Miracle-dz/UniFAR-FTUs huggingface dataset:
Multi-robot path planning for a swarm of robots that can both fly and drive

The multi-robot path planning problem has been extensively studied for the cases of flying and driving vehicles. However, path planning for the case of vehicles that can both fly and drive has not yet been considered. Driving robots, while stable and energy efficient, are limited to mostly flat terrain. Quadcopters, on the other hand, are agile and highly mobile but have low energy efficiency and limited battery life. Combining a quadcopter with a driving mechanism presents a path planning challenge by enabling the selection of paths based off of both time and energy consumption. In this paper, we introduce a framework for multi-robot path planning for a swarm of flying-and-driving vehicles. By putting a lightweight driving platform on a quadcopter, we create a robust vehicle with an energy efficient driving mode and an agile flight mode. We extend two algorithms, priority planning with Safe Interval Path Planning and a multi-commodity network flow ILP, to accommodate multimodal locomotion, and we show that these algorithms can indeed plan collision-free paths for flying-and-driving vehicles on 3D graphs. Finally, we demonstrate that our system is able to plan paths and control the motions of 8 of our vehicles in a miniature town.
Child Outcome Measures in the Study of Child Care Quality

This article assesses whether there are methodological problems with child outcome measures that may contribute to the small associations between child care quality and child outcomes found in the literature. Outcome measures used in 65 studies of child care quality published between 1979 and December 2005 were examined, taking the previous review by Vandell and Wolfe (2000) as the starting point. Serious methodological problems were not pervasive for child outcome measures. However, methodological concerns were most prevalent among measures of socioemotional development. Furthermore, psychometric information on outcome measures was often missing from published reports, and health outcomes and approaches to learning were infrequently studied. Future research should address alignment issues between aspects of quality and the specific child outcomes chosen for study.
Analysis of the cyclin-dependent kinase inhibitors p18 and p19 in mantle-cell lymphoma and chronic lymphocytic leukemia.

BACKGROUND Mantle-cell lymphoma (MCL) is characterized by overexpression of the G1 cyclin, cyclin D1, strongly implicating this cell-cycle regulatory element in MCL pathogenesis. Recently, loss-of-function mutations in cell-cycle negative regulatory elements, including p53 point mutations and deletions of the cyclin-dependent kinase inhibitors (CDKI) p15 and p16 have been described in a subset of MCLs and have been associated with aggressive clinical course, blastic morphology, and extranodal dissemination. The objective of the present study was to analyze two newly identified members of the p16 (INK4A; MTS1) CDKI family, p18 and p19, in MCL. Such analyses have not been previously reported. PATIENTS AND METHODS DNA was isolated from tissue biopsies, peripheral blood cells, or bone marrow cells of 45 patients with MCL and 15 with chronic lymphocytic leukemia (CLL). Southern blot analysis was performed with p18 and p19 probes and compared to placental control DNA and to control probe hybridizations for evidence of p18 or p19 gene deletion or rearrangement. RESULTS P18 deletion was identified in one MCL but in no case of CLL. One MCL sample had rearrangement of the p18 gene; this case also had coexisting homozygous p15 and p16 deletion. Both cases with p18 abnormalities had blastic morphology, and one had extranodal disease with renal parenchymal invasion. CONCLUSIONS P18 rearrangement or deletion as detected by Southern blot is a rare event in MCL, but may be associated with blastic morphology. P53 mutations and deletions of the CDKI p15 and p16 appear to be more frequent in MCL, although further studies are necessary to assess the presence of inactivating point mutations or altered expression of p16 family proteins.
Do government owned banks trade market power for slack?

The ‘Quiet Life Hypothesis (QLH)’ posits that banks with market power have less incentives to maximize revenues and minimize cost. Especially government owned banks with a public mandate precluding profit maximization might succumb to a quiet life. We use a unified approach that simultaneously measures market power and efficiency to test the quiet life hypothesis of German savings banks. We find that average local market power declined between 1996 and 2006. Cost and profit efficiency remained constant. Nonparametric correlations are consistent with a quiet life regarding cost efficiency but not regarding profit efficiency. The quiet life on the cost side is negatively correlated with bank size, quality of loan portfolio and local per capita income. The last result indicates that the quiet cost life is therefore potentially due to benevolent excess consumption of local input factors by public savings banks.
A Set of Descriptive Case Studies of Four Dance Faculty Members' Pedagogical Practices

ABSTRACT Dance faculty members come from a variety of backgrounds, which lead to varied knowledge bases and varied teaching practices. More information is needed about the current pedagogical practices of higher education dance faculty. This study sought to provide a description of four faculty members' pedagogical approaches to a dance technique class in a higher education dance department. Participants were studied through qualitative methods including interviews, observations, and document analysis. Five major themes emerged from the data: desire to teach, teaching focus, challenging students, instructional methods, and assessment strategies. The results provide information about current practices of these four faculty members, and although not necessarily universal, these findings could prove useful for future research concerning dance pedagogy.
Voice changes and thyroid surgery: is pre-operative indirect laryngoscopy necessary?

BACKGROUND Indirect laryngoscopy (IDL) is often performed prior to thyroid surgery to detect pre-existing vocal cord pathology. METHODS A retrospective chart review of 201 patients undergoing thyroid surgery at the Prince of Wales Hospital was undertaken in order to study the patterns of pre-operative and postoperative voice changes and IDL findings. RESULTS A total of 9% of patients had pre-operative voice symptoms, and 22% of this group had abnormalities detected on pre-operative IDL. Of 160 documented IDL, 4% revealed vocal cord pathology in asymptomatic patients, including an asymptomatic recurrent laryngeal nerve palsy. CONCLUSIONS Indirect laryngoscopy remains a useful but flawed pre-operative screening tool for patients with voice symptoms, but the literature suggests that more advanced phoniatric tests will provide superior diagnostic sensitivity. The role of routine pre-operative laryngoscopy for asymptomatic patients is of debatable value.
Dirty electricity, chronic stress, neurotransmitters and disease

Dirty electricity, also called electrical pollution, is high-frequency voltage transients riding along the 50 or 60 Hz electricity provided by the electric utilities. It is generated by arcing, by sparking and by any device that interrupts current flow, especially switching power supplies. It has been associated with cancer, diabetes and attention deficit hyperactivity disorder in humans. Epidemiological evidence also links dirty electricity to most of the diseases of civilization including cancer, cardiovascular disease, diabetes and suicide, beginning at the turn of the twentieth century. The dirty electricity level in a public library was reduced from over 10 000 Graham/Stetzer (G/S) units to below 50 G/S units by installing plug-in capacitive filters. Before cleanup, the urinary dopamine level of only one of seven volunteers was within normal levels, while four of seven phenylethylamine levels were normal. After an initial decline, over the next 18 weeks the dopamine levels gradually increased to an average of over 215 μg/g creatinine, which is well above 170 μg/g creatinine, the high normal level for the lab. Average phenylethylamine levels also rose gradually to slightly above 70 μg/g creatinine, the high normal level for the lab. Neurotransmitters may be biomarkers for dirty electricity and other electromagnetic field exposures. We believe that dirty electricity is a chronic stressor of electrified populations and is responsible for many of their disease patterns.
The macroeconomic effects of fiscal policy in Portugal: a Bayesian SVAR analysis

With a new quarterly dataset we estimate a Bayesian Structural Autoregression model and a Fully Simultaneous System approach to analyze the macroeconomic effects of fiscal policy. Results show that positive government spending shocks, in general, have a negative effect on real GDP; lead to “crowding-out” effects of private consumption and investment; have a persistent and positive effect on the price level and a mixed impact on the average financing cost of government debt. Explicitly considering the government debt dynamics in the model is also important. A VAR counter-factual exercise confirms that unexpected positive spending shocks create relevant “crowding-out” effects.
Regime switching cointegration tests for the Asian stock index futures: evidence for MSCI Taiwan, Nikkei 225, Hong Kong Hang-Seng, and SGX Straits Times indices

This study applies a cointegration system that considers regime shifts in order to study the long-run relationship between the stock index and stock index futures markets. The MSCI Taiwan, Nikkei 225, Hong Kong Hang-Seng, and Singapore Exchange (SGX) Straits Times indices are examined. The empirical evidence shows that the cointegration system with regime shifts performs better than the usual cointegration system without considering regime shifts.
Prognostic Significance of Co-expression of RON and MET Receptors in Node-Negative Breast Cancer Patients

Purpose: RON and MET belong to a subfamily of tyrosine kinase receptors. They both can induce invasive growth, including migration, cell dissociation, and matrix invasion. Cross-linking experiments show that RON and MET form a noncovalent complex on the cell surface and cooperate in intracellular signaling. We wanted to examine the clinical significance of RON and MET expression patterns in node-negative breast cancer. Experimental Design: We studied the protein expressions of RON and MET in five breast cancer cell lines and a homogeneous cohort of 103 T1-2N0M0 breast carcinoma patients, including 52 patients with distant metastases and 51 patients with no evidence of disease after at least a 10-year follow-up. Results: Both HCC1937 and MDA-MB-231 cancer cell lines co-overexpressed RON and MET. The MCF-7 cell line did not express RON or MET. In multiple logistic regression analysis, RON expression (odds ratio, 2.6; P = 0.05) and MET expression (odds ratio, 4.7; P = 0.009) were independent predictors of distant relapse. RON+/MET+ and RON−/MET+ tumors resulted in a large risk increase for 10-year disease-free survival after adjusting for tumor size, histologic grade, estrogen receptor, bcl-2, HER-2/neu, and p53 status by multivariate Cox analysis (risk ratio, 5.3; P = 0.001 and risk ratio, 3.76; P = 0.005). The 10-year disease-free survival was 79.3% in patients with RON−/MET− tumors, was only 11.8% in patients with RON+/MET+ tumors, and was 43.9% and 55.6% in patients with RON−/MET+ and RON+/MET− tumors. Conclusions: Co-expression of RON and MET seems to signify an aggressive phenotype in node-negative breast cancer patients.
A Real Exchange Rate based Phillips Curve Model for Pakistan

In this paper an open-economy version of a Phillips curve for Pakistan is estimated over the period 1973-2008. The question whether real exchange rate affect the inflation in Pakistan is addressed in this framework. The main finding is that real exchange depreciations are inflationary in Pakistan. Moreover, it is also find out that exchange rate regime changes also explain this inflation.
The Effect of Availability and Distance to School on Children’s Time Allocation in Ghana and Guatemala

In this paper we present evidence on the impact of distance to school and school availability on households’ decisions concerning primary age children’s time allocation between work, schooling and household chores activities using data from the Ghana Living Standard Survey 1998-99 (GLSS) and the Guatemalan Living Standards Measurement Survey 2000 (ENCOVI). Overall, our results indicate that the increased and eased access to school has a well-defined impact on children’s time use, with both similarities and striking dissimilarities between the chosen countries. In particular, in Ghana the availability and the travel distance to schools (both primary and middle) in the community influence children’s work in both economic activities and household chores and children’s school attendance. The longer the travel time to school the more difficult it is for children to reconcile work and school attendance. In Guatemala, secondary school access constraints have almost no effect on children’s time allocation. In addition, reducing the cost of access to primary education has an effect only on children’s school attendance but it reduces neither child work nor time spent in household chores. Our results are robust to control for the endogeneity of school location and per capita expenditures.
Cash-Flow and Savings Practices of Low-Income Households: Evidence From a Follow-Up Study of IDA Participants

ABSTRACT Understanding how low-income households manage their finances is critical to designing effective antipoverty interventions. This study used data from a 2008 follow-up survey of 326 low-income households in Hawaii who participated in an Individual Development Account (IDA) intervention from 1999 to 2005. Self-reported cash flow (five items) and savings (four items) practices were explored using latent class analysis. Three latent classes were produced: Class 3 managed cash flows and saved (n = 166; 51%); Class 2 managed cash flows but did not save (n = 73; 22%); and Class 1 struggled to manage cash flows and save (n = 89; 27%). Using ordinal regression, psychological sense of mastery was positively and significantly (p < .01) related to being in a higher class membership (b = .14; OR = 1.15). IDA participation had no association with latent classification. The key finding is the heterogeneity among low-income financial management practices and the importance of providing individualized services. Future longitudinal research is needed to understand how IDA participation affects financial practices in the short term and long term.
Findings of the International Nosocomial Infection Control Consortium (INICC), Part II: Impact of a Multidimensional Strategy to Reduce Ventilator-Associated Pneumonia in Neonatal Intensive Care Units in 10 Developing Countries

Design. Before-after prospective surveillance study to assess the efficacy of the International Nosocomial Infection Control Consortium (INICC) multidimensional infection control program to reduce the rate of occurrence of ventilator-associated pneumonia (VAP). Setting. Neonatal intensive care units (NICUs) of INICC member hospitals from 15 cities in the following 10 developing countries: Argentina, Colombia, El Salvador, India, Mexico, Morocco, Peru, Philippines, Tunisia, and Turkey. Patients. NICU inpatients. Methods. VAP rates were determined during a first period of active surveillance without the implementation of the multidimensional approach (phase 1) to be then compared with VAP rates after implementation of the INICC multidimensional infection control program (phase 2), which included the following practices: a bundle of infection control interventions, education, outcome surveillance, process surveillance, feedback on VAP rates, and performance feedback on infection control practices. This study was conducted by infection control professionals who applied National Health Safety Network (NHSN) definitions for healthcare-associated infections and INICC surveillance methodology. Results. During phase 1, we recorded 3,153 mechanical ventilation (MV)–days, and during phase 2, after the implementation of the bundle of interventions, we recorded 15,981 MV-days. The VAP rate was 17.8 cases per 1,000 MV-days during phase 1 and 12.0 cases per 1,000 MV-days during phase 2 (relative risk, 0.67 [95% confidence interval, 0.50–0.91]; P = .001 ), indicating a 33% reduction in VAP rate. Conclusions. Our results demonstrate that an implementation of the INICC multidimensional infection control program was associated with a significant reduction in VAP rate in NICUs in developing countries.
The Study on the Relationship between Business Strategy Type and Service Innovative Performance

The present study aims at a deeper understanding of the relationship between the service innovation performance and their business strategy in terms of Miles and Snow's strategic typology including prospectors, analyzers, defenders and reactors. A survey of 192 Chinese knowledge intensive business services was used to collect data that were analyzed through variance analysis and multiple comparison. Results indicate that the service innovative performance vary in the relation to the firms' strategic orientation. Firms with a reactor orientation have lower innovative performance than firms with other strategy orientation. There is no significant difference in innovative performance between firms with prospector, analyzer and defender orientation.
Cell autonomous regulation of multiple Dishevelled-dependent pathways by mammalian Nkd

Genetic studies have identified Drosophila Naked Cuticle (Nkd) as an antagonist of the canonical Wnt/β-catenin signaling pathway, but its mechanism of action remains obscure [Zeng, W. , Wharton, K. A. , Jr., Mack, J. A. , Wang, K. , Gadbaw, M. , et al. (2000) Nature (London) 403, 789–795]. Here we have cloned a cDNA encoding a mammalian homolog of Drosophila Nkd, mNkd, and demonstrated that mNkd interacts directly with Dishevelled. Dishevelled is an intracellular mediator of both the canonical Wnt pathway and planar cell polarity (PCP) pathway. Activation of the c-Jun-N-terminal kinase has been implicated in the PCP pathway. We showed that mNkd acts in a cell-autonomous manner not only to inhibit the canonical Wnt pathway but also to stimulate c-Jun-N-terminal kinase activity. Expression of mNkd disrupted convergent extension in Xenopus, consistent with a role for mNkd in the PCP pathway. These data suggest that mNkd may act as a switch to direct Dishevelled activity toward the PCP pathway, and away from the canonical Wnt pathway.
Understanding Japan's Export Dynamics

Although trade elasticities are fundamental to the analysis of interaction between the economies of a country and the rest of the world, there is substantial uncertainty about the magnitude of the income and price elasticities of Japan’s aggregate imports. This paper highlights several economic and statistical problems that render the standard aggregate import equation a poor description of Japan’s import dynamics, and develops alternative models that accommodate such difficulties. Our empirical models substantially outperform the conventional model and provide more sensible elasticity estimates, although they are only able to explain a modest part of the sharp import decline between 2008 and 2009.
Steerable Propulsion Units: Hydrodynamic issues and Design Consequences

The last three decades have shown a strong development in the market for steerable propulsion units. This paper addresses several main developments and places them in a historic perspective. The major objective of the paper is to present a review of issues relevant to steerable propulsor units. These issues are essentially of a hydrodynamic nature. Although it is thought that hydrodynamic issues often have a heavy impact on the design, the professional background of the authors rather than anything else prompts the choice for an emphasis on hydrodynamic aspects. Starting from the hydrodynamic aspects, we draw several conclusions towards the design and operations of vessels equipped with steerable propulsion units.
A Simplified Solid Mechanical and Acoustic Model for Human Middle Ear

Human middle-ear is the key component of the auditory system. Its function is to transfer the sound waves through the ear canal to provide sufficient stimulus to the fluids of the inner ear. Degradation of the ossicles that transmit these sound waves from the eardrum to the inner ear leads to hearing loss. This problem can be overcome by replacing one or more of these ossicles by middleear prosthesis. Designing such prosthesis requires a comprehensive knowledge of the biomechanics of the middle-ear. There are many finite element modeling approaches developed to understand the biomechanics of the middle ear. The available models in the literature, involve high computation time. In this paper, we propose a simplified model which provides a reasonably accurate result with much less computational time. Simulation results indicate a maximum sound pressure gain of 10 dB at 5500 Hz. Keywords—Ear, Ossicles, COMSOL, Stapes.
Web-based interactive positioning control of an electric flatcar via wireless network

A large tank has been used for target strength pattern measurements of fish. It is equipped with an electric flatcar. Further an elevation-rotating unit runs on the rails above it. The probe on the top of its elevation unit is equipped with an attachment for an ultrasonic transducer. The manipulator probe is movable in the four directions of the x, y, z and θ axes. Installation of a remote control switch has been required for the purpose of efficient operation of an electric flatcar. A remote control system using a notebook personal computer has been developed with good cost performance. The PC is equipped with a wireless network interface card. A model of WEB direct-access monitoring has been designed newly on the basis of the concept that an operator can control a mechanical device using a WEB Browser via LAN. Furthermore it performs double exclusive control for access from multi PCs, and has made possible a controller and multiple-monitor system. The mission was performed for the purpose of evaluation of WEB operation. The result has made clear the specifications for motion, and an external interface of the electric flatcar is applicable to the new protocol developed for WEB Browser control.
Determination of the quality of frying oil based on UWB impedance spectrometer

The goal of this paper is to draw attention to the possibility of detecting discarded vegetable oil, used at the fryer, via a UWB integrated reflectometer, which enables wideband sensing from “almost DC” to 9 GHz. An integrated reflectometer allows online monitoring of the differences between pure oil, and oil under measurement. For oil quality sensing, a test was proposed which utilizes a structure consisting of a microstrip sensor, an UWB reflectometer, an UWB radar system with an A/D converter, a source clock signal (CLK) and a computer for processing and evaluating results.