Miracle-dz/UniFAR-FTUs huggingface dataset:
Inverse Position Procedure for Manipulators with Rotary Joints

Industrial robot manipulators are essentially spatial linkages that consist of rigid bodies connected by joints. Even though many types of joints (which are also known as kinematic pairs) are available for use in mechanical linkages, only two types are employed for robot manipulators. These are the revolute, or rotary, joints (referred to in literature as R) and the prismatic, or sliding, joints (referred to as P). These specific types allow a single degree of freedom relative movement between adjacent bodies; and are easier to drive and control than other kinematic pairs. Normally every joint on the manipulator is independently driven by a dedicated motor. It is central to kinematic control of manipulators to calculate the sets of joint-motor displacements which correspond to a desired pose (i.e. position and orientation) at the end-effector. The mathematical procedure which is followed to achieve this purpose is often referred to as, Inverse Position Analysis. This analysis presents a special difficulty in the field of Robotics as it is associat ed with the use of intricate spatial geometry techniques. The complexity of the analysis increases substantially with the number of rotary joints on the manipulator structure. For this reason a considerable part of the published literature is mainly concerned with the revolute-joint manipulators. Published literature reveals that various methods have been proposed to solve the inverse position problem of mani pulators. These methods range from Jacobian-based iterative techniques to highly sophisticated levels of equationmanipulation intended to reduce the whole model into a polynomial with thousands of mathematical terms. However, most industrial robots are designed with geometric features (such as parallelism and perpendicularity) to make it possible for simple inverse position solutions to be obtained in closed forms suitable for real time control. Another geometric aspect that leads to simplified inverse solutions is the spherical wrist design, which entails that the last three joints on the manipulator structure intersect at one point. This usually suggests that these three joints (also known as the wrist joints) have the main task of orienting (rather than placing) the end-effector in space. In this
Crowdsourcing Reliable Ratings for Underexposed Items

We address the problem of acquiring reliable ratings of items such as restaurants or movies from the crowd. A reliable rating is a truthful rating from a worker that is knowledgeable enough about the item she is rating. We propose a crowdsourcing platform that considers workers’ expertise with respect to the items being rated and assigns workers the best items to rate. In addition, our platform focuses on acquiring ratings for items that only have a few ratings. Traditional crowdsourcing platforms are not suitable for such a task for two reasons. First, ratings are subjective and there is no single correct rating for an item which makes most existing work on predicting the expertise of crowdsourcing workers inapplicable. Second, in traditional crowdsourcing platforms there is no control over task assignment by the requester. In our case, we are interested in providing workers with the best items to rate based on their estimated expertise for the items and the number of ratings the items have. We evaluate the effectiveness of our system using both synthetic and real-world data about
Phoretic Poecilochirus mites specialize on their burying beetle hosts

Abstract Recurring species interactions can cause species to adapt to each other. Specialization will increase the fitness of symbionts in the coevolved association but may reduce the flexibility of symbiont choice as it will often decrease fitness in interactions with other than the main symbiont species. We analyzed the fitness interactions between a complex of two cryptic mite species and their sympatric burying beetle hosts in a European population. Poecilochirus mites (Mesostigmata, Parasitidae) are phoretic on burying beetles and reproduce alongside beetles, while these care for their offspring at vertebrate carcasses. While Poecilochirus carabi is typically found on Nicrophorus vespilloides beetles, P. necrophori is associated with N. vespillo. It has long been known that the mites discriminate between the two beetle species, but the fitness consequences of this choice remained unknown. We experimentally associated both mite species with both beetle species and found that mite fitness suffered when mites reproduced alongside a nonpreferred host. In turn, there is evidence that one of the beetle species is better able to cope with the mite species they are typically associated with. The overall fitness effect of mites on beetles was negative in our laboratory experiments. The Poecilochirus mites studied here are thus specialized competitors or parasites of burying beetles.
Airborne Characterization of the Chemical, Optical, and Meteorological Properties, and Origins of a Combined Ozone-Haze Episode over the Eastern United States

Airborne observations of trace gases, particle size distributions, and particle optical properties were made during a constant altitude transect from New Hampshire to Maryland on 14 August 2002, the final day of a multiday haze and ozone (O3) episode over the Mid-Atlantic and northeastern United States. These observations, together with chemical, meteorological, and dynamical analyses, suggest that a simple two-reservoir model, composed of the lower free troposphere (LFT), where photochemical processes are accelerated and removal via deposition does not occur, and the planetary boundary layer (PBL), where most precursor species are injected, may realistically represent the physics and chemistry of severe, multiday haze and O 3 episodes over the Mid
A new cone beam computerized tomography system for use in endodontic surgery.

AIM To present a newly developed cone beam computerized tomography system (3DX Micro-CT) and its application in endodontic surgery. SUMMARY Cone beam CT has attracted considerable attention as a new diagnostic imaging technique in dentistry. The assessment of fractured endodontic instruments and the planning of endodontic surgery present challenges that conventional radiography cannot meet successfully. In this report, the value of the 3DX cone beam computerized radiography system is illustrated by the case of a fractured endodontic instrument protruding into the maxillary sinus.
Segmentação interativa de volumes baseada em regiões

Segmentacao de imagens e um problema subjetivo que, em geral, requer intervencao do usuario. O uso arraigado de imagens tri-dimensionais do corpo humano, provenientes de ressonância magnetica (MR) ou tomografia computadorizada (CT), para diagnostico, treinamento e planejamento de cirurgias criou uma demanda para metodos rapidos, eficientes e confiaveis de segmentacao de imagens tri-dimensionais (volumes). Neste trabalho estendemos a transformada imagem-floresta (IFT) para permitir a segmentacao de volumes com correcoes interativas, desenvolvemos procedimentos de preprocessamento para permitir a segmentacao de algumas estruturas de interesse no cerebro, a partir de imagens de MR, e apresentamos um metodo de “rendering” suficientemente rapido para prover visualizacao 3D durante a segmentacao sem comprometer a interatividade. Como vantagem, alguns erros que poderiam ser cometidos pelo usuario durante a segmentacao sao evitados com a informacao 3D da anatomia dos orgaos durante a segmentacao. O metodo proposto neste trabalho — a IFT diferencial (DIFT) — permite uma reducao de 90% no tempo de processamento necessario para a segmentacao e reduz o tempo de espera do usuario em cada correcao interativa de 20 para 3 segundos. Abstract
Low physical activity among adolescents in practical education

The aim of this study was to investigate physical activity levels and factors related to physical activity among 16‐year‐old girls and boys in secondary school practical and theoretical programs. An additional aim was to identify factors contributing to differences in physical activity patterns between the educational programs. Sixteen‐year‐old students in the first year of secondary school in Sweden (n=585) were systematically selected and 93% agreed to complete a questionnaire. Compared with students in theoretical programs, those in practical programs spent less time and energy per day in physical activity. Girls in practical programs were the least physically active, and boys in theoretical programs the most physically active students. Statistical analysis showed that, among students in practical programs, the influence of educational program on physical activity level was explained by lower socio‐economic level, less parental support, lower perceived health level, and negative attitudes toward outdoor physical activities. These data suggest that promotion of physical activity should focus on students, especially girls, in practical programs. Because the difference in physical activity levels between educational programs was partly an effect of less positive parental influence, school‐based programs may be especially influential in increasing physical activity levels among secondary school students.
DREAM—a novel approach for robust, ultrafast, multislice B1 mapping

A novel multislice B1‐mapping method dubbed dual refocusing echo acquisition mode is proposed, able to cover the whole transmit coil volume in only one second, which is more than an order of magnitude faster than established approaches. The dual refocusing echo acquisition mode technique employs a stimulated echo acquisition mode (STEAM) preparation sequence followed by a tailored single‐shot gradient echo sequence, measuring simultaneously the stimulated echo and the free induction decay as gradient‐recalled echoes, and determining the actual flip angle of the STEAM preparation radiofrequency pulses from the ratio of the two measured signals. Due to an elaborated timing scheme, the method is insensitive against susceptibility/chemical shift effects and can deliver a B0 phase map and a transceive phase map for free. The approach has only a weak T1 and T2 dependence and moreover, causes only a low specific absorption rate (SAR) burden. The accuracy of the method with respect to systematic and statistical errors is investigated both, theoretically and in experiments on phantoms. In addition, the performance of the approach is demonstrated in vivo in B1‐mapping and radiofrequency shimming experiments on the abdomen, the legs, and the head on an eight‐channel parallel transmit 3 T MRI system. Magn Reson Med, 2012. © 2012 Wiley Periodicals, Inc.
Usher Syndrome: Characteristics and Outcomes of Pediatric Cochlear Implant Recipients

Objective To evaluate the characteristics and outcomes of pediatric cochlear implant recipients diagnosed with Usher syndrome (US). Study Design Retrospective study of consecutive pediatric cochlear implant recipients (1991–2010). Setting Tertiary care children’s hospital. Patients Children who received a cochlear implant who were diagnosed with US either before or after implantation. Main Outcome Measures Electroretinography and ophthalmologic findings, cochlear anatomy based on preoperative imaging, age of independent ambulation, age at implantation, speech perception level, and communication method. Results Approximately 26 (3.7%) of 712 cochlear implant recipients were diagnosed with US based on the results of electroretinography and/or genetic testing. Preoperative imaging revealed no evidence of cochlear malformations. Average age of independent ambulation was 21.9 months (range, 12–30). Average age at implantation was 3.3 years (range, 6 mo to 11.6 yr). Mean follow-up after implantation was 7.8 years (range, 10 mo to 15.6 yr). Open-set speech perception was present in 92% of children, with use of a primarily oral communication mode in 69.2%. Conclusion In this large series of patients with the diagnosis of US who have undergone cochlear implantation, CT and MRI imaging were normal. Significant delay in independent ambulation was present in this population secondary to abnormal vestibular function associated with US Type I. A majority of children developed significant open-set speech perception and oral communication skills. Implantation of US children provides them with the opportunity to develop useful hearing and oral communication.
Metallothionein Prevents High-Fat Diet–Induced Cardiac Contractile Dysfunction

Obesity is associated with oxidative stress and mitochondrial and myocardial dysfunction, although interaction among which remains elusive. This study was designed to evaluate the impact of the free radical scavenger metallothionein on high-fat diet–induced myocardial, intracellular Ca2+, and mitochondrial dysfunction. FVB and metallothionein transgenic mice were fed a high- or low-fat diet for 5 months to induce obesity. Echocardiography revealed decreased fractional shortening, increased end-systolic diameter, and cardiac hypertrophy in high-fat–fed FVB mice. Cardiomyocytes from high-fat–fed FVB mice displayed enhanced reactive oxygen species (ROS) production, contractile and intracellular Ca2+ defects including depressed peak shortening and maximal velocity of shortening/relengthening, prolonged duration of relengthening, and reduced intracellular Ca2+ rise and clearance. Transmission microscopy noted overt mitochondrial damage with reduced mitochondrial density. Western blot analysis revealed enhanced phosphorylation of nuclear factor Foxo3a without changes in Foxo3a, Foxo1a, pFoxo1a, silent information regulator (Sirt), and Akt and pAkt in hearts of high-fat diet–fed FVB mice. The peroxisome proliferator–activated receptor γ coactivator-1α (PGC-1α), a key regulator of mitochondrial biogenesis, was significantly depressed by high-fat diet feeding and in vitro palmitic acid treatment. RT-PCR further depicted reduced levels of the PGC-1α downstream nuclear respiratory factors 1 and 2, mitochondrial transcription factor A, and mitochondrial DNA copy number in hearts of high-fat–fed FVB mice. Intriguingly, the high-fat diet–induced alterations in ROS, myocardial contractile, and mitochondrial and cell signaling were negated by metallothionein, with the exception of pFoxo3a. These data suggest that metallothionein may protect against high-fat diet–induced cardiac dysfunction possibly associated with upregulation of PGC-1α and preservation of mitochondrial biogenesis.
Oral anticoagulation treatment in the elderly: a nested, prospective, case-control study.

BACKGROUND Whether elderly patients are at increased risk of complications during oral anticoagulant treatment (OAT) is still a matter of debate. METHOD Bleeding and thrombotic events occurring during OAT in 461 patients, aged 75 years or older when they started OAT, and in 461 patients younger than 70 years, matched for sex, OAT indication, and treating center, were examined in a prospective, multicenter, inception-cohort study. RESULTS Bleeding rate was 9.9% and 6.6% patient-years in elderly and young patients, respectively (P = .07), and 2.1% and 1.1% for major bleeding (P = .19); 6 and 1 events, respectively, were fatal (all intracranial, relative risk, 6.4; P = .05). In the elderly, bleeding rate was lower (4.5%) for international normalized ratios (INRs) between 2.0 and 2.9; it was higher during the first 90 treatment days (P = .05) and when arterial vascular disease was the indication for OAT (P = .03). Thrombosis rate was 4.2% and 2.5% patient-years in elderly and young patients, respectively (P = .10); however, 13 and 5 events were fatal (relative risk, 2.8; P = .04). Thrombosis rate was lower (1.5%) for INRs between 2.0 and 2.9; it was higher during the first 90 treatment days (P<.001) and 6 of 7 venous events occurred at lower than 2.0 INRs. CONCLUSIONS A nonsignificant trend was noted toward a higher rate of both bleeding and thrombotic complications in elderly vs matched younger patients. Intracranial bleeding and fatal thrombotic events were significantly more frequent in the elderly. Our results also indicate that lower than 2.0 INRs do not preclude bleeding in the elderly nor offer adequate protection from thrombotic events. Moderate anticoagulation (2.0-3.0 INRs) in elderly patients seems the safest and most effective.
Drought response of five conifer species under contrasting water availability suggests high vulnerability of Norway spruce and European larch

The ability of tree species to cope with anticipated decrease in water availability is still poorly understood. We evaluated the potential of Norway spruce, Scots pine, European larch, black pine, and Douglas‐fir to withstand drought in a drier future climate by analyzing their past growth and physiological responses at a xeric and a mesic site in Central Europe using dendroecological methods. Earlywood, latewood, and total ring width, as well as the δ13C and δ18O in early‐ and latewood were measured and statistically related to a multiscalar soil water deficit index from 1961 to 2009. At the xeric site, δ13C values of all species were strongly linked to water deficits that lasted longer than 11 months, indicating a long‐term cumulative effect on the carbon pool. Trees at the xeric site were particularly sensitive to soil water recharge in the preceding autumn and early spring. The native species European larch and Norway spruce, growing close to their dry distribution limit at the xeric site, were found to be the most vulnerable species to soil water deficits. At the mesic site, summer water availability was critical for all species, whereas water availability prior to the growing season was less important. Trees at the mesic were more vulnerable to water deficits of shorter duration than the xeric site. We conclude that if summers become drier, trees growing on mesic sites will undergo significant growth reductions, whereas at their dry distribution limit in the Alps, tree growth of the highly sensitive spruce and larch may collapse, likely inducing dieback and compromising the provision of ecosystem services. However, the magnitude of these changes will be mediated strongly by soil water recharge in winter and thus water availability at the beginning of the growing season.
POTENTIAL USE OF TRANSGENIC PLUMS RESISTANT TO PLUM POX VIRUS FIELD INFECTION

Research to date indicates that post-transcriptional gene silencing (PTGS) is an effective strategy for the development of stable high-level resistance to Plum pox virus in plum. Field tests in Poland, Romania, and Spain show that after 5–6 years of natural aphid vectored inoculation, trees of the PTGS clone C5 remain virus-free. The effectiveness of transgene-based PTGS for imparting potyvirus resistance and the relatively rapid incorporation of this trait into Prunus germplasm suggests continued exploration and employment of this strategy for producing virus resistant stone fruits and other woody perennial tree fruits. INTRODUCTION Plum pox virus (PPV), the causal agent of sharka disease, is one of the most serious viruses affecting stone fruits, a group of commercially-produced Prunus species that includes peach, plum, apricot, and cherry (Nemeth, 1994). PPV is spread by aphids and through the use of infected budwood. Symptoms of plum pox infection include leaf chlorosis, fruit chlorosis and deformation, premature fruit drop, and tree decline, particularly in the presence of other common Prunus viruses (Roy and Smith, 1994). Originally reported from Bulgaria in 1932, PPV has spread throughout Europe where it has caused the destruction of over 100 million stone fruit trees. The scarcity of natural resistance and the lack of efficient control measures have made it difficult to stop the spread of PPV. Quarantine, plant sanitation, and eradication are the only available control strategies. Serious consequences result when these measures fail. Recent outbreaks of PPV in Chile, U.S., and Canada illustrate the potential for spread of this disease and the devastating consequences to the fruit industry. For example, during the first 2.5 years following the appearance of PPV in a limited area of Pennsylvania over 550 ha of stone fruit orchards were destroyed in order to contain and ostensibly eradicate the virus. Important and useful work is underway on the development of resistant cultivars of stone fruits utilizing naturally occurring resistance genes (Hartmann, 2002; Kegler et al., 1998; Polak et al., 2002). Yet there are few highly resistant genotypes, and the number of genes affecting resistance, their inheritance, and their effectiveness against various strains of PPV are areas of inquiry that require further study. It is clear that a multifaceted approach to developing resistant plants is necessary. Using plum (Prunus domestica L.) as a model, we have shown that through genetic transformation, stone fruits highly resistant to PPV can be developed (Scorza et al., 1994; Ravelonandro et al., 1997). This resistance is based on post-transcriptional gene silencing (PTGS) (Turner and Schuch, 2000) induced by the PPV coat protein transgene that was inserted into plum Proc. XXVI IHC – Genetics and Breeding of Tree Fruits and Nuts
A Preliminary Study on the Efficacy of a Community-Based Physical Activity Intervention on Physical Function-Related Risk Factors for Falls Among Breast Cancer Survivors

ObjectiveThe aim of this study was to examine the effects of a 6-week community-based physical activity (PA) intervention on physical function-related risk factors for falls among 56 breast cancer survivors (BCS) who had completed treatments. DesignThis was a single-group longitudinal study. The multimodal PA intervention included aerobic, strengthening, and balance components. Physical function outcomes based on the 4-meter walk, chair stand, one-leg stance, tandem walk, and dynamic muscular endurance tests were assessed at 6-week pre-intervention (T1), baseline (T2), and post-intervention (T3). T1 to T2 and T2 to T3 were the control and intervention periods, respectively. ResultsAll outcomes, except the tandem walk test, significantly improved after the intervention period (P < 0.05), with no change detected after the control period (P > 0.05). Based on the falls risk criterion in the one-leg stance test, the proportion at risk for falls was significantly lower after the intervention period (P = 0.04), but not after the control period. ConclusionsA community-based multimodal PA intervention for BCS may be efficacious in improving physical function-related risk factors for falls, and lowering the proportion of BCS at risk for falls based on specific physical function-related falls criteria. Further larger trials are needed to confirm these preliminary findings.
Predictors of cognitive function in candidates for coronary artery bypass graft surgery

Candidates for coronary artery bypass graft surgery have been found to exhibit reduced cognitive function prior to surgery. However, little is known regarding the factors that are associated with pre-bypass cognitive function. A battery of neuropsychological tests was administered to a group of patients listed for bypass surgery (n = 109). Medical, sociodemographic and emotional predictors of cognitive function were investigated using structural equation modeling. Medical factors, namely history of hypertension and low ejection fraction, significantly predicted reduced cognitive function, as did several sociodemographic characteristics, namely older age, less education, non-English speaking background, manual occupation, and male gender. One emotional variable, confusion and bewilderment, was also a significant predictor whereas anxiety and depression were not. When significant predictors from the three sets of variables were included in a combined model, three of the five sociodemographic characteristics, namely age, non-English speaking background and occupation, and the two medical factors remained significant. Apart from sociodemographic characteristics, medical factors such as a history of hypertension and low ejection fraction significantly predicted reduced cognitive function in bypass candidates prior to surgery. (JINS, 2007, 13, 257–266.)