Miracle-dz/UniFAR-FTUs huggingface dataset:
Adaptive Finite-Time Tracking Control of Nonholonomic Multirobot Formation Systems With Limited Field-of-View Sensors

This article studies the vision-based tracking control problem for a nonholonomic multirobot formation system with uncertain dynamic models and visibility constraints. A fixed onboard vision sensor that provides the relative distance and bearing angle is subject to limited range and angle of view due to limited sensing capability. The constraint resulting from collision avoidance is also taken into account for safe operations of the formation system. Furthermore, the preselected specifications on transient and steady-state performance are provided by considering the time-varying and asymmetric constraint requirements on formation tracking errors for each robot. To address the constraint problems, we incorporate a novel barrier Lyapunov function into controller design and analysis. Based on the recursive adaptive backstepping procedure and neural-network approximation, we develop a vision-based formation tracking control protocol such that formation tracking errors can converge into a small neighborhood of the origin in finite time while meeting the requirements of visibility and performance constraints. The proposed protocol is decentralized in the sense that the control action on each robot only depends on the local relative information, without the need for explicit network communication. Moreover, the control protocol could extend to an unconstrained multirobot system. Both simulation and experimental results show the effectiveness of the control protocol.
Sleep complaints in former and current night shift workers: findings from two cross-sectional studies in Austria

ABSTRACT Sleep impairment is highly prevalent in night shift workers, but evidence on the association of former night shift work (NSW) and its metrics (duration and frequency) in relation to sleep complaints is lacking. We evaluated the association of former and current NSW with chronic insomnia or circadian rhythm sleep disorder in a sample of the general worker (GW) population and in hospital workers (HW) in Austria. Information on sleep, NSW history, sociodemographic, and lifestyle factors was collected through an online cross-sectional survey in a representative sample of GW (N= 1,004) and a sample of HW (N= 799) between 2017 and 2019. Multi-variable adjusted logistic regression was used to estimate odds ratios (ORs) and 95% confidence intervals (CIs) for various measures of sleep (including chronic insomnia, daytime sleepiness, sleep duration, napping habits) and doctor-diagnosed chronic insomnia across NSW exposure (never night shift work; ever; ever/former; ever/current) and related metrics (cumulative duration, average frequency), compared to never NSW. Effect modification by chronotype and daytime napping was investigated. Former NSW was associated with higher odds of chronic insomnia in both samples (GW: OR = 2.28, 95% CI = 1.07–4.83; HW: OR = 1.17, 95% CI = 0.60–2.27). Chronic insomnia odds tended to increase among current night shift workers (HW: OR = 1.50, 95% CI = 0.79–2.83), compared to day workers. Higher NSW frequency (shifts/month) was associated with higher chronic insomnia odds in former night shift workers in both samples (GW: ORper shift/month = 1.06, 95% CI = 1.00–1.12; HW: ORper shift/month = 1.12, 95% CI = 1.00–1.25). Former NSW was also associated with increased daytime sleepiness among GW (OR = 2.26, 95% CI 1.28–3.99). Associations were more pronounced among early chronotypes and participants who reported no daytime naps. Our results suggest that NSW is associated with chronic insomnia even in the years after cessation of involvement in working it.
Supportive care centers: definition of excellence

Purpose of review The current review is relevant because despite significant progress in oncology, a large proportion of patients with cancer still experience morbidity and symptoms, resulting from the cancer and/or its treatment. Recent findings The main theme concerns the definition of excellence of Supportive Care centers based on the indications of the Multinational Association Supportive Care Cancer (MASCC) because there are no data in literature on this topic. Summary Supportive care centers provide assistance to cancer patients suffering for anticancer treatments-related adverse effects. This leads to patient management with immediate evaluation and treatment of symptoms and therefore with improvement of quality of life and survival. In addition, there is less use of emergency room and hospitalizations with consequent savings of resources. According to MASCC evaluation criteria, some types of centers could be excellent in supportive care in cancer. Size, number of treated patients, or academic presence are not mandatory for the certification of excellence. However, centrality of patient and assessment of patient's needs, dedicated organizational models to evaluate and treat the adverse effects of anticancer treatments, dedicated activity and multidisciplinary staff, teaching programs, and adherence to guidelines are milestones for good clinical practices and consequently the centers that practice them represent the excellence in supportive care in cancer.
Effectiveness of three different types of educational methods on implementation of proper oral hygiene behaviour prior to orthodontic treatment

ABSTRACT Objective: The aim of this study was to compare three teaching methods’ time and personnel requirements, and their effects on plaque and gingival indices. Methods: This study was a single-blind randomized controlled trial on fixed orthodontic appliance candidates (n = 90), assigned into a control group (n = 30) and two different study groups (n = 30 each). The control group received standard printed educational material and was assisted with verbal information. The study groups either received video-assisted or hands-on training about fixed orthodontic appliance and oral hygiene. The time requirements for all three educational interventions was recorded during the initial visit. The adequacy of oral hygiene was documented through plaque and gingival indices during the initial visit and eighth week of the treatment. The continuous variables were analyzed using 1-way ANOVA. Tukey HSD and Student t-tests were used for post-hoc comparisons (α? #8197;= 0.05). Also, a chi-square test was used for the analysis of categorical variables. Results: Standard education failed to maintain the plaque and gingival indices at the eighth week of the treatment. Although both video-assisted and hands-on training took a considerable amount of time, they served well in preserving both of the indices at the eighth week. The longer the educational intervention was, the better the preservation of the plaque and gingival indices. Conclusion: Educational intervention, either with video-assisted or hands-on programs, provided better results in oral hygiene depending on the time and personnel constraints of the orthodontist.
Ultralow Lattice Thermal Conductivity and Superhigh Thermoelectric Figure‐of‐Merit in (Mg, Bi) Co‐Doped GeTe

High‐efficiency thermoelectric (TE) technology is determined by the performance of TE materials. Doping is a routine approach in TEs to achieve optimized electrical properties and lowered thermal conductivity. However, how to choose appropriate dopants with desirable solution content to realize high TE figure‐of‐merit (zT) is very tough work. In this study, via the use of large mass and strain field fluctuations as indicators for low lattice thermal conductivity, the combination of (Mg, Bi) in GeTe is screened as very effective dopants for potentially high zTs. In experiments, a series of (Mg, Bi) co‐doped GeTe compounds are prepared and the electrical and thermal transport properties are systematically investigated. Ultralow lattice thermal conductivity, about 0.3 W m−1 K−1 at 600 K, is obtained in Ge0.9Mg0. 04Bi0.06Te due to the introduced large mass and strain field fluctuations by (Mg, Bi) co‐doping. In addition, (Mg, Bi) co‐doping can introduce extra electrons for optimal carrier concentration and diminish the energy offset at the top of the valence band for high density‐of‐states effective mass. Via these synthetic effects, a superhigh zT of ≈2.5 at 700 K is achieved for Ge0.9Mg0. 04Bi0.06Te. This study sheds light on the rational design of effective dopants in other TE materials.
Autoclave pyrolysis of carbon reinforced composite plastic waste for carbon fibre and chemicals recovery

AbstractCarbon reinforced composite plastic (CRCP) waste has been pyrolysed under nitrogen atmosphere in a batch stainless steel autoclave between temperatures of 350 and 500°C and reaction times of up to 60 min. The reaction products were dominated by solid residue (72–77 wt-%), gas (2–4 wt-%) and liquid (22–25 wt-%). The solid residue consisted mainly of carbon fibre, giving up to 98 wt-% recovery. However, the mechanical properties of the recovered fibres were lower when compared with a sample of virgin carbon fibre. The gas products contained mainly carbon dioxide and some hydrocarbon gases. The proportion of the combustible gases gave calorific values of up to 35 MJ m−3. The liquid products consisted of 15–20 wt-% water, possibly from the degradation of the amide/ester linkages in the resin, and the rest was dark brownish oils, soluble in dichloromethane. The thermal gravimetric/differential thermogravimetric analysis of the CRCP waste indicated that the primary resin present could be based on polybe.
LncRNA GATA3-AS1-miR-30b-5p-Tex10 axis modulates tumorigenesis in pancreatic cancer

Long noncoding RNAs (lncRNAs) have been widely recognized to play an important role in a variety of diseases. Abnormal regulation of lncRNA GATA3-antisense RNA 1 (AS1) occurs in several cancers, but whether it is involved in the progression of pancreatic cancer (PC) remains unknown. The present study aimed to investigate the biological effects of GATA3-AS1 in PC and to explore the underlying molecular mechanisms. Upregulation of GATA3-AS1 was revealed in PC tissues and cell lines. Knockdown of GATA3-AS1 in PANC-1 or AsPC-1 cells markedly reduced cell viability, cell proliferation, and cell invasion abilities, while cell apoptosis was increased. In addition, GATA3-AS1 knockdown suppressed the stemness of PANC-1 and AsPC-1 cells by decreasing the spheroid formation ability. A tumor xenograft in vivo assay demonstrated that GATA3-AS1 knockdown inhibited tumorigenicity of AsPC-1 cells. Furthermore, the microRNA (miR)-30b-5p downregulation and GATA3-AS1 upregulation were revealed in PC tissues and cell lines. Negative correlations were present between GATA3-AS1 and miR-30b-5p and between miR-30b-5p and testis-expressed protein 10 (Tex10) in the PC tissues, while GATA3-AS1 and Tex10 were positively correlated. GATA3-AS1 was then revealed to act as a competing endogenous RNA (ceRNA) for miR-30b-5p in regulating Tex10 expression. Moreover, the miR-30b-5p-Tex10 axis was confirmed to be involved in the regulation of biological effects of GATA3-AS1, including cell viability, cell proliferation, cell invasion, cell apoptosis, and cell stemness, as well as Wnt1/β-catenin signaling. Collectively, these data indicated that the GATA3-AS1-miR-30b-5p-Tex10 axis modulates tumorigenesis in PC, which may be associated with the Wnt/β-catenin signaling pathway.
Experience and procedural efficacy of pulmonary vein isolation using the fourth and second generation cryoballoon: The shorter, the better?

The second‐generation cryoballoon (CB2) provides effective and durable pulmonary vein isolation (PVI) associated with encouraging clinical outcome. The novel fourth‐generation cryoballoon (CB4) incorporates a 40% shorter distal tip. This design change may translate into an increased rate of PVI real‐time signal recording, facilitating an individualized ablation strategy using the time to effect (TTE).
A Depth Camera–Based, Task-Specific Virtual Reality Rehabilitation Game for Patients With Stroke: Pilot Usability Study

Background The use of virtual reality is popular in clinical rehabilitation, but the effects of using commercial virtual reality games in patients with stroke have been mixed. Objective We developed a depth camera–based, task-specific virtual reality game, Stomp Joy, for poststroke rehabilitation of the lower extremities. This study aims to assess its feasibility and clinical efficacy. Methods We carried out a feasibility test for Stomp Joy within representative user groups. Then, a clinical efficacy experiment was performed with a randomized controlled trial, in which 22 patients with stroke received 10 sessions (2 weeks) of conventional physical therapy only (control group) or conventional physical therapy plus 30 minutes of the Stomp Joy intervention (experimental group) in the clinic. The Fugl-Meyer Assessment for Lower Extremity (FMA-LE), Modified Barthel Index (MBI), Berg Balance Scale (BBS) score, single-leg stance (SLS) time, dropout rate, and adverse effects were recorded. Results This feasibility test showed that Stomp Joy improved interest, pressure, perceived competence, value, and effort using the Intrinsic Motivation Inventory. The clinical efficacy trial showed a significant time-group interaction effect for the FMA-LE (P=.006), MBI (P=.001), BBS (P=.004), and SLS time (P=.001). A significant time effect was found for the FMA-LE (P=.001), MBI (P<.001), BBS (P<.001), and SLS time (P=.03). These indicated an improvement in lower extremity motor ability, basic activities of daily living, balance ability, and single-leg stance time in both groups after 2 weeks of the intervention. However, no significant group effects were found for the FMA-LE (P=.06), MBI (P=.76), and BBS (P=.38), while a significant group interaction was detected for SLS time (P<.001). These results indicated that the experimental group significantly improved more in SLS time than did the control group. During the study, 2 dropouts, including 1 participant who fell, were reported. Conclusions Stomp Joy is an effective depth camera–based virtual reality game for replacing part of conventional physiotherapy, achieving equally effective improvement in lower extremity function among stroke survivors. High-powered randomized controlled studies are now needed before recommending the routine use of Stomp Joy in order to confirm these findings by recruiting a large sample size.
Childhood environments and their relationship with sleep and ambulatory blood pressure in college students

Abstract Objective: Investigate whether psychosocial risk in the childhood family environment moderates the relationship between childhood socioeconomic status (SES) and sleep, and the relationship between childhood SES and ambulatory blood pressure (ABP) in college students, two factors that are linked to future risk for cardiovascular disease. Participants: 124 American college students. Methods: Childhood SES and psychosocial risk in childhood family environments were measured by self-report instruments. Sleep was measured with self-report and actigraphy (over 5 days) and ABP over a 2-day period. Results: Linear regressions adjusting for age, sex, current SES, and current depressive symptoms indicated that SES and psychosocial risk in family environments during childhood interact to inform sleep quality, actigraphy derived wake after sleep onset (WASO), actigraphy derived Sleep Efficiency (SE) and ABP. Conclusions: Psychosocial risk in the childhood family environment may offset previously documented relationships between childhood SES and health-relevant outcomes in college students.
The Effect of Epidural Nalbuphine Combined With Ropivacaine on Epidural Analgesia During Labor

Supplemental Digital Content is available in the text. Objectives: The addition of a small dose of opioids during epidural labor analgesia can enhance the local analgesic effect, reduce the dose of local anaesthetic required, and minimize motor blockade. For the treatment of visceral pain, studies have shown that κ-opioid receptor agonist are more effective than μ-receptor agonists. This study compared the effectiveness of epidural nalbuphine and sufentanil in combination with ropivacaine for labor analgesia, respectively. Materials and Methods: We conducted a prospective, randomized, double-blind, multicentre clinical trial. Parturients who requested labor pain relief were randomly assigned to either the nalbuphine group or sufentanil group. After 5 minutes of initial dose, parturients in nalbuphine group received 10 mL 0.1% ropivacaine plus 0.3 mg/mL nalbuphine solution. The sufentanil group received the same ropivacaine dose plus 0.3 μg/mL sufentanil. The primary outcome was the duration of analgesia (the time to the first requirement for additional medication). Secondary outcomes included the ropivacaine dose per hour, and adverse reactions. Results: Between November 2018 and February 2019, 180 parturients were recruited for the study. The study showed that the duration of analgesia was shorter in the nalbuphine group as compared with the sufentanil group (P=0.040). The ropivacaine dose per hour in nalbuphine group 9.3 (2.4) mg was significantly greater versus sufentanil group 8.4 (2.5) mg (P=0.024). No serious adverse events directly associated with the analgesics were observed. Discussion: The analgesia effects of 0.3 mg/mL nalbuphine with ropivacaine are inferior to 0.3 μg/mL sufentanil with ropivacaine in labor analgesia. No serious side effects, either in the mother or in the fetus, were observed.
Temporal characteristics of charged particle flows in a low current vacuum arc

Temporal measurements of ion flow emanating from area of a vacuum arc with use single-channel electrostatic energy-analyzer combined with time-of-flight mass-analyzer were carried out. As a result, the following features of the ionic flow were revealed: the ionic flow represents a sequence of intensive bundles; and the charging composition of a flow strongly varies from emission to emission.
Measurement of multiple cytokines for discrimination and risk stratification in patients with Chagas’ disease and idiopathic dilated cardiomyopathy

Chagas’ disease (CD), caused by the hemoflagellate protozoan, Trypanosoma cruzi, is endemic in most countries of Latin America. Heart failure (HF) is often a late manifestation of chronic CD, and is associated with high morbidity and mortality. Inflammatory processes mediated by cytokines play a key role in the pathogenesis and progression of CD. Keeping in view the inflammatory nature of CD, this study investigated the possible role of 21 different inflammatory cytokines as biomarkers for prediction and prognosis of CD. The plasma concentration of these cytokines was measured in a group of patients with CD (n = 94), and then compared with those measured in patients with dilated cardiomyopathy (DCM) from idiopathic causes (n = 48), and with control subjects (n = 25). Monovariately, plasma levels of cytokines such as stem cell growth factor beta (SCGF beta), hepatocyte growth factor (HGF), monokine induced by interferon gamma (CXCL9), and macrophage inhibitory factor (MIF) were significantly increased in CD patients with advanced HF compared to control group. None of the cytokines could demonstrate any prognostic potency in CD patients, and only MIF and stromal derived factor-1 alpha (CXCL12) showed significance in predicting mortality and necessity for heart transplant in DCM patients. However, multivariate analysis prognosticated a large proportion of CD and DCM patients. In CD patients, HGF and Interleukin-12p40 (IL-12p40) together separated 81.9% of 3-year survivors from the deceased, while in DCM patients, CXCL12, stem cell factor (SCF), and CXCL9 together discriminated 77.1% of survivors from the deceased. The significant increase in plasma concentrations of cytokines such as HGF and CXCL9 in CD patients, and the ability of these cytokines to prognosticate a large proportion of CD and DCM patients multivariately, encourages further studies to clarify the diagnostic and prognostic potential of cytokines in such patients.
Honeycomb structured polymer films via breath figures

Among various structuring techniques, a water-driven ‘templating’ method for the fabrication of highly ordered porous membranes has been widely exploited for the past 17 years due to its versatility and robustness. This simple method relies on the formation of “breath figures” and the assembly of a polymer around them, resulting in the production of membranes with hexagonally arranged pores known as honeycomb structured porous polymer films/membranes. Herein, we present a review of relevant literature to stress on the advantages of this simple templating method compared with the wide range of conventional templating and lithographic techniques that have been previously used in the field. Furthermore, we present a comprehensive review on the progress in the field including the study of relevant variables, the materials that have been used, the combination of the method with other techniques, some current and potential applications for the membranes as well as characterization techniques.
Claxtonia goni, a new species of Tardigrada (Heterotardigrada, Echiniscidae) from the island of Maui (Hawaiian Islands, U.S.A., North Pacific Ocean), with notes to the genus Claxtonia Gąsiorek amp; Michalczyk, 2019.

A new Tardigrada species, Claxtonia goni sp. nov. is described from specimens collected in the central area of the Haleakalā National Park, the island of Maui, Hawaii, U.S.A. The new species and Clx. pardalis (Degma Schill, 2015) together with several examples of Clx. wendti (Richters, 1903) are the only known Claxtonia species with the plates having an intracuticular pattern resembling that on a leopard's fur. Claxtonia goni sp. nov. differs from Clx. pardalis in the absence of pores on leg plates, in smaller and uniform pores on dorso-lateral plates, in very unequally spaced teeth in the dentate collar, in lesser ratio of internal cephalic cirrus and lateral cirrus A lengths, and in relatively shorter claws in fourth pair of legs. The differences between the new species and the other congeners as well as Echiniscus species with the same cirri composition and similar cuticular sculpture are also defined. The diagnosis of the genus Claxtonia is amended and three Echiniscus species are transferred into the genus with the proposed new combinations: Claxtonia aliquantilla (Grigarick, Schuster Nelson, 1983) comb. nov., Clx. mosaica (Grigarick, Schuster Nelson, 1983) comb. nov. and Clx. nigripustula (Horning, Schuster Grigarick, 1978) comb. nov.
Bonding changes across the α-cristobalite→stishovite transition path in silica

The transformation of the chemical bonding network of SiO2 across the pressure-induced α-cristobalite→stishovite phase transition is rigorously analyzed using the topology of the electron localization function (ELF). Under a martensitic approach, the simultaneous and concerted atomic displacements can be theoretically modeled by means of a transition path of P41212 symmetry. For the parent and the product phases, as well as for selected structures of this mechanism, the characterization of ELF critical points and the integration of basin properties of the ELF attractors have allowed us to study how the nature of the bonding network and the charges and volumes of shells, bonds and lone pairs evolve along this transformation. The change in the Si environment from tetrahedral to octahedral coordination is accompanied by a significant increase in the bond ionicity and by a decrease in the crystal compressibility due to the greater electron density of the oxygen valence shell in the stishovite phase.