Miracle-dz/UniFAR-FTUs huggingface dataset:
Control of a Mobile Robot Using Spoken Commands

There are several architectures that control mobile robots, the architecture that it is proposed in this paper it is formed by several layers, see Figure 1, each one having a specific function that in whole control the behavior of the robot. The Virtual and Real Robot (ViRBot) System is used to control the movements of virtual and real mobile robots, and one of the features of this system is that an user can use spoken commands to communicate with the robots. In this paper it is described the Human/Robot Interface module that contains a speech recognition and natural language understanding system used to control the operation of a mobile robot.
A 1 V Second Order Sigma-Delta Modulator

A second order switched capacitor sigma-delta modulator operating at a supplyvoltage of 1 V is presented. This low supply voltage restricts the gate overdrivevoltage available for switching transistors. The design relies on the elimination ofcritical switches by using a modified switched op amp for the integrator and novelswitched half-supply and reference voltage generators. The design has been carried outin a fully differential configuration in order to minimize errors arising from chargeinjection and clock-feedthrough effects. The converter has been implemented using aconventional 0.8 μm double-poly double-metal CMOS process, having a nominalthreshold voltage of 0.75 V. Test results, showing more than 9 bits of resolutionwith an oversampling ratio of 64, are also presented.
International Journal for Numerical Methods in Engineering Analysis and Reduction of Quadrature Errors in the Material Point Method (mpm)

SUMMARY The Material Point Method (MPM) has demonstrated itself as a computationally effective particle method for solving solid mechanics problems involving large deformations and/or fragmentation of structures which are sometimes problematic for finite element methods. However, like most methods which employ mixed Lagrangian (particle) and Eulerian strategies, analysis of the method is not straightforward. The lack of an analysis framework for MPM, as is found in finite element methods, makes it challenging to explain anomalies found in its employment and makes it difficult to propose methodology improvements with predictable outcomes. In this paper we present an analysis of the quadrature errors found in the computation of (material) internal force in MPM and use this analysis to direct proposed improvements. In particular, we demonstrate that lack of regularity in the grid functions used for representing the solution of the equations of motion can hamper spatial convergence of the method. We propose the use of a quadratic B-spline basis for representing solutions on the grid, and we demonstrate computationally and explain theoretically why such a small change can have significant impact on the reduction of the internal force quadrature error (and corresponding " grid crossing error ") often experienced when using the material point method.
Incidence of Diabetes Mellitus and Evolution of Glucose Parameters in Growth Hormone–Deficient Subjects During Growth Hormone Replacement Therapy

OBJECTIVE Growth hormone (GH) deficiency is associated with insulin resistance and diabetes. The aim of the current study was to determine incidence of diabetes during GH replacement therapy (GHRT) and the effect of GHRT on fasting plasma glucose concentrations and HbA1c in adult patients with GH deficiency. RESEARCH DESIGN AND METHODS A total of 5,143 GH-deficient patients (male 49.9%; mean age ± SD, 49 ± 13 years; BMI 29.1 ± 5.9 kg/m2) were analyzed. Mean observation period was 3.9 years (range 0.01–13). Total number of patient-years was 20,106. Observed number of cases (O) was compared with expected number of cases (E). Reference rates were from Sweden, three additional European regions, and one U.S. region. RESULTS Patients who developed diabetes (n = 523) were older; had higher BMI, waist circumference, triglyceride concentrations, and blood pressure; and had lower HDL-cholesterol concentrations (P < 0.0001) than those who did not develop diabetes. Diabetes incidence was 2.6 per 100 patient-years, equal in both sexes, and significantly increased compared with the Swedish reference (O/E = 6.02; P < 0.0001) as well as with the four other populations (O/E = 2.11–5.22). O/E increased with BMI and decreased with duration of GHRT (P < 0.0001). There was no significant association with GH dose (P = 0.74) or IGF-I SDS (P = 0.47). In subjects not developing diabetes, plasma glucose concentrations increased from 84.4 ± 0.9 mg/dL to 89.5 ± 0.8 mg/dL (0.70 mg/dL/year) and HbA1c increased from 4.74 ± 0.04% to 5.09 ± 0.13% (0.036%/year) after 6 years of GHRT. CONCLUSIONS Diabetes incidence appears to be increased in GH-deficient patients receiving GHRT and exhibiting an adverse risk profile at baseline. Therefore, glucose homeostasis parameters should be monitored carefully in these patients.
Estimation of gestational age by the length of the dorsal spine

Gestational age assessed by dorsal spine length (DSL) was compared with that based on date of the last menstrual period (LMP). This study was performed in 70 newborn infants admitted to a neonatal intensive care unit requiring chest radiography, by which dorsal spine length was measured (figure 1). Gestational age ranged from 23 to 42 weeks. Regression analysis were performed on DSL and gestational age. Estimation error was evaluated based on the percentage of agreement in weeks (validity) and the difference in averages between both methods (accuracy) (table I and figure 2). Variations during the first week of life were also studied and no significant differences were found. For infants born at 31 weeks or less, DSL overestimated gestational age in one week. There was no differences between 32 and 36 weeks, and over 37 weeks, underestimation was one week (figure 3). With this correction a table was built estimating gestational age for different DSL; percentage of agreement was 91.4% for +/- 3 weeks (table III). This methodology assists the clinician to evaluate gestational age by an objective method, that does not vary during the first week of life and that can be obtained retrospectively.
Physical and Sensory Properties of Chiffon Cake Made with Rice Flour

This study was conducted to evaluate the physicochemical and sensory characteristics of chiffon cakes made with rice flour ranging from 20-100% in place of wheat flour. The water binding capacity of the rice flour was greater than that of the wheat flour and its fat binding capacity was lower than that of the wheat flour. The batter stability data indicated that the 100% treatment was better than the control, and specific gravity values and specific loaf volumes were lower in the samples with added rice flour. Texture analysis found no significant differences in hardness, adhesiveness, cohesiveness, gumminess, and chewiness between the control and the 100% treatment. In the case of crust color, the rice flour-added chiffon cakes did not show any significant differences for their 'a' values. In addition, their crumb color was not significantly different in terms of both their 'L' and 'a' values. According to the sensory evaluation, there was no significant difference in overall acceptability between the control and the rice flour-added chiffon cakes. The highest sensory scores were obtained by the 100% treatment for overall acceptance and moistness. However, flavor, cohesiveness, and brittleness were not significantly different. These study results show that wheat flour could be replaced by rice flour up to 100% in chiffon cake.
Delivering better services for people with long-term

n The house of care model differs from others in two important ways: it encompasses all people with long-term conditions, not just those with a single disease or in high-risk groups; and it assumes an active role for patients, with collaborative personalised care planning at its heart. Implementing the model requires health care professionals to abandon traditional ways of thinking and behaving, where they see themselves as the primary decision-makers, and instead shifting to a partnership model in which patients play an active part in determining their own care and support needs.
Rheophysics of granular materials with interstitial fluid : a numerical simulation study

We numerically simulate the shear flow of dense assemblies of 3D frictional spherical grains under a fixed normal stress P in steady-state, either in the presence of a small amount of an interstitial liquid, which gives rise to capillary menisci and attractive forces, or in the fully saturated state, when the mechanical properties of suspensions in Stokes flow are controlled by hydrodynamic and contact forces. Dry grain assemblies are used as a reference system for which the rheological properties - in particular the approach to the critical state – are rather well known and can be measured with good accuracy. A non-saturating wetting fluid creates capillary attractive intergranular forces, the effects of which on the rheology are investigated in the pendular state, with shear rates ranging from quasistatic to inertial regimes. The system behavior is characterized by the dependence of internal friction coefficient, solid fraction, normal stress differences and internal state parameters on two dimensionless control parameters: the inertial number, I and the reduced pressure, P*, comparing confining forces to contact tensile strength. We focus on steady homogeneous flows, excluding localized flow patterns which we observe to occur for low P* (of order 0.1). The apparent internal friction coefficient increases to 0.9 in the quasistatic limit for P*=0.4, from its dry value 0.35, while solid fraction decreases from 0.59 to 0.52. We relate the significant effect of capillary forces on the macroscopic behavior of the system, up to P* values of several unities, to fabric anisotropy parameters of contact and distant interactions. As P* decreases, many cohesive contacts are observed to survive the tumbling motion associated to the shear flow, and their average age exceeds the reciprocal shear rate. Corresponding clusters of grains with enduring capillary bonds gather a large proportion of grains and percolate through the sample. The results are shown to be moderately sensitive to saturation within the pendular range, yet rather strongly affected by the hysteretic nature of liquid bridges. In the presence of viscous forces, assuming lubrication effects to dominate the hydrodynamic interactions, we adopt a simplified version of the (overdamped) Stokesian dynamics approach, in which hydrodynamic interactions only couple close neighbours. Rheological properties are strongly influenced by direct intergranular contacts and friction, which are permitted due to a very small distance lubrication cutoff modeling surface asperities. The same critical state as in the dry case is approached in the quasistatic limit. We discuss expressions of rheological laws involving the viscous number instead of the inertial number, and the divergence of effective viscosities in steady flow and in isotropic random suspensions as either the critical state or the random close packing solid fraction are approached
Sex differences in the effect of diabetes duration on coronary heart disease mortality.

BACKGROUND It is not known whether the coronary heart disease (CHD) mortality risk associated with recent (RDM; <10 years) or long-standing diabetes mellitus (LDM; > or =10 years) varies by sex. METHODS The relationship between diabetes duration and CHD mortality was evaluated among 10 871 adults (aged 35-74 years at baseline) using the 1971-1992 National Health and Nutrition Examination Survey Epidemiologic Follow-up Study. RESULTS The CHD mortality rates per 1000 person-years in men with no myocardial infarction (MI) or diabetes, MI only, RDM only, LDM only, MI and RDM, and MI and LDM were 5.5 (95% confidence interval, 4.8-6.2), 15.2 (11.6-20.0), 13.2 (7.9-22.1), 11.4 (6.4-20.3), 36.0 (16.7-77.7), and 35.4 (14.0-89.7), respectively. The corresponding rates in women were 2.9 (2.5-3.3), 7.3 (5.0-10.8), 5.2 (3.5-7.7), 10.7 (7.5-15.5), 9.3 (4.3-19.9), and 21.6 (6.1-76.0), respectively. Compared with MI, the multivariate hazard ratios and their 95% confidence intervals (adjusted for age, race, smoking, hypertension, total cholesterol level, and body mass index) for fatal CHD in men with RDM, LDM, MI and RDM, and MI and LDM were 0.7 (0.3-1.3), 0.8 (0.4-1.4), 3.2 (1.4-7.4), and 2.4 (0.8-6.7), respectively. The corresponding ratios in women were 0.9 (0.6-1.3), 1.8 (1.1-3.2), 1.3 (0.5-3.5), and 1.6 (0.2-10.9), respectively. CONCLUSIONS In men, RDM and LDM were associated with as high a risk for CHD death as MI. In women, although RDM had a CHD mortality risk similar to MI, LDM had an even greater risk. Because women with LDM are at very high risk for CHD mortality, current guidelines may need to be further refined to match intensity of treatment to risk in these women.
FER mediated HGF-independent regulation of HGFR/MET activates RAC1-PAK1 pathway to potentiate metastasis in ovarian cancer

ABSTRACT Uncontrolled metastasis significantly contributes to high lethality of patients suffering from ovarian cancer. To date, the detailed molecular mechanisms which account for ovarian tumor cell spreading and metastasis remain largely unknown. In a recent study, we have demonstrated that aberrantly high expression of the non-receptor tyrosine kinase FER is responsible for ovarian tumor cell metastasis both in vitro and in vivo. Mechanistically, we indentified Hepatocyte Growth Factor Receptor HGFR/MET as a novel substrate of FER, and through which the kinase FER modulates ovarian cancer cell motility and invasiveness in a ligand-independent manner. We also observed aberrantly high expression of PAK1 kinase in cancer cells, and RNAi-mediated knockdown of FER kinase inactivated the RAC1-PAK1 signaling pathway and decreased metastatic potential of CAOV4 ovarian cancer cells. Overall, our study revealed a previously uncharacterized, pro-metastatic role of the kinase FER in ovarian cancer through the MET-RAC1-PAK1 pathway. Further efforts are essential to investigating beneficial outcomes towards targeting the RAC1-PAK1 signaling pathway in reducing metastatic burden of this deadly disease.
Synergy Effects in the Chemical Synthesis and Extensions of Multicomponent Reactions (MCRs)—The Low Energy Way to Ultra-Short Syntheses of Tailor-Made Molecules

Several novel methods, catalysts and reagents have been developed to improve organic synthesis. Synergistic effects between reactions, reagents and catalysts can lead to minor heats of reaction and occur as an inherent result of multicomponent reactions (MCRs) and their extensions. They enable syntheses to be performed at a low energy level and the number of synthesis steps to be drastically reduced in comparison with ‘classical’ two-component reactions, fulfilling the rules of Green Chemistry. The very high potential for variability, diversity and complexity of MCRs additionally generates an extremely diverse range of products, thus bringing us closer to the aim of being able to produce tailor-made and extremely low-cost materials, drugs and compound libraries.
Combined use of Lactobacillus reuteri and soygerm powder as food supplement

Aims: The survival of Lactobacillus reuteri when challenged with glycodeoxycholic acid (GDCA), deoxycholic acid (DCA) and soygerm powder was investigated. Moreover, the impact of Lact. reuteri on the bioavailability of isoflavones present in soygerm powder was examined
Increased tolerance to ultraviolet radiation (UVR) and cotolerance to cadmium in UVR‐acclimatized freshwater periphyton

We studied the long‐term acclimatization of freshwater periphyton communities exposed to low and high ultraviolet radiation (UVR) intensities that simulate UVR doses received by lowland and high‐mountain streams of central Europe. To assess changes induced by UVR, we compared the community structure (species and biomass), function (photosynthetic yield), and tolerance to UVR and cadmium of periphyton growing in microcosms (artificial channels). On the basis of the rationale behind the pollution‐induced community tolerance concept, we expected that an increase in UVR tolerance would be through the replacement of more sensitive taxa by more tolerant taxa. After 38 d of exposure, periphyton in the high‐UVR treatment was dominated by Cyanobacteria, whereas diatoms dominated periphyton in the low‐UVR treatment. Concomitantly, the high‐UVR community increased its tolerance to UVR and showed cotolerance to cadmium (Cd). Structural changes contributing to this increased tolerance included an increase in UVR‐absorbing compounds, and the formation of cell aggregates that increased self shading. Induction of antioxidant enzymes after UVR and Cd exposure might be involved as defense mechanisms against oxidative stress. These changes reduced the exposure and effects of UVR, resulting in the protection of photosynthesis (high‐UVR photosynthetic yield was unaffected). A fivefold reduction in chlorophyll a in the high‐UVR treatment suggested that acclimatization had high metabolic costs. Additional experiments showed that even though biomass accrual offered some protection against UVR and Cd, the community changes experienced by the high‐UVR community contributed the most to UVR tolerance. Periphyton exposed to high UVR may experience simultaneous positive (tolerance to UVR and cotolerance to Cd) and negative effects (biomass reduction can increase accessibility by toxicants).
Targeted deletion of a branchial arch-specific enhancer reveals a role of dHAND in craniofacial development

The basic helix-loop-helix transcription factor dHAND is expressed in the mesenchyme of branchial arches and the developing heart. Mice homozygous for a dHAND (Hand2) null mutation die early in embryogenesis from cardiac abnormalities, precluding analysis of the potential role of dHAND in branchial arch development. Two independent enhancers control expression of dHAND in the heart and branchial arches. Endothelin-1 (ET-1) signaling regulates the branchial arch enhancer and is required for dHAND expression in the branchial arches. To determine the potential role of dHAND in branchial arch development and to assess the role of the ET-1-dependent enhancer in dHAND regulation in vivo, we deleted this enhancer by homologous recombination. Mice lacking the dHAND branchial arch enhancer died perinatally and exhibited a spectrum of craniofacial defects that included cleft palate, mandibular hypoplasia and cartilage malformations. Expression of dHAND was abolished in the ventolateral regions of the first and second branchial arches in these mutant mice, but expression was retained in a ventral domain where the related transcription factor eHAND is expressed. We conclude that dHAND plays an essential role in patterning and development of skeletal elements derived from the first and second branchial arches and that there are heterogeneous populations of cells in the branchial arches that rely on different cis-regulatory elements for activation of dHAND transcription.
EFFECT OF LUBRICANT IN MANDREL-ROTARY DRAW TUBE BENDING OF STEEL AND ALUMINUM

Abstract Mandrel-rotary draw tube bending experiments examining the effect of lubricant selection were performed using a fully instrumented Eagle EPT-75 bender. Process load and displacement data were recorded and provided significant information regarding the interaction between the various parameters affecting the bending of tubes. These data allow the direct assessment of lubrication in minimizing frictional losses during bending and the overall degree of repeatability. Experiments were performed on 76.2 mm OD, seam-welded DQAK galvanneal steel and AlMg3.5Mn aluminum alloy tubes of 1.6 and 2.0 mm nominal thickness, respectively. Tubes were bent to roughly 90 degrees after springback and the ratio of the nominal centre line bend radius to the tube outer diameter was 2.5. The aim of the study was to better understand the effect of various lubricants on the process variables, thickness and surface finish of bent steel and aluminum tubes. On a effectué des expériences de cintrage par enroulement-tension sur mandrin avec une machine à plier Eagle EPT-75 entièrement instrumentée, examinant l’effet de la sélection du lubrifiant. On a enregistré les données de charge et de déplacement de l’opération, fournissant ainsi une information importante sur l’interaction entre les divers paramètres qui affectent le cintrage des tubes. Ces données permettent une évaluation directe de l’effet de la lubrification sur la minimisation des pertes par friction lors du cintrage et permettent aussi un degré global de répétabilité. On a effectué les expériences sur des tubes soudés DQAK de 76.2 mm de diamètre extérieur en acier recuit par galvanisation et en alliage d’aluminium AlMg3.5Mn de 1.6 mm et 2.0 mm d’épaisseur nominale, respectivement. On a plié les tubes à environ 90 degrés après le retour élastique et le rapport du rayon nominal de pliure de la ligne centrale au diamètre extérieur du tube était de 2.5. Le but de cette étude était de mieux comprendre l’effet de différents lubrifiants sur les variables d’opération ainsi que sur l’épaisseur et la qualité de la surface de tubes pliés en acier et en aluminium.
Hispanic residential ethnic density and depression in post-ACS patients : Re-thinking the role of social support

Objective—The ethnic density hypothesis suggests that ethnic density confers greater social support and consequently protects against depressive symptoms in ethnic minority individuals. However, the potential benefits of ethnic density have not been examined in individuals who are facing a specific and salient life stressor. We examined the degree to which the effects of Hispanic ethnic density on depressive symptoms are explained by socioeconomic resources and social support. Methods—Patients with acute coronary syndrome (ACS, N = 472) completed the Beck Depression Inventory (BDI) and measures of demographics, ACS clinical factors and disease severity, and perceived social support. Neighborhood characteristics, including median income, number of single-parent households, and Hispanic ethnic density, were extracted from the American Community Survey Census (2005 – 2009) for each patient using his/her geocoded address. Results—In a linear regression analysis adjusted for demographic and clinical factors, Hispanic ethnic density was positively associated with depressive symptoms (β = .09, SE = .04, p = .03). However, Hispanic density was no longer a significant predictor of depressive symptoms when measures of neighborhood socioeconomic disadvantage were controlled. In addition, the effects of Hispanic density were not the same for all groups. The relationship of Hispanic density on depressive symptoms was moderated by nativity status. Among US-born patients with ACS, there was a significant positive relationship between Hispanic density and depressive symptoms, and social support significantly mediated this effect. There was no observed effect of Hispanic density to depressive symptoms for foreign-born ACS patients. Discussion—Although previous research suggests that ethnic density may be protective against depression, our data suggest that among patients with ACS, living in a community with a high concentration of Hispanic individuals is associated with constrained social and economic resources which are themselves associated with greater depressive symptoms. These data add to a growing body of literature on the effects of racial or ethnic segregation on health outcomes. Correspondence: Ellen-ge D. Denton, PsyD, Department of Medicine, Columbia University College of Physicians and Surgeons, Room 309, PH9 West Wing, 622 W 168th St, New York, NY 10032 Phone number: 212-342-5507. Fax number: 212-342-3431. (ed2426@columbia.edu). Conflicts of Interest: None reported. HHS Public Access Author manuscript Int J Soc Psychiatry. Author manuscript; available in PMC 2016 May 01. Published in final edited form as: Int J Soc Psychiatry. 2015 May ; 61(3): 225–235. doi:10.1177/0020764014540148. A uhor M anscript