 0.46-1.83). There was no relationship between frequency of use or time since first use and risk of SLE. The results were similar when less stringent criteria for SLE were used. CONCLUSION We found no evidence that permanent hair dye use, age at first use, frequency of use, or duration of use is associated with the development of SLE.