Miracle-dz/UniFAR-FTUs huggingface dataset:
Integrating Task-Motion Planning with Reinforcement Learning for Robust Decision Making in Mobile Robots

Task-motion planning (TMP) addresses the problem of efficiently generating executable and low-cost task plans in a discrete space such that the (initially unknown) action costs are determined by motion plans in a corresponding continuous space. However, a task-motion plan can be sensitive to unexpected domain uncertainty and changes, leading to suboptimal behaviors or execution failures. In this paper, we propose a novel framework, TMP-RL, which is an integration of TMP and reinforcement learning (RL) from the execution experience, to solve the problem of robust task-motion planning in dynamic and uncertain domains. TMP-RL features two nested planning-learning loops. In the inner TMP loop, the robot generates a low-cost, feasible task-motion plan by iteratively planning in the discrete space and updating relevant action costs evaluated by the motion planner in continuous space. In the outer loop, the plan is executed, and the robot learns from the execution experience via model-free RL, to further improve its task-motion plans. RL in the outer loop is more accurate to the current domain but also more expensive, and using less costly task and motion planning leads to a jump-start for learning in the real world. Our approach is evaluated on a mobile service robot conducting navigation tasks in an office area. Results show that TMP-RL approach significantly improves adaptability and robustness (in comparison to TMP methods) and leads to rapid convergence (in comparison to task planning (TP)-RL methods). We also show that TMP-RL can reuse learned values to smoothly adapt to new scenarios during long-term deployments.
Correlation between Brodsky Tonsil Scale and Tonsil Volume in Adult Patients

Purpose To evaluate the value of Brodsky tonsil scale in predicting the objective tonsil volume and to identify the potential factors that might interfere with the accuracy of prediction. Methods A total of 87 adult patients who underwent single tonsillectomy or uvulopalatopharyngoplasty (UPPP) procedure including tonsillectomy in our hospital between Jan 2015 and Dec 2016 were included. The data of Brodsky tonsil scale evaluated preoperatively and objective tonsil volume evaluated postoperatively were collected for analysis. Results Among the 87 adult patients included, 85 patients underwent bilateral tonsillectomy, while only 2 underwent unilateral procedure. Therefore, a total of 172 tonsils were included. Significant positive correlations were established between Brodsky scale and objective volume for either right (R = 0.647), left (R = 0.664), or overall tonsils (R = 0.654) (all p < 0.001). However, volume overlaps could be found between 2+ and 3+ tonsils. Age [odds ratio (OR) = 4.053, p = 0.003] and body mass index (BMI; OR=1.740, p = 0.044) were found to be independent factors that could influence the consistency between the Brodsky scale and objective volume. As a result, a formula “Index = -1.409+1.399×age+0.554×BMI” was constructed for the evaluation of the consistency. Conclusion Tonsil grading was significantly correlated with tonsil volume; preoperative tonsil grading that reflected the real tonsil volume was regarded as the protocol for the evaluation of the tonsil size. Age and BMI were independent factors that could affect the consistency between tonsil grade and tonsil volume. A mathematical model was estimated to predict the consistency accurately.
Protective effect of Rheum turkestanicum root against mercuric chloride-induced hepatorenal toxicity in rats

Objective: The present study was designed to investigate the protective effects of hydroalcoholic extract of Rheum turkestanicum against HgCl2 hepatorenal toxicity in rats. Materials and Methods: Animals were randomly divided into five groups (n= 6 in each group) and received HgCl2 and plant’s extract, intraperitoneally. Group1 received saline (1 mL/kg/day), group 2 received extract (200 mg/kg/day), group 3 was treated with HgCl2 (5 mg/kg/day,) and groups 4 and 5 received the extract (100 and 200 mg/kg/day, respectively), 1 hr before HgCl2 administration. All injections last for 3 days. Blood samples and specimens of the liver and kidney were collected 24 hr after the last injection. Results: Data showed that HgCl2 significantly increases liver malondialdehyde (MDA) level, reduces total sulfhydryl content and increases serum alanine aminotransferase (ALT) and aspartate aminotransferase (AST) activity, compared to control group. The histopathological changes such as inflammatory cells infiltration was observed in HgCl2-treated group while plant’s extract partially improved histological changes. The extract (100 and 200 mg/kg/day) improved the liver functions as reflected by significant reductions in AST and ALT levels in serum, MDA decreased and the content of total sulfhydryl elevated. Also, the extract improved necrosis and atrophy of the kidney induced byHgCl2. Pretreatment with the extract reduced creatinine and urea in serum, and glucose and protein concentrations in urine, compared to HgCl2- treated group (group III). The extract significantly reversed HgCl2-induced depletion in thiol content and elevation in MDA content. Conclusion: Therefore, oxidative stress may play an important role in HgCl2-induced hepatorenal injury and R. turkestanicum extract may be regarded as a useful to protect the kidney and liver against HgCl2-induced oxidative damage.
ACM Transactions on Interactive Intelligent Systems (TiiS) Special Issue on Trust and Influence in Intelligent Human-Machine Interaction

Recent advances in machine intelligence and robotics have enabled new forms of human-computer interaction characterized by greater adaptability, shared decision-making, and mixed initiative. These advances are leading toward machines that can operate with relative autonomy but are designed to interact or engage with human counterparts in joint human-machine teams. The degree to which people trust machines is critical to the efficacy of these teams. People will cooperate with, and rely upon, intelligent agents they trust. Those they do not trust fall into disuse. As intelligent agents become more self-directed, learn from their experiences, and adapt behavior over time, the relationship between people and machines becomes more complex, and designing system behaviors to engender the proper level of trust becomes more challenging. Moreover, as intelligent systems become common in safety-critical domains, we must understand and assess the influence they might exert on human decision making to avoid unintended consequences, such as over-trust, compliance, or undue influence. Online social environments further complicate human-machine relationships. In the social media ecosystem, intelligent agents (e.g., chatbots) might act as aids or assistants but also as competitors or adversaries. In this context, research challenges include understanding how human-machine relationships evolve in social media and especially how humans develop trust and are susceptible to influence in social networks. This special issue explores research frontiers in intelligent human-machine interaction with a special focus on trust and influence. It includes a selection of seven articles that make key
Sodium Phenylbutyrate Ameliorates Inflammatory Response Induced by Staphylococcus aureus Lipoteichoic Acid via Suppressing TLR2/NF-κB/NLRP3 Pathways in MAC-T Cells

This study aimed to investigate the anti-inflammatory properties of sodium phenylbutyrate (SPB) against Staphylococcus aureus (S. aureus) lipoteichoic acid (LTA)-stimulated bovine mammary alveolar (MAC-T) cells. Quantitative PCR was performed to examine the effect of SPB on inflammatory cytokines and host defense peptide (HDP) gene expression. Western blot wanalysis was used to detect the effect of SPB on the TLR2/NF-κB/NLRP3 signaling pathway. The results showed that SPB significantly suppressed the expression of TNF-α, IL-1β, IL-6; meanwhile, the markedly decreased expression of LTA-stimulated TLR2, NLRP3, ASC, caspase-1, and IL-1β, and the inhibited IkBα and p65 phosphorylation were also observed. However, increased TAP and Bac5 expression in LTA-stimulated MAC-T cells was further detected. In summary, these results suggest that SPB ameliorates the inflammatory response induced by S. aureus LTA via suppressing the TLR2/NF-κB/NLRP3 signaling pathway, which indicates that SPB may be a potential agent for the treatment of bovine mastitis.
Categorization of Patient Disease into ICD-10 with NLP and SVM for Chinese Electronic Health Record Analysis

The electronic health record (EHR) analysis has become an increasingly important application for artificial intelligence (AI) algorithms to leverage the insight from the big data for improving the quality of human healthcare. In a lot of Chinese EHR analysis applications, it is very important to categorize the patients' diseases according to the medical coding standard. In this paper, we develop NLP and machine learning algorithms to automatically categorize each patient's individual diseases into the ICD-10 coding standard. Experimental results show that the support vector machine algorithm (SVM) accomplishes very promising classification results.
Multi-scale 3D Convolution Network for Video Based Person Re-Identification

This paper proposes a two-stream convolution network to extract spatial and temporal cues for video based person ReIdentification (ReID). A temporal stream in this network is constructed by inserting several Multi-scale 3D (M3D) convolution layers into a 2D CNN network. The resulting M3D convolution network introduces a fraction of parameters into the 2D CNN, but gains the ability of multi-scale temporal feature learning. With this compact architecture, M3D convolution network is also more efficient and easier to optimize than existing 3D convolution networks. The temporal stream further involves Residual Attention Layers (RAL) to refine the temporal features. By jointly learning spatial-temporal attention masks in a residual manner, RAL identifies the discriminative spatial regions and temporal cues. The other stream in our network is implemented with a 2D CNN for spatial feature extraction. The spatial and temporal features from two streams are finally fused for the video based person ReID. Evaluations on three widely used benchmarks datasets, i.e.,MARS, PRID2011, and iLIDS-VID demonstrate the substantial advantages of our method over existing 3D convolution networks and state-of-art methods.
The use of the social skills performance assessment (SSPA) among persons with serious mental illness: psychometric assessment and network analysis

Abstract Background: Challenges in social functioning are a major obstacle in the recovery process of persons with serious mental illness. Majority of social functioning measures use self-report assessments. Aims: To validate the use of a performance based measure and examine a network analysis that explores the centrality of items. In addition, to explore the distinctiveness between the social skills performance assessment (SSPA), and a self-report measure of social quality of life (SQoL). Method: One hundred fifty eight participants were administrated with the SSPA and SQoL scale. Intra-class correlation, Pearson correlation and Network analysis were performed. Results: A differentiation between the SQoL items and the SSPA items appeared. The strongest nodes in the network were social appropriateness (7.413), focus (7.763) and clarity (7.438) from the SSPA measure. The nodes rated highest on the betweenness measure were affect from the SSPA and satisfaction with getting along with other people from the SQoL scale. Conclusions: Interventions should target the skills of focus, clarity and social appropriateness as they present the central items in the network.
Hereditary angioedema with C1 inhibitor (C1-INH) deficit: the strength of recognition (51 cases)

Hereditary angioedema (HAE) is a rare autosomal dominant disease due to C1 esterase inhibitor deficiency (C1-INH). The disease is characterized by subcutaneous and submucosal edema in the absence of urticaria due to the accumulation of bradykinin. This descriptive study aimed to evaluate the clinical characteristics of patients with a confirmed diagnosis of HAE referred to our Outpatient Clinic between December 2009 and November 2017. Fifty-one patients (38 F, 13 M) with a mean age of 32 years (range: 7–70 y) were included. Family history of HAE was reported in 70% (36/51) of the cases; 33/46 patients became symptomatic by 18 years of age. The median time between onset of symptoms and diagnosis was 13 years (3 mo–50 y). The most frequent triggering factors for attacks were stress (74.4%), trauma (56.4%), and hormonal variations (56%). The main symptoms were subcutaneous edema in 93.5% (43/46) of patients, gastrointestinal symptoms in 84.8% (39/46), and obstruction in the upper airways in 34.8% (16/46). Hospitalization occurred in 65.2%, of whom 13.3% had to be transferred to the Intensive Care Unit. Prophylactic treatment was instituted in 87% (40/46) of patients, and 56.5% (26/46) required additional treatment to control attacks. Owing to our data collection over a period of 8 years, a significant number of patients were identified by this HAE reference center. Despite early recognition and prophylactic treatment, a high percentage of patients were hospitalized. HAE is still diagnosed late, reinforcing the need for more reference centers specialized in diagnosis and educational projects for health professionals.
Digital Humanities and Political Innovation: The SOWIT Model.

In this chapter we show how a new type of political knowledge can be harnessed from everyday communication flows between citizens to support community and policy development processes. The emergence of this new knowledge will be enabled by an e-supported deliberation process (SOWIT) that aims to improve political communication and deliberation between citizens, civil society organisations, local councils and councillors. To explain the SOWIT project and its innovative approach to political engagement we first outline its motivation with respect to political reform in Ireland. We then discuss the model’s framework and features in functional terms. The core innovations are rooted in SOWIT’s foundation in the fields of Q-methodology, discursive representation and meta-consensus theory. Finally, we explain how the model departs from the epistemic norms of current political paradigms particularly with respect to public opinion and random selection as a basis for representativeness in deliberative fora. SOWIT is currently being developed as a pilot in collaboration with Fingal County Council in Dublin.
Survival and recruitment of the multimammate mouse, Mastomys natalensis (Smith 1834), in a rice agro-ecosystem

Abstract We investigated the recruitment and survival of the multimammate mouse, Mastomys natalensis, within irrigated rice and fallow field habitats at different time periods related to rice crop growth stages. Capture-Mark-Recapture data were collected for M. natalensis each month from June 2010 to May 2012, and both recruitment and survival were estimated in relation to land use (irrigated rice or fallow field) within the agro-ecosystem. Higher recruitment and survival were observed in rice fields than in fallow fields suggesting the relationship was compensatory when there was a higher quality food resource. In terms of management, farmers in the study area should implement management strategies in rice fields at both transplanting and maturity stages of crop growth in order to maintain recruitment and survival at low levels.
Search for doubly charmed baryons and study of charmed strange baryons at Belle

We report results of a study of doubly charmed baryons and charmed strange baryons. The analysis is performed using a 980 fb(-1) data sample collected with the Belle detector at the KEKB asymmetric-energy e(+)e(-) collider. We search for doubly charmed baryons Xi(+(+))(cc) with the Lambda(+)(c) K- pi(+)(pi(+) ) and. Xi(0)(c) pi(+)(pi(+)) final states. No significant signal is observed. We also search for two excited charmed strange baryons, Xi(c)(3055)(+) and Xi(c)(3123)(+) with the Sigma(++)(c)(2455)K- and Sigma(++)(c)(2520)K- final states. The Xi(c)(3055)(+) signal is observed with a significance of 6.6 standard deviations including systematic uncertainty, while no signature of the Xi(c)(3123)(+) is seen. We also study properties of the Xi(c)(2645)(+) and measure a width of 2.6 +/- 0.2(stat) +/- 0.4(syst) MeV/c(2), which is the first significant determination.
Geomorphic and geological constraints on the active normal faulting of the Gediz (Alaşehir) Graben, Western Turkey

The Gediz (Alaşehir) Graben is located in the highly tectonically active region of Western Turkey. Extension owing to regional geodynamic controls has resulted in a broadly two-phase evolution of the graben; first, low-angle normal faulting relating to the exhumation of the Menderes Massif metamorphic core complex took place between 16 and 2.6 Ma; second, high-angle normal faulting initiated c. 2 Ma forming the Gediz and other east–west-trending graben in the region. Here we quantify the throw rate along the fault array over the last 2.6, 2 and 0.7 myr using structural and geological constraints, along with analysis of topographic relief as a proxy for footwall uplift. We derive, for the first time, time-averaged rates of fault motion from 0.4 to 1.3 mm a−1 along the strike of the Gediz Graben, with variation in throw rate associated with the geometry of single fault strands. Patterns in throw rate along-strike of the graben-bounding fault array also suggest that the fault segments have become linked during the last 2.6–2 myr, possibly at 0.8–0.7 Ma. Furthermore, these data suggest that an earthquake occurring along the graben-bounding fault could have a maximum predicted Mw of 6.3–7.6.
Predatory impact of the myctophid fish community on zooplankton in the Scotia Sea (Southern Ocean)

Myctophids are the most abundant mesopelagic fishes in the Southern Ocean, although their trophic role within the predominantly krill-based food web in regions south of the Antarctic Polar Front (APF) is poorly resolved. This study therefore examined the diets of 10 species of myctophid fishes: Electrona antarctica, E. carlsbergi, Gymnoscopelus braueri, G. fraseri, G. nicholsi, Krefftichthys anderssoni, Protomyctophum bolini, P. tenisoni, P. choriodon and Nannobrachium achirus, in the Scotia Sea, together with their predatory impact on the underlying zooplankton community. Myctophids and their prey were sampled in different seasons by scientific nets deployed across the Scotia Sea from the sea-ice zone to the APF. Based on the percentage index of relative importance, myctophids had high overlap in their diets, although the data indicate dietary specialisation in some species. There was also a distinct switch in diet, from copepods to euphausiids and amphipods, with increasing myctophid size. Myctophid predation impacted daily copepod production by between 0.01 and 5%, with Calanus simillimus being most impacted. Total annual consumption of copepods was around 1.5 million t (Mt) per year. All myctophids preyed upon the euphausiid Thysanoessa spp. , consuming ~12% of its daily productivity and around 4 Mt per year. However, only larger myctophid species preyed upon Antarctic krill Euphausia superba, consuming 2% of its daily productivity, which could amount to as much as 17 Mt per year. Themisto gaudichaudii was also an important dietary component, with 4% of its daily productivity being consumed, amounting to around 2 Mt per year. This study demonstrates that myctophids link secondary productivity to higher predators both through krill-dependent and krill-independent trophic pathways.
The Effect of Earned vs . House Money in Experimental

Can “house money” explain asset market bubbles? We test this hypothesis in an asset experiment with a certain dividend cash and shares is given to subjects initial portfolios are constructed using subject that bubbles still occur; however trading volumes are significantly abated and the dispersion of earnings is significantly lower when subjects earn their starting endowments. We investigate the role of cognitive ab distribution across treatments high CRT subjects earned more money on average than the initial value of their portfolio while low CRT subjects ea rned less. (sellers) of shares when the price was above (below) fundamental value while the opposite was true for subjects with high CRT scores. 1 * Chapman University, + Universidad de acknowledge financial support from grant Departamento de Economía Universidad Carlos III de Madrid Calle Madrid, 126 28903 Getafe (Spain) Fax (34) 916249875 on Price Bubble Formation Asset Markets 1 , Praveen Kujal ++ and David Porter . We compare experiments where the initial portfolio of , i.e. house money, to a treatment in which individual earned money from a real effort task ility in accounting for the differences in earnings by using the Cognitive Reflection Test (CRT). W Subjects with low CRT scores were net purchasers Granada, ++ Universidad Carlos III de Madrid. 2012/00103/001 from the Spanish Ministry of Education *
Risk Neutrality and Strategic Insurance

The paper shows that Legal Cost Insurance (LCI) is a device to enhance potential litigants? bargaining position rather than to re-allocate risk. Being insured decreases the cost an insured party has to bear if settlement negotiations fail and the case goes to trial. This shifts the threat points, which has an impact on the bargaining result. In negative expected value suits, LCI can make the threat to sue credible and motivate potential defendants to make positive settlement offers. Hence, even risk-neutral agents may find it beneficial to insure.
Disability activism and the politics of scale

In this paper, we examine the role of spatial scale in mediating and shaping political struggles between disabled people and the state. Specifically, we draw on recent theoretical developments concerning the social construction of spatial scale to interpret two case studies of disability activism within Canada and Ireland. In particular, we provide an analysis of how successful the disability movement in each locale has been at )iumping scale' and enacting change, as well as examining what the consequences of such scaling-up have been for the movement itself. We demonstrate that the political structures operating in each country markedly affect the scaled nature of disability issues and the effectiveness of political mobilization at different scales.