Miracle-dz/UniFAR-FTUs huggingface dataset:
Drive-Train Design in JAXON3-P and Realization of Jump Motions: Impact Mitigation and Force Control Performance for Dynamic Motions

For mitigating joint impact torques, researchers have reduced joint stiffness by series elastic actuators, reflected inertia by low gear ratios, and friction torque from drive-trains. However, these impact mitigation methods may impair the control performance of contact forces or may increase motor and robot mass. This paper proposes a design method for achieving a balance between impact mitigation performance and force control fidelity. We introduce an inertia-to-square-torque ratio as a new index for integrating the parameters of torque generation (motor continuous torque limits, gear ratios, etc.) and the parameters of impact mitigation (joint stiffness, reflected inertia, etc.). In the process, we make a hypothesis that a motor mass is negatively correlated with the ratio. Based on the hypothesis, we calculate a joint breakdown region of impact torques, joint stiffnesses, and motor masses. Finally, we decide the drive-train specifications of JAXON3-P and demonstrate that the proposed method provides high impact mitigation and force control capabilities through several experiments including the jumping motion of 0.3 m COG height.
High Stability ITU Grid References

DWDM evolution has placed increasing importance on the availability of precise wavelength standards in the 1480nm to 1620nm region. Presently DWDM channels are defined on an exact 100 Ghz frequency grid with future systems on a 50 or even 25Ghz grid. A reliable grid at 25Ghz would require the network lasers to maintain accuracy over time and environment of at least ±0.02nm or better. Transmission lasers with this accuracy are not normally available. Measurement devices would also benefit. Most precision wavelength measurement devices use a HeNe laser at 632nm as a reference and measure the wavelength ratio in an interferometric configuration. This technique relies on significant correction factors to correct for the index of refraction difference between 632nm and 1550nm [1]. Optical spectrum analyzers would also benefit from precise in band wavelengths for calibration. The need for precision frequency references in the 1.5 micron band with increasing accuracy is evident. There are few fundamental frequency references in the 1550nm band. The only gas laser line is the 1523nm HeNe line. This laser line is difficult to fabricate in a stabilized configuration and typically outputs multilongitudinal modes. DFB laser stabilization offers an attractive alternative but needs a stable transition to probe as a reference. Atomic transitions in this region are between excited states and produce a low locking signal typically with high noise. Some researchers have investigated locking a DFB by frequency doubling to a Rubidium transition at 780nm[2]. Several previous papers have reported on research in stabilizing external cavity laser diodes to molecular absorption lines of acetylene, hydrogen cyanide, and ammonia[3,4]. These materials are known to have highly stable transitions some of which have been measured to an absolute accuracy of 1 part in 10^9 and which are very insensitive to environmental effects[5]. These studies have resulted in laser output with the emission wavelength stabilized long term to within a few MHz. All these results, however, have drawbacks: • The studies generally used high frequency modulation of the laser frequency to achieve an error signal using the Pound-Drever technique. This results in an undesirable frequency and amplitude modulation on the laser output. • The apparatus used was typically complicated and not subject to use as a practical portable low cost standard • The emission wavelengths available did not include an ITU grid wavelength. In this paper we report on a simple, robust laser locked to molecular absorption lines that can produce an emission wavelength with no modulation that can be stabilized to within 0.1 picometers long term. In addition the techniques described allow stabilization to at least a few selected ITU grid wavelengths.
Influence of different electrical stunning conditions on the meat quality of broilers

The aim of this study was to evaluate the effect of different electrical variables used in broiler stunning on the final quality of the meat. Two hundred Cobb broilers (48 days-old) were randomly assigned in 4 treatments with 2 waveforms (WF) (pulsed direct current DC and rectangular alternating current – AC) and 2 frequencies (FREQ) (650 Hz and 300 Hz) in a 2 factorial design. Broilers were electrically stunned in water bath of a commercial slaughterhouse. Pectoralis major (PM) samples were analyzed for pH, cooking loss, water holding capacity, shear force and instrumental color. Results were analyzed by GLM and Tukey ́s test (P<0.05). The interaction between WF x FREQ was significant only for lightness (L*). The effects of WF or FREQ were not significant for pH, CL, SF and a* (P>0.05). FREQ had a significant effect on WHC and b* (P<0.05), which were higher in PM of poultry stunned at 650 Hz. The higher frequency also resulted in lower L*. This study indicated that the stunning frequency exerts greater influence than the waveform on the meat quality of broilers. The use of higher frequency (650Hz) improved meat quality when compared to the lower frequency (350 Hz).
Glucose level in the aspirated cystic fluid of radicular cyst, odontogenic keratocyst and dentigerous cyst

Background: Cystic fluid is hyperosmolar exudates that contain various proteins, carbohydrates, and glucoconjugates. This hyperosmolarity is responsible for the cyst expansion and enlargement. Aims and Objective: To determine the glucose contents of the cystic fluid in order to assess cellular metabolism. Materials and Method: A study was carried out on 5 cases of radicular cyst, 5 cases of odontogenic keratocyst and 5 cases of dentigerous cyst. Cystic fluid aspiration was obtained from all the three cysts for the determination of glucose level by Trinder’s method. Results: In the present study, the mean glucose content was greater in radicular cyst followed by the odontogenic keratocyst and dentigerous cyst. The p-value was found to be stastically non-significant. Conclusion: The lower glucose content of dentigerous cyst revealed minimum level of cellular metabolism than that of radicular cyst and odontogenic keratocyst.
Lifestyle Correlates of Erectile Dysfunction in Type 2 Diabetic Subjects Attending the Diabetes Out Patient Clinic of a Nigerian Teaching Hospital

Background: Erectile dysfunction (ED) is a chronic complication of diabetes mellitus (DM) that is associated with a negative impact on emotional wellbeing and poor quality of life. There is dearth of current data on the lifestyle correlates of ED in subjects with type 2 diabetes both locally and globally. Objective: To determine the association between ED, tobacco use (snuff use and cigarette Original Research Article Ezeude et al.; JAMMR, 32(23): 7-17, 2020; Article no.JAMMR. 62695 8 smoking) and alcohol consumption in type 2 DM patients attending the diabetes outpatient clinic of Nnamdi Azikiwe University Teaching Hospital, Nnewi in South-Eastern Nigeria. Materials and Methods: This was a cross sectional hospital-based study comprising 124 male type 2 diabetic subjects. Data collection was done with a researcher designed study proforma. The Hospital Anxiety and Depression Scale (HADS), International Index of Erectile Function (IIEF) and the abbreviated version of Alcohol Use Disorder Identification Test (AUDIT-C) questionnaires were used for the diagnosis of anxiety/depression, erectile dysfunction and obtaining the alcohol history respectively. History of tobacco use was obtained and cigarette smoking estimated in pack years. Subjects who had anxiety, depression or hypogonadism were excluded from the study. Statistical analysis was done using the Statistical Package for Social Sciences (SPSS) version 20. P value of ˂ 0.05 is considered significant. Results: A total of 124 patients were studied. The prevalence rate of ED among the subjects was 48.4%. No significant associations were found between erectile dysfunction and tobacco use (Cigarette smoking and Snuff use) (P = 0.814, OR = 0.904, 95% C.I = 0.389 – 2.101) (P = 0.762, OR = 0.867, 95% C.I = 0.344 – 2.15) and alcohol consumption (P = 0.389, OR = 0.670, 95% C.I = 0.269 – 1.667) respectively. Conclusions: There was no significant association between ED and tobacco use and alcohol consumption in subjects with type 2 diabetes mellitus. Similarly, no significant association was found between ED, pack years of cigarette smoking and the grades of alcohol consumption in the subjects. The subjects’ diet, medications and the social/religious stigma attached to the use of these substances in our setting could have influenced our findings.
En bloc liver and pancreas transplantation after total pancreatectomy with autologous islet transplantation

We present a patient with intractable and debilitating pain secondary to chronic pancreatitis who was effectively treated with total pancreatectomy with islet autotransplantation (TPIAT). Islets engrafted into his liver significantly contributed to improved blood glucose control and quality of life. Subsequently, the patient developed alcohol related acute liver failure and en bloc liver and pancreas transplantation was performed to replace the failing liver with engrafted islets. Pancreas transplantation was required to resolve his life-threatening severe hypoglycemic episodes. Herein, we detail an innovative and multidisciplinary management of this complex medical problem.
Sensory Integration Capacity is Diminished in Obsessive Compulsive Disorder Patients with Poor Insight But Not in Patients with Intact Insight

Aims: The aim of the present study was to assess sensory integration ability of OCD patients with poor and good insight using a Haptic Test for adults. Study Design: Experimental design. Place and Duration of Study: Department of Psychiatry, University of Leipzig, between October 2010 and Mai 2013 Methodology: Results of 23 OCD out patients (7 poor insight, 16 good insight) and 23 healthy control subjects, matched for age and sex were compared. Visual-haptic integration was measured using the Haptic Figures Test (HFT). Results: The analysis showed significant differences between the groups in their number of errors (F (2,43) = 4.68, p<. 05) and mean total exploration time (F (2,43) = 9.00, p<. 005). Post hoc analyses revealed that OCD patients with poor insight made significantly more mistakes and used longer exploration times than OCD patients with good insight and healthy adults. Conclusion: The results are indicative of the necessity to use differentiated analyses and group comparisons of patients with OCD. The striking results of OCD patients with poor insight may indicate a deficit in sensory integration especially for this subgroup. Original Research Article International Neuropsychiatric Disease Journal, 2(4): 141-152, 2014 142
Effect of Fatty Acid Modification of Cultured Hepatoma Cells on Susceptibility to Natural Killer Cells1

Rat hepatoma (Morris 7777) cells modified with either oleic or linoleic acid exhibited greater susceptibility to normal spleen cell-mediated lysis in a 16-hr 51Cr release assay. At effectortarget cell ratios of 300:1, the specific lysis of fatty acid-enriched target cells (cultured for 2 days in fatty acidsupplemented medium) by the normal rat spleen cells was 60% higher than the untreated target cells (P < 0.01 ). Prolonging the culture in fatty acid-supplemented medium up to 6 days produced similar effects. Analysis of the fatty acid composition of cellular lipids revealed that an elevation of oleic or linoleic acid was the only significant alteration in the hepatoma cells grown in the oleic or linoleic acid-supplemented medium, re spectively. The percentage of the acids was increased in the total cellular phospholipids, the choline, ethanolamine, serine, and inositol phosphoglyceride fractions, and the neutral lipids. In conclusion, we suggest that the elevation of oleic acid and linoleic acid contents in the membranes of the fatty acid-mod ified hepatoma cells may contribute to the increased suscep tibility of these cells to natural killer cell-mediated cytotoxicity.
American Sign Language Recognition using Deep Learning

This paper explores the application of deep learning to the task of multi-class classiﬁcation of American Sign Language (ASL). We aim to classify every image in the ASL dataset to one of 29 classes. We develop a fully convolutional neural network (CNN) to achieve this on our ASL dataset. With this as our baseline, we look into how different CNNs would potentially improve our performance. We trained our model on a VGG16 network from scratch and used pretrained weights to see how transfer learning affects the performance. Also, we wanted to train the model with deeper and wider networks to see the effects on performance, and for this, we trained with InceptionNet and ResNet50.
Vision Language Navigation with Multi-granularity Observation and Auxiliary Reasoning Tasks

Vision Language Navigation (VLN) is a task where agents learn to navigate by following natural language instructions. The key to this task involves perceiving both the visual scene and natural language sequentially. Conventional approaches exploit the vision and language features in cross-modal grounding. However, the VLN task remains challenging, since previous works have neglected the rich semantic information contained in the environment (such as implicit navigation graphs or sub-trajectory semantics). In this paper, we introduce Multi-granularity Auxiliary Reasoning Navigation (MG-AuxRN), a navigation framework which employs four auxiliary reasoning tasks to reason over global image features and detected object features. The auxiliary tasks have four reasoning objectives: explaining the previous actions, estimating the navigation progress, predicting the next observation, and evaluating the trajectory consistency. These auxiliary tasks take the advantage of the additional training signals derived from the various semantic information. As a result, these additional training signals help the agent to acquire knowledge of semantic representations in order to reason about the navigation policy and build a thorough perception of the environment. Our experiments indicate that the use of auxiliary reasoning tasks improves both the performance of the main task and the model generalizability by a large margin. We further empirically demonstrate that an agent trained with self-supervised auxiliary reasoning tasks substantially outperforms the previous state-of-the-art methods.
First Record of Macrolepiota velosa Vellinga & Zhu L. Yang (Agaricaceae) from Myanmar

The mushroom specimen with large-sized fruit body with a distinct volva at base of stipe collected in Myanmar was demonstrated to be Macrolepiota velosa, originally described from Yunnan, China. This is the first record of the species outside of China and Thailand, and is the first record from Myanmar. This study extended the known distribution of M. velosa to wider areas, indicating the species may be distributed across tropical to subtropical regions of Southeast Asia.
Deep Recurrent Learning for Heart Sounds Segmentation based on Instantaneous Frequency Features

En este trabajo se presenta un conjunto de técnicas bien conocidas definiendo un método automático para determinar los sonidos fundamentales en un fonocardiograma (PCG). Mostraremos una red neuronal recurrente capaz de segmentar segmentar un fonocardiograma en sus principales componentes, y una forma muy específica de extraer frecuencias instantáneas que jugarán un importante rol en el entrenamiento y validación del modelo propuesto. Más específicamente, el método propuesto involucra una red neuronal Long Short-Term Memory (LSTM) acompañada de la Transformada Sincronizada de Fourier (FSST) usada para extraer atributos en tiempo-frecuencia en un PCG. El presente enfoque fue evaluado con señales de fonocardiogramas mayores a 5 segundos y menores a 35 segundos de duración extraı́dos de bases de datos públicas. Se demostró, que con una arquitectura relativamente pequeña, un conjunto de datos acotado y una buena elección de las características, este método alcanza una eficacia cercana a la del estado del arte, con una sensitividad promedio de 89.5%, una precisión promedio de 89.3% y una exactitud promedio de 91.3%.
Microstructure and stiffness of Scots pine (Pinus sylvestris L) sapwood degraded by Gloeophyllum trabeum and Trametes versicolor – Part I: Changes in chemical composition, density and equilibrium moisture content

Abstract Fungal degradation alters the microstructure of wood and its physical and chemical properties are also changed. While these changes are well investigated as a function of mass loss, mass density loss and changes in equilibrium moisture content are not well elucidated. The physical and chemical alterations are crucial when linking microstructural characteristics with macroscopic mechanical properties. In the present article, a consistent set of physical, chemical and mechanical characteristics is presented, which were measured on the same sample before and after fungal degradation. In the first part of this two-part contribution, elucidating microstructure/stiffness-relationships of degraded wood, changes in physical and chemical data are presented, which were collected from specimens of Scots pine (Pinus sylvestris) sapwood degraded by Gloeophyllum trabeum (brown rot) and Trametes versicolor (white rot) for up to 28 weeks degradation time. A comparison of mass loss with corresponding mass density loss demonstrated that mass loss entails two effects: firstly, a decrease in sample size (more pronounced for G. trabeum), and secondly, a decrease of mass density within the sample (more pronounced for T. versicolor). These two concurrent effects are interrelated with sample size and shape. Hemicelluloses and cellulose are degraded by G. trabeum, while T. versicolor was additionally able to degrade lignin. In particular because of the breakdown of hemicelluloses and paracrystalline parts of cellulose, the equilibrium moisture content of degraded samples is lower than that in the initial state.
New insights into Xantphos/Pd-Catalyzed C-N bond forming reactions : A structural and kinetic study

Both (Xantphos)Pd(dba) and Pd(Xantphos)2 were identified in mixtures of Pd2(dba)3 and Xantphos by use of 31P NMR and independent syntheses. At high ligand concentrations, Pd(Xantphos)2 was found to be the predominant species. Reaction calorimetry was employed to determine whether the formation of Pd(Xantphos)2 affects the rate at which the Pd-catalyzed C−N bond formation occurs between 4-tert-butylbromobenzene and morpholine. Indeed, the concentration of Xantphos dramatically influences the activity of the catalyst, with high concentrations of Xantphos inhibiting the reaction rate due to the formation of Pd(Xantphos)2. Two plausible hypotheses for the low activity of Pd(Xantphos)2 as a precatalyst are (1) a slow rate of Xantphos dissociation from Pd(Xantphos)2 inhibits the formation of an active (Xantphos)Pd0 species and (2) the high degree of insolubility of Pd(Xantphos)2 results in the precipitation of a significant fraction of the precatalyst from the reaction mixture. Although the equilibrium constant.
Anti-obesity potential of glutinous black rice bran extract: Anti-adipogenesis and lipolysis induction in 3T3-L1 adipocyte model

An ethanolic glutinous black rice bran extract (RBE) was prepared and used in the experiments to determine the phenolic and flavonoid contents, antioxidation using DPPH and TBARS assay, anti-adipogenesis, and lipolysis induction in a 3T3-L1 pre-adipocyte model to discover its anti-obesity potential. The results showed that RBE was composed of phenolics, flavonoids, and anthocyanins and showed antioxidative activities (8.58±0.14 mg Vit C eq/g extract and 6.06±0.49 mg BHT eq/g extract). Interestingly, its anti-obesity potential was demonstrated in the interruption of the adipocyte life cycle, i.e. a significant anti-adipogenesis effect in the reduction of lipid accumulation (50.86±3.26 to 97.06±8.09% of the negative control, and triglyceride content in 3T3-L1 pre-adipocytes (36.89±2.08 to 90.56±0.67% of the negative control), and lipolysis induction (relative glycerol content 117.62±1.44 and 163.72±10.18% of control). Therefore, implementation into obesity therapy requires further
Antifungal activity of iridoid glycosides from the heartwood of Gmelina arborea

Gmelina arborea Linn. (Verbenaceae) is a deciduous broad-leaved tree widely distributed from Southeast Asia to South Asia (Greaves 1981) and all parts of this plant are used in medicine to cure various ailments (Rao et al. 1967; Tiwari 1995; Rechnagel and Glende 1973; Chanh et al. 1987). Trees of the Verbenaceae family contain iridoid glycosides (Jacke and Rimpler 1983; Rathore et al. 1989; Otsuka et al. 1991, 1992; Stuppner et al. 1993; Calis et ̧ al. 1994; Dellar et al. 1996; Hosny and Rosazza 1998; Hannedouche et al. 1999; Helfrich and Rimpler 1999; Ghisalberti 2000; Chowdhury et al. 2003). A total of 15 and 8 derivatives of 6-O-a-L-rhamnopyranosylcatalpols have been reported from the leaves of G. arborea (Hosny and Rosazza 1998) and the aerial parts of Holmskioldia sanguinea (Helfrich and Rimpler 1999), respectively. The aerial parts of Gmelina philippensis, which is the same genus of G. arborea, contains catalpol (Helfrich and Rimpler 2000). Iridoid glycosides have been found to possess a range of biological activities, i.e., antiinflammatory (Schapoval et al. 1998), antitumoral (Kapadia et al. 1996; Konoshima et al. 2000) and antioxidative (Chander et al. 1992). Cinnamate esters of catalpol from Westringia fruticosa and W. viminalis exhibited antifungal activity against the plant pathogenic fungus Cladosporium cucumerinum (Dellar et al. 1996). In the first part of this series, it was shown that four lignans contained in the heartwood of G. arborea showed antifungal activity against Trametes versicolor (Kawamura et al. 2004). In the present paper, we report on the isolation and identification of four iridoid glycosides from the same source and the determination of their antifungal activity.
INACTIVATION OF ESCHERICHIA COLI SUSPENDED IN LIQUID EGG USING PULSED ELECTRIC FIELDS

Liquid egg inoculated with Escherichia coli was exposed to a 26 kV/cm pulsed electric field with 2 and 4 μs pulse duration, 1.25 and 2.50 Hz pulsing rates, up to 100 pulses/unit volume, and stepwise and continuous recirculation treatment schemes while maintaining a bulk temperature below 37C. The inactivation of E. coli was a function of the pulse duration and the number of pulses. The destruction of Escherichia coli in liquid egg followed a first order kinetic and the treatment was more effective when the applied pulses were of a 4 its pulse duration. A 6D reduction was obtained for viable E. coli using both pulsing rates and treatment schemes with no protein coagulation.
Size and Shape Controllable Synthesis of Monodisperse Iron Oxide Nanoparticles by Thermal Decomposition of Iron Oleate Complex

We have demonstrated the effects of reaction temperature, reaction concentration, surfactant concentration, refluxing time, seed-mediated growth, and heating rate on the size and morphology of iron oxide nanoparticles synthesized by thermal decomposition of iron oleate complex through “heating-up” process. By precisely controlling the reaction parameters, monodisperse iron oxide nanoparticles with the sizes ranging from 7 to 35 nm and controllable shapes are obtained. The formation kinetics of monodisperse iron oxide nanoparticles is experimentally studied and discussed. The results can be helpful in generally understanding the mechanism of thermal decomposition method.