Miracle-dz/UniFAR-FTUs huggingface dataset:
Motion primitive based random planning for loco-manipulation tasks

Several advanced control laws are available for complex robotic systems such as humanoid robots and mobile manipulators. Controls are usually developed for locomotion or for manipulation purposes. Resulting motions are usually executed sequentially and the potentiality of the robotic platform is not fully exploited. In this work we consider the problem of loco-manipulation planning for a robot with given parametrized control laws known as primitives. Such primitives, may have not been designed to be executed simultaneously and by composing them instability may easily arise. With the proposed approach, primitives combination that guarantee stability of the system are obtained resulting in complex whole-body behavior. A formal definition of motion primitives is provided and a random sampling approach on a manifold with limited dimension is investigated. Probabilistic completeness and asymptotic optimality are also proved. The proposed approach is tested both on a mobile manipulator and on the humanoid robot Walk-Man, performing loco-manipulation tasks.
The Relationship Between Reported Health and Involvement in Bully/ Victim Problems among Male and Female Secondary Schoolchildren

The relationship between involvement in bully/victim problems at school and the reported health of adolescents was investigated using questionnaires completed anonymously by 819 Australian schoolchildren attending coeducational high school. From self-reports of their relations with peers at school, respondents were categorized as victims, bullies, bully-victims and 'others'. The students also completed a measure of mental health, the General Health Questionnaire, and answered questions to assess their frequency of physical complaints and perceived consequences of adverse treatment by peers at school. In general, peer- victimized girls reported a higher incidence of emotional distress and more perceived adverse health effects. Compared with 'others' , victims of both sexes indicated significantly worse mental and physical health. Among boys only, bullies consistently reported poorer health. Explanations for health effects and reported gender differences are discussed in relation to the consequences of stress engendered by peer victimization at school as well as suggested differences in the nature and implications of bullying behaviours employed by boys and girls.
Glycemic Control during Critical Illness: Tight or Not?

Nutrition Support Pharmacist features issues pertinent to the practice of clinical pharmacy in the area of metabolic support. In this review, a critical analysis of six current major intensive insulin therapy trials (Leuven I, Leuven II, Leuven III, NICE-SUGAR, VISEP, and Glucontrol) for critically ill surgical and medical patients is provided. Practical suggestions for managing hyperglycemia, defining an effective target blood glucose concentration range, avoiding hypoglycemia, and designing a safe and effective insulin infusion algorithm are given.
Genetic Environment and Stability of cfr in Methicillin-Resistant Staphylococcus aureus CM05

ABSTRACT The Cfr methyltransferase confers resistance to many 50S ribosomal subunit-targeted antibiotics, including linezolid (LZD), via methylation of the 23S rRNA base A2503 in the peptidyl transferase center. Methicillin-resistant Staphylococcus aureus strain CM05 is the first clinical isolate documented to carry cfr. While cfr is typically plasmid borne, in CM05 it is located on the chromosome and is coexpressed with ermB as part of the mlr operon. Here we evaluated the chromosomal locus, association with mobile genetic elements, and stability of the cfr insertion region in CM05. The cfr-containing mlr operon is located within a 15.5-kb plasmid-like insertion into 23S rRNA allele 4. The region surrounding the cfr gene has a high degree of sequence similarity to the broad-host-range toxin/antitoxin multidrug resistance plasmid pSM19035, including a second ermB gene downstream of the mlr locus and istAS-istBS. Analysis of several individual CM05 colonies revealed two distinct populations for which LZD MICs were either 8 or 2 μg/ml. In the LZDs colonies (designated CM05Δ), a recombination event involving the two ermB genes had occurred, resulting in the deletion of cfr and the 3′ flanking region (cfr-istAS-istBS-ermB). The fitness advantage of CM05Δ over CM05 (though not likely due to the cfr deletion itself) results in the predominance of CM05Δ in the absence of selective pressure. Minicircles resulting from the ermB recombination event and the novel association of cfr with the pSM19035 plasmid system support the potential for the continued dissemination of cfr.
Longitudinal changes in Scores on the Autism Diagnostic Interview—Revised (ADI-R) in pre-school children with autism

We prospectively examined mean changes in Autism Diagnostic Interview—Revised (ADI-R) Total and Domains scores and stability of the ADI-R diagnostic classification in 28 children with autism initially assessed at age 2—4 years and reassessed 2 years later. Mean Total, Social Interaction, and Communication scores decreased significantly from Time 1 to Time 2 Restricted/repetitive Domain mean scores did not change over time. The ADI-R diagnostic classification was stable in 67% of children using the current published criteria. The stability increased to 78% when a modified criterion was used in the Restricted/repetitive Domain and to 88% when the broader ASD criteria were used. Among pre-schoolers with autism, parent-reported symptoms decreased significantly at two-year follow-up in Social and Communication Domains but not in the Restricted/repetitive Domain. However, ADI-R diagnostic classification remained relatively stable over time. Revising ADI-R diagnostic criteria in the Restricted/repetitive Domain or including the broader ASD criteria may improve its sensitivity and diagnostic stability in younger children.
A review of scientific literature on inherited disorders in domestic horse breeds

The full extent to which inherited disorders occur in different breeds of domestic horse (Equus caballus) has not been previously been investigated. A systematic search was carried out to review scientific literature on inherited disorders in domestic horse breeds and examine patterns in potentially inherited disorders. A two-part search was conducted: (i) electronic bibliographic databases for published studies; and (ii) existing online databases of inherited disorders in animals. A total of 230 papers were identified, discussing 102 inherited disorders in the horse. Few cases (17) were found in which disorders were reported to have a direct link to a conformational or phenotypic trait. Forty-nine breeds of domestic horse were described as being predisposed to one or more inherited disorders, but such predispositions did not distinguish between genetic or environmental causes. There were few patterns in the number of disorders to which breeds were reportedly predisposed or in the extent to which disorders were researched. The structure and grouping of disorders presented here could assist with standardisation in the terminology used for describing inherited disorders. Â© 2012 Universities Federation for Animal Welfare The Old School.
College students on the autism spectrum

As more young people are identified with autism spectrum diagnoses without co-occurring intellectual disability (i.e. high-functioning autism spectrum disorder; HFASD), it is imperative that we begin to study the needs of this population. We sought to gain a preliminary estimate of the scope of the problem and to examine psychiatric risks associated HFASD symptoms in university students. In a large sample (n = 667), we examined prevalence of ASD in students at a single university both diagnostically and dimensionally, and surveyed students on other behavioral and psychiatric problems. Dependent upon the ascertainment method, between . 7 per cent and 1.9 per cent of college students could meet criteria for HFASD. Of special interest, none of the students who were found to meet diagnostic criteria (n = 5) formally for HFASD in this study had been previously diagnosed. From a dimensional perspective, those students scoring above the clinical threshold for symptoms of autism (n = 13) self-reported more problems with social anxiety than a matched comparison group of students with lower autism severity scores. In addition, symptoms of HFASD were significantly correlated with symptoms of social anxiety, as well as depression and aggression. Findings demonstrate the importance of screening for autism-related impairment among university students.
Cognitive Behavioral Therapy and Nicotine Replacement for Smoking Cessation in Psychiatric Outpatients With Major Depression

ObjectiveThe over-representation of major depressive disorder (MDD) in cigarette smokers makes it imperative to understand the effects of common treatments for smoking cessation on subjects with current depression. We assessed the feasibility of cognitive behavioral therapy (CBT) plus transdermal patch nicotine replacement therapy (NRT) versus CBT alone in subjects with MDD. MethodsIn this case series, 9 smokers (7 female and 2 male) in an outpatient psychiatry clinic responded to an advertisement and were enrolled in January 2005. The CBT-only group received 8 weekly 60-minute CBT sessions and CBT+NRT group received the CBT sessions and wore a 14 mg nicotine patch for 8 weeks. Cigarette use and scores on the Beck Depression Inventory, Fagerstrom Test for Nicotine Dependence, and Minnesota Nicotine Withdrawal Scale were determined serially over 12 weeks from enrollment. ResultsAll 3 subjects in the CBT+NRT group completed the study, whereas only 67% (4 of 6) in the CBT-only group did so. Both groups showed reductions in cigarette use, in nicotine dependence and withdrawal, and in symptoms of MDD. The CBT-only group smoked 17.1±3.38 cigarettes/d at baseline and 7.53±3.13 cigarettes/d at 3 months, whereas the CBT+NRT group smoked 24.3±9.81 cigarettes/d at baseline and 9.67±2.47 cigarettes/d at 3 months. Between-group differences on outcome measures did not reach statistical significance. ConclusionsOur findings showing feasibility of smoking cessation programs in cigarette smokers with current MDD suggest that clinicians should include this group in comprehensive smoking cessation programs.
The Mini Nutritional Assessment-An Integral Part of Geriatric Assessment

G lobally, the older population is growing significantly, with the number of persons 60 years or older expected to nearly double between 2005 and 2050. Many older adults, especially those in developed countries, enjoy good nutritional status as they age. However, others with failing health and functional impairments fare less well, demonstrated by the increased prevalence of malnutrition in those living in nursing homes compared with those living independently in the community (Table 1). Changes that may occur with aging can lead to undernutrition. Some older adults experience psychosocial changes involving finances, transportation, or living arrangements that may lead to social isolation. Although older adults are living longer with fewer disabilities, many experience limited activity caused by arthritis and other chronic conditions. Physiological changes such as sarcopenia, loss of muscle mass, and decline in taste and odor perception with age are common and may negatively impact meal preparation and eating. Along with the effects of multiple diseases, these changes can lead to undernutrition. If undiagnosed and left untreated, progressive undernutrition can result in malnutrition, which is closely related to increased morbidity and mortality. The challenge then is to find a way to accurately predict who is at risk of malnutrition and intervene early to prevent the slow deterioration associated with undernutrition, without wasting limited resources on most aged persons who need no intervention. Valid and easy-to-use tools are crucial to providing effective nutrition screening that is integrated into interdisciplinary care management across all settings. The Mini Nutritional Assessment (MNA) was designed as a first step in providing comprehensive, coordinated nutrition services for persons 65 years and older. It quickly identifies those who are at risk of developing undernutrition and those with undernutrition at an early stage, so intervention can be started early when nutrition care is most effective.
A retrospective chart study: The pathway to a diagnosis for adults referred for ASD assessment

Charts of 125 adults (18 to 82 years), referred to an autism expert team for Autism Spectrum Disorder (ASD) assessment, were reviewed to explore the pathway to an adulthood ASD diagnosis. The participants first contacted the mental health care clinic at a median age of 19 years (range 2 to 78 years). Men contacted the clinic slightly earlier than women. The main referral reasons were social problems, feelings of anxiety and mood disturbances. The most common earlier diagnoses were anxiety and mood disorders or psychosis-related disorders. These diagnoses were more common in women than in men. Surprisingly few differences emerged between those who finally received an ASD diagnosis and those who did not. However, those with an ASD diagnosis contacted the clinic a mean of 15 years earlier and less frequently received different former diagnoses, although the type of diagnoses did not differ. The diagnostic criteria that were prevalent during early childhood of these adults did not influence their diagnostic history. A quarter of these clients were known with social problems within the mental health care system, but ASD was not assessed. Hence, the current study shows that the pathways to an adulthood ASD diagnosis are very heterogeneous.
Longitudinal change in the use of services in autism spectrum disorder: Understanding the role of child characteristics, family demographics, and parent cognitions

The aim of this study was to identify child characteristics, family demographics, and parent cognitions that may affect access to early intervention, special education, and related services. The sample included 70 families of young children with autism spectrum disorders. All parents were enrolled in a short education program, providing them with basic information and resources on advocating for a young child with autism spectrum disorders (Parent Advocacy Coaching). Longitudinal change in children’s intervention program in the community was evaluated over a period of about 27 months, starting 12 months prior to enrollment in Parent Advocacy Coaching. Results revealed large individual differences in the intensity of children’s individual and school-based services. Despite this variability, only two child characteristics (age, gender) emerged as independent predictors. In contrast, the intensity of children’s intervention programs was independently predicted by a broad range of demographic characteristics, including parental education, child ethnicity and race, and family composition. Finally, even after child characteristics and family demographics were statistically controlled, results revealed associations between specific parental cognitions (parenting efficacy, understanding of child development) and the subsequent rate of change in the intensity of children’s intervention programs. Implications for improving educational programs that aim to enhance parent advocacy are discussed.
Rotational Energy Harvesting To Prolong Flight Duration of Quadcopters

This paper presents a rotational energy harvester using a brushless dc (BLdc) generator to harvest ambient energy for quadcopter in order to prolong it flight duration. For a quadcopter, its endurance is essential in order to achieve operational goals such as scientific research, security, surveillance, and reconnaissance. Because quadcopters have a limitation on size and mass, they cannot carry a large mass of on-board energy thereby having short flight time. In this paper, BLdc generators are coupled with the propellers of the quadcopter to transfer kinetic energy from the propellers to the generator. Taking into consideration the power requirement of quadcopter, the output of the generator is amplified using dc–dc boost, and is regulated to power and charge the on-board battery. The BLdc generator is simulated in MATLAB/Simulink. A final prototype of the rotational energy harvesting system is built, and this comprises a quadcopter, power management system, and a battery charging system.
Risk factors for bullying among children with autism spectrum disorders

Although children with disabilities have been found to be at an increased risk of bullying, there are limited studies investigating predictors of bullying involvement in children with autism spectrum disorders. The current study presents findings from 1221 parents of children diagnosed with autism spectrum disorder who were selected from a national web-based registry. Parents completed a survey dedicated to the school and bullying experiences of their child, and multivariate logistic regression analyses were conducted to identify child and school risk factors for involvement as victim, bully, or bully–victim. Additional analyses examined the risk of bullying involvement based on the amount of time spent in general education classrooms. Children diagnosed with Asperger’s disorder, attending a public school or a school with a general education population, were at the greatest risk of being victimized in the past month. Children with comorbid conditions and a high level of autistic traits were the most likely to be victims, bullies, and bully–victims. Finally, children in full inclusion classrooms were more likely to be victimized than those who spend the majority of their time in special education settings. Future research studies should be invested in finding appropriate supports for children with autism spectrum disorder placed in inclusive settings.
Paradoxical interpretations of noninferiority studies: violating the excluded middle

Background: The noninferiority of a novel therapy compared with a standard of care is customarily defined by a noninferiority margin derived from an assessment of what would constitute a clinically relevant decrement in efficacy while preserving some of the treatment effect over placebo. Conundrum: If the one-sided 97.5% CI around the difference in the point estimates of efficacy between the two treatments (investigational drug minus comparator drug) does not extend below the prespecified threshold, noninferiority of the new agent to the comparator is typically concluded. In some cases, the corresponding two-sided 95% CI will fall entirely between zero and the noninferiority delta, technically implying inferiority and noninferiority concurrently. Solution: Stipulating that the upper bound of the two-sided confidence interval reach or exceed zero (as well as fall entirely above the noninferiority limit) to establish statistical noninferiority versus the comparator would avoid paradoxical interpretations.
Novel High-Rank Phylogenetic Lineages within a Sulfur Spring (Zodletone Spring, Oklahoma), Revealed Using a Combined Pyrosequencing-Sanger Approach

ABSTRACT The utilization of high-throughput sequencing technologies in 16S rRNA gene-based diversity surveys has indicated that within most ecosystems, a significant fraction of the community could not be assigned to known microbial phyla. Accurate determination of the phylogenetic affiliation of such sequences is difficult due to the short-read-length output of currently available high-throughput technologies. This fraction could harbor multiple novel phylogenetic lineages that have so far escaped detection. Here we describe our efforts in accurate assessment of the novelty and phylogenetic affiliation of selected unclassified lineages within a pyrosequencing data set generated from source sediments of Zodletone Spring, a sulfide- and sulfur-rich spring in southwestern Oklahoma. Lineage-specific forward primers were designed for 78 putatively novel lineages identified within the pyrosequencing data set, and representative nearly full-length small-subunit (SSU) rRNA gene sequences were obtained by pairing those primers with reverse universal bacterial primers. Of the 78 lineages tested, amplifiable products were obtained for 52, 32 of which had at least one nearly full-length sequence that was representative of the lineage targeted. Analysis of phylogenetic affiliation of the obtained Sanger sequences identified 5 novel candidate phyla and 10 novel candidate classes (within Fibrobacteres, Planctomycetes, and candidate phyla BRC1, GN12, TM6, TM7, LD1, WS2, and GN06) in the data set, in addition to multiple novel orders and families. The discovery of multiple novel phyla within a pilot study of a single ecosystem clearly shows the potential of the approach in identifying novel diversities within the rare biosphere.
Characterization of Two Paenibacillus amylolyticus Strain 27C64 Pectate Lyases with Activity on Highly Methylated Pectin

ABSTRACT Two pectate lyases were identified from Paenibacillus amylolyticus 27C64; both enzymes demonstrated activity on methylated pectin in addition to polygalacturonic acid. PelA is in a subclass of the pectate lyase family III. PelB shows some features of pectate lyase family I but is highly divergent.
Rapid Ultrafiltration Concentration and Biosensor Detection of Enterococci from Large Volumes of Florida Recreational Water

ABSTRACT Monitoring recreational waters for fecal contamination by standard methodologies involves culturing indicator bacteria, such as fecal coliforms and enterococci. Delayed reporting of microbial water quality parameters increases the likelihood of public exposure to pathogens of fecal origin, making the development of rapid methods important for public health protection. A rapid assay for enterococci was developed using a combined ultrafiltration-biosensor procedure. Twelve 100-liter water samples were collected from upper Tampa Bay over a 9-month period. The samples were collected on site by dead-end hollow-fiber ultrafiltration. Postfiltration processing of the initial retentates included sonication and micrometer-level sieve passage to remove interfering particles. Centrifugation was utilized for secondary concentration. Grab samples were collected simultaneously with the ultrafiltered samples. Concentrations of enterococci in all grab and ultrafiltration samples were determined by the standard method (EPA method 1600) for calculation of recovery efficiencies and concentration factors. Levels of enterococci increased twofold in initial retentates and by 4 orders of magnitude in final retentates over ambient concentrations. An aliquot of each final retentate was adsorbed onto polystyrene waveguides for immunoassay analysis of enterococci with a microfluidic fiber optic biosensor, the Raptor. Enterococci were detected when concentrations in the ambient water exceeded the regulatory standard for a single sample (≥105 CFU/100 ml). The combined ultrafiltration-biosensor procedure required 2.5 h for detection compared to 24 for the standard method. This study demonstrated that enterococci can be detected rapidly using on-site ultrafiltration, secondary concentration, and biosensor analysis.