Miracle-dz/UniFAR-FTUs huggingface dataset:
Teaching Old Dogs New Tricks: Incremental Multimap Regression for Interactive Robot Learning from Demonstration

We consider autonomous robots as having associated control policies that determine their actions in response to perceptions of the environment. Often, these controllers are explicitly transferred from a human via programmatic description or physical instantiation. Alternatively, Robot Learning from Demonstration (RLfD) can enable a robot to learn a policy from observing only demonstrations of the task itself. We focus on interactive, teleoperative teaching, where the user manually controls the robot and provides demonstrations while receiving learner feedback. With regression, the collected perception-actuation pairs are used to directly estimate the underlying policy mapping. This dissertation contributes an RLfD methodology for interactive, mixed-initiative learning of unknown tasks. The goal of the technique is to enable users to implicitly instantiate autonomous robot controllers that perform desired tasks as well as the demonstrator, as measured by task-specific metrics. With standard regression techniques, we show that such “on-par” learning is restricted to policies typified by a many-to-one mapping (a unimap) from perception to actuation. Thus, controllers representable as multi-state Finite State Machines (FSMs) and that exhibit a one-to-many mapping (a multimap) cannot be learnt. To be able to do so we must address the three issues of model selection (how many subtasks or FSM states), policy learning (for each subtask), and transitioning (between subtasks). Previous work in RLfD has assumed knowledge of the task decomposition and learned the subtask policies or the transitions between them in isolation. We instead address both model selection and policy learning simultaneously. Our presented technique uses an infinite mixture of experts and treats the multimap data from an FSM controller as being generated from overlapping unimaps. The algorithm automatically determines the number of unimap experts (model selection) and learns a unimap for each one (policy learning). On data from both synthetic and robot soccer multimaps we show that the discovered subtasks can be used (switched between) to reperform the original task. While not at the same level of skill as the demonstrator, the resulting approximations represent significant improvement over ones for the same tasks learned with unimap regression.
Noradrenergic sympathetic innervation of the spleen: I. Nerve fibers associate with lymphocytes and macrophages in specific compartments of the splenic white pulp

Sympathetic noradrenergic nerve fibers, stained with antiserum for tyrosine hydroxylase (TH), richly innervate the splenic white pulp. These fibers distribute with the vascular and trabecular systems, and associate mainly with the central artery and its branches, the periarteriolar lymphatic sheath (PALS), the marginal sinus, and the parafollicular zone, with occasional delicate fibers also present in the follicles. Simultaneous staining of TH‐positive nerve fibers and markers for specific lymphoid cells has shown several regions of contact between nerves and lymphocytes or macrophages. The TH‐positive nerve fibers in the plexuses around the central arterial system and in the PALS are present among T lymphocytes (OX‐19‐positive cells) including both T helper and T suppressor cells, and interdigitating cells. At the marginal sinus, TH‐positive fibers run adjacent to macrophages (ED3‐positive cells), B lymphocytes (IgM‐positive), and intensely fluorescent IgM‐positive cells. Along the parafollicular zone, TH‐positive nerve fibers run adjacent to T lymphocytes, peripheral follicular B lymphocytes, and intensely fluorescent IgM‐positive cells. Within some follicles, delicate fibers end adjacent to both T and B lymphocytes. These relationships suggest a direct interaction between norepinephrine release from the TH‐positive nerve terminals and the lymphocytes and macrophages closely associated with them, and focuses attention on the potential neural modulation of related functions such as T and B lymphocyte entry into the spleen and antigen capture (marginal zone), antigen presentation and T cell activation (PALS), B cell activation (parafollicular zone and marginal zone), and lymphocyte egress (outer marginal zone).
Protecting newborns against pertussis: the value of vaccinating during pregnancy

Resurgence of pertussis has recently been reported in several countries with long-standing pertussis immunization and high vaccination coverage. This situation requires consideration of alternative immunization strategies to protect newborns. In the absence of a vaccine that confers long-lasting immunity, maternal vaccination for pertussis during pregnancy seems to be a safe, immunogenic, effective and accepted strategy to protect infants during the first weeks of life. The existing scientific evidence provides the grounds for pregnant women and healthcare workers to make informed decisions regarding this measure as well as for countries with high pertussis-related infant morbidity and mortality that should consider implementation. Furthermore, this could be a promising strategy to address other vaccine-preventable diseases of pregnancy and the neonatal period.
Chronopharmacokinetics of Sumatriptan in Healthy Human Subjects

Rhythms in the onset and symptoms of several diseases are well established. Migraine is a disorder that exhibits periodicity in its symptoms and so chronotherapy may be beneficial in treating the problem. Designing a chronotherapeutic schedule requires chronopharmacokinetic and chronopharmacodynamic data of the drugs prescribed. We have studied the chronopharmacokinetics of sumatriptan, a drug of choice in migraine treatment.
Improving iterative 4 D CBCT through the use of motion information

In Image-Guided RadioTherapy (IGRT) of lung tumors, patients undergo a 4D CT, on the basis of which their treatment is planned. It is implicitely assumed that their breathing motion will not change much throughout the treatment, and remain close to what it was during the 4D CT acquisition. During the treatment, several cone beam CT acquisitions are performed, and used to re-position the patient. Obtaining a 4D reconstruction from this cone beam data would allow the therapists to check whether the breathing motion of the day still matches that of the planning CT, and if not, take appropriate corrective actions. Unfortunately, most tomography methods currently available are inadequate for such a task: static 3D reconstructions are pointless for motion assessment, respirationcorrelated reconstructions are affected by streak artifacts, and regularization techniques only bring limited improvement. Recently, regularized 4D methods have been proposed, in which the whole respiratory cycle is reconstructed at once. As these methods allow to explicitely enforce similarity between consecutive frames, they considerably improve image quality. In the case of IGRT, the motion information extracted from the 4D planning CT can be used to further improve the 4D reconstruction results. We describe a recent 4D reconstruction method (ROOSTER), propose its motion-compensated counterpart (MC-ROOSTER), and compare their results.
Strain relaxation mechanisms of elastic softening and twin wall freezing associated with structural phase transitions in (Ca,Sr)TiO3 perovskites

Resonant ultrasound spectroscopy has been used to measure the bulk modulus (K), shear modulus (G) and acoustic dissipation of polycrystalline perovskite samples across the CaTiO3–SrTiO3 solid solution in the temperature range ∼10–1350 K. A remarkable pattern of up to ∼25% softening of G as a function of both temperature and composition is due to coupling of shear strain with order parameters for the Pm 4/mcm, I4/mcm ↔ Pnma and I4/mcm ↔ Pbcm transitions. Anomalies in K associated with the phase transitions are small, consistent with only weak coupling of octahedral tilting order parameter(s) with volume strain. A change from tricritical character for the Pm 4/mcm transition towards second order character at Sr-rich compositions appears to be due to changing properties of the soft optic mode rather than to changes in magnitude of strain/order parameter coupling coefficients. Precursor softening of G ahead of the Pm 4/mcm transition, due to fluctuations or clustering, occurs over a temperature interval of up to ∼200 K, and also changes character at the most Sr-rich compositions. The tetragonal structure with Sr-rich compositions is characterized by additional softening with falling temperature which is most likely related to the proximity of a ferroelectric instability. The I4/mcm ↔ Pnma transition is accompanied by stiffening, which is attributed to the effects of strong coupling between order parameters for M-point and R-point tilting. The pattern of attenuation at RUS frequencies in the tetragonal phase can be understood in terms of the mobility of twin walls which become pinned below ∼500 K, and the loss mechanism most likely involves local bowing of the walls by lateral motion of ledges rather than the advance and retraction of needle tips. Twin wall mobility is suppressed in the orthorhombic structure.
Assimilation of Mobile Marketing in Companies

This paper explores the assimilation of mobile marketing (MM) in companies. By combining the technology-organization-environment framework and domestication theory, first a structural equation model is build and empirically tested with an online survey. The results show that mobile culture has a significant impact on MM goal achievement. A subsequent cluster analysis shows that there are three segments of companies applying MM: sophisticated, mediocre and unready MM adopters.
Identifying alcoholism in medical patients.

Mark Cohen, D.S. W. , many as 30 percent of patients M.P.H. Joseph C. Kern, Ph.D. admitted to general hospitals are alcoholics. They stated that “alCarol Hassett, Ph.D. though the primary diagnosis for these patients may not be specified Large numbers of hospitalized paas ‘alcoholism,’ the reason for hostients are receiving treatment for pitalization is related to alcohol alcohol-induced medical, surgical, use. ” and psychiatric illnesses. West and A review of the literature rePark (1) have indicated that as vealed that the presence of alco-
Amelioration effects against N-nitrosodiethylamine and CCl4-induced hepatocarcinogenesis in Swiss albino rats by whole plant extract of Achyranthes aspera

Objective: The prevalence of oxidative stress may be implicated in the etiology of many pathological conditions. Protective antioxidant action imparted by many plant extracts and plant products make them a promising therapeutic drug for free-radical-induced pathologies. In this study, we assessed the antioxidant potential and suppressive effects of Achyranthes aspera by evaluating the hepatic diagnostic markers on chemical-induced hepatocarcinogenesis. Materials and Methods: The in vivo model of hepatocarcinogenesis was studied in Swiss albino rats. Experimental rats were divided into five groups: control, positive control (NDEA and CCl4), A. aspera treated (100, 200, and 400 mg/kg b.w.). At 20 weeks after the administration of NDEA and CCl4, treated rats received A. aspera extract (AAE) at a dose of 100, 200, and 400 mg/kg once daily route. At the end of 24 weeks, the liver and relative liver weight and body weight were estimated. Lipid peroxidation (LPO), superoxide dismutase (SOD), catalase (CAT), glutathione peroxidase (GPx), glutathione-S-transferase (GST), and reduced glutathione (GSH) were assayed. The hepatic diagnostic markers namely serum glutamic oxaloacetic transminase (AST), serum glutamic pyruvate transminase (ALT), serum alkaline phosphatase (ALP), gamma glutamyl transpeptidase (GGT), and bilirubin (BL) were also assayed, and the histopathological studies were investigated in control, positive control, and experimental groups. Results: The extract did not show acute toxicity and the per se effect of the extract showed decrease in LPO, demonstrating antioxidant potential and furthermore no change in the hepatic diagnosis markers was observed. Administration of AAE suppressed hepatic diagnostic and oxidative stress markers as revealed by decrease in NDEA and CCl4 -induced elevated levels of SGPT, SGOT, SALP, GGT, bilirubin, and LPO. There was also a significant elevation in the levels of SOD, CAT, GPx, GST, and GSH as observed after AAE treatment. The liver and relative liver weight were decreased after treatment with AAE in comparison to positive control group. The architecture of hepatic tissue was normalized upon treatment with extract at different dose graded at 100, 200, and 400 mg/kg. b.w. in comparison to positive control group. Conclusion: These results suggest that A. aspera significantly alleviate hepatic diagnostic and oxidative stress markers which signify its protective effect against NDEA and CCl4-induced two-stage hepatocarcinogenesis.
Predicting prosthetic use in elderly patients after major lower limb amputation

Background: The main determinants of prosthetic use known from literature apply to the younger patient with lower limb amputation. Studies aimed at identifying determinants of outcome of lower limb amputation in elderly patients with multimorbidity that rehabilitate in skilled nursing facilities (SNFs) are scarce. Objectives: To predict prosthetic use and physical mobility in geriatric patients admitted to SNFs for rehabilitation after lower limb amputation and the impact of multimorbidity. Study Design: Prospective design. Methods: Univariate and multivariate logistic and linear regression analyses were used to identify determinants that were independently related to prosthetic use and the timed-up-and-go test (TUG test). Results: Of 55 eligible patients, 38 had complete assessments on admission and at discharge. Fifty per cent was provided with a prosthesis. Multimorbidity was present in 53% of the patients. Being able to ambulate independently, and having a transtibial amputation (rather than a higher level of amputation), without phantom pain determined prosthetic use (R2=56%), while cognitive abilities, low amputation level, and pre-operative functional abilities were independently associated with the TUG test (R2=82%). Conclusions: Elderly patients referred to an SNF for prosthetic training have a high probability of using a prosthesis when having an independent ambulation after transtibial amputation, without phantom pain. These patients should be considered for prosthetic training. Clinical relevance This study gives more insight into the outcomes of geriatric patients with lower limb amputation after rehabilitation in skilled nursing facilities. This is the first study that focuses on determinants of prosthetic use in these elderly patients, often with multimorbidity.
ITERATIONS OF THE MEAN-TYPE MAPPINGS AND UNIQUENESS OF INVARIANT MEANS

It is known, that under some natural conditions, the iterates of any continuous mean-type mapping converge to a continuous invariant mean-type mapping, and, moreover, the invariant continuous mean-type mapping is unique. In this paper we show that the assumption of the continuity in the ”moreover” part of this result is superfluous. We also show that every increasing and homogeneous mean is continuous, and we give some new conditions on convergence of the sequence of iterates of, not necessarily continuous, mean-type mapping to a unique invariant meantype mapping. Some examples and applications are presented.
Ex Vivo Gene Therapy in Autologous Critical-Size Craniofacial Bone Regeneration

In therapeutic bone repairs, autologous bone grafts, conventional or vascularized allografts, and biocompatible artificial bone substitutes all have their shortcomings. The bone formed from peptides [recombinant human bone morphogenetic proteins (BMPs)], demineralized bone powder, or a combination of both is small in size. Tissue engineering may be an alternative for cranial bone repair. In this study, the authors developed an animal model to test the hypothesis that replication-defective, adenovirus-mediated human BMP-2 gene transfer to bone marrow stromal cells enhances the autologous bone formation for repairing a critical-size craniofacial defect. The mesenchymal stromal cells of miniature swine were separated from the iliac crest aspirate and expanded in monolayer culture 1 month before implantation. The cultured mesenchymal stromal cells were infected with recombinant, replication-defective human adenovirus BMP-2, 7 days before implantation. Bilateral 2 × 5-cm2 cranial defects were created, leaving no osteogenic periosteum and dura behind. Mesenchymal stromal cells at 5 × 107/ml were mixed with collagen type I to form mesenchymal stromal cell/polymer constructs. Mesenchymal stromal cells used for the control site were infected with adenovirus &bgr;-Gal under the same conditions. After 6 weeks and 3 months, 10 miniature swine were euthanized and the cranium repair was examined. Near-complete repair of the critical-size cranial defect by tissue-engineered mesenchymal stromal cell/collagen type I construct was observed. The new bone formation area (in square centimeters) measured by three-dimensional computed tomography demonstrated that the improvement from 6 weeks to 3 months was significantly greater on the experimental side than on the control side (2.15 cm2 versus 0.54 cm2, p < 0.001) and significantly greater at 3 months than at 6 weeks (2.13 cm2 versus 0.52 cm2, p < 0.001). The difference between the experimental and control groups was significant at 3 months (mean difference, 2.13 cm2; p < 0.001). The maximal compressive strength of the new bone was similar to that of the normal cranial bone when evaluated by biomechanical testing (cranium bone versus tissue-engineered bone, 88.646 ± 5.121 MPa versus 80.536 ± 19.302 MPa; p = 0.227). Adenovirus was absent from all constructs by immunochemical staining at 6 weeks and 3 months after implantation. The successful repair of cranial defects in this experiment demonstrates the efficacy of the integration of the autologous stem cell concept, gene medicine, and polymers in producing tissue-engineered bone.
Cell surface characteristics of Lactobacillus casei subsp. casei, Lactobacillus paracasei subsp. paracasei, and Lactobacillus rhamnosus strains

Hydrophilic and electrostatic cell surface properties of eight Lactobacillus strains were characterized by using the microbial adhesion to solvents method and microelectrophoresis, respectively. All strains appeared relatively hydrophilic. The strong microbial adhesion to chloroform, an acidic solvent, in comparison with microbial adhesion to hexadecane, an apolar n-alkane, demonstrated the particularity of lactobacilli to have an important electron donor and basic character and consequently their potential ability to generate Lewis acid-base interactions with a support. Regardless of their electrophoretic mobility (EM), strains were in general slightly negatively charged at alkaline pH. A pH-dependent behavior concerning cell surface charges was observed. The EM decreased progressively with more acidic pHs for the L. casei subsp. casei and L. paracasei subsp. paracasei strains until the isoelectric point (IEP), i.e., the pH value for which the EM is zero. On the other hand, the EM for the L. rhamnosus strains was stable from pH 8 to pH 3 to 4, at which point there was a shift near the IEP. Both L. casei subsp. casei and L. paracasei subsp. paracasei strains were characterized by an IEP of around 4, whereas L. rhamnosus strains possessed a markedly lower IEP of 2. The present study showed that the cell surface physicochemical properties of lactobacilli seem to be, at least in part and under certain experimental conditions, particular to the bacterial species. Such differences detected between species are likely to be accompanied by some particular changes in cell wall chemical composition.
Ensemble firing of muscle afferents recorded during normal locomotion in cats

1 The main purpose of this study was to collate population data on the firing characteristics of muscle afferents recorded chronically during normal stepping in cats. 2 Ensemble firing profiles of forty‐seven muscle spindle and tendon organ afferents were compiled from stored data. The relationships between the firing profiles and the displacement and force signals were analysed with the help of mathematical models of the response characteristics of spindle primary and secondary afferents and tendon organs. 3 Whereas the firing of hamstring spindle afferents could be predicted with reasonable accuracy from the length and velocity signals alone, the firing profiles of triceps surae spindle afferents deviated from the predicted profiles, particularly during electromyogram (EMG) activity. This indicated that the components of fusimotor action linked to extrafusal muscle activity were significant in triceps surae, possibly because this muscle is more strongly recruited in the cat step cycle. 4 From the limited data available, it was not possible to identify the ‘best’ or most general mathematical function to predict spindle secondary firing. In the two triceps surae spindle secondary units studied, firing was well predicted by using the simplest possible model, rate proportional to displacement, whereas in the hamstring spindle secondary data, a more complex linear transfer function was needed. The results of modelling the spindle secondary data were consistent with a modest amount of phasic, static fusimotor action linked to EMG activity. 5 The averaged ensemble of tendon organ afferent activity from the triceps surae gave predictions of whole‐muscle force that agreed well with separate triceps force measurements in normal cat locomotion. This supports the idea that ensembles of tendon organ afferents signal whole‐muscle force. Our overall conclusion is that to a first approximation, large muscle afferents in the cat hindlimb signal muscle velocity, muscle length and muscle force, at least in movements of the speed and amplitude seen in locomotion.
Microsatellite instability and loss of heterozygosity in melanoma.

Alterations in the repeat length of microsatellites have been identified recently in tumors arising in patients with hereditary nonpolyposis colon cancer and in several human sporadic tumors. We examined 40 sporadic melanomas and their corresponding nontumorous skin for microsatellite instability (MSI) and loss of heterozygosity (LOH) at chromosomes 2q, 3p25-26, 5q11.2-13.3, 5q21, 6q27, 9p21, 9p22-pter, 17p12, 17p12-p11.1, and 18q23. Specific loci were amplified by polymerase chain reaction, electrophoresed on polyacrylamide gels, transferred onto nylon membranes, and hybridized with 33P-end-labeled oligonucleotides. MSI was observed in eight of 40 (20%) melanomas at one of 10 loci examined. LOH was found at chromosome region 9p21 in 40%, at 9p22 in 22%, and at 17p in 13% of the informative cases. Comparison between clinicopathologic features of patients with and without MSI revealed no obvious differences. LOH at 9p21 was observed only in lesions greater than 1.5 mm in depth, suggesting that it does not represent an early event in sporadic melanoma. Our results indicate that 1) MSI is a genetic alteration in a proportion of sporadic melanoma, which may reflect a defect in genes involved in DNA replication fidelity; and 2) LOH at chromosome region 9p21 is a significant event in sporadic melanoma. The latter finding further supports the hypothesis that the 9p21 region may contain one or more tumor suppressor genes (e.g., MTS1/CDNK2) involved in the pathogenesis of melanoma.