Miracle-dz/UniFAR-FTUs huggingface dataset:
Uncalibrated dynamic eye-in-hand visual tracking of robots by observing unknown static objects

Uncalibrated visual servoing techniques based on the depth-independent interaction matrix framework have been proposed for the general 3D motion control of robot manipulators, which can simultaneously handle both the unknown intrinsic and extrinsic camera parameters. By extending the existing adaptive eye-in-hand visual servoing approach based on the depth-independent interaction matrix, in this paper, we propose an uncalibrated dynamic visual tracking approach for the eye-in-hand camera configuration by observing multiple feature points of a static object. The proposed approach can simultaneously handle the unknown camera parameters and the unknown 3D coordinates of the feature points, where a new adaptive law is developed to estimate these unknown parameters online. On the basis of nonlinear dynamics of robot manipulators, we also prove the asymptotic convergence of the image errors with the help of Lyapunov theory. To demonstrate the performance of the proposed approach, preliminary simulation results will be given by using a two-link planar robot manipulator.
BRAIN IMAGING: fMRI shows multiple somatotopic digit representations in human primary somatosensory cortex

Using electrical ®nger nerve stimulation in normal human subjects, fMRI detected separate representations for all 5 ®ngers in the primary somatosensory cortex. Responses were located in the posterior wall of the deep central sulcus (most likely corresponding to Brodmann Area (BA) 3b), and the anterior (BA 1) or posterior crown of the postcentral gyrus (BA 2) with rare activations in BA 3a and 4. In BA 3b we found a regular somatotopic mediolateral digit arrangement for ®ngers 5 to 1 with a mean Euclidean distance of 16 mm between ®ngers 1 and 5. In contrast BA 1/2 showed a greater number of adjacent activation foci with signi®cantly more overlap and partly even reversed ordering of neighbouring ®ngers. NeuroReport 11:1487±1491 & 2000 Lippincott Williams & Wilkins.
[Comparison of two different methods of analgesia. Postoperative course after colorectal cancer surgery].

BACKGROUND The purpose of our study is to compare two methods of postoperative analgesia in colorectal cancer patients after resectional operations, and to evaluate advantages and limitations of each method on the postoperative course of these patients. METHODS One hundred patients scheduled to undergo elective colorectal cancer surgery were randomized into two groups; after general anesthesia, one group received epidural analgesia (n=50) and the second one - intramuscular pethidine analgesia (n=50). Visual analogue scale at rest and on coughing was used to compare intensiveness of pain between the two groups during the day of surgery and first three postoperative days. Patients' mood and self-satisfaction were evaluated using self-assessment manikin scale. Side effects of both analgesia techniques were registered. All complications and postoperative hospital stay were also evaluated. RESULTS Visual analogue scale pain scores at rest and on coughing were significantly better in epidural analgesia group as compared to systemic intramuscular pethidine analgesia group (p<0.05). Additional analgesics were needed for 10 (20%) and 28 (56%) patients respectively to keep visual analogue scale pain scores below 5. Adverse effects such as profound sedation, nausea and vomiting were more frequent in systemic intramuscular pethidine group, but pruritus - very uncommon to compare with epidural analgesia group (p<0.05). There were no significant differences between the two groups in respect to complications and postoperative hospital stay. CONCLUSIONS Epidural analgesia has demonstrated significantly better effectiveness than intramuscular pethidine analgesia after colorectal cancer surgery with fewer adverse events. Self-assessment manikin scores showed better self-satisfaction in patients of epidural analgesia group as compared to patients in systemic pethidine group.
On the Networking Challenges of Mobile Augmented Reality

In this paper, we conduct a reality check for Augmented Reality (AR) on mobile devices. We dissect and measure the cloud-offloading feature for computation-intensive visual tasks of two popular commercial AR systems. Our key finding is that their cloud-based recognition is still not mature and not optimized for latency, data usage and energy consumption. In order to identify the opportunities for further improving the Quality of Experience (QoE) for mobile AR, we break down the end-to-end latency of the pipeline for typical cloud-based mobile AR and pinpoint the dominating components in the critical path.
Media influence on suicide

Editor—We agree with Hawton and Williams that training courses for careers in the media offer the potential for improved portrayal of suicide in the media.1 The media, however, clearly can affect many facets of health related behaviour. We recently reported the effect of the death from cervical cancer of a character (Alma) in the television soap opera Coronation Street on the NHS cervical screening programme in the north west of England.2,3 Our studies showed an excess of 14 000 cervical smear tests performed as a result of the storyline (a 21% increase on the previous year), although only 2000 of them were in women whose test was overdue or who had had no previous smear test. The remaining 12 000 smear tests were performed on women attending for an early, unscheduled test or who were due a smear test anyway and brought their appointment forward. The large increase in the number of smear tests led to a strain on local laboratories, with the time taken to report results increasing to beyond acceptable quality assurance limits—a factor likely to provoke excess anxiety in women. We also found that many women were prompted to attend for a cervical smear test because the storyline made them worry. This anxiety generating approach contrasts with current initiatives to encourage women to make an informed choice about screening. Television programme makers should realise the power of such stories not only to achieve maximal viewing figures but also to cause fear and anxiety, as well as the consumption of scarce healthcare resources. Those responsible for promoting health need to engage programme makers in a full ethical debate.
The Agricultural Economy of an Old Kingdom Town in Egypt's West Delta: Insights from the Plant Remains

MOST of our knowledge of the Old Kingdom economy in Egypt comes from ancient texts and representations. ' These sources suggest that there were important centers of cattle-raising in the Delta during this time (ca. 2700-2250 B.C.). 2 Cattle occur in the names of four Delta nomes3 and frequently appear crossing Delta marshes in Old Kingdom mastaba scenes.4 In addition, cattle cults were widespread and prominent in Lower Egypt.5 Yet, except for the representations on the walls of funerary monuments, there is almost no archaeological evidence for cattle-herding in the Old Kingdom Delta. No studies of economy and community structure have been based on soundings of actual settlements of this period until recently. In 1984, excavations focusing on economy and settlement were begun at Kom el-Hisn, a West Delta site which proved to have extensive Old Kingdom deposits (fig. 1). During the excavations, both floral and faunal remains were systematically collected, but it is the floral materials, surprisingly, which offer the best evidence of cattle in the economy of this Delta town. Plant remains derived from bovine dung confirm that cattle-raising was important at Kom el-Hisn and shed light on specific breeding practices. Since the late nineteenth century, various scholars have visited Kom el-Hisn and surveyed or probed portions of the site. Their efforts have yielded First and Second Dynasty flint implements and remains of tombs, monuments, and artifacts dating from the end of the Old Kingdom until Greco-Roman times.6 The site at Kom el-Hisn is
Editoral Physiologic Activities of the Contact Activation System

The plasma contact activation system has been recognized as a group of proteins [factor XII (FXII), prekallikrein (PK), high molecular weight kininogen(HK)] that influence surface-activated blood coagulation tests [the activated partial thromboplastin time, activated clotting time (ACT)] but are not associated with hemostasis, a process that leads to the cessation of bleeding. These proteins influence these assays because FXII and to a lesser extent PK have the ability to autoactivate into enzymes when incubated with some biologic and artificial surfaces. In vivo, contact activation occurs when there is an interaction of blood with artificial surfaces such as thrombus occurring on catheter tips, blood and platelet activation in cardiopulmonary bypass, and after excess kallikrein, activated FXII (FXIIa), or chondroitin sulfate adulterates intravenous preparations given to man [1-4]. In addition to the above man-made situations, several medical disorders such as sepsis from any etiology, hereditary angioedema due to C1 inhibitor deficiency or mutated FXII (Type III hereditary angioedema), adult respiratory distress syndrome, and allergic reactions, contact activation with plasma kallikrein formation and bradykinin liberation also is well-recognized to arise [5-9].
El régimen impositivo para la microempresa en Cuba

Apenas legalizado el sector, en 1993, el gobierno de Cuba establecio un regimen impositivo para la microempresa. Fue disenado para funcionar en un contexto dificil, caracterizado por la inexistencia de una cultura tributaria que hacia temer un incumplimiento generalizado y en el eran muy elevados los ingresos de algunos microempresarios. El regimen impositivo incluye pagos anticipados de cuota fija, un monto maximo de un 10% deducible de los ingresos totales como costos para el calculo de la renta imponible, y una escala de impuestos progresiva. Sus muchas debilidades lo hacen injusto, ineficiente e ineficaz para la generacion de recursos fiscales. El analisis que se efectua en este trabajo indica que la incidencia real del impuesto es mayor que la escala tributaria oficial cuando los costos efectivos de produccion superan el maximo deducible permitido del 10% (en algunos casos hasta 100% mas);. Los pagos de cuota fija se traducen en tasas impositivas marginales de 100% para los primeros niveles de ingreso, seguidas por una tasa de 0% hasta alcanzar el nivel de renta imponible en que los impuestos devengados segun la escala se igualan al pago de cuota fija inicial. El regimen impositivo discrimina contra las microempresas con costos de insumos superiores al 10% de sus ingresos brutos. Es regresivo porque, hasta un nivel bastante significativo de ingresos netos efectivos, las microempresas con menores ingresos estan afectas a tasas mas altas. El sector de la microempresa enfrenta un regimen mas gravoso que el que se le aplica al sector economico de empresas extranjeras y de sociedades de participacion. Desde la perspectiva de la eficiencia en el uso de los recursos, el regimen impositivo restringe el ingreso de empresas nuevas al sector y empuja a algunas al cierre o a la clandestinidad, con lo que eleva los precios y reduce la produccion, el empleo y la generacion de ingresos. Por ultimo, en la medida en que se abren menos negocios o las empresas pasan a la clandestinidad, quiebran o evaden impuestos, el gobierno pierde recaudacion fiscal. Aqui se sugieren diversas modificaciones al regimen impositivo para superar estas debilidades. Estos cambios redundarian para Cuba en una mejor contribucion del sector en materia de generacion de empleo e ingresos, aumento de la produccion a costos reales, precios mas bajos y una mayor recaudacion tributaria.
The evaluation of culture media for the isolation ofl salmonellaell from faeces

The sensitivity of different culture media for isolating salmonellae from the faeces of man, dog, horse, cow, sheep, pig, chicken, duck and turkey has been investigated. Suitable dilutions of tissue fluids of animals that had died from salmonella infection, and in which the numbers of viable salmonellae could be accurately estimated, had previously been added to the faecal specimens. Tissue fluids containing Salmonella dublin, typhi-murium, thompson, cholerae-suis, gallinarum and pullorum were used. Selenite and tetrathionate media were greatly superior to liquid desoxycholatecitrate medium, liquid Wilson and Blair medium, cacotheline broth and brilliant green peptone water. By the use of either selenite or tetrathionate media it was usually possible to recover salmonellae from faecal specimens to which less than ten salmonellae had been added. They could nearly always be recovered from specimens containing 100 salmonellae. Salmonellae were more easily recovered from the faeces of some species of animals than others. For selenite, the order of ease of recovery was horse, followed by sheep, human, cow, chicken, pig, turkey, dog and duck faeces, and for tetrathionate, horse, sheep, human, dog, pig, cow, turkey, chicken and duck faeces. Selenite medium was preferable to tetrathionate for examining cow and chicken faeces but the reverse was true in the case of dog faeces; slight differences only were noted in the other species. Taken as a whole, selenite was slightly superior to tetrathionate, butbest results were obtained by the use of both media. Some types of salmonellae were easier to recover from faeces than others.Of six salmonella types, Salm. thompson was easiest to recover followed by Salm. typhi-murium, dublin, gallinarum, pullorum and cholerae-suis, in that order. Erroneous results were obtained when laboratory cultures were used instead of infected tissue fluids. It was necessary to add several thousand salmonellae to faeces before they could be recovered by direct culture on desoxycholate-citrate-agar or Wilson and Blair solid medium. Salm. cholerae-suis and Salm. abortus-ovis were exceptional in that direct plating was superior to the use of enrichment media. With lightly infected specimens an incubation period of 24–30 hr. was optimum for selenite and tetrathionate media. A longer period was detrimental with tetrathionate but not with selenite medium. The combination of selenite and solid Wilson and Blair medium was sometimes too inhibitory to permit the growth of salmonellae. There was little advantage in preparing selenite medium with mannitol instead of lactose.
Effectiveness of Three Minimal Intervention Approaches for Managing Dental Caries: Survival of Restorations after 2 Years

The present study was aimed at comparing the effectiveness of three minimally invasive restorative treatment approaches for dentinal lesions in occlusal surfaces. The approaches tested comprised a conventional and a modified–conventional treatment and a modified Atraumatic Restorative Treatment (ART). The conventional approach was performed in a university dental clinic whilst the modified–conventional, employing portable equipment, and the modified ART, using hand instruments and a caries removal solution (Caridex®), were carried out in the field. Using the split–mouth design, 430 matched contralateral pairs of occlusal cavities were restored with amalgam or glass–ionomers in permanent molars of 152 school children by one dental therapist. The restorations were assessed using a modified USPHS–Ryge criteria. After 2 years, the cumulative survival percentages for occlusal amalgam and glass–ionomer restorations were 92 and 96%, respectively. The survival of all restorations in the conventional, modified–conventional and the modified ART group was 96, 96 and 91%, respectively. The survival of occlusal amalgam and glass–ionomer restorations per treatment group was as follows: 94 and 99%, respectively (conventional group); 95 and 97%, respectively (modified–conventional group), and 89 and 93%, respectively (modified ART group). The differences in survival percentage between restorations with amalgam and glass–ionomer, and between the three restorative treatment approaches were not statistically significant. In countries facing scarcity in resources for dental care, ART seems a promising restorative approach to occlusal caries in posterior teeth. However, a longer clinical observation period is required to substantiate this initial conclusion.
Pathways of degradation of buserelin by rat kidney membrane.

The pathways of in vitro degradation of the gonadotropin-releasing hormone (GnRH) analog buserelin [pGlu-His-Trp-Ser-Tyr-D-Ser(tBu)-Leu-Arg- ProNHEt, B1-9] by the rat kidney membrane fraction was investigated using high-performance liquid chromatography for the separation of the peptide products and electrospray mass spectrometry for their identification. The N-terminal peptides B1-4, B1-3, B1-2, C-terminal peptides B3-9, B4-9, B5-9, B6-9, middle sequence B3-4 and the amino acids Trp, Ser and Tyr were found to be formed. However, due to extreme differences in the stability of the peptides toward the battery of membrane enzymes (B1-2, B6-9 >> B1-3, B5-9 >> B1-9 >> B1-4 > B4-9 > B3-9, B3-4), the final products of buserelin degradation were B1-2, B1-3, B5-9, and B6-9 and the amino acids Ser and, corresponding to the formation of B1-2 and B6-9, Trp and Tyr, respectively. The sequences B3-9, B4-9 and B3-4 were clearly detectable only when the inhibitors of aminopeptidases amastatin and bestatin were included in the incubations. (ABSTRACT TRUNCATED AT 250 WORDS)
Towards Lightweight Satisfiability Solvers for Self-Verification ( Invited Paper )

Solvers for Boolean satisfiability (SAT solvers) are essential for various hardware and software verification tasks such as equivalence checking, property checking, coverage analysis, etc. Nevertheless, despite the fact that very powerful solvers have been developed in the recent decades, this progress often still cannot cope with the exponentially increasing complexity of those verification tasks. As a consequence, researchers and engineers are investigating complementarily different verification approaches which require changes in the core methods as well. Self-verification is such a promising approach where e.g. SAT solvers have to be executed on the system itself. This comes with hardware restrictions such as limited memory and motivates lightweight SAT solvers. This work provides a case study towards the development of such solvers. To this end, we consider several core techniques of SAT solvers (such as clause learning, Boolean constraint propagation, etc.) and discuss as well as evaluate how they contribute to both, the run-time performance but also the required memory requirements. The findings from this case study provide a basis for the development of dedicated, i.e. lightweight, SAT solvers to be used in self-verification solutions.
Law in Many Pieces

A Fter decAdeS oF being specialist territory, Roman law has recently begun to reemerge as a lively field of historical study: an increasing number of monographs and edited volumes concerned with sociolegal history are being produced, and at least one new monograph series is devoted to ancient legal history exclusively; large-scale handbooks and comparative works are underway; specialized panels and conferences devoted to socio-legal matters have been held; a research group has been founded that devotes itself exclusively to legal documents. Interests in Roman law extend even to the classroom, graduate as well as undergraduate: new textbooks—written from various perspectives—have recently been published, and a survey of undergraduate Roman law courses is underway. 1 This flurry of scholarly activity is consequential, not least because it has quietly but effectively fractured a number of old assumptions relevant to how we should write the history of law and legal institutions. It bears adding that these new trends in the writing of legal history are also of broader consequence to scholars of Roman antiquity more generally. What follows proceeds in three parts. First I provide an overview of the field of Roman legal studies as a whole and highlight some important shifts in the conceptual and theoretical underpinnings of the main subgenres of ancient legal history. A shift to more humanistic modes of understanding law, I argue, has suggested that law was an open field of meaningful practice in the Roman world. What is more, recent work has compiled evidence that more people (and more types of people) were participating in the creation of the
Numerical Study on the Multi-Region Bio-Heat Equation to Model Magnetic Fluid Hyperthermia (MFH) Using Low Curie Temperature Nanoparticles

This study develops and solves two-dimensional convective-conductive coupled partial differential equations based on Pennes' bio-heat transfer model using low Curie temperature nanoparticles (LCTNPs) to illustrate thermal behavior quantitatively within tumor-normal composite tissue by establishing a multi-region finite difference algorithm. The model combines Neel relaxation and temperature-variant saturation magnetization derived from Brillouin Equation and Curie-Weiss Law. The numerical results indicate that different deposition patterns of LCTNP and boundary conditions directly effect the steady state temperature distribution. Compared with high Curie temperature nanoparticles (HCTNPs), optimized distributions of LCTNPs within tumorous tissue can be used to control the temperature increase in tumors for hyperthermia treatment using an external magnetic field while healthy tissue surrounding a tumor can be kept closer to normal body tissue, reducing the side effects observed in whole body and regional hyperthermia therapy.
Pourquoi la plupart des etudiants universitaires sont-ils des femmes? Analyse fondee sur le rendement scolaire, les methodes de travail et l'influence des parents

Dans la presente etude, nous nous servons de nouvelles donnees canadiennes detaillees sur les notes aux tests normalises, les notes scolaires, l'influence des parents et des pairs, ainsi que d'autres caracteristiques socioeconomiques de base des garcons et des filles pour essayer d'expliquer l'ecart important entre ceux-ci en matiere d'inscription a l'universite. Parmi les jeunes ages de 19 ans en 2003, 38,8 % des filles etaient inscrites a l'universite, comparativement a 25,7 % seulement des garcons. Cependant, les jeunes hommes et les jeunes femmes etaient aussi susceptibles les uns que les autres d'aller au college. Nous constatons que des differences entre les garcons et les filles en ce qui a trait aux caracteristiques observables expliquent plus des trois quarts (76,8 %) de l'ecart relatif a l'inscription a l'universite. Par ordre d'importance, les principaux facteurs sont les differences entre les notes scolaires obtenues a l'age de 15 ans, les notes aux tests normalises de lecture obtenues a l'age de 15 ans, les methodes de travail, les attentes des parents et la prime salariale associee a un diplome universitaire comparativement a celle associee a un diplome d'etudes secondaires. Ensemble, les quatre mesures des aptitudes aux etudes que nous utilisons "notes globales, notes aux tests normalises de lecture, methodes de travail et redoublement d'une annee" rendent compte de 58,9 % de l'ecart entre les sexes pour ce qui est de l'inscription a l'universite. Par consequent, pour comprendre l'avantage des femmes en ce qui concerne la poursuite d'etudes universitaires, il pourrait etre essentiel de comprendre pourquoi les filles obtiennent de meilleurs resultats que les garcons au primaire et au secondaire.
Speech and authority in Herodotus' Histories

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