Miracle-dz/UniFAR-FTUs huggingface dataset:
Experimental evaluation of adaptive model-based control for underwater vehicles in the presence of unmodeled actuator dynamics

This paper reports a comparative experimental evaluation of proportional derivative and adaptive model-based control for underwater vehicles. To the best of the authors' knowledge, this is the first such evaluation of model-based adaptive tracking control for underwater vehicles during simultaneous dynamic motion in all 6 degrees-of-freedom. This experimental evaluation revealed the presence of unmodeled thruster dynamics arising during reversals of the vehicle's thrusters, and that the unmodeled thruster dynamics can destabilize parameter adaptation. The three major contributions of this paper are: an experimental analysis of how unmodeled thruster dynamics can destabilize parameter adaptation, a two-step adaptive model-based control algorithm which is robust to the thruster modeling errors present, and a comparative experimental evaluation of adaptive model-based control and proportional derivative control for fully-actuated underwater vehicles preforming simultaneous 6 degree-of-freedom trajectory tracking.
Stability-mediated epistasis constrains the evolution of an influenza protein

John Maynard Smith compared protein evolution to the game where one word is converted into another a single letter at a time, with the constraint that all intermediates are words: WORD→WORE→GORE→GONE→GENE. In this analogy, epistasis constrains evolution, with some mutations tolerated only after the occurrence of others. To test whether epistasis similarly constrains actual protein evolution, we created all intermediates along a 39-mutation evolutionary trajectory of influenza nucleoprotein, and also introduced each mutation individually into the parent. Several mutations were deleterious to the parent despite becoming fixed during evolution without negative impact. These mutations were destabilizing, and were preceded or accompanied by stabilizing mutations that alleviated their adverse effects. The constrained mutations occurred at sites enriched in T-cell epitopes, suggesting they promote viral immune escape. Our results paint a coherent portrait of epistasis during nucleoprotein evolution, with stabilizing mutations permitting otherwise inaccessible destabilizing mutations which are sometimes of adaptive value. DOI: http://dx.doi. org/10.7554/eLife.00631. 001
Body mass index (BMI): association with clinicopathological factors and outcome of women with newly diagnosed breast cancer in New Zealand.

AIMS To identify associations of obesity with breast cancer and its outcome in a New Zealand population, including those treated with adjuvant chemotherapy. METHODS Data was collated from four regional Breast Cancer Registers, Auckland, Waikato, Wellington and Christchurch, for all women with newly diagnosed breast cancer, with weight and height recorded. Associations of body mass index (BMI) with patient and tumour characteristics, and all-cause mortality were determined. RESULTS BMI was available for 5,458 new breast cancers, 27% of all registered. BMI was normal (18.5-24.9kg/m2) for 32.7%, overweight (25-29.9kg/m2) 31.1%, obese (>30kg/m2) 34.9% and 1.3% underweight (<18.5kg/m2). Median age was 55 years. Higher BMI was associated with non-European ethnicity, post-menopausal status, screen-detection, older age and tumours with higher grade, greater size and positive progesterone receptors. Mean survival for women younger than 56 years was 18.0 years for normal BMI and 14.8 years for BMI >35 (p=0.055, Log-rank). Women younger than 56 years treated with adjuvant chemotherapy had lower survival if obese compared with normal BMI (p=0.055, Log-rank). CONCLUSIONS High BMI was associated with larger tumours, of higher grade, progesterone receptor positive and post-menopausal status. Obese pre-menopausal women treated with adjuvant chemotherapy had a trend to poorer outcome.
Fórum - redes sociais e interorganizacionais

, publi-cado em 1974, ambos do sociologo norte-americanoMark Granovetter. Neles, o autor identifica formas deacesso aos postos de trabalho e conclui que sao os “co-nhecidos” (como, por exemplo, ex-colegas de gradua-cao) e nao amigos proximos ou familiares (os quaisconformam lacos sociais mais fortes) que, de fato, pro-movem o acesso de pessoas aos postos de trabalho dis-poniveis. Isso porque aqueles que pertencem a ummesmo circulo social (mais intimo) compartilham en-tre si o mesmo tipo e numero de informacoes sobreoportunidades de emprego e contatos. No primeirocaso (lacos sociais fortes), as informacoes disponibi-lizadas sao redundantes, enquanto no segundo (la-cos fracos), abrem-se possibilidades de informacoesnovas e mais abrangentes. Com esses trabalhos,Granovetter introduziu a discussao sobre a importân-cia e o papel das redes na vasta bibliografia sobre mer-cado de trabalho, assim como o papel das redes napromocao e acesso a oportunidades existentes na es-trutura social e economica.
Assessing Affirmative Action

Although the debate over Affirmative Action is both high-profile and high-intensity, neither side's position is based on a well-established set of research findings. Economics provides an extensive, well-known literature on which to draw regarding the existence and extent of labor market discrimination against women and minorities, although views may often conflict, and a less extensive but also well-known literature on the effects of Affirmative Action on the employment of women or minorities. However, research by economists provides much less evidence and even less of a consensus on the question of whether Affirmative Action improves or impedes efficiency or performance, which is perhaps the key economic issue in the debate over Affirmative Action. This review focuses on all of these issues regarding Affirmative Action, but the major focus is on the efficiency/performance question. All in all, the evidence suggests to us that it may be possible to generate Affirmative Action programs that entail relatively little sacrifice of efficiency. Most importantly, there is at this juncture very little compelling evidence of deleterious efficiency effects of Affirmative Action. This does not imply that such costs do not exist, nor that the studies we review have captured the overall welfare effects of Affirmative Action. It does imply, though, that the empirical case against Affirmative Action on the grounds of efficiency is weak at best.
Changes in American marriage, 1972 to 1987: availability and forces of attraction by age and education

Les AA. etudient les changements concernant la propension au mariage selon l'âge et le niveau d'etudes des epouses potentielles. Les donnees relatives a la baisse du taux de mariage mettent en evidence l'importance de l'âge au mariage, en particulier chez les femmes jeunes.
Unified crosstalk measurement method for various distances on autostereoscopic multi-view displays

In this paper a procedure for crosstalk (CT) measurements on spatial-multiplexed multi-user autostereoscopic 3D displays with so-called viewing distance control (VDC) is presented. VDC makes use of a rendering method which allows shifting of the viewing distance for multiview displays by using a novel distribution of the content at sub-pixel level. Methods for CT measurements to date cannot be used as the measurements have to be executed at distances that are not defined in the standard procedures for stereoscopic displays. The measuring procedures used so far are not applicable, as neither a measurement process nor any test images are defined for the use at different viewing distances. As separate CT-measurement specifications for two-view and multiview autostereoscopic displays already exist, the authors propose a unified measurement process. This process is supposed to utilize both, the equipment, as well as the physical arrangement of measuring subject and instrument that are used so far. It has to be considered that, due to the basic functional principles, several quality measurement and evaluation criteria for 3D displays have emerged. Different autostereoscopic display technologies lead to different measurement procedures. A unified method for analyzing image quality features in 3D displays, requiring no enhanced effort but offering comparable results, is desirable.
Cognitive function, origin, and evolution of musical emotions

Based on recent advancements in cognitive science and mathematical models of the mind, this paper proposes a hypothesis on a fundamental role of music in cognition, and in the evolution of the mind, consciousness, and cultures. The vocalizations of proto-humans split into two types: one less emotional and more concretely semantic, evolving into language, and the other preserving emotional connections along with semantic ambiguity, evolving into music. The proposed hypothesis considers specific mechanisms of the mind-brain, which required the evolution of music in parallel with the evolution of cultures and languages. The evolution of language toward becoming the semantically powerful tool used today has required emancipation from emotional encumbrances. Arguments explore why no less powerful mechanisms required a compensatory evolution of music toward more differentiated and refined emotionality. Due to this common origin, language and music in all cultures still retain both semantics and emotionality; however, in this article we emphasize differences in the functions of music and language. The fast differentiation of knowledge due to language has created cognitive dissonances among knowledge and instincts. Differentiated emotions were needed for resolving these dissonances. Thus the need for refined music in the process of cultural evolution is grounded in fundamental mechanisms of cognition. This is why today’s human mind and cultures cannot exist without today’s music. Empirical data on the parallel evolution of cognition, emotions, consciousness, and music during the last three thousand years are discussed. Data on changes in musical styles parallel to changes in consciousness support the proposed hypothesis. We propose experimental approaches toward verification of this hypothesis in psychological and neuroimaging research.
Replacement of Amino Acid Sequence Features of a- and c-Subunits of ATP Synthases of Alkaliphilic Bacillus with the Bacillus Consensus Sequence Results in Defective Oxidative Phosphorylation and Non-fermentative Growth at pH 10.5*

Mitchell's (Mitchell, P. (1961) Nature 191, 144–148) chemiosmotic model of energy coupling posits a bulk electrochemical proton gradient (Δp) as the sole driving force for proton-coupled ATP synthesis via oxidative phosphorylation (OXPHOS) and for other bioenergetic work. Two properties of proton-coupled OXPHOS by alkaliphilic Bacillus species pose a challenge to this tenet: robust ATP synthesis at pH 10.5 that does not correlate with the magnitude of the Δp and the failure of artificially imposed potentials to substitute for respiration-generated potentials in energizing ATP synthesis at high pH (Krulwich, T. (1995) Mol. Microbiol. 15, 403–410). Here we show that these properties, in alkaliphilic Bacillus pseudofirmus OF4, depend upon alkaliphile-specific features in the proton pathway through the a- and c-subunits of ATP synthase. Site-directed changes were made in six such features to the corresponding sequence in Bacillus megaterium, which reflects the consensus sequence for non-alkaliphilic Bacillus. Five of the six single mutants assembled an active ATPase/ATP synthase, and four of these mutants exhibited a specific defect in non-fermentative growth at high pH. Most of these mutants lost the ability to generate the high phosphorylation potentials at low bulk Δp that are characteristic of alkaliphiles. The aLys180 and aGly212 residues that are predicted to be in the proton uptake pathway of the a-subunit were specifically implicated in pH-dependent restriction of proton flux through the ATP synthase to and from the bulk phase. The evidence included greatly enhanced ATP synthesis in response to an artificially imposed potential at high pH. The findings demonstrate that the ATP synthase of extreme alkaliphiles has special features that are required for non-fermentative growth and OXPHOS at high pH.
Changes in aerobic and anaerobic fitness in the Polish army paratroopers during their military service.

BACKGROUND The purpose of this study was to estimate changes in the aerobic- and anaerobic-dependent performance tasks in paratroopers during 18 mo of their military service. METHODS There were 39 Polish Army recruits, enlisted to the paratroops, who volunteered for this study. The subjects were examined on enlisting and then after 3, 12, and 18 mo of the service. Anthropometry, aerobic capacity (V(O2max), V(O2OBLA), PWC170), anaerobic power and capacity (using Wingate test), performance in the repeated supramaximal exercises and motor performance indices (battery tests for locomotory endurance, agility, explosive power, strength and muscular endurance) were assessed. RESULTS Military training produced a significant (p) < 0.05) increase in the body weight (by 4%), lean body mass (by 5.7%) and selected body girths. This was associated by the decrease in body fat from 15% to 13.1%). No significant changes in the aerobic fitness indices were noted. The studied soldiers showed significant increases in anaerobic power (by 5.9%) and anaerobic capacity (by 9.7%) accompanied by a substantial improvement in the performance in the repeated supramaximal exercises. There were also striking improvements in the variables which reflected muscular endurance and explosive power (by 32 78%), a substantial increase in the variables which reflected locomotory endurance (by 12.4%), agility (by 13.7%) and speed (by 11%), and a small rise in the static strength (by 4%). CONCLUSIONS Overall, the present results show that the military training for paratroopers improves the motor performance and the anaerobic-dependent performance tasks and leads to favorable changes in the body composition but does not result in the improvement of aerobic fitness.
The Criteria of VOCATIONAL SUCCESS

One way in which the objectives of vocational guidance manifest themselves is in the criteria used in judging vocational success. If the general objective of vocational guidance is to help people to achieve success in the world of work, then its specific objectives should manifest themselves in judgments of success. These judgments are in some instances the passing judgment of observers, and they are difficult to study; however, they are made by vocational counselors in the studies evaluating the effectiveness of counseling, by personnel workers making employee evaluations, and by psychologists studying the relationships between personal characteristics and success. While all these means of judging occupational success were being used, there was considerable reliance in ratings by supervisors. They were used on the grounds that more objective evidence, such as output, could not be obtained in certain types of work.
Barriers to serving clients with co-occurring disorders in a transformed mental health system.

OBJECTIVE The publication of the President's New Freedom Commission Report in 2003 led to hope and anticipation that system transformation would address barriers that have impeded the delivery of integrated services for clients with co-occurring mental health and substance use disorders. Have problems been resolved? This study analyzed providers' perspectives on serving clients with co-occurring disorders in a large mental health system that has undergone transformation. METHODS Six focus groups were conducted with providers at specialty mental health treatment organizations that received funding to transform services. Using content analysis, the authors identified major themes of the focus group discussions. RESULTS Participants reported several barriers within the mental health system and challenges associated with collaborating with specialty substance abuse treatment providers that impede the delivery of integrated care. CONCLUSIONS In spite of efforts to improve co-occurring disorder service delivery in a transformed mental health system, barriers that have historically impeded integrated treatment persist.
A comprehensive method to combine RFID indoor targets positioning with real geographic environment

Nowadays RFID indoor targets positioning results display methods are simplified. The positioning results visual effect is also unsatisfied. To solve this problem, we design and realize a comprehensive method to implement RFID indoor localization algorithms in a geographic information system. In our method, the RFID indoor targets positioning results can display in the real geographic environment, which can improve the application value of the results. First, we establish the geographic environment using geographic information system in order to combine RFID indoor positioning results with the real environment. Then we design a distributed system architecture to filter the useless data and implement the positioning algorithm. In this way, indoor targets real-time positioning and the results visualization display are realized. And the positioning results can also be combined with the real geographic information environment. System test results indicate that this method achieves ideal indoor positioning data display effect under well indoor-positioning precision.
Neuritogenic and Neuroprotective Properties of Peptide Agonists of the Fibroblast Growth Factor Receptor

Fibroblast growth factor receptors (FGFRs) interact with their cognate ligands, FGFs, and with a number of cell adhesion molecules (CAMs), such as the neural cell adhesion molecule (NCAM), mediating a wide range of events during the development and maintenance of the nervous system. Determination of protein structure, in silico modeling and biological studies have recently resulted in the identification of FGFR binding peptides derived from various FGFs and NCAM mimicking the effects of these molecules with regard to their neuritogenic and neuroprotective properties. This review focuses on recently developed functional peptide agonists of FGFR with possible therapeutic potential.
Oxytocin promotes human ethnocentrism

Human ethnocentrism—the tendency to view one's group as centrally important and superior to other groups—creates intergroup bias that fuels prejudice, xenophobia, and intergroup violence. Grounded in the idea that ethnocentrism also facilitates within-group trust, cooperation, and coordination, we conjecture that ethnocentrism may be modulated by brain oxytocin, a peptide shown to promote cooperation among in-group members. In double-blind, placebo-controlled designs, males self-administered oxytocin or placebo and privately performed computer-guided tasks to gauge different manifestations of ethnocentric in-group favoritism as well as out-group derogation. Experiments 1 and 2 used the Implicit Association Test to assess in-group favoritism and out-group derogation. Experiment 3 used the infrahumanization task to assess the extent to which humans ascribe secondary, uniquely human emotions to their in-group and to an out-group. Experiments 4 and 5 confronted participants with the option to save the life of a larger collective by sacrificing one individual, nominated as in-group or as out-group. Results show that oxytocin creates intergroup bias because oxytocin motivates in-group favoritism and, to a lesser extent, out-group derogation. These findings call into question the view of oxytocin as an indiscriminate “love drug” or “cuddle chemical” and suggest that oxytocin has a role in the emergence of intergroup conflict and violence.
2 0 N ov 2 00 2 Phase Synchronization in Temperature and Precipitation Records

We study phase synchronization between atmospheric variables such as daily mean temperature and daily precipitation records. We find significant phase synchronization between records of Oxford and Vienna as well as between the records of precipitation and temperature in each city. To find the time delay in the synchronization between the records we study the time lag phase synchronization when the records are shifted by a variable time interval of days. We also compare the results of the method with the classical cross-correlation method and find that in certain cases the phase synchronization yields more significant results.
Cell-Type-Dependent Molecular Composition of the Axon Initial Segment

The exact site of initiation and shape of action potentials vary among different neuronal types. The reason for this variability is largely unknown, but the subunit composition, density and distribution of voltage-gated sodium (Nav) and potassium (Kv) channels within the axon initial segment (AIS) are likely to play a key role. Here, we asked how heterogeneous are the density and distribution of Nav and Kv channels within the AISs of a variety of excitatory and inhibitory neurons. Most of the studied cell types expressed a high density of Nav1.6, Kv1.1, and Kv1.2 subunits in their AIS, but the Nav1.1 subunit could only be detected in GABAergic interneurons. A proximo-distal gradient in the density of these subunits was observed within the AIS of certain nerve cells but not in others. For example, a gradual increase of the Nav1.6 subunit was observed in cortical layer 2/3 and hippocampal CA1 pyramidal cell (PC) AISs, whereas its density was rather uniform in layer 5 PC AISs. The Nav1.1 subunit was distributed evenly along the AIS of short-axon cells of the main olfactory bulb but was restricted to the proximal part of the AIS in cortical and cerebellar interneurons. Our results reveal a cell type-dependent expression of sodium and potassium channel subunits with varying densities along the proximo-distal axis of the AISs. This precise arrangement is likely to contribute to the diversity of firing properties observed among central neurons.
Integrated low-ripple-voltage fast-response switched-capacitor power converter with interleaving regulation scheme

This paper presents a new integrated switched-capacitor (SC) power converter with an interleaving regulation scheme. By dividing the original power stage into sub-units and operating each sub-unit in an interleaving way, both output ripple voltage and load transient response are largely improved without compromising other design parameters. The closed-loop operation with interleaving analog PWM control enables the converter to be accurately regulated at any desired levels. The design was submitted for fabrication in 0.35 mum CMOS N-well process. The entire die area including pads and power transistors is 3.52 mm2 . HSPICE post-layout simulation shows that, with a power supply of 1.5 V and a load of 250 mA, the converter is regulated at 2.5 V with an output ripple of 7 mV and the maximum efficiency of 83.2%. The converter responds to an 85-mA load change within 3 mus with 22-mV voltage variation
Interpretive Strategies: Their Role in the Pragmatics of Interaction in the ELT Classroom

language (L2) is used/taught/learnt in the absence of a native-speaker model of the language (Bickerton 1981). This is the situation prevailing in India with regard to English. However, due to prolonged contact between English and the Indian vernacular languages, certain common conventions for the use of English, such as borrowing, code-mixing and code-switching have developed in all the Indian vernacular language communities in India. Research in these speech conventions suggests that these conventional practices serve as interpretive tools or communication strategies in interaction (Kachru 1978a, 1978b; Gumperz 1982; Datta 1985). Presumably, then, these conventions also affect the verbal