Miracle-dz/UniFAR-FTUs huggingface dataset:
Intelligent control and evolutionary strategies applied to multirobotic systems

This paper describes the modeling, implementation, and evaluation of RoBombeiros multirobotic system. The robotic task in this paper is performed over a natural disaster, simulated as a forest fire. The simulator supports several features to allow realistic simulation, like irregular terrains, natural processes (e.g. fire, wind) and physical constraint in the creation and application of mobile robots. The proposed system relies on two steps: (i) group formation planning and (ii) intelligent techniques to perform robots navigation for fire fighting. For planning, we used genetic algorithms to evolve positioning strategies for firefighting robots performance. For robots operation, physically simulated fire-fighting robots were built, and the sensory information of each robot (e.g. GPS, compass, sonar) was used in the input of an artificial neural network (ANN). The ANN controls the vehicle (robot) actuators and allows navigation with obstacle avoidance. Simulation results show that the ANN satisfactorily controls the mobile robots; the genetic algorithm adequately configures the fire fighting strategy and the proposed multi-robotic system can have an essential hole in the planning and execution of fire fighting in real forests.
Role of ATP Hydrolysis in the Antirecombinase Function of Saccharomyces cerevisiae Srs2 Protein*

Mutants of the Saccharomyces cerevisiae SRS2 gene are hyperrecombinogenic and sensitive to genotoxic agents, and they exhibit a synthetic lethality with mutations that compromise DNA repair or other chromosomal processes. In addition, srs2 mutants fail to adapt or recover from DNA damage checkpoint-imposed G2/M arrest. These phenotypic consequences of ablating SRS2 function are effectively overcome by deleting genes of the RAD52 epistasis group that promote homologous recombination, implicating an untimely recombination as the underlying cause of the srs2 mutant phenotypes. TheSRS2-encodedproteinhasasingle-stranded(ss)DNA-dependent ATPase activity, a DNA helicase activity, and an ability to disassemble the Rad51-ssDNA nucleoprotein filament, which is the key catalytic intermediate in Rad51-mediated recombination reactions. To address the role of ATP hydrolysis in Srs2 protein function, we have constructed two mutant variants that are altered in the Walker type A sequence involved in the binding and hydrolysis of ATP. The srs2 K41A and srs2 K41R mutant proteins are both devoid of ATPase and helicase activities and the ability to displace Rad51 from ssDNA. Accordingly, yeast strains harboring these srs2 mutations are hyperrecombinogenic and sensitive to methylmethane sulfonate, and they become inviable upon introducing either the sgs1Δ or rad54Δ mutation. These results highlight the importance of the ATP hydrolysisfueled DNA motor activity in SRS2 functions.
Intrinsic Properties of Fe-Substituted Magnets

School of Basic Sciences, Indian Institute of Technology, Mandi, Himachal Pradesh, India Department of Physics and Astronomy and NCMN, University of Nebraska, Lincoln, NE 68588 USA Department of Mechanical and Materials Engineering, University of Nebraska, Lincoln, NE 68588 USA Department of Mechanical and Industrial Engineering, University of Massachusetts, Amherst, MA 01003 USA Arnold Magnetic Technologies, Rochester, NY 14625 USA Department of Applied Physics and Applied Mathematics, Columbia University, New York, NY 10027 USA Department of Chemical Engineering, Northeastern University, Boston, MA 02115 USA
Therapy for Childhood Sexual Abuse Survivors Using Attachment and Family Systems Theory Orientations

The aim of this article is to understand the effects of childhood sexual abuse on a survivor's later life. For understanding and treating the emotional distress and interpersonal problems resulting from childhood sexual abuse, attachment theory provides a valuable framework. When this framework is combined with family systems theory, it can help therapists understand the family context where sexual abuse occurs and how this affects health and functioning throughout the lifespan. Case examples of female adult sexual abuse survivors are also explored, with insight from the intersection of systems and attachment theories.
Clinical efficacy and safety of tripterygium glycosides in treatment of stage IV diabetic nephropathy: A meta-analysis

Abstract The aim of this meta-analysis was to evaluate the clinical efficacy and safety of tripterygium glycosides in treatment of stage IV diabetic nephropathy. Methods Through searching the PubMed and CNKI databases, the open published clinically controlled trials related to efficacy and safety of tripterygium glycosides in the treatment of stage IV diabetic nephropathy were collected. The pooled total efficacy, 24h urinary protein, serum creatinine and tripterygium glycosides related toxicity were calculated using Stata 11.0 software. Results Fourteen publications including 992 subjects (512 in the experimental group and 480 in the control group) were included in this study. Eight studies reported the total clinical efficacy comparing the experiment and control groups. No significant statistical heterogeneity was found in total efficacy (I2=24.9%, p>0.05). Thus, the combined odds ratio (OR) was pooled by fixed effect model. The pooled OR=4.16 with its 95% CI 2.71~6.37 (p<0.05), which indicated the total efficacy in the experiment group, was significant higher than that of control group (p<0.05); Thirteen studies reported the post-treatment 24h urinary protein value. Statistical heterogeneity analysis indicated significant heterogeneity across studies (I2=91.1%, p<0.05); that data was pooled by a random effects model. The combined standardized mean difference (SMD) was -1.55 with its 95% I -2.06~1.03, (p<0.05). The results indicated that post-treatment 24h urinary protein in the experiment group was significant lower than that in control group (p<0.05); Ten studies reported the post-treatment serum creatinine. Significant heterogeneity existed across those studies (I2=82.3%, p<0.05). Thereafter, the data was pooled by a random effect model. The combined standardized mean difference (SMD) was −0.24 with its 95%CI −0.40~0.09, (p<0.05). The results indicated that the post-treatment serum creatinine in experiment group was significant lower than that of control group (p<0.05); Eight studies reported tripterygium glycoside-associated toxicity such as liver function damage, gastrointestinal reactions and menstrual disorders. With no statistical heterogeneity among the studies, the data was pooled by fixed effect model. The pooled OR=6.42 (95%CI 2.23~18.48, p<0.05). The pooled results showed the tripterygium glycoside- associated toxicity incidence rate was significant higher in the experiment group than that of the control group (p<0.05); There were no publication bias for effect size of total efficacy, 24h urinary protein, and serum creatinine. However, for tripterygium glycoside-related toxicity, the publication bias was significant (t=-3.55, p<0.05). Conclusion The present evidence shows that tripterygium glycosides can improve clinical efficacy, reduce the 24h urinary protein and serum creatinine, but that they increase the tripterygium glycoside-related toxicity in treatment of stage IV diabetic nephropathy.
Supporting Incremental Learning with Active Accumulative and Adaptable Documentation

Acquiring knowledge about library routines is necessary for a programmer to effectively use most programming languages. Support for this learning activity is rare while the learning effort required is huge. This paper proposes a conceptual framework of a new documentation system that supports programmers to incrementally learn the use of library routines. The system draws on active information delivery where information relevant to programmers’ work is volunteered by the system, accumulative information space where the system mediates peer-to-peer learning, and adaptable information space where information is displayed according to the increasing skill level of programmers.
The magnitudes and timescales of global mean surface temperature feedbacks in climate models

Abstract. Because of the fundamental role feedbacks play in determining the response of surface temperature to perturbations in radiative forcing, it is important we understand the dynamic characteristics of these feedbacks. Rather than attribute the aggregate surface temperature feedback to particular physical processes, this paper adopts a linear systems approach to investigate the partitioning with respect to the timescale of the feedbacks regulating global mean surface temperature in climate models. The analysis reveals that there is a dominant net negative feedback realised on an annual timescale and that this is partially attenuated by a spectrum of positive feedbacks with characteristic timescales in the range 10 to 1000 yr. This attenuation was composed of two discrete phases which are attributed to the equilibration of "diffusive – mixed layer" and "circulatory – deep ocean" ocean heat uptake. The diffusive equilibration was associated with time constants on the decadal timescale and accounted for approximately 75 to 80 percent of the overall ocean heat feedback, whilst the circulatory equilibration operated on a centennial timescale and accounted for the remaining 20 to 25 percent of the response. This suggests that the dynamics of the transient ocean heat uptake feedback first discussed by Baker and Roe (2009) tends to be dominated by loss of diffusive heat uptake in climate models, rather than circulatory deep ocean heat equilibration.
Effects of retinoic acid isomers on apoptosis and enzymatic antioxidant system in human breast cancer cells

Retinoic acids (RAs) modulate growth, differentiation, and apoptosis in normal, pre-malignant & malignant cells. In the present study, the effects of RA isomers (all-trans RA, 13-cis RA, and 9-cis RA) on the cell signal transduction of human breast cancer cells have been studied. The relationship between RAs and an enzymatic antioxidant system was also determined. Estrogen-receptor (ER) positive MCF-7 and ER-negative MDA-MB-231 human breast cancer cells were treated with different doses of each RA isomers, all-trans RA, 13-cis RA, or 9-cis RA. Treatment of RA isomers inhibited cell viability and induced apoptosis of MCF-7 cells as a result of increased caspase activity in cytoplasm and cytochrome C released from mitochondria. All-trans RA was the most effective RA isomer in both cell growth inhibition and induction of apoptosis in MCF-7 cells. However, no significant effect of RA isomers was observed on the cell growth or apoptosis in ER-negative MDA-MB-231 cells. In addition, activities of antioxidant enzymes such as catalase and glutathione peroxidase were decreased effectively after treatment of RA in MCF-7 cells, whereas SOD activity was rarely affected. Thus, the present data suggest that all-trans RA is the most potential inducer of apoptosis and modulator of antioxidant enzymes among RA isomers in MCF-7 human breast cancer cells.
Autonomous Management System for Dynamic Resource Allocation in Cloud Computing

Cloud Computing allows resource usage based on needs of the business customers. In this paper, we present an autonomous management system that uses virtualization technology to allocate data center resources effectively based on application demands that supports green computing to save energy used by optimizing the number of servers in use. We implement the concept of “skewness” to measure the irregularity in the multi-dimensional resource utilization of a server. By reducing skewness, we can improve the overall utilization of server resources and combine different types of workloads fairly. Cloud SIM simulation and experiment results demonstrate that our algorithm achieves better performance.
Assessing Cognitive behavioural Therapy in Irritable Bowel (ACTIB): protocol for a randomised controlled trial of clinical-effectiveness and cost-effectiveness of therapist delivered cognitive behavioural therapy and web-based self-management in irritable bowel syndrome in adults

Introduction Irritable bowel syndrome (IBS) affects 10–22% of the UK population, with England's annual National Health Service (NHS) costs amounting to more than £200 million. Abdominal pain, bloating and altered bowel habit affect quality of life, social functioning and time off work. Current treatment relies on a positive diagnosis, reassurance, lifestyle advice and drug therapies, but many people suffer ongoing symptoms. Cognitive behaviour therapy (CBT) and self-management can be helpful, but availability is limited. Methods and analysis To determine the clinical- and cost-effectiveness of therapist delivered cognitive behavioural therapy (TCBT) and web-based CBT self-management (WBCBT) in IBS, 495 participants with refractory IBS will be randomised to TCBT plus treatment as usual (TAU); WBCBT plus TAU; or TAU alone. The two CBT programmes have similar content. However, TCBT consists of six, 60 min telephone CBT sessions with a therapist over 9 weeks, at home, and two ‘booster’ 1 hour follow-up phone calls at 4 and 8 months (8 h therapist contact time). WBCBT consists of access to a previously developed and piloted WBCBT management programme (Regul8) and three 30 min therapist telephone sessions over 9 weeks, at home, and two ‘booster’ 30 min follow-up phone calls at 4 and 8 months (2½ h therapist contact time). Clinical effectiveness will be assessed by examining the difference between arms in the IBS Symptom Severity Score (IBS SSS) and Work and Social Adjustment Scale (WASAS) at 12 months from randomisation. Cost-effectiveness will combine measures of resource use with the IBS SSS at 12 months and quality-adjusted life years. Ethics and dissemination This trial has full ethical approval. It will be disseminated via peer reviewed publications and conference presentations. The results will enable clinicians, patients and health service planners to make informed decisions regarding the management of IBS with CBT. Trial registration number ISRCTN44427879.
Genomic Confirmation of Hybridisation and Recent Inbreeding in a Vector-Isolated Leishmania Population

Although asexual reproduction via clonal propagation has been proposed as the principal reproductive mechanism across parasitic protozoa of the Leishmania genus, sexual recombination has long been suspected, based on hybrid marker profiles detected in field isolates from different geographical locations. The recent experimental demonstration of a sexual cycle in Leishmania within sand flies has confirmed the occurrence of hybridisation, but knowledge of the parasite life cycle in the wild still remains limited. Here, we use whole genome sequencing to investigate the frequency of sexual reproduction in Leishmania, by sequencing the genomes of 11 Leishmania infantum isolates from sand flies and 1 patient isolate in a focus of cutaneous leishmaniasis in the Çukurova province of southeast Turkey. This is the first genome-wide examination of a vector-isolated population of Leishmania parasites. A genome-wide pattern of patchy heterozygosity and SNP density was observed both within individual strains and across the whole group. Comparisons with other Leishmania donovani complex genome sequences suggest that these isolates are derived from a single cross of two diverse strains with subsequent recombination within the population. This interpretation is supported by a statistical model of the genomic variability for each strain compared to the L. infantum reference genome strain as well as genome-wide scans for recombination within the population. Further analysis of these heterozygous blocks indicates that the two parents were phylogenetically distinct. Patterns of linkage disequilibrium indicate that this population reproduced primarily clonally following the original hybridisation event, but that some recombination also occurred. This observation allowed us to estimate the relative rates of sexual and asexual reproduction within this population, to our knowledge the first quantitative estimate of these events during the Leishmania life cycle.
Multi-objective Approach for Local Community Computation

In this paper we propose a new approach for efficiently identifying local communities in complex networks. Most existing approaches are based on applying a greedy optimization process guided by a given objective function. Different objective functions have been proposed in the scientific literature, each capturing some specific feature of desired communities. In this work, we propose exploring a new multi-objective approach that allows combining different objective functions. First results obtained from experiments on benchmark networks argue for the relevancy of our approach.
Identification and biochemical analysis of a novel APOB mutation that causes autosomal dominant hypercholesterolemia

Patients with autosomal dominant hypercholesterolemia (ADH) have a high risk of developing cardiovascular disease that can be effectively treated using statin drugs. Molecular diagnosis and family cascade screening is recommended for early identification of individuals at risk, but up to 40% of families have no mutation detected in known genes. This study combined linkage analysis and exome sequencing to identify a novel variant in exon 3 of APOB (Arg50Trp). Mass spectrometry established that low‐density lipoprotein (LDL) containing Arg50Trp APOB accumulates in the circulation of affected individuals, suggesting defective hepatic uptake. Previously reported mutations in APOB causing ADH have been located in exon 26. This is the first report of a mutation outside this region causing this phenotype, therefore, more extensive screening of this large and highly polymorphic gene may be necessary in ADH families. This is now feasible due to the high capacity of recently available sequencing platforms.
QoS-based gateway selection in MANET with Internet connectivity

This paper proposes a QoS-based gateway selection mechanism to select an appropriate gateway based on three QoS metrics: traffic load of gateway, path quality from MANET node to the gateway and hop count to the gateway for integrating MANET and the Internet. The Simple Additive Weighting method is used to combine these three QoS metrics to outrank the optimum gateway. Gateway with the smallest weight will be selected as a gateway. Simulation results show that the proposed scheme can improve packet delivery ratio and end to end delay.
Humidity sensor based on piezoresistive microcantilever with inkjet printed PEDOT/PSS sensing layers

In this work, a new humidity sensor is developed by employing piezoresistive microcantilever with inkjet printed PEDOT/PSS sensing layers. 200 µm long, 50 µm wide and 3.75 µm thick microcantilever is designed and fabricated by PolyMUMP, which is a commercial Multi-User MEMS Process. The polysilicon piezoresistive layer in the microcantilever acts as a transduction component that will change its resistance when there is bending of microcantilever due adsorbed water molecules on PEDOT/PSS sensing layers. PEDOT/PSS layers are directly patterned on microcantilever by a commercial Dimatrix material inkjet printer. The resistances of microcantilever sensors are monitored as a function of humidity, which is simultaneously measured by a commercial humidity sensor. The resistance value is found to decrease with the humidity and the calibration curve of resistance change is linearly proportional to the percent of relative humidity in range from 20.3–66.3 %RH with high sensitivity. The results show that the piezoresistive microcantilever sensor with inkjet printed PEDOT/PSS sensing layers is a promising candidate for humidity sensing.
Frequency tracking synchronization algorithm for high latency wireless sensor networks

Time synchronization is a critical issue in distributed systems especially for wireless sensor networks (WSNs). Most existing synchronization algorithms, such as Reference Broadcasts Synchronization (RBS), Time-sync Protocol for Sensor Networks (TPSN), Flooding Time Synchronization Protocol (FTSP) and etc., assumed instantaneous communication between the pair of nodes intended for synchronization, which is however hard to implement in high latency systems. Time Synchronization for High Latency networks (TSHL) is another algorithm to address this problem for short range networks and ideally assumes constant clock skew during synchronization, which is impractical for longer communication distance with higher latency and viable clock skew. By analyzing the compensating error of TSHL, we proposed a novel frequency tracking synchronization algorithm for high latency networks. Numerical results suggest that the proposed algorithm works well for variable clock skew and outperforms TSHL scheme.
Autonomous Parking using a Highly Maneuverable Robotic Vehicle

Abstract This work presents a novel autonomous parking concept for a four wheel-steerable robotic electric vehicle called ROboMObil (ROMO). Its extraordinary maneuverability, including rotations and lateral driving, and its capability of autonomous driving is demonstrated in the application of parallel parking. The whole process is described starting with the perception to identify a suitable parking spot in the near environment, planning the maneuver, and executing it autonomously. The proposed parking method is free of assumptions and does not use any information about the environment from an external source. Test results with the real vehicle are presented to show the feasibility of the concept.
A High-Range-Accuracy and High-Sensitivity Harmonic Radar Using Pulse Pseudorandom Code for Bee Searching

This paper presents a 9.4/18.8-GHz harmonic radar to investigate the behavior of bees with colony collapse disorder. The challenges of using harmonic radar for bee searching include the requirements of high range accuracy and high sensitivity. A new harmonic radar using the pseudorandom code positioning technique to simultaneously achieve high range accuracy and high sensitivity is proposed. This study also proposes a new method to cancel the local leakage to further improve sensitivity. To realize the transponder, a compact antenna is designed using the topology characteristics of the composite right/left-handed transmission-line concept. The measured sensitivity of the transceiver is -120 dBm, which is 27 dB lower than the noise level. Field testing results demonstrate a 60-m detection range within 1-m distance error with 1.75-W transmitting power. The significant improvement of the sensitivity and the range accuracy reveal the advantages of applying the code-positioning technique to the harmonic radar.
FPGA based microstepping scheme for stepper motor in Space-Based Solar Power Systems

Space-Based Solar Power (SBSP) systems require high precision in positioning of the photovoltaic panels, which can be attained through the use of stepper motors. The precision of the shaft movement can be improved by employing a microstepping scheme in the stepper motor controller. Microstepping renders to advantages which include dynamics with high precision, accurate positioning, ripple reduction and attenuation of mechanical resonance. The present paper focuses on the hardware implementation of a high performance FPGA based algorithm developed using Very High Speed Integrated Circuit Hardware Description Language (VHDL) for a microstepping scheme of a stepper motor for solar-tracking of photovoltaic panels in SBSP.