Miracle-dz/UniFAR-FTUs huggingface dataset:
Navigation by Imitation in a Pedestrian-Rich Environment

Deep neural networks trained on demonstrations of human actions give robot the ability to perform self-driving on the road. However, navigation in a pedestrian-rich environment, such as a campus setup, is still challenging---one needs to take frequent interventions to the robot and take control over the robot from early steps leading to a mistake. An arduous burden is, hence, placed on the learning framework design and data acquisition. In this paper, we propose a new learning-from-intervention Dataset Aggregation (DAgger) algorithm to overcome the limitations brought by applying imitation learning to navigation in the pedestrian-rich environment. Our new learning algorithm implements an error backtrack function that is able to effectively learn from expert interventions. Combining our new learning algorithm with deep convolutional neural networks and a hierarchically-nested policy-selection mechanism, we show that our robot is able to map pixels direct to control commands and navigate successfully in real world without explicitly modeling the pedestrian behaviors or the world model.
Sexual selection, multiple mating and paternity in grey mouse lemurs, Microcebus murinus


Sexual selection theory predicts that the relative importance of dominance between males for access to females depends on the potential to monopolize oestrous females. We examined the relationship between male dominance, mating behaviour and reproductive success in a promiscuous, nocturnal primate species, the grey mouse lemur, in captivity, to test the predictions derived for different competitive regimes between males. We also investigated the relationship between male age, relatedness between mates and reproductive success. Dominance could be established in the majority of the study groups and dominant males mated more frequently than subdominant males. Dominant males, however, fathered only half of the infants born in the study groups, although in principle the captive conditions allowed males to monopolize mates. Multiple mating was observed or deduced from the paternity data in the majority of groups. For the first time in primates we detected one definite case of multiple paternity. Younger males sired more than half of the offspring. We conclude that contest competition between males is unlikely to be the primary factor predicting the reproductive outcome whereas female choice and sperm competition are likely to be effective in this seasonal breeder.
Developing a MEMS Device with Built-in Microfluidics for Biophysical Single Cell Characterization

This study combines the high-throughput capabilities of microfluidics with the sensitive measurements of microelectromechanical systems (MEMS) technology to perform biophysical characterization of circulating cells for diagnostic purposes. The proposed device includes a built-in microchannel that is probed by two opposing tips performing compression and sensing separately. Mechanical displacement of the compressing tip (up to a maximum of 14 µm) and the sensing tip (with a quality factor of 8.9) are provided by two separate comb-drive actuators, and sensing is performed with a capacitive displacement sensor. The device is designed and developed for simultaneous electrical and mechanical measurements. As the device is capable of exchanging the liquid inside the channel, different solutions were tested consecutively. The performance of the device was evaluated by introducing varying concentrations of glucose (from 0.55 mM (0.1%) to 55.5 mM (10%)) and NaCl (from 0.1 mM to 10 mM) solutions in the microchannel and by monitoring changes in the mechanical and electrical properties. Moreover, we demonstrated biological sample handling by capturing single cancer cells. These results show three important capabilities of the proposed device: mechanical measurements, electrical measurements, and biological sample handling. Combined in one device, these features allow for high-throughput multi-parameter characterization of single cells.
Spatial memory in rufous hummingbirds: memory for rewarded and non-rewarded sites

Abstract The foraging ecology of rufous hummingbirds, Selasphorus rufus , suggests that this species may have good spatial memory capabilities. Six adult male hummingbirds were tested in a one-trial learning experiment in the field. Subjects searched for a single sucrose reward among four identical artificial flowers (Search Phase). Following a retention interval, subjects returned to locate the reward again (Return Phase). Performance during the Search Phase was no better than expected by chance, indicating that the hummingbirds could not detect the sucrose through intrinsic cues (e.g. odour). During the Return Phase, subjects performed significantly better than chance and could have done so only by remembering the spatial location of rewarded flowers. In addition, subjects avoided revisiting non-rewarded flowers, suggesting memory for these locations as well. Finally, information about rewarded and non-rewarded locations was combined to direct sampling behaviour towards flowers the birds had not yet encountered.
Characterization of a Time-Resolved Diffuse Optical Spectroscopy Prototype Using Low-Cost, Compact Single Photon Avalanche Detectors for Tissue Optics Applications

Time-resolved diffuse optical spectroscopy (TR-DOS) is an increasingly used method to determine the optical properties of diffusive media, particularly for medical applications including functional brain, breast and muscle measurements. For medical imaging applications, important features of new generation TR-DOS systems are low-cost, small size and efficient inverse modeling. To address the issues of low-cost, compact size and high integration capabilities, we have developed free-running (FR) single-photon avalanche diodes (SPADs) using 130 nm silicon complementary metal-oxide-semiconductor (CMOS) technology and used it in a TR-DOS prototype. This prototype was validated using assessments from two known protocols for evaluating TR-DOS systems for tissue optics applications. Following the basic instrumental performance protocol, our prototype had sub-nanosecond total instrument response function and low differential non-linearity of a few percent. Also, using light with optical power lower than the maximum permissible exposure for human skin, this prototype can acquire raw data in reflectance geometry for phantoms with optical properties similar to human tissues. Following the MEDPHOT protocol, the absolute values of the optical properties for several homogeneous phantoms were retrieved with good accuracy and linearity using a best-fitting model based on the Levenberg-Marquardt method. Overall, the results of this study show that our silicon CMOS-based SPAD detectors can be used to build a multichannel TR-DOS prototype. Also, real-time functional monitoring of human tissue such as muscles, breasts and newborn heads will be possible by integrating this detector with a time-to-digital converter (TDC).
Multienzymatic in situ hydrogen peroxide generation cascade for peroxygenase-catalysed oxyfunctionalisation reactions

Abstract There is an increasing interest in the application of peroxygenases in biocatalysis, because of their ability to catalyse the oxyfunctionalisation reaction in a stereoselective fashion and with high catalytic efficiencies, while using hydrogen peroxide or organic peroxides as oxidant. However, enzymes belonging to this class exhibit a very low stability in the presence of peroxides. With the aim of bypassing this fast and irreversible inactivation, we study the use of a gradual supply of hydrogen peroxide to maintain its concentration at stoichiometric levels. In this contribution, we report a multienzymatic cascade for in situ generation of hydrogen peroxide. In the first step, in the presence of NAD+ cofactor, formate dehydrogenase from Candida boidinii (FDH) catalysed the oxidation of formate yielding CO2. Reduced NADH was reoxidised by the reduction of the flavin mononucleotide cofactor bound to an old yellow enzyme homologue from Bacillus subtilis (YqjM), which subsequently reacts with molecular oxygen yielding hydrogen peroxide. Finally, this system was coupled to the hydroxylation of ethylbenzene reaction catalysed by an evolved peroxygenase from Agrocybe aegerita (rAaeUPO). Additionally, we studied the influence of different reaction parameters on the performance of the cascade with the aim of improving the turnover of the hydroxylation reaction.
Honeybees assess changes in nectar flow within a single foraging bout

Forager honeybees returning to the hive after a successful foraging trip unload the collected liquid to recipient hivemates through mouth-to-mouth food exchange contacts (trophallaxis). The speed at which the liquid is transferred (unloading rate) from donor to recipient is related to the profitability offered by the recently visited food source. Two of the main characteristics that define food source profitability are the flow of solution delivered by the feeder and the time invested by the forager feeding at the source (feeding time). To investigate which of these two variables is related to unloading rate, we individually trained donor foragers to a regulated-flow feeder that presented changes in the delivered flow of solution within a single foraging bout, while feeding time remained constant. With the range of flows used, bees attained maximum crop loads in all experiments. During the subsequent trophallactic encounter with an unfed recipient hivemate, unloading rate was differentially affected by the changes in flow of solution presented during the previous foraging trip at the source, depending on whether there had been an increase or a decrease of flow rate within that visit. Foragers unloaded at lower rates when they experienced a decrease in flow rate, but did not increase the unloading rate when presented with an increase at the food source. Thus, forager honeybees seem to be able to detect variations in the delivered flow of solution, since they modulate unloading rate in relation to these changes, although decreases in food value seem to be perceptually weighted in relation to increases, independently of the time invested in the food-gathering process.
Dose-dependent exacerbation of ventilation-induced lung injury by erythropoietin in preterm newborn lambs.

Erythropoietin (EPO) is being trialled in preterm infants to reduce brain injury, but high doses increase lung injury in ventilated preterm lambs. We aimed to determine whether early administration of lower doses of EPO could reduce ventilation-induced lung injury and systemic inflammation in preterm lambs. Ventilation was initiated in anaesthetized preterm lambs [125 ± 1 (SD) days gestation] using an injurious strategy for the first 15 min. Lambs were subsequently ventilated with a protective strategy for a total of 2 h. Lambs were randomized to receive either intravenous saline (Vent; n = 7) or intravenous 300 ( n = 5), 1,000 (EPO1000; n = 5), or 3,000 (EPO3000; n = 5) IU/kg of human recombinant EPO via an umbilical vein. Lung tissue was collected for molecular and histological assessment of inflammation and injury and compared with unventilated control lambs (UVC; n = 8). All ventilated groups had similar blood gas and ventilation parameters, but EPO1000 lambs had a lower fraction of inspired oxygen requirement and lower alveolar-arterial difference in oxygen. Vent and EPO lambs had increased lung interleukin (IL)-1β, IL-6, and IL-8 mRNA, early lung injury genes connective tissue growth factor, early growth response protein 1, and cysteine-rich 61, and liver serum amyloid A3 mRNA compared with UVCs; no difference was observed between Vent and EPO groups. Histological lung injury was increased in Vent and EPO groups compared with UVCs, but EPO3000 lambs had increased lung injury scores compared with VENT only. Early low-doses of EPO do not exacerbate ventilation-induced lung inflammation and injury and do not provide any short-term respiratory benefit. High doses (≥3,000 IU/kg) likely exacerbate lung inflammation and injury in ventilated preterm lambs. NEW & NOTEWORTHY Trials are ongoing to assess the efficacy of erythropoietin (EPO) to provide neuroprotection for preterm infants. However, high doses of EPO increase ventilation-induced lung injury (VILI) in preterm lambs. We investigated whether early lower doses of EPO may reduce VILI. We found that lower doses did not reduce, but did not increase, VILI, while high doses (≥3,000 IU/kg) increase VILI. Therefore, lower doses of EPO should be used in preterm infants, particularly those receiving respiratory support.
Association between cytokine gene polymorphisms and ankylosing spondylitis susceptibility: a systematic review and meta-analysis

Purpose of the study The aim of this study was to perform a meta-analysis to derive precise estimation of the association of interleukin-23 receptor (IL-23R), IL-1 receptor 2 (IL-1R2), IL-12 beta (IL-12B), IL-10 and tumour necrosis factor (TNF)-α polymorphisms with ankylosing spondylitis (AS) susceptibility. Study design A systematic literature search was conducted to identify the relevant studies. Pooled OR with 95% CI was calculated to assess the strength of the association in a fixed or random-effects model. Results A total of 13 917 cases and 19 849 controls in 43 eligible studies were included in the meta-analysis. Seventeen single-nucleotide polymorphisms (SNPs) in the abovementioned five cytokine genes were evaluated. The results indicate that the nine SNPs (rs11209026, rs1004819, rs10489629, rs11465804, rs1343151, rs11209032, rs1495965, rs7517847, rs2201841) of IL-23R are associated with AS susceptibility in all study subjects in the allelic model. Moreover, stratification by ethnicity identified a significant association between seven SNPs of IL-23R and AS susceptibility in Europeans and Americans, but not in Asians. In addition, the IL-10–819 C/T and TNF-α−857 C/T polymorphisms also confer susceptibility to AS, especially in Asian population. Conclusion The results suggested that the genetic susceptibility for AS is associated with the nine SNPs of IL-23R in overall population. In the subgroup analysis, significant associations were shown in European and American population, but not in Asian population. Our results also suggest that IL-10–819 C/T and TNF-α−857 C/T polymorphism might be associated with AS risk, especially in Asian population.
Research on PF-SLAM Indoor Pedestrian Localization Algorithm Based on Feature Point Map

Recently, the map matching-assisted positioning method based on micro-electromechanical systems (MEMS) inertial devices has become a research hotspot for indoor pedestrian positioning; however, these are based on existing indoor electronic maps. In this paper, without prior knowledge of the map and through building an indoor main path feature point map combined with the simultaneous localization and map building (SLAM) particle filter (PF-SLAM) algorithm idea, a PF-SLAM indoor pedestrian location algorithm based on a feature point map was proposed through the inertial measurement unit to improve indoor pedestrian positioning accuracy. Aiming at the problem of inaccurate heading angle estimation in the pedestrian dead reckoning (PDR) algorithm, a turn-straight-state threshold detection method was proposed that corrected the difference of the heading angles during the straight-line walking of pedestrians to suppress the error accumulation of the heading angle. Aiming at the particles that are severely divergent at the corners, a feature point matching algorithm was proposed to correct the pedestrian position error. Furthermore, the turning point extracted the main path that failed to match the current feature point map as a new feature point was added to update the map. Through the mutual modification of SLAM and an inertial navigation system (INS) the long-time, high-precision, and low-cost positioning functions of indoor pedestrians were realized.
A Smart Pillow for Health Sensing System Based on Temperature and Humidity Sensors

The quality of sleep affects the patient’s health, along with the observation of vital life signs such as body temperature and sweat in sleep, is essential in the monitoring of sleep as well as clinical diagnosis. However, traditional methods in recording physiological change amidst sleep is difficult without being intrusive. The smart pillow is developed to provide a relatively easy way to observe one’s sleep condition, employing temperature and humidity sensors by implanting them inside the pillow in strategic positions. With the patient’s head on the pillow, the roles of sensors are identified as main, auxiliary or environmental temperature, based on the differences of value from three temperature sensors, thus the pattern of sleep can be extracted by statistical analysis, and the body temperature is inferred by a specially designed Fuzzy Logic System if the head-on position is stable for more than 15 min. Night sweat is reported on data from the humidity sensor. Therefore, a cloud-based health-sensing system is built in the smart pillow to collect and analyze data. Experiments from various individuals prove that statistical and inferred results reflect normal and abnormal conditions of sleep accurately. The daily sleeping information of patients from the pillow is helpful in the decision-making of diagnoses and treatment, and users can change their habits of sleep gradually by observing the data with their health professional.
Implementation and Impact of a Maternal–Fetal Medicine Telemedicine Program

Abstract Objective The increase in maternal morbidity has resulted in higher need for maternal–fetal medicine (MFM) subspecialty care. To meet the rising demand, particularly in rural areas, the use of MFM telemedicine services has increased. This study describes the structure, implementation, and patient and child health outcomes associated with a large health system's MFM telemedicine program. Study Design Observational electronic health record data are used to compare maternal and childbirth outcomes between patients receiving care via telemedicine or in-person visits through regression analysis. Average patient time and resources saved are calculated, and patient satisfaction scores are reported. Results The telemedicine patients experienced similar outcomes to the in-person group, indicating that MFM telemedicine can serve as an effective substitute for in-person care. MFM telemedicine patients saved $90.28 per consult in travel and work-related expenses. An overwhelming majority of MFM telemedicine patients were satisfied with their visit and indicated that they would be interested in receiving care via telemedicine in the future. Conclusion The results indicate that the patients may benefit financially and experience similar outcomes when telemedicine programs are appropriately designed to eliminate access barriers and provide high-quality care.
Branding with Vlogs, Factor Affecting Their Success

This study examines the culture of video blogging — its rhythm, language, and communication style and link its use to brand promotion and buying decisions. Specifically we analyze factors which help in the success of Vlog like its positioning in viewers mind, endorsement by celebrity, Ethical considerations, Benefits and its Features. And then investigated how Vlog affect Brand Promotion and customers buying decisions. Quantitative research was carried out through the use of questionnaire and collecting data of 212 respondents from Karachi. This study focused on Vlogs posted on YouTube Channel. Confirmatory factor analysis and structural equation modeling were used to analyze different variables. The result shows a strong and significant effect of factors such as Appeals, feature, ethical consideration and celebrity on Vlogging. Furthermore, strong evidence found that supported consumer buying decision and brand promotion is also influenced through Vlogs. Hence Vlog could be a major factor helping in building brands. Hence, this proves that Vlogger of Pakistan does not just life earn through it or gain fame and advantages in their daily, but they can also be part of branding strategies that are taking place through Vlogs.
Association of Inadequate Caloric Supplementation with 30-Day Mortality in Critically Ill Postoperative Patients with High Modified NUTRIC Score

Modified NUTRIC (mNUTRIC) score is a useful assessment tool to determine the risk of malnutrition in patients on mechanical ventilation (MV). We identified associations between postoperative calorie adequacy, 30-day mortality, and surgical outcomes in patients with high mNUTRIC scores. Medical records of 272 patients in the intensive care unit who required MV support for >24 h after emergency gastro-intestinal (GI) surgery between January 2007 and December 2017 were reviewed. Calorie adequacy in percentage (Calorie intake in 5 days ÷ Calorie requirement for 5 days × 100) was assessed in patients with high (5–9) and low (0–4) mNUTRIC scores. In the high mNUTRIC score group, patients with inadequate calorie supplementation (calorie adequacy <70%) had higher 30-day mortality than those with adequate supplementation (31.5% vs. 11.1%; p = 0.010); this was not observed in patients with low mNUTRIC scores. This result was also confirmed through Kaplan–Meier survival curve (p = 0.022). Inadequate calorie supplementation in the high mNUTRIC score group was not associated with Intra-abdominal infection (p = 1.000), pulmonary complication (p = 0.695), wound complication (p = 0.407), postoperative leakage (p = 1.000), or infections (p = 0.847). Inadequate calorie supplementation after GI surgery was associated with higher 30-day mortality in patients with high mNUTRIC scores. Therefore, adequate calorie supplementation could contribute to improved survival of critically ill postoperative patients with high risk of malnutrition.
Perceived Posttraumatic Growth and Depreciation After Spinal Cord Injury: Actual or Illusory?

Objective: This study examined whether retrospective reports of posttraumatic growth (PTG) and depreciation (PTD) of individuals recently diagnosed with a spinal cord injury (SCI) coincide with prospectively measured changes in the conceptually close domains of general self-efficacy (SE) and purpose in life (PIL). The study also tested whether PTG/D and changes in SE and PIL independently predict psychological adjustment to the injury (depressive symptoms, anxiety, life satisfaction). Method: Adopting a longitudinal design, a sample of 206 newly injured patients admitted to one of the four Swiss SCI rehabilitation centers was analyzed. SE and PIL were assessed one month after injury diagnosis and at rehabilitation discharge, PTG/D and the adjustment indicators only at discharge. Structural equation modeling was used to calculate latent change scores for SE and PIL, to correlate these scores to PTG/D scores, and to regress the adjustment indicators on both of them. Results: PTG/D scores were weakly (rmax = .20, p = .033) correlated to changes in SE and PIL. In the multivariate analyses, positive changes in SE and PIL and PTG scores were all associated with better adjustment (e.g., fewer depressive symptoms). In contrast, PTD scores were related to lower adjustment. Conclusions: These results suggest that PTG/D in the initial time after a potentially traumatic medical event seem to be illusory to some degree, as indicated by their weak association with “actual” (i.e., longitudinally measured) changes. Nevertheless, both, PTG/D and actual changes, need to be considered by researchers and clinicians, as they seem to be independently related to psychological adjustment.