Miracle-dz/UniFAR-FTUs huggingface dataset:
One-Shot Imitation Learning for Contact-Rich Manipulation

: In this paper, we propose a novel method for learning contact-rich ma-1 nipulation tasks, from a single human demonstration. The method is based on the 2 simple concept introduced in recent work, that if the end-effector can be aligned 3 with an object with the same relative pose as during the demonstration, then the 4 demonstration’s actions can be replayed in an open loop. However, this align-5 ment is difﬁcult to achieve using vision-based methods. Instead, we propose to 6 reﬁne the vision-based alignment using contact-rich data, such that propriocep-7 tion and force data can be used to align the end-effector precisely with the object. 8 This alignment is achieved by training a Gaussian Process to predict where the 9 end-effector should arrive at, which can be trained in a self-supervised manner 10 following the single demonstration. In both our simulated and real-world experi-11 ments, on both a peg-in-hole and door opening task, we should that this method is 12 successfully above to solve contact-rich tasks from a single human demonstration. 13
Mindfulness Training Improves Cognition and Strengthens Intrinsic Connectivity Between the Hippocampus and Posteromedial Cortex in Healthy Older Adults

Maintaining optimal cognitive functioning throughout the lifespan is a public health priority. Evaluation of cognitive outcomes following interventions to promote and preserve brain structure and function in older adults, and associated neural mechanisms, are therefore of critical importance. In this randomized controlled trial, we examined the behavioral and neural outcomes following mindfulness training (n = 72), compared to a cognitive fitness program (n = 74) in healthy, cognitively normal, older adults (65–80 years old). To assess cognitive functioning, we used the Preclinical Alzheimer Cognitive Composite (PACC), which combines measures of episodic memory, executive function, and global cognition. We hypothesized that mindfulness training would enhance cognition, increase intrinsic functional connectivity measured with magnetic resonance imaging (MRI) between the hippocampus and posteromedial cortex, as well as promote increased gray matter volume within those regions. Following the 8-week intervention, the mindfulness training group showed improved performance on the PACC, while the control group did not. Furthermore, following mindfulness training, greater improvement on the PACC was associated with a larger increase in intrinsic connectivity within the default mode network, particularly between the right hippocampus and posteromedial cortex and between the left hippocampus and lateral parietal cortex. The cognitive fitness training group did not show such effects. These findings demonstrate that mindfulness training improves cognitive performance in cognitively intact older individuals and strengthens connectivity within the default mode network, which is particularly vulnerable to aging affects. Clinical Trial Registration: [https://clinicaltrials.gov/ct2/show/NCT02628548], identifier [NCT02628548].
Lysinibacillus acetophenoni and Pseudomonas stutzeri with High Salt effect, Recovered from High Salinity Soil Area (Indo-Gangetic Plain of India)

Soil salinity has affected many soil microbial communities as well as economic value of forest ecosystem for many years. The plant growth-promoting bacteria have developed several different mechanisms that have a positive influence on plant development and growth. Designated strain LPB424 and P-PB466 was isolated and identified from saline soil of block Ashabutter khair forest in Punjab North zone in India, were investigated for their plant growth-promoting characters such as production of indole acetic acid, phosphate solubilization, Ammonium production and fermentation of polysaccharides. Comparative analysis of 16SrRNA gene sequences revealed that L-PB424 was closely related to Lysinibacillus manganicus DSM 26584 strain Mn1-7 (98.76%), on the other hand strain P-PB466 was closely related to Pseudomonas songnenensis strain NEAUST5-5. This research paper is a study in evaluation and variety of possible halophlic/halotolerant bacterial strains in salt-affected soils of block Ashabutter khair forest in Punjab North zone in India. The use of Halophilic bacteria in saline soil is interesting for future analysis and biotechnological development. Original Research Article Kotiyal et al.; IJPSS, 33(14): 17-26, 2021; Article no.IJPSS. 68646 18
Study in CSI Correction Localization Algorithm with DenseNet

SUMMARY With the arrival of 5G and the popularity of smart devices, indoor localization technical feasibility has been veriﬁed, and its market demands is huge. The channel state information (CSI) extracted from Wi-Fi is physical layer information which is more ﬁne-grained than the received signal strength indication (RSSI). This paper proposes a CSI correction localization algorithm using DenseNet, which is termed CorFi. This method ﬁrst uses isolation forest to eliminate abnormal CSI, and then constructs a CSI amplitude ﬁngerprint containing time, frequency and antenna pair information. In an oﬄine stage, the densely connected convolutional networks (DenseNet) are trained to establish correspondence between CSI and spatial position, and generalized extended interpolation is applied to construct the interpolated ﬁngerprint database. In an online stage, DenseNet is used for position estimation, and the interpolated ﬁngerprint database and K-nearest neighbor (KNN) are combined to correct the position of the prediction results with low maximum probability. In an indoor corridor environment, the average localization error is 0.536m.
Enhancing NAD+ Metabolome in Cardiovascular Diseases: Promises and Considerations

Nicotinamide adenine dinucleotide (NAD) is not only the master regulator of energy metabolism pathways but also an essential substrate for several key enzymes of health and disease states (1, 2). NAD/NADH redox coupling is vital for fueling glycolysis, tricarboxylic acid (TCA) cycle and electron transport chain (ETC) for producing ATP. In addition to that, NAD is a substrate for NAD-dependent deacetylases called sirtuins (SIRTs), poly-ADP-ribose polymerases (PARPs), monoADP-ribosyltransferases (ARTDs), ADP ribose synthetases (CD38/CD157), and sterile alpha and toll/interleukin-1 receptor motif-containing protein 1 (SARM1), etc. (1). NAD kinase also utilizes NAD to generate nicotinamide adenine dinucleotide phosphate (NADP/NADPH)which is consumed by reactive oxygen species producing enzymes, NADPH oxidases. For maintaining cellular homeostasis, NAD levels are tightly regulated through its salvage pathway where the by-product of enzymatic reactions, nicotinamide adenine dinucleotide (NAM), is converted back to NAD by the rate limiting enzyme NAM phosphoribosyl transferase (NAMPT) (1, 2). Other biosynthesis pathways include de novo synthesis from tryptophan (Trp), and from the dietary uptake of its precursorsnicotinic acid (NA) or nicotinamide riboside (NR) (1, 2).
DEMAND-SIDE MANAGEMENT FOR ENERGY PRODUCTION USING MICRO COMBINED HEAT AND POWER SYSTEM – A REVIEW

World development increased dramatically ever since the Industrial Revolution, in particular after second world war (WWII), which drove the rise of energy consumption. Thus, energy consumption in the World has been growing continuously in the past 50 years. Using micro Combined Heat and Power (mCHP) allows energy scheduling and demand-side management depending on different variables which will benefit users and suppliers. Different researches have been conducted due to increasing interest from researchers to increase and optimise the advantages of energy scheduling. In addition to the mCHP system, optimisation process also includes distributed energy sources (solar panels) with electricity storage. On the demand side, various devices with different load profiles which can be controlled over time can be considered. This study therefore, being a desktop based one, sought to review the energy demand-side management as it applies to the use of mCHP in residential settings.
At Least Two Evolutionarily Distinct Species within Histiopteris incisa Inferred from Molecular and Morphological Evidence

Abstract. Histiopteris incisa (Dennstaedtiaceae) is one of the most cosmopolitan species among the leptosporangiate ferns. Based on sequences of the chloroplast rbcL gene, we recognize two lineages within H. incisa, and these differ in scale and leaf morphology. This suggests that at least two evolutionarily distinct species are contained within present circumscriptions of H. incisa.
Unified Representation of Twitter and Online News Using Graph and Entities

To improve consumer engagement and satisfaction, online news services employ strategies for personalizing and recommending articles to their users based on their interests. In addition to news agencies’ own digital platforms, they also leverage social media to reach out to a broad user base. These engagement efforts are often disconnected with each other, but present a compelling opportunity to incorporate engagement data from social media to inform their digital news platform and vice-versa, leading to a more personalized experience for users. While this idea seems intuitive, there are several challenges due to the disparate nature of the two sources. In this paper, we propose a model to build a generalized graph of news articles and tweets that can be used for different downstream tasks such as identifying sentiment, trending topics, and misinformation, as well as sharing relevant articles on social media in a timely fashion. We evaluate our framework on a downstream task of identifying related pairs of news articles and tweets with promising results. The content unification problem addressed by our model is not unique to the domain of news, and thus can be applicable to other problems linking different content platforms.
KPC-2-Producing Carbapenem-Resistant Klebsiella pneumoniae of the Uncommon ST29 Type Carrying OXA-926, a Novel Narrow-Spectrum OXA β-Lactamase

We isolated and characterized a carbapenem-resistant Klebsiella pneumoniae (CRKP) clinical strain from blood carrying a novel blaOXA gene, blaOXA–926, and belonging to ST29, an uncommon CRKP type. The strain, 130002, was genome sequenced using both short- and long-read sequencing and has a 94.9-kb self-transmissible IncFII plasmid carrying blaKPC–2. K. pneumoniae genomes of the ST29 complex (ST29 and its single-allele variants) were retrieved and were subjected to single nucleotide polymorphism-based phylogenomic analysis. A total of 157 genomes of the ST29 complex were identified. This complex is commonly associated with extended-spectrum β-lactamase-encoding genes, in particular, blaCTX–M–15 but rarely has carbapenemase genes. The novel plasmid-encoded β-lactamase-encoding gene blaOXA–926 was identified on a 117.8-kb IncFIA-IncFII plasmid, which was transferrable in the presence of the blaKPC–2-carrying plasmid. blaOXA–926 was cloned and MICs of β-lactams in the transformants were determined using microdilution. OXA-926 has a narrow spectrum conferring reduced susceptibility only to piperacillin, piperacillin-tazobactam, and cephalothin. Avibactam cannot fully inhibit OXA-926. blaOXA–926 and its variants have been seen in Klebsiella strains in Asia and Brazil. OXA-926 is the closest in sequence identity (89.9%) to a chromosome-encoding OXA-type enzyme of Variovorax guangxiensis. In conclusion, OXA-926 is novel plasmid-borne narrow-spectrum β-lactamase that cannot be fully inhibited by avibactam. It is likely that blaOXA–926 originates from a species closely related to V. guangxiensis and was introduced into Klebsiella > 10 years ago.
M2MON: Building an MMIO-based Security Reference Monitor for Unmanned Vehicles

Unmanned Vehicles (UVs) often consist of multiple Micro Controller Units (MCUs) as peripherals to interact with the physical world, including GPS sensors, barometers, motors, etc. While the attack vectors for UV vary, a number of UV attacks aim to impact the physical world either from the cyber or the physical space, e.g., hijacking the mission of UVs via malicious ground control commands or GPS spooﬁng. This provides us an opportunity to build a uniﬁed and generic security framework defending against multiple kinds of UV attacks by monitoring the system’s I/O activities. Accordingly, we build a security reference monitor for UVs by hooking into the memory-mapped I/O (MMIO), namely M2M ON . Instead of building upon existing RTOS, we implement M2M ON as a microkernel running in the privileged mode intercepting MMIOs while pushing the RTOS and applications into the unprivileged mode. We further instantiate an MMIO ﬁrewall using M2M ON and demonstrate how to implement a secure Extended Kalman Filter (EKF) within M2M ON . Our evaluation on a real-world UV system shows that M2M ON incurs an 8.85% runtime overhead. Furthermore, M2M ON -based ﬁrewall is able to defend against different cyber and physical attacks. The M2M ON microkernel contains less than 4K LoC comparing to the 3M LoC RTOS used in our evaluation. We believe M2M ON provides the ﬁrst step towards building a trusted and practical security reference monitor for UVs.
Better Writing in Scientific Publications Builds Reader Confidence and Understanding

Scientific publications are the building blocks of discovery and collaboration, but their impact is limited by the style in which they are traditionally written. Recently, many authors have called for a switch to an engaging, accessible writing style. Here, we experimentally test how readers respond to such a style. We hypothesized that scientific abstracts written in a more accessible style would improve readers’ reported readability and confidence as well as their understanding, assessed using multiple-choice questions on the content. We created a series of scientific abstracts, corresponding to real publications on three scientific topics at four levels of difficulty—varying from the difficult, traditional style to an engaging, accessible style. We gave these abstracts to a team of readers consisting of 170 third-year undergraduate students. Then, we posed questions to measure the readers’ readability, confidence, and understanding with the content. The scientific abstracts written in a more accessible style resulted in higher readability, understanding, and confidence. These findings demonstrate that rethinking the way we communicate our science may empower a more collaborative and diverse industry.
Deep-Learning-Assisted Single-Pixel Imaging for Gesture Recognition in Consideration of Privacy

SUMMARY We have utilized single-pixel imaging and deep-learning to solve the privacy-preserving problem in gesture recognition for interactive display. Silhouette images of hand gestures were acquired by use of a display panel as an illumination. Reconstructions of gesture images have been performed by numerical experiments on single-pixel imaging by changing the number of illumination mask patterns. For the training and the image restoration with deep learning, we prepared reconstructed data with 250 and 500 illuminations as datasets. For each of the 250 and 500 illuminations, we prepared 9000 datasets in which original images and reconstructed data were paired. Of these data, 8500 data were used for training a neural network (6800 data for training and 1700 data for validation), and 500 data were used to evaluate the accuracy of image restoration. Our neural network, based on U-net, was able to restore images close to the original images even from reconstructed data with greatly reduced number of illuminations, which is 1/40 of the single-pixel imaging without deep learning. Compared restoration accuracy between cases using shadowgraph (black on white background) and negative-positive reversed images (white on black background) as silhouette image, the accuracy of the restored image was lower for negative-positive-reversed images when the number of illuminations was small. Moreover, we found that the restoration accuracy decreased in the order of rock, scissor, and paper. Shadowgraph is suitable for gesture silhouette, and it is necessary to prepare training data and construct neural networks, to avoid the restoration accuracy between gestures when further reducing the number of illuminations.
Real-Life Experience With First-Line Therapy Bortezomib Plus Melphalan and Prednisone in Elderly Patients With Newly Diagnosed Multiple Myeloma Ineligible for High Dose Chemotherapy With Autologous Stem-Cell Transplantation

Introduction: Currently, the regimen with bortezomib plus melphalan and prednisone (VMP) is a standard treatment for multiple myeloma and it is recommended as the first-line therapy for patients with multiple myeloma (MM) ineligible for high-dose chemotherapy with autologous stem-cell transplantation. Objectives: Participants of the clinical trial are highly selected populations; therefore, the aim of this study was to present observations from real practice that can provide important information for practitioners and to investigate clinical outcomes of VMP regimen in elderly patients with newly diagnosed MM. Patients and Methods: We retrospectively analyzed the data on the efficacy and survival parameters, such as overall survival (OS) and event-free survival (EFS), with attention to the effect of gender, age and International Staging System (ISS) stage, of VMP regimen in 164 patients with newly diagnosed MM not eligible for high-dose chemotherapy with autologous stem-cell transplantation (median age, 75 years; range, 60–86 years). Results: Patients aged 75 years or older constituted 50.6% of the study cohort. Frail patients were 10.36%, according to the clinical frailty scale of geriatric assessment (GA). A total of 1203 courses of VMP regimen (mainly VMP 1–29, 99.16 %) were administered. The median cumulative delivered dose of bortezomib was 46.8 mg/m2. The overall response rate (ORR), including all patients with a partial response or better, was 81.7% and the complete response rate (CRR) was 10.36 %. After a median 38.51 months of follow-up, the median overall survival (OS) was 34.33 months; the median event-free survival (EFS) after VMP and second-line therapy (mainly Rd, 56.31%) were 18.51 and 10.75 months, respectively. In the subgroup of patients with 75 years or older the median OS was 29.76 months; the median EFS after first and second-line therapy were 17.76 and 8.93 months, respectively. The hazard ratio for OS was 2.276 (p-value 0.046) and for EFS was 1.507 (p-value 0.055) for the ISS stage II and III group. Age and gender were not negative predictors of survival. Conclusions: VMP treatment is highly effective in the first-line therapy of elderly patients with multiple myeloma ineligible for HDT with auto-SCT.
Unpacking Adaptive Capacity to Flooding in Urban Environments: Social Capital, Social Vulnerability, and Risk Perception

To effectively cope with the impacts of climate change and increase urban resilience, households and neighborhoods must adapt in ways that reduce vulnerability to climate-related natural hazards. Communities in the United States and elsewhere are exposed to more frequent extreme heat, wildfires, cyclones, extreme precipitation, and flooding events. Whether and how people respond to increased hazard exposure (adaptive behavior) is widely recognized to be driven by their capacity to adapt, perception of the risk, and past experiences. Underlying these important dimensions, however, is social context. In this paper, we examine how social capital and social vulnerability shape risk perception and household flood mitigation actions. The study, based on a metropolitan-wide survey of households in Austin, Texas, USA, suggests that bonding social capital (personal networks, neighborhood cohesion, and trust) is positively related to mitigation behavior and that social vulnerability is negatively related to risk perception. Importantly, our research demonstrates a positive and significant effect of social capital on adaptive behavior even when controlling for social vulnerability of a neighborhood. This suggests that policies and programs that strengthen the social connectedness within neighborhoods can increase adaptive behaviors thus improving community resilience to flood events.
Effect of space holder percent on the porosity biocompatibility of nano Ti foam by PM technique

Powder metallurgy (PM) approach was utilized for the preparation of Ti porous material mixed mechanically with different percentages of sodium chloride salt from 10 to 40 % with stirring speed 100 rpm and ball to powder ratio 10:1 for milling time 24 h. The Ti –NaCl mixed samples were compacted under 600Mpa, then sintered at 1450 OC for 90 min in a vacuum furnace. The phase composition and microstructure of Ti samples are investigated through X-ray diffraction analysis and scanning electron microscope (SEM). All the prepared samples were characterized by measuring the porosity percentage, Vickers hardness, and compression strength. Microstructure indicated that porosity was found to increase with increasing salt percent while the highest hardness (380) and the compression strength (45MPa) were recorded for the lowest ratio of salt (10%NaCl). Biocompatibility test was estimated for the prepared samples, which exhibited the high viability for cell with good growth of the life cells on the sample’s surface, and low adhesion.
Identification and Confirmation of Chironomus circumdatus Kieffer, 1916 (Diptera: Chironomidae) Using DNA Barcoding

https://doi.org/10.33745/ijzi.2021. v07i01.025 ______________________________________________________________________________________________________________ Abstract: Present study was performed to identify and confirm collected larval Chironomid up to species level. To assess molecular taxonomy and phylogeny, DNA barcoding was done using Sanger dideoxy sequencing of mitochondrial cytochrome c oxidase subunit I (COI) gene of larval sample. Bioinformatics analysis was done by using NCBI’s BLAST software. By evidence of DNA barcoding, it was confirmed that present larval chironomid species was Chironomus circumdatus Kieffer, 1916.
Tetris in the Nervous System: What Principles of Neuronal Tiling Can Tell Us About How Glia Play the Game

The precise organization and arrangement of neural cells is essential for nervous system functionality. Cellular tiling is an evolutionarily conserved phenomenon that organizes neural cells, ensuring non-redundant coverage of receptive fields in the nervous system. First recorded in the drawings of Ramon y Cajal more than a century ago, we now have extensive knowledge of the biochemical and molecular mechanisms that mediate tiling of neurons. The advent of live imaging techniques in both invertebrate and vertebrate model organisms has enhanced our understanding of these processes. Despite advancements in our understanding of neuronal tiling, we know relatively little about how glia, an essential non-neuronal component of the nervous system, tile and contribute to the overall spatial arrangement of the nervous system. Here, we discuss lessons learned from neurons and apply them to potential mechanisms that glial cells may use to tile, including cell diversity, contact-dependent repulsion, and chemical signaling. We also discuss open questions in the field of tiling and what new technologies need to be developed in order to better understand glial tiling.