Miracle-dz/UniFAR-FTUs huggingface dataset:
Soft DAgger: Sample-Efficient Imitation Learning for Control of Soft Robots

This paper presents Soft DAgger, an efficient imitation learning-based approach for training control solutions for soft robots. To demonstrate the effectiveness of the proposed algorithm, we implement it on a two-module soft robotic arm involved in the task of writing letters in 3D space. Soft DAgger uses a dynamic behavioral map of the soft robot, which maps the robot’s task space to its actuation space. The map acts as a teacher and is responsible for predicting the optimal actions for the soft robot based on its previous state action history, expert demonstrations, and current position. This algorithm achieves generalization ability without depending on costly exploration techniques or reinforcement learning-based synthetic agents. We propose two variants of the control algorithm and demonstrate that good generalization capabilities and improved task reproducibility can be achieved, along with a consistent decrease in the optimization time and samples. Overall, Soft DAgger provides a practical control solution to perform complex tasks in fewer samples with soft robots. To the best of our knowledge, our study is an initial exploration of imitation learning with online optimization for soft robot control.
Value Relevance of Accounting Information: Empirical Evidence from Listed Conglomerate Firms in Nigeria

In recent years, internal and external investors have lost confidence in Nigeria due to insecurity, energy (power), economic instability, and governance. Although the government is trying to overcome the menace, there are still unresolved issues in the aspect of the challenges above, which affect value relevance and accounting information in ensuring the perpetual existence of companies in Nigeria. As such, the study examined the value relevance of accounting information of listed conglomerate companies in Nigeria. The study population comprises six companies: UAC Nigeria Plc, Chellarams Plc, SCOA Nigeria Plc, John Holt Plc, Transnational Corporation of Nigeria Plc, and Custodian Investment Plc. The data was extracted from their annual report and accounts. Descriptive statistics correlation regression was conducted in the study. The result shows that return on share price has a significant negative relationship with dividend per share. The study recommends that standards comply in reporting and disclosing all accounting information in the published financial statement to maintain value relevance and attract more investors.
Cold stage type sections. Some thoughts on a difficult problem

EnglishIt is important to apply formal chronostratigraphical and lithostratigraphical procedures to the subdivision of Pleistocene sediment sequences and especially to define both regional and local stratotypes. There are particular problems related to the definition of cold stage stratotypes in areas that have been subjected to glaciation. However, many of the widely-used terms applied to Pleistocene cold stages in Europe, notably Weichselian, Saalian, Elsterian, Riss, Mindel and Gunz, still possess no formally defined stratotypes. Problems regarding nomenclature and correlation of Pleistocene sequences, largely arising from non-definition or unsatisfactory definition of stratotypes, are illustrated with reference to the Saalian of northern Continental Europe and the Wolstonian of Britain. Recommendations are presented to encourage and improve the selection and definition of cold stage stratotypes. A boundary stratotype for the British Wolstonian Stage is defined in an appendix. francaisII est important d'appliquer les regles formelles de la chronostratigraphie et de la lithostratigraphie a la subdivision des sequences sedimentaires pleistocenes. Il faut surtout definir des stratotypes regionaux et locaux. Il y a des problemes particuliers lies a la definition des stratotypes des etages froids dans les regions qui ont ete soumises a la glaciation. Cependant la plupart des appellations bien connues pour les etages froids de l'Europe, comme par exemple Weichselian, Saalian, Elsterian, Riss, Mindel et Gunz, n'ont jamais eu de stratotypes formellement definis. Les problemes de nomenclature et de correlation des sequences pleistocenes, qui se presentent principalement a cause d'une mauvaise definition des stratotypes, sont discutes a partir du Saalian de l'Europe continentale du nord et du Wolstonian de la Grande Bretagne. Enfin des recommandations sont proposees pour encourager la selection et ameliorer la definition de stratotypes des etages froids. Un stratotype de la limite de l'etage wolstonian de la Grande Bretagne est defini en appendice.
Evolution of continental crust of the Aravalli craton, NW India, during the Neoarchaean–Palaeoproterozoic: evidence from geochemistry of granitoids

Neoarchaean–Palaeoproterozoic granitoids of the Aravalli craton, represented by four plutons with different ages, viz. Gingla (2.6–2.4 Ga), Ahar River (2562 Ma), Untala (2505 Ma), and Berach (2440 Ma) granitoids, are classified into three suites: TTG-like, Sanukitoid, and High-K Granitoid suite, all exhibiting negative Nb and Ti anomalies. The TTG-like suite is characterized by high contents of SiO2, Na2O, and LREEs, high (La/Yb)N, low contents of K2O, MgO, Cr, and Ni, and low (Dy/Yb)N, suggesting that this suite formed by partial melting of a subducted basaltic slab without interacting with a mantle wedge. In contrast, the calc-alkaline Sanukitoid suite is marked by a high content of LILEs and mantle-compatible elements, which indicate that this suite formed by partial melting of a slab-fluid metasomatized mantle wedge in a subduction-related arc environment. On the other hand, the High-K Granitoid suite is characterized by high contents of SiO2 and K2O, and low contents of Na2O, MgO, Cr, and Ni with variable Eu anomaly, along with high (La/Sm)N and (La/Yb)N, and low (Dy/Yb)N and Nb/Th. Some high-K granitoids also exhibit A-type characteristics. These features indicate that the High-K Granitoid suite formed by melting of crustal rocks. Early Neoarchaean continental crust formation reflected a slab-melting-dominated magmatic process as evidenced by the TTG-like suite, whereas Palaeoproterozoic petrogenesis was governed by the interaction of slab melt with mantle wedge as demonstrated by the Sanukitoid suite. The High-K Granitoid suite formed during the waning stages of subduction. This study reveals that granitic rocks of the Aravalli craton evolved from slab melting in the Neoarchaean to melting of mantle wedge in the Palaeoproterozoic. Melting of older crust led to the formation of the High-K Granitoid suite.
Impact of nonabsorbing anthropogenic aerosols on clear‐sky atmospheric absorption

[1] Absorption of solar radiation by atmospheric aerosol has become recognized as important in regional and global climate. Nonabsorbing, hydrophilic aerosols, such as sulfate, potentially affect atmospheric absorption in opposing ways: first, decreasing absorption through aging initially hydrophobic black carbon (BC) to a hydrophilic state, enhancing its removal by wet scavenging, and consequently decreasing BC lifetime and abundance, and second, increasing absorption through enhancement of the BC absorption efficiency by internal mixing as well as through increasing the amount of diffuse solar radiation in the atmosphere. On the basis of General Circulation Model studies with an embedded microphysical aerosol module we systematically demonstrate the significance of these mechanisms both on the global and regional scales. In remote transport regions, the first mechanism prevails, reducing atmospheric absorption, whereas in the vicinity of source regions, despite enhanced wet scavenging, absorption is enhanced owing to the prevalence of the second mechanisms. Our findings imply that the sulfur to BC emission ratio plays a key role in aerosol absorption.
Decline of gastric cancer mortality in common variable immunodeficiency in the years 2018-2022

Introduction In patients with Common Variable Immunodeficiency, malignancy has been reported as the leading cause of death in adults, with a high risk of B-cell lymphomas and gastric cancer. Methods We conducted a five-year prospective study aiming to update the incidence and mortality of gastric cancer and the incidence of gastric precancerous lesions in 512 CVID patients who underwent a total of 400 upper gastrointestinal endoscopies. Results In the pre-pandemic period, 0.58 endoscopies were performed per patient/year and in the COVID-19 period, 0.39 endoscopies were performed per patient/year. Histology revealed areas with precancerous lesions in about a third of patients. Patients who had more than one gastroscopy during the study period were more likely to have precancerous lesions. Two patients received a diagnosis of gastric cancer in the absence of Helicobacter pylori infection. The overall prevalence of Helicobacter pylori infection in biopsy specimens was 19.8% and related only to active gastritis. Among patients who had repeated gastroscopies, about 20% progressed to precancerous lesions, mostly independent of Helicobacter pylori. Discussion While gastric cancer accounted for one in five deaths from CVID in our previous survey, no gastric cancer deaths were recorded in the past five years, likely consistent with the decline in stomach cancer mortality observed in the general population. However, during the COVID-19 pandemic, cancer screening has been delayed. Whether such a delay or true decline could be the reason for the lack of gastric cancer detection seen in CVID may become clear in the coming years. Due to the high incidence of precancerous lesions, we cannot rely on observed and predicted trends in gastric cancer mortality and strongly recommend tailored surveillance programs.
Radical-Scavenging Effect, Ferric Reducing Ability and Phytochemical Analysis of Urtica urens (L.) and Mercurialis annua (L.)

Important Moroccan medicinal plants known for their food and medicinal potential include Urtica urens and Mercurialis annua. We examined the antioxidant activity of the methanolic and aqueous extracts by several in vitro systems of the assay, namely the ferric reducing/antioxidant power (FRAP) assay, the DPPH radical-scavenging activity, and the ABTS free radical-scavenging capacity. In addition, all active extracts were subjected to phytochemical screening to determine the key groups of chemicals implicated in their therapeutic activity. Total phenolic and flavonoid concentrations were also measured to see how they affected the antioxidant properties of the plant extracts. The extracts of Urtica urens and Mercurialis annua were found to have different levels of antioxidant effect in the systems tested. Based on the three different antioxidant assays, the Mercurialis annua extracts showed the highest values of antioxidant ability, based on the three used assays. Phytochemical testing of studied extracts revealed the presence of flavonoids, anthocyanins, and tannins. Total phenol and flavonoid contents were shown to provide the highest association with different antioxidant methods. The present study provides evidence that the extracts of Urtica urens and Mercurialis annua are a potential source of natural antioxidants, and this justifies their uses in Moroccan traditional medicine.
Multiple Sclerosis, Disease-Modifying Therapies, and Infections

Background and Objectives The use of highly effective multiple sclerosis (MS) disease-modifying therapies (DMTs) is rapidly increasing. Yet, little is known about their real-world risks of infections. The goals of this study were to assess the comparative risk of outpatient and serious infections across DMTs in a large, diverse, U.S. cohort and determine whether such risks are attributable to DMTs, having MS, or other factors. Methods We conducted a retrospective cohort study of Kaiser Permanente Southern California members from 2008 through 2020 with MS and non-MS controls matched on age, sex, race, and ethnicity. MS treatments, serious (those requiring hospitalization) and outpatient infections, and covariates were collected from the electronic health record. Adjusted hazard ratios (aHR) and risk ratios (aRR) were estimated using the Cox and Poisson regression, respectively. Results Six thousand, six hundred and twenty-six patients with MS with 11,929 treatment episodes (2,487 rituximab, 546 natalizumab, 298 fingolimod, 4,629 interferon-beta/glatiramer acetate, IFN/GLAT, and 3,969 untreated) and 33,550 population controls were included in the analyses. The average age at treatment start ranged from 38.9 to 49.2 years, and 74% were women. Untreated (aRR = 1.39, [95% CI = 1.35–1.44]) and IFN/GLAT-treated patients with MS (aRR = 1.60, [95% CI = 1.56–1.65]) had a higher risk of outpatient infections and serious infections (aHR = 2.97, [95% CI = 2.65–3.32 and aHR = 2.31, [95% CI = 2.04–2.62], respectively) compared with controls. Rituximab (aRR = 1.19, [95% CI = 1.14–1.25]), fingolimod (aRR = 1.22, [95% CI = 1.09–1.37]), and to a lesser extent, natalizumab treatment (aRR = 1.08, [95% CI = 0.97–1.20]) were associated with an increased risk of outpatient infections compared with IFN/GLAT. Rituximab (aHR = 1.41, [95% CI = 1.09–1.84]) and natalizumab (aHR = 1.40, [95% CI = 0.96–2.04]) treatment were associated with a similar increased risk of serious infections compared with IFN/GLAT. The only treatment-specific association identified was fingolimod with outpatient herpetic infections. Higher comorbidity index, previous hospitalization for infections, and advanced disability significantly increased the risk of serious infections independent of DMTs. Hospitalization for UTI-related pseudorelapses accounted for 24%–48% of serious infections. Discussion Patients with MS have higher risks of outpatient and serious infections compared with patients without MS. The risk of outpatient infections was similarly increased by rituximab and fingolimod and serious infections by rituximab and natalizumab compared with IFN/GLAT. Steps to minimize risks include optimizing bladder care, comorbidity prevention, varicella vaccination, and considering discontinuing or avoiding DMT use in patients with advanced disability and/or previous hospitalizations for infections.
ANALYZING THE PHYSICOCHEMICAL PROPERTIES OF HONEY BEES FROM VARIOUS SOURCES AND QUANTIFYING GLUCOSE AND FRUCTOSE USING HPLC

Honey is a sweet, sticky substance that is produced by bees after nectar and honeydew have been collected. This study was aimed to determine the physiochemical properties of native and imported honey in Iraq to evaluate the quality of various types of hone y. Physiochemical investigations of these samples were done utilizing AOAC protocols and assessed according to Codex Alimentarius Commission and European Union Council instructions. The moisture contents ranged from 15.16 ± 0.15 to 19.92 ± 0.67 %. Ash concentration of all samples was ranged from 0.42 ± 0.01 to 1.61 ± 0.09 %. The levels of pH in all tested honey samples were acidic and within the standard range. Saudi honey showed the highest free acidity values (49.51 + 0.18 meq/kg), whereas the lowest fre e acidity value was recorded in Turkish honey (21.71 ± 0.11 meq/kg). Electrical conductivity (EC) in the analyzed honeys ranged from 0.57 ± 0.07 to 1.26 ± 0.01 mS/cm. In both glucose and fructose, the highest average levels were recorded in the Iraqi honey sample where they reached (30.25 ± 0.05 and 40.18 ± 0.13 %) respectively, while the lowest content of both glucose and fructose were recorded in the Saudi honey samples (26.88 ± 0.07 and 36.23 ± 0.07%) respectively. For all of the samples studied, the estimated fructose to glucose percentage ranged from 0.51 ± 0.06 to 1.69 ± 0.09. Iraqi, Turkish and Saudi honey samples have greater HMF levels than Iranian boney, and the three samples were within the standard limit (not more than 40 mg/kg). Honey quality differed depending on geographical and floral origins, seasons, transportation, processing conditions, and storage time. The glucose -fructose ratio was determined using high-performance liquid chromatography
Cities without Suburbs

The author of this book addresses problems that today's urban areas are experiencing, and argues that the basis for all of the problems is economic and racial segregation. A city without suburbs is a city that meets the following criteria: (1) it houses at least 50% of the metropolitan population; and (2) the average per capita income of the residents of the city must be at least 90% of the average per capita income of the residents of its suburbs. The city without suburbs is generally, also, a city whose population has increased over the years, bucking the national trend of city population shrinkage. The author presents 24 lessons learned from urban America, some of which (as taken from the table of Contents) are: (1) The real city is the total metropolitan area - city and suburb. (2) Most of America's Blacks, Hispanics, and Asians live in urban areas. (9) When a city stops growing, it starts shrinking. (14) Racial prejudice has shaped growth patterns. (16) Inelastic areas that segregate Blacks segregate Hispanics. (21) The smaller the income gap between city and suburb, the greater the economic progress for the whole metropolitan area. (24) Rebuilding inner cities from within has not happened. The book also covers - II. Characteristics of Metropolitan Areas, III. Strategies for Stretching Cities, and IV. Conclusions and Recommendations. The author lists 23 cities without suburbs that have grown in population over the years, along with statistics regarding percentage living in the cities, city-suburb income ratio, per capita income of metro residents, residential segregation index for Blacks, and 1991 city bond rating (based on Moody's bond ratings). These cities are the success stories.
Cost-Effectiveness of a Hypothetical Gene Therapy for Alzheimer’s Disease: A Markov Simulation Analysis

Abstract Background: Alzheimer’s disease is a prevalent neurodegenerative condition causing significant health and economic burden. With limited therapeutic options, clinical trials have been investigating Alzheimer’s disease treatment using more novel approaches, including gene therapy. However, there is limited evidence on the cost-effectiveness of such treatments. Objectives: This research aims to explore the cost-effectiveness of a hypothetical gene therapy for patients with Alzheimer’s disease at varying degrees of severity. Methods: A Markov model with a 20-year time horizon was constructed for simulated cohorts with mild cognitive impairment due to Alzheimer’s disease, assigned to receive either standard of care or a one-time gene therapy administration. Varying costs of care due to disease severity and treatment efficacy were utilized to determine the effect of those variables at different willingness-to-pay thresholds. Results: Under the initial assumption that the hypothetical gene therapy grants a 30% risk reduction in disease progression and entry into institutional care, the maximum cost-effective price for gene therapy is $141,126 per treatment using the threshold of $150,000 per quality-adjusted life year (QALY). By increasing the treatment effectiveness to 50%, cost-effective price nearly doubled at each willingness-to-pay threshold (e.g., $260,902 at the $150,000/QALY threshold). Conclusion: Despite being cost-effective at a very high price, the hypothetical gene therapy for AD would still need to be priced considerably lower than other approved gene therapies on the market. Thus, a comprehensive pharmacoeconomic assessment remains critical in pricing innovative therapy and determining coverage for patients in need.
Shear-wave velocity profiling at sites with high stiffness contrasts: a comparison between invasive and non-invasive methods

Three sites of the Italian Strong Motion Network (RAN) have been selected for detailed S-wave profiling, using both borehole and surface wave seismic methods. At these sites, the presence of stiffness contrasts within the soil column is found to influence the surface wave propagation profoundly. Advanced aspects in surface wave inversion such as resolution, accuracy and higher-mode interpretation must be properly taken into account to obtain realistic results from the surface wave dispersion observations. The possibility of mode misidentification and the loss of resolution with depth in surface wave interpretation are explored using synthetic modelling together with active and passive seismic data sets. With high stiffness contrasts, the possibility of mode jumps and higher mode dominance over specific frequency ranges is very probable. This is true also for normally dispersive sites, where the shear velocity increases with depth, though higher mode dominance is recognized as more common in the case of a shear-wave velocity inversion within the soil column and the sensitivity of the dispersion curves with respect to those layers beneath the low-velocity zone may be significantly reduced. Pitfalls in the inversion resulting from mode misidentification can be avoided by investigating the effective phase velocity distribution, using active data sets and full waveform seismic modelling. When an unambiguous modal identification is achieved, the results obtained by surface wave inversion are very satisfactorily consistent with borehole data.
Application of Critical Path Method in ePropertyWatch Plan Using Gaussian Pythagorean Fuzzy Numbers

In this article, Gaussian Pythagorean fuzzy numbers along with their credibility distribution are defined. The current approach offers a novel method for precise and analytic determination of the inverse credibility distribution based on the credibility measure. To assess uncertainty in project activity time, the Pythagorean fuzzy reasoning might be appropriate in circumstances where past performance is either unavailable or irrelevant. The development of Pythagorean fuzzy critical path method, however, was motivated by the vagueness of the time parameters. By utilizing Gaussian Pythagorean fuzzy numbers as time spans of activities, we propose an approach that relies on credibility-based ranking to add ambiguities into classical critical path method. In addition, we define the Pythagorean fuzzy precedence diagramming technique, which is used to analyze project networks comprising mutually dependent activities with lead or lag time spans. The suggested approach is successfully examined for a case study in project management by the Council of Multiple Listing Services Florida, concerning a project plan created to provide ePropertyWatch, enabling it to assist project managers in better grasping and managing project schedule uncertainty.
Post‐Variscan exhumation of the Central Anti‐Atlas (Morocco) constrained by zircon and apatite fission‐track thermochronology

The origin of the Anti‐Atlas relief is one of the currently debated issues of Moroccan geology. To constrain the post‐Variscan evolution of the Central Anti‐Atlas, we collected nine samples from the Precambrian basement of the Bou Azzer‐El Graara inlier for zircon and apatite fission‐track thermochronology. Zircon ages cluster between 340 ± 20 and 306 ± 20 Ma, whereas apatite ages range from 171 ± 7 Ma to 133 ± 5 Ma. Zircon ages reflect the thermal effect of the Variscan orogeny (tectonic thickening of the ca. 7 km‐thick Paleozoic series), likely enhanced by fluid advection. Apatite ages record a complex Mesozoic–Cenozoic exhumation history. Track length modelling yields evidence that, (i) the Precambrian basement was still buried at ca. 5 km depth by Permian times, (ii) the Central Anti‐Atlas was subjected to (erosional) exhumation during the Triassic‐Early Cretaceous, then buried beneath ca. 1.5 km‐thick Cretaceous‐Paleogene deposits, (iii) final exhumation took place during the Neogene, contemporaneously with that of the High Atlas.