Miracle-dz/UniFAR-FTUs huggingface dataset:
Exploring Model Predictive Control to Generate Optimal Control Policies for HRI Dynamical Systems

We model Human-Robot-Interaction (HRI) scenarios as linear dynamical systems and use Model Predictive Control (MPC) with mixed integer constraints to generate human-aware control policies. We motivate the approach by presenting two scenarios. The first involves an assistive robot that aims to maximize productivity while minimizing the human's workload, and the second involves a listening humanoid robot that manages its eye contact behavior to maximize "connection" and minimize social "awkwardness" with the human during the interaction. Our simulation results show that the robot generates useful behaviors as it finds control policies to minimize the specified cost function. Further, we implement the second scenario on a humanoid robot and test the eye contact scenario with 48 human participants to demonstrate and evaluate the desired controller behavior. The humanoid generated 25% more eye contact when it was told to maximize connection over when it was told to maximize awkwardness. However, despite showing the desired behavior, there was no statistical difference between the participant's perceived connection with the humanoid.
Study on Fabrication Method and Energy-storing Behavior of Phase-changing Energy-storing Concrete

Phasechanging energystoring concrete was prepared by means of a socalled twostep method. At the first step, phasechanging energystoring aggregates were fabricated, then at the second step, normal method for preparing concrete and the phasechanging energystoring aggregates were used. Test results show that adequate amount of liquid phasechanging material can be stored in concrete to render concrete energystoring capability similar to that of commercially available product. Test results also show that the geometrical feature of the pore structure of porous materials has significant influence on their absorption ability of liquid phasechanging material. In addition, the volume fraction of phasechanging material in concrete has remarkable effect on the phasechanging behavior of concrete. 
Trifo-VIO: Robust and Efficient Stereo Visual Inertial Odometry Using Points and Lines

In this paper, we present the Trifo Visual Inertial Odometry (Trifo-VIO), a tightly-coupled filtering-based stereo VIO system using both points and lines. Line features help improve system robustness in challenging scenarios when point features cannot be reliably detected or tracked, e.g. low-texture environment or lighting change. In addition, we propose a novel lightweight filtering-based loop closing technique to reduce accumulated drift without global bundle adjustment or pose graph optimization. We formulate loop closure as EKF updates to optimally relocate the current sliding window maintained by the filter to past keyframes. We also present the Trifo Ironsides dataset, a new visual-inertial dataset, featuring high-quality synchronized stereo camera and IMU data from the Ironsides sensor [3] with various motion types and textures and millimeter-accuracy groundtruth. To validate the performance of the proposed system, we conduct extensive comparison with state-of-the-art approaches (OKVIS, VINS-MONO and S-MSCKF) using both the public EuRoC dataset and the Trifo Ironsides dataset.
Frontier View on Nanotechnological Strategies for Neuro-therapy.

BACKGROUND Nanotechnology exploits materials and devices with a functional organization that has been engineered at the nanometre scale. The application of nanotechnology in neuroscience involves specific interactions with neurons and glial cells. This property is used for delivering drugs and other small molecules (such as genes, oligonucleotides and contrasting agents) across the blood brain barrier (BBB), an important requirement for delivering the drug successfully to the brain. OBJECTIVE Nanotechnology based approaches (NBA) favours transcytosis-mediated delivery of nanoparticles to the brain by crossing the BBB. The last five years have witnessed the successful applications of NBA to treat neurological disorders. It is expected that the development of novel NBA will result in important insights on the brain mechanisms, and eventually provide better medical care to patients suffering from neurological disorders. CONCLUSION This review introduces the emerging work in this area and summarizes the successful NBA used in recent past for treating various neurological disorders ike Alzheimer's disease, Parkinson's disease, amyotrophic lateral sclerosis, meningitis and glioblastoma.
Effect of recycled PET on β-nucleation of β-PP

In order to investigate the effect of recycled PET on β-nucleation in β-PP blends,recycled PET/β-PP blends were prepared by different methods. The effect of the preparation methods,the content of recycled PET and β-nucleating agent,melting temperature and time,as well as cooling rate on β-nucleation in β-PP blends were investigated by DSC. The results indicated that the blends with high content of β-PP were obtained by adding of β-nucleating agent into PP melt in which the PET has crystallized. The increased β-nucleating agent content,melting temperature and time,as well as decreased cooling rate increased the β-nucleation and the content of β-PP.
G-quadruplex and G-rich sequence stimulate Pif1p-catalyzed downstream duplex DNA unwinding through reducing waiting time at ss/dsDNA junction

Alternative DNA structures that deviate from B-form double-stranded DNA such as G-quadruplex (G4) DNA can be formed by G-rich sequences that are widely distributed throughout the human genome. We have previously shown that Pif1p not only unfolds G4, but also unwinds the downstream duplex DNA in a G4-stimulated manner. In the present study, we further characterized the G4-stimulated duplex DNA unwinding phenomenon by means of single-molecule fluorescence resonance energy transfer. It was found that Pif1p did not unwind the partial duplex DNA immediately after unfolding the upstream G4 structure, but rather, it would dwell at the ss/dsDNA junction with a ‘waiting time’. Further studies revealed that the waiting time was in fact related to a protein dimerization process that was sensitive to ssDNA sequence and would become rapid if the sequence is G-rich. Furthermore, we identified that the G-rich sequence, as the G4 structure, equally stimulates duplex DNA unwinding. The present work sheds new light on the molecular mechanism by which G4-unwinding helicase Pif1p resolves physiological G4/duplex DNA structures in cells.
Evolution of cooperation by phenotypic similarity

The emergence of cooperation in populations of selfish individuals is a fascinating topic that has inspired much work in theoretical biology. Here, we study the evolution of cooperation in a model where individuals are characterized by phenotypic properties that are visible to others. The population is well mixed in the sense that everyone is equally likely to interact with everyone else, but the behavioral strategies can depend on distance in phenotype space. We study the interaction of cooperators and defectors. In our model, cooperators cooperate with those who are similar and defect otherwise. Defectors always defect. Individuals mutate to nearby phenotypes, which generates a random walk of the population in phenotype space. Our analysis brings together ideas from coalescence theory and evolutionary game dynamics. We obtain a precise condition for natural selection to favor cooperators over defectors. Cooperation is favored when the phenotypic mutation rate is large and the strategy mutation rate is small. In the optimal case for cooperators, in a one-dimensional phenotype space and for large population size, the critical benefit-to-cost ratio is given by b/c=1+2/3. We also derive the fundamental condition for any two-strategy symmetric game and consider high-dimensional phenotype spaces.
UvA-DARE (Digital Academic Repository) Words are Malleable: Computing Semantic Shifts in Political and Media Discourse

Recently, researchers started to pay attention to the detection of temporal shifts in the meaning of words. However, most (if not all) of these approaches restricted their efforts to uncovering change over time, thus neglecting other valuable dimensions such as social or political variability. We propose an approach for detecting semantic shifts between different viewpoints —broadly defined as a set of texts that share a specific metadata feature, which can be a time-period, but also a social entity such as a political party. For each viewpoint, we learn a semantic space in which each word is represented as a low dimensional neural embedded vector. The challenge is to compare the meaning of a word in one space to its meaning in another space and measure the size of the semantic shifts. We compare the effectiveness of a measure based on optimal transformations between the two spaces with a measure based on the similarity of the neighbors of the word in the respective spaces. Our experiments demonstrate that the combination of these two performs best. We show that the semantic shifts not only occur over time, but also along different viewpoints in a short period of time. For evaluation, we demonstrate how this approach captures meaningful semantic shifts and can help improve other tasks such as the contrastive viewpoint summarization and ideology detection (measured as classification accuracy) in political texts. We also show that the two laws of semantic change which were empirically shown to hold for temporal shifts also hold for shifts across view-points. These laws state that frequent words are less likely to shift meaning while words with many senses are more likely to do so.
How Flexible is the Use of Egocentric Versus Allocentric Frame of Reference in the Williams Syndrome Population?

Objective This study examined the spontaneous use of allocentric and egocentric frames of reference and their flexible use as a function of instructions. Method The computerized spatial reference task created by Heiz and Barisnikov (2015) was used. Participants had to choose a frame of reference according to three types of instructions: spontaneous, allocentric and egocentric. The performances of 16 Williams Syndrome participants between 10 and 41 years were compared to those of two control groups (chronological age and non-verbal intellectual ability). Results The majority of Williams Syndrome participants did not show a preference for a particular frame of reference. When explicitly inviting participants to use an allocentric frame of reference, all three groups showed an increased use of the allocentric frame of reference. At the same time, an important heterogeneity of type of frame of reference used by Williams Syndrome participants was observed. Conclusion Results demonstrate that despite difficulties in the spontaneous use of allocentric and egocentric frames of reference, some Williams Syndrome participants show flexibility in the use of an allocentric frame of reference when an explicit instruction is provided.
Safety and patients’ satisfaction after hysteroscopic sterilisation

Abstract The aim of this study was to understand the potential complications of the Essure® device as well as the factors influencing its onset and patient satisfaction. We present a 9-year descriptive prospective study that included 1068 patients. The device was placed in 1056 of them (98.8%); 894 had no pain or mild pain during the insertion and only 12 patients experienced pain greater than menstrual pain. The proportion of patients without pain was greater in the group that took NSAIDs or NSAIDs and BZD and the unmedicated group had the highest rate of severe pain (p = .00). In all, 161 of the 1064 patients who had the Essure® inserted reported having an adverse effect during the 3-months post-insertion (pelvic pain or discomfort). The mean score out of 10 attributed to this method was 9.06 (S = 1.11). We concluded that the Essure® shows a low rate of complications and users showed a high degree of satisfaction. Impact statement What is already known on this subject: There are few international publications on Essure®. When we conducted a search in PubMed for the term ‘Essure’, we obtained 221 publications. When we added the terms ‘Essure and complications’, we obtained 20 publications, and when we increased the restriction including ‘satisfaction’, we obtained seven; thus, the uniqueness of our study. What the results of this study add: We present a 9-year descriptive prospective study that included 1068 patients. The aim of this study was to understand the potential complications of the Essure® device (Bayer, Whippany, NJ), as well as factors that can influence its onset and the patient satisfaction. The device was placed in 1056 of the patients (98.8%); 894 had no pain or mild pain during the insertion and only 12 patients experienced pain greater than menstrual pain. The proportion of patients without pain was greater in the group that took NSAIDs or NSAIDs and BZD and the unmedicated group had the highest rate of severe pain (p=.00). What the implications are of these findings for clinical practice and/or further research: Our study shows a low rate of complications with Essure®, mild and transient in most cases, as well as a high degree satisfaction. Nevertheless, given the few published studies on this device, we believe that long-term follow-up is needed.
FusionHunter: identifying fusion transcripts in cancer using paired-end RNA-seq

MOTIVATION Fusion transcripts can be created as a result of genome rearrangement in cancer. Some of them play important roles in carcinogenesis, and can serve as diagnostic and therapeutic targets. With more and more cancer genomes being sequenced by next-generation sequencing technologies, we believe an efficient tool for reliably identifying fusion transcripts will be desirable for many groups. RESULTS We designed and implemented an open-source software tool, called FusionHunter, which reliably identifies fusion transcripts from transcriptional analysis of paired-end RNA-seq. We show that FusionHunter can accurately detect fusions that were previously confirmed by RT-PCR in a publicly available dataset. The purpose of FusionHunter is to identify potential fusions with high sensitivity and specificity and to guide further functional validation in the laboratory. AVAILABILITY http://bioen-compbio.bioen. illinois.edu/FusionHunter/.
Diagnosis, treatment and prevention of ankle sprains: update of an evidence-based clinical guideline

This guideline aimed to advance current understandings regarding the diagnosis, prevention and therapeutic interventions for ankle sprains by updating the existing guideline and incorporate new research. A secondary objective was to provide an update related to the cost-effectiveness of diagnostic procedures, therapeutic interventions and prevention strategies. It was posited that subsequent interaction of clinicians with this guideline could help reduce health impairments and patient burden associated with this prevalent musculoskeletal injury. The previous guideline provided evidence that the severity of ligament damage can be assessed most reliably by delayed physical examination (4–5 days post trauma). After correct diagnosis, it can be stated that even though a short time of immobilisation may be helpful in relieving pain and swelling, the patient with an acute lateral ankle ligament rupture benefits most from use of tape or a brace in combination with an exercise programme. New in this update: Participation in certain sports is associated with a heightened risk of sustaining a lateral ankle sprain. Care should be taken with non-steroidal anti-inflammatory drugs (NSAIDs) usage after an ankle sprain. They may be used to reduce pain and swelling, but usage is not without complications and NSAIDs may suppress the natural healing process. Concerning treatment, supervised exercise-based programmes preferred over passive modalities as it stimulates the recovery of functional joint stability. Surgery should be reserved for cases that do not respond to thorough and comprehensive exercise-based treatment. For the prevention of recurrent lateral ankle sprains, ankle braces should be considered as an efficacious option.
Prehospital Pain Management: Disparity By Age and Race

Abstract Importance: Historically, pain management in the prehospital setting, specifically pediatric pain management, has been inadequate despite many EMS (emergency medical services) transports related to traumatic injury with pain noted as a symptom. The National Emergency Services Information System (NEMSIS) database offers the largest national repository of prehospital data, and can be used to assess current patterns of EMS pain management across the country. Objectives: To analyze prehospital management of pain using NEMSIS data, and to assess if variables such as patient age and/or race/ethnicity are associated with disparity in pain treatment. Design/Setting/Participants: A retrospective descriptive study over a three-year period (2012–2014) of the NEMSIS database for patients evaluated for three potentially painful medical impressions (fracture, burn, penetrating injury) to assess the presence of documented pain as a symptom, and if patients received treatment with analgesic medications. Results were analyzed according to type of pain medication given, age categories, and race/ethnicity of the patients. Main outcomes: Percentage of EMS transports documenting the three painful impressions that had pain documented as a symptom, received any of the six pain medications, and the disparity in documentation and treatment by age and race/ethnicity. Results: There were 276,925 EMS records in the NEMSIS database that met inclusion criteria. Pain was listed as a primary or associated symptom for 29.5% of patients, and the youngest children (0–3 years) were least likely to have pain documented as a symptom (14.6%). Only 15.6% of all activations documented the receipt of prehospital pain medications. Children (<15 years) received pain medication 14.8% [95% CI 14.33, 15.34] of the time versus adults (≥15 years) 15.6% [95% CI 15.48, 15.76, p = 0.004]. Morphine and fentanyl were the most commonly administered medications to all age groups. Black patients were less likely to receive pain medication than other racial groups. Conclusions: Documentation of pain as a symptom and pain treatment continue to be infrequent in the prehospital setting in all age groups, especially young children. There appears to be a racial disparity with Black patients less often treated with analgesics. The broad incorporation of national NEMSIS data suggests that these inadequacies are a widespread challenge deserving further attention.
Desynchrony between brain and peripheral clocks caused by CK1δ/ε disruption in GABA neurons does not lead to adverse metabolic outcomes

Significance Circadian clocks throughout the body control mammalian physiology. Disruption of circadian rhythms associated with modern 24/7 societies results in adverse metabolic consequences, but the underlying mechanisms are unknown. Internal desynchrony between the phase of central and peripheral clocks is believed to be a major contributor to these adverse consequences. Here, in the first direct test of this assumption, we show that a ∼6-h phase misalignment between circadian clocks in brain and peripheral tissues is insufficient to induce obesity and glucose intolerance in mice. These results suggest that the adverse consequences of circadian disruption may arise by multiple mechanisms, rather than arising from internal desynchrony alone. Circadian disruption as a result of shift work is associated with adverse metabolic consequences. Internal desynchrony between the phase of the suprachiasmatic nuclei (SCN) and peripheral clocks is widely believed to be a major factor contributing to these adverse consequences, but this hypothesis has never been tested directly. A GABAergic Cre driver combined with conditional casein kinase mutations (Vgat-Cre+ CK1δfl/fl εfl/+) was used to lengthen the endogenous circadian period in GABAergic neurons, including the SCN, but not in peripheral tissues, to create a Discordant mouse model. These mice had a long (27.4 h) behavioral period to which peripheral clocks entrained in vivo, albeit with an advanced phase (∼6 h). Thus, in the absence of environmental timing cues, these mice had internal desynchrony between the SCN and peripheral clocks. Surprisingly, internal desynchrony did not result in obesity in this model. Instead, Discordant mice had reduced body mass compared with Cre-negative controls on regular chow and even when challenged with a high-fat diet. Similarly, internal desynchrony failed to induce glucose intolerance or disrupt body temperature and energy expenditure rhythms. Subsequently, a lighting cycle of 2-h light/23.5-h dark was used to create a similar internal desynchrony state in both genotypes. Under these conditions, Discordant mice maintained their lower body mass relative to controls, suggesting that internal desynchrony did not cause the lowered body mass. Overall, our results indicate that internal desynchrony does not necessarily lead to metabolic derangements and suggest that additional mechanisms contribute to the adverse metabolic consequences observed in circadian disruption protocols.
Bioinspired and Multifunctional Phospholipid Polymer Nanoparticles

Photoreactive and cytocompatible polymer nanoparticles for immobilizing and photoinduced releasing proteins were prepared. A water-soluble and amphiphilic phospholipid polymer, poly (2-methacryloyloxyethyl phosphorylcholine (MPC)-co-n-butyl methacrylate (BMA)-co-4-(4-(1-methacryloyloxyethyl)-2-methoxy-5-nitrophenoxy) butyric acid (PL)) (PMB-PL) was synthesized. The PMB-PL underwent a cleavage reaction at the PL unit by photoirradiation at a wavelength of 365 nm. Additionally, the PMB-PL took polymer aggregate in aqueous medium and was used to modify the surface of biodegradable poly (L-lactic acid) (PLA) nanoparticle as an emulsifier. The morphology of the PMB-PL/PLA nanoparticle was spherical and approximately 130 nm in diameter. The carboxylic acid group in the PL unit could be used for immobilization of proteins by covalent bonding. The bound proteins were released by a photoinduced cleavage reaction. Within 60 sec, up to 90% of the immobilized proteins were released by photoirradiation and activity of the protein released in the medium was maintained as well as that the original proteins before immobilization. Octa-arginine (R8) could promote internalization of the protein/PLA/PMB-PL nanoparticles into cells when the R8 was co-immobilized on the nanoparticles. After that, photoirradiation induced protein release from the nanoparticles and proteins distributed more evenly inside cells. From these results, we concluded that PMB-PL/PLA nanoparticles have the potential to be used as smart carriers to deliver proteins to biological systems, such as the inside of living cells.