Miracle-dz/UniFAR-FTUs huggingface dataset:
An Autonomous Quadrotor System for Robust High-Speed Flight Through Cluttered Environments Without GPS

Robust autonomous flight without GPS is key to many emerging drone applications, such as delivery, search and rescue, and warehouse inspection. These and other applications require accurate trajectory tracking through cluttered static environments, where GPS can be unreliable, while high-speed, agile, flight can increase efficiency. We describe the hardware and software of a quadrotor system that meets these requirements with onboard processing: a custom 300 mm wide quadrotor that uses two wide-field-of-view cameras for visualinertial motion tracking and relocalization to a prior map. Collision-free trajectories are planned offline and tracked online with a custom tracking controller. This controller includes compensation for drag and variability in propeller performance, enabling accurate trajectory tracking, even at high speeds where aerodynamic effects are significant. We describe a system identification approach that identifies quadrotor-specific parameters via maximum likelihood estimation from flight data. Results from flight experiments are presented, which 1) validate the system identification method, 2) show that our controller with aerodynamic compensation reduces tracking error by more than 50% in both horizontal flights at up to 8.5 m/s and vertical flights at up to 3.1 m/s compared to the state-of-the-art, and 3) demonstrate our system tracking complex, aggressive, trajectories.
Data Association Aware Semantic Mapping and Localization via a Viewpoint-Dependent Classifier Model

We present an approach for localization and semantic mapping in ambiguous scenarios by incrementally maintaining a hybrid belief over continuous states and discrete classification and data association variables. Unlike existing incremental approaches, we explicitly maintain data association components over time, which allows us to deal with perceptual aliasing. Crucially, we utilize a viewpoint-dependent classifier model over rich classifier outputs and leverage the coupling between poses and semantic measurements both for disambiguating data association and in pose estimation. We demonstrate in simulation that incorporating semantic measurements with a viewpoint-dependent classifier model enhances disambiguation of both data association and localization over usage of only geometric measurements or viewpoint independent models, further contributing to the tractability of the approach in practice, and providing better estimates.
Active Infrared Coded Target Design and Pose Estimation for Multiple Objects

Relative pose estimation is critical for collaborative multi-agent systems. To achieve accurate and low-cost localization in cluttered and GPS-denied environments, we propose a novel relative pose estimation system based on a designed active infrared coded target. Specifically, each agent is equipped with a forward-looking monocular camera and a unique infrared coded target. The target with the unique lighted LED arrangement is detected by the camera and processed with an efficient decoding algorithm. The relative pose between the agent and the camera is estimated by combining a PnP algorithm and a Kalman filter. Various experiments are performed to show that the proposed pose estimation system is accurate, robust and efficient in cluttered and GPS-denied environments.
Impact of Servant Leadership on Performance: The Mediating Role of Affective and Cognitive Trust

Servant leadership style has drawn much attention in the last decade to leadership studies on account of its focus on serving others first. Extant literature calls for a better understanding of the underlying mechanism for servant leadership to positively influence performance within an organization. We position servant leadership to contribute to firms’ sustainable performance, by empirically studying the mediating mechanism of bi-dimensional trust, namely affective and cognitive trust, between servant leadership and individual performance. Our data comprised of dyadic samples of 233 pairs of subordinates and their supervisors. The results from hierarchical linear model (HLM) for clustered data showed that servant leadership strongly predicted affective trust, organizational citizenship behaviors (OCBs), and task performance of subordinates; affective trust fully mediated servant leadership’s effect on task performance while partially mediates servant leadership’s effect on subordinates’ OCB. In contrast, cognitive trust did not mediate servant leadership’s effect on either OCB or task performance. These findings reveal the relevance of affective trust as the underlying mechanism which mediates and deciphers servant leadership into positive individual performance.
Are Common Sense Model constructs and self-efficacy simultaneously correlated with self-management behaviors and health outcomes: A systematic review

This systematic review answered two questions among adults with chronic conditions: When included in the same statistical model, are Common Sense Model constructs and self-efficacy both associated with (1) self-management behaviors and (2) health outcomes? We followed the Preferred Reporting Items for Systematic Reviews and Meta-Analyses guidelines and included 29 articles. When included in the same statistical model, Common Sense Model constructs and self-efficacy were both correlated with outcomes. Self-efficacy was more consistently associated with self-management behaviors, and Common Sense Model constructs were more consistently associated with health outcomes. Findings support the continued inclusion and integration of both frameworks to understand and/or improve chronic illness self-management and outcomes.
The Association Between Patient-Reported Outcome Measurement Scores and Preference for Specific Interventions

To determine whether greater patient-reported symptom intensity and functional limitation influence expressed preferences for discretionary diagnostic and treatment interventions, we studied the association of patient factors and several Patient Reported Outcome Measure (PROM) scores with patient preferences for diagnostic and treatment interventions before and after the visit, a cross-sectional cohort study. One hundred and forty-three adult patients who completed several PROMs were asked their preferences for diagnostic and treatment interventions before and after a visit with an orthopedic surgeon. Patients with better physical function had fewer preferences for specific diagnostic interventions after the visit (P = .02), but PROM scores had no association with preferences for treatment interventions before or after the visit. A greater percentage of patients expressed the preference for no diagnostic or treatment intervention after the visit with a physician than before (diagnostic intervention; 2.1% before vs 30% after the visit; P ≤ .001 and treatment intervention; 2.1% before vs 17% after the visit; P ≤ .001). This study suggests that physician expertise may be more reassuring to people with more adaptive mind sets.
Testing for Bubbles in the Chinese Art Market

This article detects the existence of bubbles in the Chinese art market and investigates when the bubbles originate and crash. We utilize the generalized supremum augmented Dickey–Fuller (ADF) test to detect explosive behavior in the Chinese art market. The empirical results indicate that there are two bubbles in the Chinese art market that happened in the periods from 2004 to 2005 and 2010 to 2011. The main reasons are the financialization of artworks, the speculation of investment institution, and the fluctuation of macroeconomics in China. Our findings are in agreement with the bubble model improved by Gürkaynak considering that asset price can be decomposed to bubbles and fundamental parts. Therefore, to favor the Chinese art market price stabilization, the regulators from this market should identify bubbles to notice their evolutions. The authorities should also manage the expectations of the public and reduce speculative behavior.
IN VITRO CALLUS INDUCTION OF SMILAX WIGHTII A.DC AN ENDEMIC MEDICINAL PLANT

Smilax wightii A.DC is an endemic medicinal plant belongs to the family smilacaceae and distributed in Kodanadu, The Nilgiri Hills, The Western Ghats, Southern India. The callus was obtained at the concentration of 1.5+0.05 mg/I TDZ with NAA. Highest number of shoots was observed in 2.0+0.04 mg/l BAP + Kn and followed by 2.0+0.04mg/l. The multiplied shoots were harvested and used for rooting on half strength MS medium containing indole-3-butyric acid and naphthalene acetic acid within 45 days. The best rooting response was achieved on half-strength MS medium supplemented with 2.0 mg/l IBA. The well rooted plantlets were acclimatized and successfully transferred to natural condition, where 85% plantlets
Molecular profiling-based decision for targeted therapies in IDH wild-type glioblastoma

Abstract Background Molecular profiling allows tumor classification as well as assessment of diagnostic, prognostic, and treatment-related molecular changes. Translation into clinical practice and relevance for patients has not been demonstrated yet. Methods We analyzed clinical and molecular data of isocitrate dehydrogenase wild-type glioblastoma patients with sufficient clinical follow-up from the Heidelberg Neuro-Oncology Center and with molecular analysis of tumor tissue that consisted of DNA methylation array data, genome-scale copy number variations, gene panel sequencing, and partly mTOR immunohistochemistry between October 2014 and April 2018. Results Of 536 patients screened, molecular assessment was performed in 253 patients (47%) in a prospective routine clinical setting with further clinical appointments. Therapy decision was directly based on the molecular assessment in 97 (38%) patients. Of these, genetic information from MGMT (n = 68), EGFR (n = 7), CDKN2A/B (n = 8), alterations of the PI3K–AKT–mTOR pathway (n = 5), and BRAF (n = 3) have been the most frequently used for decision making with a positive overall survival signal for patients with glioblastoma harboring an unmethylated MGMT promoter treated according to the molecular assignment. Based on detected molecular alterations and possible targeted therapies, we generated an automated web-based prioritization algorithm. Conclusion Molecular decision making in clinical practice was mainly driven by MGMT promoter status in elderly patients and study inclusion criteria. A reasonable number of patients have been treated based on other molecular aberrations. This study prepares for complex molecular decisions in a routine clinical decision making.
Efficacy of Hemospray in non-variceal upper gastrointestinal bleeding: a systematic review with meta-analysis

Background Recently, amongst other hemostatic modalities, Hemospray (TC-325) has emerged as an effective method for managing patients with non-variceal upper gastrointestinal bleeding (GIB). We conducted this systematic review and meta-analysis to assess the efficacy of Hemospray in patients with non-variceal upper GIB. Methods Our primary outcomes were clinical and technical success; secondary outcomes were aggregate rebleeding, early rebleeding, delayed rebleeding, refractory bleeding, mortality, and treatment failure. A meta-analysis of proportions was conducted for all reported primary and secondary outcomes. A relative risk meta-analysis was conducted for studies reporting direct comparisons between Hemospray and other hemostatic measures. Results A total of 20 studies with 1280 patients were included in the final analysis. Technical success of Hemospray was seen in 97% of cases (95% confidence interval [CI] 94-98%, I2=52.89%) and a significant trend towards increasing technical success was seen during publication years 2011-2019. Clinical success of Hemospray was seen in 91% of cases (95%CI 88-94%, I2=47.72%), compared to 87% (95%CI 75-94%, I2=0.00%) for other hemostatic measures. The secondary outcomes of aggregate rebleeding, early rebleeding, delayed rebleeding, refractory rebleeding, mortality and treatment failure following the use of Hemospray were seen in 27%, 20%, 9%, 8%, 8%, and 31% of cases, respectively. Conclusion Hemospray is safe, effective and non-inferior to traditional hemostatic measures for the management of non-variceal upper GIB, and can thus be used as an alternative option.
Urbanising the Countryside: „Territorium Emeritensis” in Perspective

Urbs y ager estaban intrínsecamente relacionados dentro del mundo romano. Por lo tanto, es imposible entender uno sin comprender el otro. La civitas y el ager formaban un universo común, con las vías de comunicaciones actuando a modo de arterias del territorium. Combinando fuentes clásicas con el registro arqueológico pretendo estudiar, para una mejor comprensión, el entorno de Colonia Augusta Emerita y el ager publicus controlado y administrado por la colonia lusitana; al igual que los límites de la provincia de Lusitania y la frontera sur de Emerita.
The Comparison of Lately Proposed Harris Hawks Optimization and Jaya Optimization in Solving Directional Overcurrent Relays Coordination Problem

In this paper, a lately proposed Harris Hawks Optimizer (HHO) is used to solve the directional overcurrent relays (DOCRs) coordination problem. To the best of the authors’ knowledge, this is the first time HHO is being used in the DOCRs coordination problem. The main inspiration of HHO is the cooperative behavior and chasing style of Harris’ hawks from different directions, based on the dynamic nature of scenarios and escaping patterns of the prey. To test its performances in solving the DOCRs coordination problem, it is adopted in 3-bus, 4-bus, 8-bus, and 9-bus systems, which are formulated by three kinds of optimization models as linear programming (LP), nonlinear programming (NLP), and mixed integer nonlinear programming (MINLP), according to the nature of the design variables. Meanwhile, another lately proposed optimization algorithm named Jaya is also adopted to solve the same problem, and the results are compared with HHO in aspects of objective function value, convergence rate, robustness, and computation efficiency. The comparisons show that the robustness and consistency of HHO is relatively better than Jaya, while Jaya provides faster convergence rate with less CPU time and occasionally more competitive objective function value than HHO.
Why Does the Importance of Education for Health Differ across the United States?

The positive association between educational attainment and adult health (“the gradient”) is stronger in some areas of the United States than in others. Explanations for the geographic pattern have not been rigorously investigated. Grounded in a contextual and life-course perspective, the aim of this study is to assess childhood circumstances (e.g., childhood health, compulsory schooling laws) and adult circumstances (e.g., wealth, lifestyles, economic policies) as potential explanations. Using data on U.S.-born adults aged 50 to 59 years at baseline (n = 13,095) and followed for up to 16 years across the 1998 to 2014 waves of the Health and Retirement Study, the authors examined how and why educational gradients in morbidity, functioning, and mortality vary across nine U.S. regions. The findings indicate that the gradient is stronger in some areas than others partly because of geographic differences in childhood socioeconomic conditions and health, but mostly because of geographic differences in adult circumstances such as wealth, lifestyles, and economic and tobacco policies.
Functional Capacity and Inflammatory Mediators in Elderly Residents of Counties with Different Human Development Index

A number of studies have indicated that certain factors, including socioeconomic status and education, are associated with the functional health status of the elderly. Another relevant factor in aging is chronic subliminal inflammation, with increased levels of circulating inflammatory cytokines such as interleukin-6 (IL-6), tumor necrosis factor α (TNF-α), and soluble tumor necrosis factor receptor 1 (sTNFR-1), commonly seen in the elderly. High levels of these inflammatory mediators could impair the functional capacity. In this respect, the aim of this cross-sectional study was to compare plasma levels of inflammatory mediators and functional capacity of older women living in three Brazilian counties with different Human Development Index. We evaluated 154 women aged ≥65 years, regardless of race and/or social status. IL-6 and sTNFR-1 plasma levels were measured by ELISA and the functional capacity by the Short Physical Performance Battery (SPPB) test. Comparison among groups was performed using one-way ANOVA with Bonferroni post hoc correction, Kruskal–Wallis, and Mann–Whitney U tests. Women that lived in one of the counties with high HDI had lower functional capacity (p < 0.001). The population from the county with the highest HDI had lower plasma levels of sTNFR-1 (p < 0.05). There was no significant difference in plasma levels of IL-6 (p > 0.05). Besides this, women from the counties with lower HDI had a higher number of self-reported diseases and higher income (p < 0.05). Women that lived in the county with the highest HDI had a higher average education level (p < 0.05). The results showed differences in functional capacity and plasma levels of sTNFR-1 between the counties. In addition, the level of education, family income, and number of self-reported diseases show regional diversities in the aging process, suggesting these factors having an influence on inflammatory mediators and functional capacity.
The Interplay of Leadership Styles, Innovative Work Behavior, Organizational Culture, and Organizational Citizenship Behavior

Leadership stains affect the follower’s performances regarding innovative work behavior, and a gap is found in leadership research in higher education, specifically in Pakistan. The basic purpose of this research is to point out the effect of leadership styles on innovative work behavior under the mediating and moderating roles of organizational culture and organizational citizenship behavior among the Head of the Departments (HODs) in higher education institutions (HEIs). A survey method has been carried out to collect data from 160 respondents to, further, verify how leadership styles of academic leaders affect employees’ performances in universities. The statistical study exposes a substantial positive effect of leadership styles on innovative work behaviors of employees highlighting mediating and moderating effects of organizational culture and OCB on such a relationship. This study carries various implications for prior research in both theoretical and practical fields, and its scope may also be enlarged, geographically or institutionally, to another context. This research uncovers the relationship of leadership styles and innovative work behavior in academic research, which has been ignored before in higher education of Pakistan.
Dementia Care Education Targeting Job Strain and Organizational Climate Among Dementia Care Specialists in Swedish Home Care Services

Introduction An increasing number of older persons live at home with various limitations, such as dementia, requiring well-educated and trained home care staff to meet their complex care needs. Dementia care specialists working in home care service have reported high levels of job strain in comparison with home care staff in general. Aim This pilot study aims to evaluate the effects of a dementia care education model targeting self-reported job strain and organizational climate, among dementia care specialists in home care service. Methods A quasi-experimental, one-group pretest–posttest design was applied, with 12 months’ follow-up. Participants were dementia care specialists who worked in home care service (n=34 baseline; n=30 follow-up). The data were collected using the Strain in Dementia Care Scale and Creative Climate Questionnaires, administered pre- and post-intervention. The intervention applied an educational model based on previous research in dementia care and a person-centered approach. Results The educational model was implemented in the context of home care services. Of 34 participants at baseline, only 21 responded to the questionnaires, due to a drop off of 13 participants and recruitment of 9 new participants (follow-up=30). A significantly reduced perceived job strain among the participants was detected, indicating perceiving less difficulty in “Balancing competing needs” when caring for the older persons. No significant difference was found in the self-reported creative organizational climate between the two occasions. Conclusion The educational model could be integrated into dementia home care and it seemed to reduce job strain among dementia care specialists. Future studies are needed to evaluate the effects of the intervention using a stronger study design and a larger sample.
The internal mechanisms of entrepreneurs’ social capital: A multi-network analysis

The present work addresses how and to what extent the personal and professional relationship networks of small-scale local entrepreneurs help improve their scarce resource endowments. Adopting a mechanistic and functioning oriented view of social capital, the paper suggests the existence of two different mechanisms which may explain the enrichment and entrepreneurial exploitation processes of social capital’s resources: (1) the resource mechanism, based on a network’s size and diversity, providing quantity and variety of social capital resources, and (2) the exchange mechanism, based on a network’s cohesion and relational quality, favouring the interchangeability of these resources among network members. The empirical study individually explores both the personal and professional networks of 958 Spanish entrepreneurs. Findings reveal how the two mechanisms are necessary and mutually complementary, although the resource mechanism proves more advantageous when exploiting personal networks, whereas the exchange mechanism prevails in the case of professional networks. JEL CLASSIFICATION L14; L26; M13; M14
MLPH Accelerates the Epithelial–Mesenchymal Transition in Prostate Cancer

Introduction Prostate cancer (PC) is the second greatest cause of cancer deaths globally. PC presents a poor prognosis once it metastasizes. There is considerable proof of vital epithelial–mesenchymal transition (EMT) functionality in PC metastasis. Previous studies revealed that melanophilin (MLPH) is associated with PC; however, its role in PC remains poorly understood. Methods Bioinformatics analyses were performed. The cellular responses to MLPH knockdown were examined in HCC cell lines via wound healing assay, migration and invasion assay, Western blotting. Results Analysis of the PROGgeneV2 database revealed that high MLPH expression might indicate poor overall survival. MLPH knockdown reduced PC cell migration, proliferation, and invasion. MLPH downregulation in vivo resulted in a lower growth rate and fewer metastatic nodules in lung tissues. Furthermore, MLPH knockdown recovered downregulated expression of the mesenchymal marker N-cadherin and the epithelial marker E-cadherin following a decrease in β-catenin. Conclusion These results indicate that progression of PC is stimulated via MLPH-dependent initiation of the EMT.