Miracle-dz/UniFAR-FTUs huggingface dataset:
Semi-autonomous collaborative control for multi-weapon multi-target pairing

This paper focuses on developing a control method for a robotic single-master multi-slave (SMMS) system to cooperatively control mobile agents for multi-weapon multi-target pairing (WTP). Major components of the developed control method are potential field based leader-follower formation, compensation for operator-induced errors, and weapon-target pairings (WTP). A SMMS system has two subsystems, a single master and multi-slave robots. The master robot can transmit operator commands to the multi-slave robots which are a team of mobile manipulators to execute them while sensing environments. The multi-slave robots are divided into subgroups according to the number and types of weapons and targets for optimal effects. Each subgroup has a leader-follower architecture/ formation. The group leader is remotely controlled by a human operator to lead the leaders and followers of the subgroups. The transparency of the SMMS system is adjusted adaptively due to the compensation for operator-induced errors if they are detected. A sensor based auto-switching method is developed as a means to combine formation reconfiguration, collision avoidance, and motion control for reliability and robustness of the system. The WTP method is derived from the proven auction algorithm for a single target and is extended for multi-weapon multi-target cases, which optimizes effect-based weapon-target pairing based on a new heuristic algorithm. This is a novel approach that combines rule-based and function-based weapon-target pairing. The multi-weapon/ target pairing (MWTP) method is a weighted attack guidance table (WAGT), which includes the benefits of assigning weapon system combinations to targets. MWTP converges rapidly - as is the case for auction algorithms with integer benefits - but produces a suboptimal solution in general. Since MWTP represents a heuristic algorithm, further performance evaluation is anticipated in the future to verify the performance and the quality of the solution. A simulation study illustrates the efficacy of the proposed SMMS system for weapon-target pairing and target pursuit applications. In the simulation, the targets are assumed to be detected, identified, and geo-located by the operator and/or sensors. The team moves in an adaptive leader-follower formation to avoid obstacles if any and track targets as if the team was in a potential field. Each robot in the team is prioritized according to its functionality based on the types of weapons and targets, and subgroups are formed accordingly. Then, a robot in each subgroup is selected as the leader based on its proximity to the target and the weapon type. The subgroup leaders track the reference paths generated with respect to the positions of the group leader.
Early prediction of maxillary canine impaction.

OBJECTIVES The aim of this study was to establish prediction criteria for maxillary canine impaction in young patients, based on angular and linear measurements on panoramic radiographs. METHODS From 828 records having at least 2 panoramic radiographs, both taken between the ages of 7 and 14 years, with a minimum 1-year and maximum 3-year interval (T1 and T2), a training data set consisting of 30 subjects with unilateral canine impaction (12 males and 18 females) was selected. The patients' mean age was 10.1 years [standard deviation (SD) 1.3 years] at T1 and 11.9 years (SD 1.1 years) at T2. The training data set also consisted of 30 maxillary canines from the contralateral sides and an additional 60 normal erupted canines from 30 subjects. Those 30 subjects of a test data set were selected based on displaying bilateral maxillary canine eruption at T2 and being matched for gender and age with the subjects of the training data set [12 males and 18 females; mean age at T1, 10.1 years (SD 1.3 years) and at T2, 11.1 years (SD 1.2 years)]. Angular and linear measurements were performed separately by two observers on the total study sample at T1. Linear measurements were expressed as a multiplication of the maxillary central incisor width at the non-impacted side. RESULTS Significant differences for linear and angular measurements and radiographic factors were found between the maxillary impacted canine and erupted maxillary canine. The three best-discriminating parameters were canine to first premolar angle, canine cusp to midline distance and canine cusp to maxillary plane distance. These three parameters were combined in a multiple logistic regression model to calculate the probability of impaction, yielding a high area under the curve (AUC) equal to 0.97 (95% confidence interval: 0.94-0.99), with 90% sensitivity and 94% specificity. CONCLUSIONS Prediction of maxillary canine impaction from a combination of parameters relating to angles and distances measured in panoramic radiographs is weak. However, the final prediction model, based on canine-first premolar angle, canine cusp tip to midline distance and canine cusp tip to maxillary occlusal plane distance, might be useful to discriminate canine impaction for early intervention or regular follow-up.
Semistable reduction for overconvergent F-isocrystals, II: A valuation-theoretic approach

Abstract We introduce a valuation-theoretic approach to the problem of semistable reduction (i.e. existence of logarithmic extensions on suitable covers) of overconvergent isocrystals with Frobenius structure. The key tool is the quasicompactness of the Riemann–Zariski space associated to the function field of a variety. We also make some initial reductions, which allow attention to be focused on valuations of height 1 and transcendence degree 0.
Quality of Service and Mobility for the Wireless Internet

Our paper explores the issue of how to provide appropriate quality of service mechanisms closely integrated with flexible mobility management in wireless local area networks. We consider them as access networks of choice for the high performance Wireless Mobile Internet. We present a hierarchical QoS architecture that extends Differentiated Services (DiffServ) to mobile hosts in a wireless environment. Our approach is based on controlling several parameters of a wireless LAN cell: the limited geographical span to ensure the same high bit rate for all hosts, the constrained rate of traffic sources to limit the use of the channel in function of the required QoS and the limited number of active hosts to keep the load sufficiently low. The QoS management is coupled with mobility management at the IP level. We use a micro-mobility scheme implemented in the IPv6 layer with fast hand-offs between adjacent cells. Micro-mobility avoids address translation, traffic tunneling, and enables fast hand-offs. We give some details of experiments to show the quality of service differentiation over the 802.11b network.
Pharmacokinetics of Mixed Amphetamine Salts Extended Release in Adolescents With ADHD

Abstract Objective A randomized, open-label, single-dose, three-treatment, three-period, crossover, phase I study was conducted to assess the pharmacokinetics of mixed amphetamine salts extended release (MAS XR) in adolescents with attention-deficit/hyperactivity disorder (ADHD). Methods Two cohorts of healthy adolescents 13–17 years of age with ADHD were enrolled in the study. Seventeen subjects, weighing ≤75 kg (≤ 65 lbs), were randomized to one of three dosing sequence groups (a single oral dose of MAS XR 10, 20, or 40 mg, follwed by crossover to the alternate treatments, with a 7-day washout between treatments). Six additional subjects, weighing >75 kg (>165 lbs), were randomized simihrly but received larger doses of MAS XR (20, 40, and 60 mg). Blood samples were collected before and at hours 1–12 after drug administration, as well as before and at hours 14, 24,48, and 60. Findings Linear pharmacokinetics of dextroamphetamine (D-amphetamine) and loamphetamine (L-amphetamine) were observed with MAS XR in both cohorts. The pharmacokinetics of D-amphetamine and L-amphetamine did not differ between male and female adolescents. A significant decrease in maximum exposure (Cmax) and increase in half-life were seen for both isomers with increasing age, but overall exposure (AUC∞ was not affected. Cmax and AUC∞ for both isomers decreased as body weight increased. Conclusion Exposure to MAS XR was linear and directly proportional to the dose administered in 13–17-year-old adolescents with ADHD. The time course of drug absorption and elimination did not appear to be affected by dose at 10–40 mg in subjects weighing ≤75 kg, and at 20–60 mg in subjects weighing >75 kg. Gender did not affect the pharmacokinetics of MAS XR; age and body weight influenced the profile of certain pharmacokinetic variables.
‘There’s a problem, and we’ve got to face it’: how staff members wrestled with race in an urban high school

Educators who initiate school reform work often find that attempts to raise student achievement and change school culture are derailed when staff members refuse to address issues of race. At the same time, staff members who collectively resist engaging in discussions of racism and racial inequality may be actively involved in their own individual processes of ‘wrestling with race’. This was the case at an urban high school in the US where staff members were engaged in a reform effort designed to change ‘toxic' school culture. Staff members' collective refusal to examine racial discipline and achievement patterns masked the ways in which individuals struggled privately with a variety of race-based questions, tensions, and dilemmas. In a school where references to race were routinely encoded in forms of everyday talk, staff members positioned students and each other racially, read their colleagues' interactions with students and each other through a racialized lens, and formed social networks around racial ideology. This racial basis of interaction kept race in the forefront of many staff members' minds, even as they outwardly denied that race was a significant issue in the school. My analysis will show that when left unaddressed, educators' private struggles with race contributed to racial tension among staff members and students. On the other hand, when those private struggles were acknowledged, supported, and explored, they could lead to important forms of racial learning and progress on school reform.
Induction of hsp70, hsp90, and catalase activity in planarian Dugesia japonica exposed to cadmium

The hsp70 and hsp90 expression patterns and catalase (CAT) activity in the freshwater planaria Dugesia japonica exposed to cadmium (Cd) under laboratory conditions were investigated. Planaria were exposed to a range of Cd concentrations (0–150 μg Cd/L) for 24 h. The expression levels of hsp70 and hsp90 were determined by relative quantitative real-time polymerase chain reaction. Within the overall dose range in the experiment, the expression level of hsp70 and the activity of CAT in D. japonica were altered significantly. Hsp70 was induced in D. japonica upon Cd exposure concentrations as low as 9.375 μg Cd/L. No significant effect on the expression level of hsp90 was observed. Our findings demonstrated that stress gene hsp70, but not hsp90, was responsive to Cd contamination in D. japonica. CAT activity was significantly induced at concentrations of 18.75, 37.5, and 75 μg Cd/L after 24-h exposure. We recommend that the use of hsp70 as a biomarker should be complemented by evidence of changes in other parameters, such as CAT activity, in D. japonica.
Epoch, length of the random waypoint model in mobile ad hoc networks

In this paper, we derive the probability distribution of the epoch length for the random waypoint model in mobile ad hoc networks. An epoch here is referred to as the movement between two target locations in the mobility model. Such a study is important as the epoch length distribution may be required for the derivation of the link-duration distribution or node spatial distribution for mobile ad hoc networks. The analytical result is then verified via simulation.
Using Multiple Clustering Algorithms to Generate Constraint Rules and Create Consensus Clusters

Data clustering techniques is used for aiding knowledge discovery when no additional information is available. There are several clustering techniques which produce reasonable results, although they often produce qualitatively distinct clusterings. In this paper, we study how different clustering algorithms produce different kinds of clusters and their relations. Also, we evaluate the possibility to merge differently generated clustering into a new clustering which neither of original algorithms can produce. The main contribution of this paper is a new algorithm which merges previous generated clusterings based on must-link constraint rules built from agreements among elements observed from such clusterings. This novel approach employs the entropy of agreements in order to decide to which cluster should an element belong. Experimental results indicate: 1) our approach can merge characteristics from original clusterings; 2) in some situations, it captures new information from data and improve results, mainly when considering external perspective; and 3) in no situation it has produced significantly worse results.
Achieving Far Transfer in an Integrated Cognitive Architecture

Transfer is the ability to employ knowledge acquired in one task to improve performance in another. We study transfer in the context of the ICARUS cognitive architecture, which supplies diverse capabilities for execution, inference, planning, and learning. We report on an extension to ICARUS called representation mapping that transfers structured skills and concepts between disparate tasks that may not even be expressed with the same symbol set. We show that representation mapping is naturally integrated into ICARUS' cognitive processing loop, resulting in a system that addresses a qualitatively new class of problems by considering the relevance of past experience to current goals.
Removing Motion Blur using Natural Image Statistics

We tackle deconvolution of motion blur in hand-held consumer photography with a Bayesian framework combing sparse gradient and color priors for regularization. We develop a closed-form optimization utilizing iterated re-weighted least squares (IRLS) with a Gaussian approximation of the regularization priors. The model parameters of the priors can be learned from a set of natural images because they resemble common image statistics. We throughly evaluate and discuss the effect of different regularization factors and make suggestions for reasonable values. Both gradient and color priors are current state-of-the-art. In natural images the magnitude of gradients resembles a kurtotic hyper-Laplacian distribution, and the two-color model exploits the observation that locally any color is a linear approximation between some primary and secondary colors. Our contribution is integrating both priors into a single optimization framework and providing a more detailed derivation of their optimization functions. Our re-implementation reveals different model parameters than previously published, and the effectiveness of the color priors alone are explicitly examined. Finally, we propose a context-adaptive parameterization of the regularization factors in order to avoid over-smoothing the deconvolution result in highly textured areas.
A Decline in CCL3-5 Chemokine Gene Expression during Primary Simian-Human Immunodeficiency Virus Infection

Background The CC-chemokines CCL3, CCL4 and CCL5 have been found to block the entry of CCR5-tropic HIV into host cells and to suppress the viral replication in vitro, but the in vivo role of endogenous CC-chemokines in HIV-1 infection is still incompletely understood. Methodology/Principle Findings In this study, the primate host CCL3, CCL4 and CCL5 gene expression was evaluated in response to simian-human immunodeficiency virus (SHIV) infection in rhesus macaque model. Five rhesus macaques were inoculated with CCR5-tropic SHIVSF162P4. The mRNA levels of CCL3, CCL4 and CCL5 were measured by real-time PCR at post inoculation day (PID) 0, 7, 14, 21, 35, 56 and 180 in peripheral blood. In addition, a selected subset of samples from CXCR4-tropic SHIVKu1-infected macaques was included with objective to compare the differences in CC-chemokine down-regulation caused by the two SHIVs. Gut-associated lymphoid tissues (GALT) collected from SHIVSF162P4-infected animals were also tested by flow cytometry and confocal microscopy to corroborate the gene expression results. Predictably, higher viral loads and CD4+ T cell losses were observed at PID 14 in macaques infected with SHIVKu1 than with SHIVSF162P4. A decline in CC-chemokine gene expression was also found during primary (PID 7-21), but not chronic (PID 180) stage of infection. Conclusions It was determined that A) SHIVSF162P4 down-regulated the CC-chemokine gene expression during acute stage of infection to a greater extent (p<0.05) than SHIVKu1, and B) such down-regulation was not paralleled with the CD4+ T cell depletion. Evaluation of CC-chemokine enhancing immunomodulators such as synthetic CpG-oligonucleotides could be explored in future HIV vaccine studies.
Monitoring fuzzy temporal requirements for service compositions: Motivations, challenges and experimental results

Service compositions are an important family of self-adaptive systems, which need to cope with the variability of the environment (e.g., heterogeneous devices, changing context), and react to unexpected events (e.g., changing components) that may take place at runtime. To this aim, it is fundamental to continuously assess requirements while the system is executing and detect partial mismatches or handle uncertainty. Detecting the entity of a violation is very helpful, since it can guide the way applications adapt at runtime. This paper is based on the FLAGS language we already proposed in our previous work to represent requirements as fuzzy temporal formulas and identify partial violations at the temporal level. The paper illustrates the advantages of using the FLAGS language to express the requirements of service compositions, and proposes a technique to monitor them at runtime. The experimental evaluation demonstrates that the monitoring technique is feasible and the overhead introduced in the running system is negligible.
Human error in daily intensive nursing care1

Objectives: to identify the errors in daily intensive nursing care and analyze them according to the theory of human error. Method: quantitative, descriptive and exploratory study, undertaken at the Intensive Care Center of a hospital in the Brazilian Sentinel Hospital Network. The participants were 36 professionals from the nursing team. The data were collected through semistructured interviews, observation and lexical analysis in the software ALCESTE(r). Results: human error in nursing care can be related to the approach of the system, through active faults and latent conditions. The active faults are represented by the errors in medication administration and not raising the bedside rails. The latent conditions can be related to the communication difficulties in the multiprofessional team, lack of standards and institutional routines and absence of material resources. Conclusion: the errors identified interfere in nursing care and the clients' recovery and can cause damage. Nevertheless, they are treated as common events inherent in daily practice. The need to acknowledge these events is emphasized, stimulating the safety culture at the institution.
Analysis of the Bile Salt Export Pump (ABCB11) Interactome Employing Complementary Approaches

The bile salt export pump (BSEP, ABCB11) plays an essential role in the formation of bile. In hepatocytes, BSEP is localized within the apical (canalicular) membrane and a deficiency of canalicular BSEP function is associated with severe forms of cholestasis. Regulation of correct trafficking to the canalicular membrane and of activity is essential to ensure BSEP functionality and thus normal bile flow. However, little is known about the identity of interaction partners regulating function and localization of BSEP. In our study, interaction partners of BSEP were identified in a complementary approach: Firstly, BSEP interaction partners were co-immunoprecipitated from human liver samples and identified by mass spectrometry (MS). Secondly, a membrane yeast two-hybrid (MYTH) assay was used to determine protein interaction partners using a human liver cDNA library. A selection of interaction partners identified both by MYTH and MS were verified by in vitro interaction studies using purified proteins. By these complementary approaches, a set of ten novel BSEP interaction partners was identified. With the exception of radixin, all other interaction partners were integral or membrane-associated proteins including proteins of the early secretory pathway and the bile acyl-CoA synthetase, the second to last, ER-associated enzyme of bile salt synthesis.
A risk model for lung resection: data from the European Thoracic Database Project

&NA; The development, application and interpretation of risk models is becoming an important activity in a number of surgical disciplines. In this paper, we discuss the many issues that arise when constructing a risk model, with particular reference to the development of a risk model for thoracic surgery. First, we briefly revisit the origins of risk modelling in cardiothoracic surgery.
Investigation of Cross-Coupling Inductances for Long-Stator PM Linear Motor Arranged in Multiple Segments

The designs of long-stator permanent magnet (PM) linear motor are widely adopted modular segments to simplify system and reduce energy losses. This paper investigates cross-coupling inductances for multi-segments PM linear motor with concentrated windings. Considering large phase inductances, an improved experimental method based on sine-wave voltage source are proposed to analyze the cross-coupling inductances based on current excitations. And then asymmetrical phase characteristics of stator segments with different boundary conditions are evaluated quantitatively. The relationships between asymmetrical phase inductances and cross-coupling inductances are derived. The results indicate that peak-peak value of cross-coupling inductance waveform in the middle stator segments is smaller than that in the first and terminal ones.