Miracle-dz/UniFAR-FTUs huggingface dataset:
Very Compact Climbing Robot rolling on Magnetic Hexagonal Cam-Discs, with High Mobility on Obstacles but Minimal Mechanical Complexity

In this paper, we present the mechanical design of a very compact climbing robot with outstanding mobility in environments that allow for ferromagnetic adhesion. It is planned to be used for the inspection of complex shaped environments in power plant components, as they can be found in the housings of large generators, steam chests or pipe systems. After a detailed discussion of previous designs and their main limitations, we present a new vehicle concept that rolls on magnetic hexagonal cam-discs. In preliminary experiments we show that inner and outer transition can be passed with such magnetic cam-discs very easily. Where a normal magnetic wheel would get stuck, this new design just passes. This observation and its impact on robot design are analyzed more detailed by using a 2D mechanical calculation model. This analysis leads to the finding that a robot rolling on such cam-discs instead of classic magnetic wheels can be realized much simpler than previous designs - using traction on only the front shafts, no rubber cover on the cam-discs (higher robustness on rusty surfaces) and no additional mechanisms such as additional wheels in the structure, dual magnetic wheels or even additional actuators for actively reducing the unwanted adhesion force in inner transitions. After successful tests with a preliminary prototype with only one traction unit, the paper concludes with the realization and tests of the final prototype (also including a second unit for steering and a camera mock-up), a comparison towards our previous design and an outlook to future improvements and enhancements.
Conserved spatio-temporal patterns of suction-feeding flows across aquatic vertebrates: a comparative flow visualization study

ABSTRACT Suction feeding is a widespread prey capture strategy among aquatic vertebrates. It is almost omnipresent across fishes, and has repeatedly evolved in other aquatic vertebrates. By rapidly expanding the mouth cavity, suction feeders generate a fluid flow outside of their mouth, drawing prey inside. Fish and other suction-feeding organisms display remarkable trophic diversity, echoed in the diversity of their skull and mouth morphologies. Yet, it is unclear how variable suction flows are across species, and whether variation in suction flows supports trophic diversity. Using a high-speed flow visualization technique, we characterized the spatio-temporal patterns in the flow fields produced during feeding in 14 species of aquatic suction feeders. We found that suction-feeding hydrodynamics are highly conserved across species. Suction flows affected only a limited volume of ∼1 gape diameter away from the mouth, and peaked around the timing of maximal mouth opening. The magnitude of flow speed increased with increasing mouth diameter and, to a lesser extent, with decreasing time to peak gape opening. Other morphological, kinematic and behavioral variables played a minor role in shaping suction-feeding dynamics. We conclude that the trophic diversity within fishes, and likely other aquatic vertebrates, is not supported by a diversity of mechanisms that modify the characteristics of suction flow. Rather, we suggest that suction feeding supports such trophic diversity owing to the general lack of strong trade-offs with other mechanisms that contribute to prey capture. Highlighted Article: Flow visualization reveals that suction flow speeds increase with mouth diameter, whereas other flow characteristics remain conserved across aquatic vertebrates. Therefore, trophic diversity is not supported by variation in suction flows.
Magnebike: A magnetic wheeled robot with high mobility for inspecting complex‐shaped structures

This paper describes the Magnebike robot, a compact robot with two magnetic wheels in a motorbike arrangement, which is intended for inspecting the inner casing of ferromagnetic pipes with complex‐shaped structures. The locomotion concept is based on an adapted magnetic wheel unit integrating two lateral lever arms. These arms allow for slight lifting off the wheel in order to locally decrease the magnetic attraction force when passing concave edges, as well as laterally stabilizing the wheel unit. The robot has the main advantage of being compact (180 × 130 × 220 mm) and mechanically simple: it features only five active degrees of freedom (two driven wheels each equipped with an active lifter stabilizer and one steering unit). The paper presents in detail design and implementation issues that are specific to magnetic wheeled robots. Low‐level control functionalities are addressed because they are necessary to control the active system. The paper also focuses on characterizing and analyzing the implemented robot. The high mobility is shown through experimental results: the robot not only can climb vertical walls and follow circumferential paths inside pipe structures but it is also able to pass complex combinations of 90‐deg convex and concave ferromagnetic obstacles with almost any inclination regarding gravity. It requires only limited space to maneuver because turning on the spot around the rear wheel is possible. This high mobility enables the robot to access any location in the specified environment. Finally the paper analyzes the maximum payload for different types of environment complexities because this is a key feature for climbing robots and provides a security factor about the risk of falling and slipping. © 2009 Wiley Periodicals, Inc.
California Serogroup Virus Infection Associated with Encephalitis and Cognitive Decline, Canada, 2015

California serogroup (CSG) viruses, such as Jamestown Canyon and snowshoe hare viruses, are mosquitoborne pathogens that cause febrile illness and neurologic disease. Human exposures have been described across Canada, but infections are likely underdiagnosed. We describe a case of neuroinvasive illness in a New Brunswick, Canada, patient infected with a CSG virus.
The Impact of Pollution on Worker Productivity

Environmental protection is typically cast as a tax on the labor market and the economy in general. Since a large body of evidence links pollution with poor health, and health is an important part of human capital, efforts to reduce pollution could plausibly be viewed as an investment in human capital and thus a tool for promoting economic growth. While a handful of studies have documented the impacts of pollution on labor supply, this paper is the first to rigorously assess the less visible but likely more pervasive impacts on worker productivity. In particular, we exploit a novel panel dataset of daily farm worker output as recorded under piece rate contracts merged with data on environmental conditions to relate the plausibly exogenous daily variations in ozone with worker productivity. We find robust evidence that ozone levels well below federal air quality standards have a significant impact on productivity: a 10 ppb decrease in ozone concentrations increases worker productivity by 4.2 percent.
The Lateralizing Asymmetry of Adrenal Adenomas

Abstract Context It is presumed that the incidence of adrenal adenomas is symmetric between the left and right adrenal gland; however, anecdotal observations suggest a potential lateralizing asymmetry. Objective To investigate the symmetry in detection of adrenal adenomas and relevance to patient care. Design Cross-sectional and longitudinal studies. Population and Setting One thousand three hundred seventy-six patients with abdominal computed tomography or magnetic resonance imaging demonstrating benign-appearing adrenal adenomas. Main Outcome Location and size of adrenal adenomas. Results Left-sided adenomas were discovered in 65% of patients, right-sided in 21%, and bilateral adenomas in 14%. Among unilateral adenomas, 75% were left-sided. Left-sided adenomas were more prevalent than right-sided adenomas in each size category except the largest: <10 mm, 87%; 10 to 19 mm, 74%; 20 to 29 mm, 72%; ≥30 mm, 56% (P < 0.0001 for each category, except P = 0.19 when ≥30 mm). Among those with bilateral adenomas, the left-sided adenoma was significantly larger than the right one in 61% of patients (P < 0.001). There were no significant differences in the baseline prevalence or incidence of cardiometabolic diseases between patients with left-sided vs right-sided adenomas during 5.10 (4.2) years of follow-up. Conclusions Adrenal adenomas are substantially more likely to be identified on the left adrenal than the right. This observation may be due to detection bias attributed to the location of the right adrenal, which may preclude identification of right-sided adenomas until they are substantially larger. These findings suggest the potential for an underrecognition of right-sided adenomas that may also impair the accurate detection of bilateral adrenal diseases.
On surface-tethered, hydrophobic and lubricious polymers

The relative movement of mechanical parts, such as sliding or rolling, in a given system is inevitably accompanied by friction and a risk of wear processes. Ability to control friction, either by reducing or increasing it, becomes important when it comes to the design and exploitation of machines. Generally, in mechanical assemblies, it is of interest to attain the lowest possible coefficient of friction values and to reduce wear processes to minimum. The work conducted within the framework of this thesis project was focused on the development of surface-modification strategies for friction and wear reduction in hard contacts, specifically in non-aqueous environments. For this purpose, the synthesis and tribological performance of surface-anchored polymer chains were studied. Previously, it has been shown that surface-tethered polymers in the presence of good solvents attain a brush-like, stretched-out configuration and that such molecular arrangements on the surface allow for the achievement of low coefficient-of-friction values. This is explained by means of the three following effects; the high osmotic pressure of the brush system that can support loads, the forced confinement of the lubricant within the contact area and lastly the formation of a low-shear interface, which allows for easy relative movement of brush-modified surfaces. The studied polymers were primarily prepared on silicon wafers by means of surface-initiated, atom-transfer radical polymerisation (SI-ATRP). During the course of the project, alternative synthetic and fabrication routes were evaluated including surface-initiated, free-radical polymerisation and grafting-to techniques, in which pre-made polymers can be tethered to the substrate. A step beyond silicon substrates was also taken, and substrates of greater industrial significane, such as iron oxide, steel, DLC, SiC or sapphire were successfully modified with brushes. Synthesis of the polymers was followed by their tribological characterisation on the nN load scale by lateral force microscopy as well as on the mN load scale in a microtribometer. Over both contact and load scales, it was found that the prepared poly (alkyl methacrylates) enabled sliding at significantly lower coefficients of friction than when no coating was applied. Specifically, for poly (dodecyl methacrylate), a new brush-lubrication regime was identified, which extends beyond the Stribeck curve, allowing for sliding at lower COF values even at very low speeds. The tribological results conclusively indicated that the ability to deliver a low-coefficient of friction depends on the use of an appropriate solvent that leads to sufficient polymer swelling. The stability of the lubricious properties itself is governed by the viscosity of the lubricant and the thickness of the coating applied.
Comprehensive review of the evidence regarding the effectiveness of community–based primary health care in improving maternal, neonatal and child health: 5. equity effects for neonates and children

Background The degree to which investments in health programs improve the health of the most disadvantaged segments of the population—where utilization of health services and health status is often the worst—is a growing concern throughout the world. Therefore, questions about the degree to which community–based primary health care (CBPHC) can or actually does improve utilization of health services and the health status of the most disadvantaged children in a population is an important one. Methods Using a database containing information about the assessment of 548 interventions, projects or programs (referred to collectively as projects) that used CBPHC to improve child health, we extracted evidence related to equity from a sub–set of 42 projects, identified through a multi–step process, that included an equity analysis. We organized our findings conceptually around a logical framework matrix. Results Our analysis indicates that these CBPHC projects, all of which implemented child health interventions, achieved equitable effects. The vast majority (87%) of the 82 equity measurements carried out and reported for these 42 projects demonstrated “pro–equitable” or “equitable” effects, meaning that the project’s equity indicator(s) improved to the same degree or more in the disadvantaged segments of the project population as in the more advantaged segments. Most (78%) of the all the measured equity effects were “pro–equitable,” meaning that the equity criterion improved more in the most disadvantaged segment of the project population than in the other segments of the population. Conclusions Based on the observation that CBPHC projects commonly provide services that are readily accessible to the entire project population and that even often reach down to all households, such projects are inherently likely to be more equitable than projects that strengthen services only at facilities, where utilization diminishes greatly with one’s distance away. The decentralization of services and attention to and tracking of metrics across all phases of project implementation with attention to the underserved, as can be done in CBPHC projects, are important for reducing inequities in countries with a high burden of child mortality. Strengthening CBPHC is a necessary strategy for reducing inequities in child health and for achieving universal coverage of essential services for children.
Prediction of Soil Organic Matter by VIS-NIR Spectroscopy Using Normalized Soil Moisture Index as a Proxy of Soil Moisture

Soil organic matter (SOM) is an important parameter of soil fertility, and visible and near-infrared (VIS–NIR) spectroscopy combined with multivariate modeling techniques have provided new possibilities to estimate SOM. However, the spectral signal is strongly influenced by soil moisture (SM) in the field. Interest in using spectral classification to predict soils in the moist conditions to minimize the influence of SM is growing. The objective of this study was to investigate the transferability of two approaches, SM–based cluster method with known SM (classifying the VIS–NIR spectra into different SM clusters to develop models separately), the normalized soil moisture index (NSMI)–based cluster method with unknown SM (utilizing NSMI to indicate the SM and establish models separately), to predict SOM directly in moist soil spectra. One hundred and twenty one soil samples were collected from Central China, and eight SM levels were obtained for each sample through rewetting experiments. Their reflectance spectra and SOM concentrations were measured in the laboratory. Partial least square-support vector machine (PLS-SVM) was employed to construct SOM prediction models. Specifically, prediction models were developed for NSMI–based clusters with unknown SM data. The models were assessed through three statistics in the processes of calibration and validation: the coefficient of determination (R2), root mean square error (RMSE) and the ratio of the performance to deviation (RPD). Results showed that the variable SM led to reduced VIS–NIR reflectance nonlinearly across the entire spectral range. NSMI was an effective spectral index to indicate the SM. Classifying the VIS–NIR spectra into different SM clusters in known SM states could improve the performance of PLS-SVM models to acceptable prediction accuracies (R2cv = 0.69–0.77, RPD = 1.79–2.08). The estimation of SOM, when using the NSMI–based cluster method with unknown SM (RPD = 1.95–2.04), was similar to the use of the SM–based cluster method with known SM (RPD = 1.79–2.08). The predictive results (RPD = 1.87–2.06) demonstrated that the NSMI-–based cluster method has potential for application outside the laboratory for SOM prediction without knowing the SM explicitly, and this method is also easy to carry out and only requires spectral information.
Identifying Potential Mechanisms Enabling Acidophily in the Ammonia-Oxidizing Archaeon “Candidatus Nitrosotalea devanaterra”

ABSTRACT Ammonia oxidation is the first and rate-limiting step in nitrification and is dominated by two distinct groups of microorganisms in soil: ammonia-oxidizing archaea (AOA) and ammonia-oxidizing bacteria (AOB). AOA are often more abundant than AOB and dominate activity in acid soils. The mechanism of ammonia oxidation under acidic conditions has been a long-standing paradox. While high rates of ammonia oxidation are frequently measured in acid soils, cultivated ammonia oxidizers grew only at near-neutral pH when grown in standard laboratory culture. Although a number of mechanisms have been demonstrated to enable neutrophilic AOB growth at low pH in the laboratory, these have not been demonstrated in soil, and the recent cultivation of the obligately acidophilic ammonia oxidizer “Candidatus Nitrosotalea devanaterra” provides a more parsimonious explanation for the observed high rates of activity. Analysis of the sequenced genome, transcriptional activity, and lipid content of “Ca. Nitrosotalea devanaterra” reveals that previously proposed mechanisms used by AOB for growth at low pH are not essential for archaeal ammonia oxidation in acidic environments. Instead, the genome indicates that “Ca. Nitrosotalea devanaterra” contains genes encoding both a predicted high-affinity substrate acquisition system and potential pH homeostasis mechanisms absent in neutrophilic AOA. Analysis of mRNA revealed that candidate genes encoding the proposed homeostasis mechanisms were all expressed during acidophilic growth, and lipid profiling by high-performance liquid chromatography–mass spectrometry (HPLC-MS) demonstrated that the membrane lipids of “Ca. Nitrosotalea devanaterra” were not dominated by crenarchaeol, as found in neutrophilic AOA. This study for the first time describes a genome of an obligately acidophilic ammonia oxidizer and identifies potential mechanisms enabling this unique phenotype for future biochemical characterization.
Genetic signatures of high-altitude adaptation in Tibetans

Significance The origin of Tibetans and the mechanism of how they adapted to the high-altitude environment remain mostly unknown. We conduct the largest genome-wide study in Tibetans to date. We detect signatures of natural selection at nine gene loci, two of which are strongly associated with blood phenotypes in present day Tibetans. We further show the genetic relatedness of Tibetans with other ethnic groups in China and estimate the divergence time between Tibetans and Han. These findings provide important knowledge to understand the genetic ancestry of Tibetans and the genetic basis of high-altitude adaptation. Indigenous Tibetan people have lived on the Tibetan Plateau for millennia. There is a long-standing question about the genetic basis of high-altitude adaptation in Tibetans. We conduct a genome-wide study of 7.3 million genotyped and imputed SNPs of 3,008 Tibetans and 7,287 non-Tibetan individuals of Eastern Asian ancestry. Using this large dataset, we detect signals of high-altitude adaptation at nine genomic loci, of which seven are unique. The alleles under natural selection at two of these loci [methylenetetrahydrofolate reductase (MTHFR) and EPAS1] are strongly associated with blood-related phenotypes, such as hemoglobin, homocysteine, and folate in Tibetans. The folate-increasing allele of rs1801133 at the MTHFR locus has an increased frequency in Tibetans more than expected under a drift model, which is probably a consequence of adaptation to high UV radiation. These findings provide important insights into understanding the genomic consequences of high-altitude adaptation in Tibetans.
Carbon Monoxide Inhibits Islet Apoptosis via Induction of Autophagy.

AIM Carbon monoxide (CO) functions as a therapeutic molecule in various disease models because of its anti-inflammatory and antiapoptotic properties. We investigated the capacity of CO to reduce hypoxia-induced islet cell death and dysfunction in human and mouse models. RESULTS Culturing islets in CO-saturated medium protected them from hypoxia-induced apoptosis and preserved β cell function by suppressing expression of proapoptotic (Bim, PARP, Cas-3), proinflammatory (TNF-α), and endoplasmic reticulum (ER) stress (glucose-regulated protein 94, grp94, CHOP) proteins. The prosurvival effects of CO on islets were attenuated when autophagy was blocked by specific inhibitors or when either ATG7 or ATG16L1, two essential factors for autophagy, was downregulated by siRNA. In vivo, CO exposure reduced both inflammation and cell death in grafts immediately after transplantation, and enhanced long-term graft survival of CO-treated human and mouse islet grafts in streptozotocin-induced diabetic non-obese diabetic severe combined immunodeficiency (NOD-SCID) or C57BL/6 recipients. INNOVATION These findings underline that pretreatment with CO protects islets from hypoxia and stress-induced cell death via upregulation of ATG16L1-mediated autophagy. CONCLUSION Our results suggested that CO exposure may provide an effective means to enhance survival of grafts in clinical islet cell transplantation, and may be beneficial in other diseases in which inflammation and cell death pose impediments to achieving optimal therapeutic effects. Antioxid. Redox Signal. 28, 1309-1322.
Discrete bacteria foraging optimization algorithm for graph based problems – a transition from continuous to discrete

ABSTRACT Bacteria Foraging Optimisation Algorithm is a collective behaviour-based meta-heuristics searching depending on the social influence of the bacteria co-agents in the search space of the problem. The algorithm faces tremendous hindrance in terms of its application for discrete problems and graph-based problems due to biased mathematical modelling and dynamic structure of the algorithm. This had been the key factor to revive and introduce the discrete form called Discrete Bacteria Foraging Optimisation (DBFO) Algorithm for discrete problems which exceeds the number of continuous domain problems represented by mathematical and numerical equations in real life. In this work, we have mainly simulated a graph-based road multi-objective optimisation problem and have discussed the prospect of its utilisation in other similar optimisation problems and graph-based problems. The various solution representations that can be handled by this DBFO has also been discussed. The implications and dynamics of the various parameters used in the DBFO are illustrated from the point view of the problems and has been a combination of both exploration and exploitation. The result of DBFO has been compared with Ant Colony Optimisation and Intelligent Water Drops Algorithms. Important features of DBFO are that the bacteria agents do not depend on the local heuristic information but estimates new exploration schemes depending upon the previous experience and covered path analysis. This makes the algorithm better in combination generation for graph-based problems and combination generation for NP hard problems.