Miracle-dz/UniFAR-FTUs huggingface dataset:
Multicontact Localization Framework for Flexible Robots Using a Data-Driven Approach

Minimally invasive surgery (MIS) is increasingly employed in several medical disciplines. During minimal invasive cardiovascular approaches, flexible instruments, such as catheters or endoscopes, are navigated along a tortuous path to reach a deeply seated target site. Navigation through the vasculature is not without risk, as the vessel can be fragile, potentially with plaque or calcification that could get dislodged if excessive stresses are caused during navigation. Knowledge of the interaction forces between these flexible tools and the vasculature could help steer the instruments and avoid exerting excessive forces on the surrounding tissues. Integrating force sensing into the tip of the instruments has been proposed in the art. However, tip force sensing is blind to forces that arise along the catheter body’s length. This article proposes a data-driven framework to estimate the locations of multiple contact forces along the catheter’s length. The proposed approach consists of a contact state detection and, subsequently, a contact localization method. Both methods make use of knowledge of the shape of the catheter’s body. This shape is measured here by a multicore fiber Bragg grating (FBG) fiber. The proposed method also works for steerable catheters, as it allows accounting for the effect of the actuation of the catheter itself. A state-of-the-art contact localization method using multicore FBG fiber is implemented and serves as a baseline to compare the newly proposed method with. The proposed data-driven approach requires a minimum amount of training data, which can be collected by simply actuating the robotic catheter in free space over its workspace. The method is validated with a commercial MitraClip steerable guide catheter. Dynamic experiments show that the proposed contact state detection method can detect contact in 0.44 s. The average contact localization errors of the proposed method and state-of-the-art method are 6.1 mm (1.6%) and 18.0 mm (4.9%), respectively.
Self-Supervised Learning Method for SAR Multiinterference Suppression

As an active radar system, synthetic aperture radar (SAR) is often affected by different types of strong, complex, and variable electromagnetic interferences, which severely degrades the final imaging performance. Thus, how to effectively detect and suppress complex electromagnetic interferences is a crucial challenge currently. In this article, we propose a self-supervised learning interference suppression method based on deep learning, including interference localization filtering and radar signal recovery. First, we construct a novel convolutional autoencoder (CAE) deep-learning model—LocNet via the proposed optimization criterion, which is utilized to detect and locate the interference for subsequent filtration. Aiming at the issue of signal loss in the filtering process that is generally ignored in the current literature, we then reconstruct a novel U-Net neural network model—RecNet for the low-loss recovery of signal. Compared with the traditional parametric/nonparametric anti-interference methods, the most significant advantage of our method is that it overcomes the requirement for interference priori information, which is more consistent with the actual situation, and effectively solves the target information loss. Furthermore, since no interference information is involved in the training process (self-supervised training), our method applies to multiple types of interference rather than a specific one. Moreover, with our method, interference detection and suppression can be achieved simultaneously instead of separating the two steps as in existing literature. Measured and simulated SAR interference-contaminated (IF-contaminated) data test results validate the effectiveness and robustness of the proposed method.
Secrets of the south A location-based game for the development of 21st century social skills and promotion of social interaction

Location-based games (LBGs) successfully promote playful experiences engaging millions of players throughout the world. The potential of embedding such location-based experiences in educational practice has been recognised but not yet fully embraced. LBGs and educational location-based applications have been used to enhance critical thinking, but not for the acquisition and development of 21 st century skills: key competences required to understand, live and thrive in the local communities of today. This paper introduces the LBG ‘Se-crets of the South’, designed to orchestrate social interaction in public space, and foster communication, collaboration, IT literacy, and social/cultural skills through 1) interaction-based social encounters with both friends and unknown members of the community, and 2) in-situ learning about the history and social context of the neighbourhood. A 4-step general procedure is proposed for the creation of LBGs designed to foster 21 st century skills.
Development of the Self-Efficacy-Effort in Mathematics Scale and its Relationship to Gender, Achievement, and Self-concept

Mathematics self-efficacy is considered an important variable in mathematics education because of its links to mathematics achievement. This paper reports on the development of the Self-efficacy-effort in Mathematics Scale (SEEMS), an instrument that has strong theoretical and psychometric properties. Based on a sample of n = 224 Australian primary students and n =133 secondary students, the instrument demonstrated positive correlations with related measures of mathematics achievement and mathematics self-concept. Girls had higher mathematics achievement within the primary and secondary school data. There were no significant gender difference in mathematic self-concept scores for the primary and the secondary school students. For mathematics self-efficacy, a gender difference was only identified in the high school data. The implications of this research to mathematics education practices are reviewed in the paper.
BP Energy Outlook 2035

Energy Outlook 2035. BP, February 2015 http://www.bp. com/en/global/corporate/about-bp/energy-economics/energy-outlook/energy-outlook-downloads.html Presentation (© BP) : The annual Energy Outlook reflects our best effort to describe a “most likely” trajectory of the global energy system, based on our views of likely economic and population growth, as well as developments in policy and technology This edition updates our view of the likely path of global energy markets to 2035. We make assumpt.
RFID-Based Car Parking System

Abstract: This research paper presents a comprehensive study on the design, implementation, and evaluation of an RFID-based car parking system. The proposed system aims to address the challenges associated with traditional car parking systems, such as inefficiency in parking space utilization, long waiting times, and manual ticketing processes. By leveraging Radio Frequency Identification (RFID) technology, the system offers improved accuracy, real-time monitoring, and enhanced security. The paper discusses the system architecture, key components, and algorithmic approaches used. Furthermore, a comparative analysis is conducted to evaluate the performance of the proposed system against traditional parking systems, highlighting its advantages in terms of efficiency, convenience, and customer satisfaction.
APPROXIMATE AND STABILITY SOLUTION FOR NON-LINEAR SYSTEM OF INTEGRODIFFERENTIAL EQUATIONS OF VOLTERRA TYPE WITH BOUNDARY CONDITIONS

In this paper, we investigate the approximation and stability solutions of non-linear systems of integro-differential equations of Volterra type with boundary conditions, by using the numerical-analytic method which were introduced by Samoilenko. The study of such integro-differential equations leads to extend the results obtained by Butris for changing the system of non-linear integro- differential equations of Volterra type to the system of non-linear integro-differential equations of the Volterra type with boundary conditions. Theorems on a solutions are established under some necessary and sufficient conditions on compact spaces.
oral platelet glycoprotein IIb/IIIa receptor antagonist, in patients with stable coronary artery disease undergoing elective angioplasty

Objective— Lefradaﬁban is the orally active prodrug of fradaﬁban, a glycoprotein IIb/IIIa receptor antagonist. The present phase II study aimed to determine the dose of lefradaﬁban that provides 80% blockade of the glycoprotein IIb/IIIa receptors by fradaﬁban, and to study the pharmacodynamics and safety of di V erent doses in patients with stable angina undergoing angioplasty. Design— A double blind, placebo controlled, dose ﬁnding study. Setting— Four academic and community hospitals in the Netherlands. Patients— 64 patients with stable coronary artery disease undergoing elective percutaneous transluminal coronary angioplasty. Interventions— 30 mg, 45 mg, and 60 mg of lefradaﬁban three times daily or placebo was given for 48 hours. Main outcome measures— The primary safety end point was the occurrence of bleeding, clas-siﬁed as major, minor, or insigniﬁcant according to the thrombolysis in myocardial infarction (TIMI) criteria. E Y cacy indices included per cent ﬁbrinogen receptor occupancy (FRO), ex vivo platelet aggregation, and plasma concentrations of fradaﬁban. Results— Administration of lefradaﬁban 30, 45, and 60 mg three times daily resulted in a dose dependent increase in median FRO levels of 71%, 85%, and 88%, respectively. Inhibition of platelet aggregation was closely related to FRO. There were no major bleeding events. The 60 mg lefradaﬁban group had a high (71%) incidence of minor and insigniﬁcant bleeding. The incidence of bleeding was 44% in the 30 mg and 45 mg groups, compared with 9% in placebo patients. Puncture site bleeding was the most common event. The odds of bleeding increased by 3% for every 1% increase in FRO. Conclusions— Lefradaﬁban is an e V ective oral glycoprotein IIb/IIIa receptor blocker. The clinical e V ectiveness of doses up to 45 mg three times daily should be investigated.
Characteristics and Sources Analysis
of Carbonaceous Aerosols in Urban
and Rural Areas of Nanchong City

To identify the characteristics and sources of carbonaceous aerosols in an urban area (UA) and rural area (Guihua Township, GH) of Nanchong City, organic carbon (OC) and elemental carbon (EC) were measured in fine particulate matter (PM 2.5 ) samples collected from December 2014 to April 2016. The results showed that the average concentrations of PM 2.5 , OC, EC, and secondary organic carbon (SOC) in UA were 66.23±3.68 μg/m 3 , 13.34±0.93 μg/m 3 , 3.80±0.29 μg/m 3 and 10.05±0.83 μg/m 3 , respectively, and those in GH were 60.13±4.28 μg/m 3 , 13.82±1.03 μg/m 3 , 3.92±0.44 μg/m 3 and 10.23±0.90 μg/m 3 , respectively. The seasonal variations in PM 2.5 , OC, EC, and SOC in UA and GH were similar, with the order summer<spring<autumn<winter. The average OC/EC ratio in UA was 4.72±0.31, and that in GH was 5.14±0.38. In addition, K + , Pb, Zn, and As were positively correlated with OC and EC. This result indicated that biomass burning, fossil combustion, and motor vehicle exhaust within the Sichuan Basin were the main sources of PM 2.5 in Nanchong City. The poor meteorological diffusion conditions prevalent for pollutants were the main reason for the high concentration of carbonaceous aerosols in Nanchong City.
Environmental management of wildlife tourism: A case study in Nelson Bay, Port Stephens

A case study of wildlife tourism in Nelson Bay, Port Stephens at New South Wales was conducted to determine the factors relevant to the sustainability of marine mammal watching. Informed by the results of the case study, a management framework, called the 7E Management Framework, was developed as a planning guide for wildlife tourism that seeks to support biodiversity conservation. The framework takes into account the integration of the following elements: Enforcement- implementation and monitoring of legislative and other control measures; Education -improving understanding about the environment, the focal species and their interactions; Enquiry- conducting research through scientific enquiry on the technical and social implications of tourism on wildlife conservation; Economics promoting financial profitability without destroying or depleting the natural capital; Environment assessment of the impacts of human-wildlife interactions; Engagement- actively involving local/host community in planning and decision making; and Experience- enhancing tourist experience and knowledge. The framework also incorporates the cyclical and iterative nature of the planning process, which is regularly informed by field experience, monitoring and evolving knowledge about the physical and biological environments, tourism practice and conservation status of wildlife. The proposed framework ultimately aims to achieve a balance between sustainable use of wildlife in tourism and the conservation not only of the target species but also of the ecological system in which it is a part of.
A Study of Agricultural Companies Development in Nigeria: A Systematic Literature Review

: - There is no doubt that Nigeria is an agricultural country with food sufficiency up till the late 1970s, but this seems to be a thing in the past as a result of neglect of the agricultural sector by the Nigerian government due to the discovery of crude oil and subsequent oil boom in the late70s (Adams, 2016). This paper seeks to identify factors inhibiting the development of agricultural companies in Nigeria and how to overcome such barriers through conducting a Systematic Literature Review (SLR) on related papers. The SLR in this paper is based on the three-stage approach recommended by Tranfield et al. (2003) and Harrison et al. (2016). The findings from the review show that the bane of the agricultural sector in Nigeria was due to the lack of an agricultural regulatory framework and policy transmission mechanism and over-dependence on oil revenue amongst other things. It is therefore imperative for the country to embark on the development of a reliable agricultural framework and model which will aid food sufficiency in the country.
Mode of opening of an oceanic pull‐apart: The 20°N Basin along the Owen Fracture Zone (NW Indian Ocean)

Pull‐apart basins are common features observed at releasing bends along major strike‐slip faults. The formation and structural evolution of such basins have mostly been investigated in the continental domain and by sandbox laboratory experiments or numerical models. Here we present recently acquired multibeam bathymetry, 3.5 kHz echo sounder, and seismic profiles across the 20°N pull‐apart Basin along the India‐Arabia transform boundary, known as the Owen Fracture Zone (OFZ). Using nearby oceanic drilling (Deep Sea Drilling Project 222), we constrain the structural evolution of the basin since opening some 3 Myr ago. The 20°N Basin is large (90 km long and 35 km wide) despite limited transcurrent motion (~10 km). The first stage involved the formation of a step over along the OFZ and the subsequent isolation of a subsiding half graben. Extension and subsidence were further partitioned over three distinct subbasins separated by complex sets of transverse faults. The size of the basin was enhanced by gravity‐driven collapse. The 20°N Basin has been a catchment for Indus turbidites since its opening, which provide a good record of syn‐sedimentary deformation. The deformation related to the subsidence of the half graben mimics rollover structures commonly encountered in salt tectonics, suggesting that subsidence was accommodated by one or several décollement layers at depth. Despite a different rheological context, the subsurface structure of the nascent oceanic 20°N Basin is very similar to the more mature continental Dead Sea Basin along the Levant Fault, which also displays subbasins separated by transverse faults.
Transient Competitors to Modulate Dynamic Covalent Cross-Linking of Recombinant Hydrogels

: Hydrogels cross-linked by dynamic covalent chemistry (DCC) are stiff and remodelable, making them ideal biomimetics for tissue engineering applications. Due to the reversibility of DCC cross-links, the opportunity exists to transiently control hydrogel network formation through the use of small molecule competitors. Specifically, we incorporate low molecular weight competitors that reversibly disrupt the formation of hydrazone cross-links as they diffuse through a recombinant hydrogel. Using complementary experimental, computational, and theoretical polymer physics approaches, we present a family of competitors that predictably alter hydrogel gelation time and mechanics. By changing the competitor chemistry, we connect key reaction parameters (forward and reverse reactions rates and thermodynamic equilibrium constants) to the delayed onset of a percolated network, increased hydrogel gelation time, and transient control of hydrogel stiffness. Using human intestinal organoids as a model system, we demonstrate the ability to tune gelation kinetics of a recombinant hydrogel for uniform encapsulation of individual, patient-derived stem cells and their proliferation into three-dimensional structures. Taken together, our data establish a validated framework to relate molecular-level parameters of transient competitors to predicted macromolecular-network properties. As interest in biomimetic, DCC-cross-linked hydrogels continues to grow, these results will enable the rationale design of bespoke, dynamic biomaterials for tissue engineering.
Combined Radiofrequency Ablation and Left Atrial Appendage Closure in Atrial Fibrillation and Systolic Heart Failure

Background: Managing patients with atrial fibrillation (AF) and comorbid heart failure (HF) with reduced (HFrEF) or mildly reduced ejection fraction (HFmrEF) is of clinical importance but a great challenge. This study aimed to evaluate the clinical benefit of the combined radiofrequency catheter ablation (RFCA) and left atrial appendage closure (LAAC) procedure in AF patients complicated with systolic HF. Methods: AF patients with HFrEF or HFmrEF who underwent the combined RFCA and LAAC procedure were prospectively enrolled in the LAACablation registry. The procedural complications and long-term outcomes were evaluated. Another cohort of AF patients with systolic HF who did not undergo either RFCA or LAAC were used for prognosis comparison. Results: Among 802 AF patients who underwent the combined procedure, 65 patients were comorbid with systolic HF (25 with HFrEF and 40 with HFmrEF). The overall procedural complication rate was 9.2%, which was mainly attributed to acute decompensated HF (6.2%). Accompanied with markedly reduced AF burden (from median [25th, 75th percentile]: 100 [100, 100] to 0 [0, 1.2]%, p < 0.001), upward trajectories of cardiac function were observed in 51 (78.4%) patients, showing improvement in New York Heart Classification (p < 0.01), natriuretic peptide levels (from 1492 [809, 3259] to 413 [163, 880] pg/mL, p < 0.001) and left ventricular EF (from 42.6 ± 5.3 to 53.8 ± 8.2%, p < 0.001). During the 27-month follow-up period, death, thromboembolism, major bleeding, and HF rehospitalization were observed in three, one, one, and four patients, respectively. The observed event rates showed a significant reduction compared with the non-procedure AF-HF cohort (n = 138; for composite endpoint: hazard ratio: 2.509, 95% confidence interval: 1.415–4.449, p = 0.002) and with the respective rates predicted by risk scores. Conclusions: Combining RFCA and LAAC achieves acceptable safety and credible long-term efficacy in AF patients with systolic HF. Further randomized studies are warranted in a larger patient cohort.
HADROSAUROID DINOSAURS FROM THE LATE CRETACEOUS OF SPAIN: PARARHABDODON ISONENSIS REVISITED AND KOUTALISAURUS KOHLERORUM, GEN. ET SP. NOV.

Abstract The hadrosauroid dinosaur Pararhabdodon isonensis is known from partial cranial and postcranial material from the Maastrichtian of the south Pyrenean foredeep basin (northern Catalunya, Spain). We revise and emend the taxonomic history, stratigraphic context, osteology, and systematic position of this taxon. Our study leads us to rediagnose P. isonensis on the basis of a maxilla that combines an extremely elevated jugal joint with a subvertical and concave lateral surface of the maxilla ventral to the jugal joint, as well as a craniocaudally broad dorsal process; and a proximal half of the humerus medially offset 30° from its long axis. Our parsinomy heuristic analysis of P. isonensis and 22 other iguanodontoideans infers the phylogenetic position of the former as the sister taxon to Hadrosauridae (restricted here to the clade comprising Hadrosaurinae and Lambeosaurinae). One dentary, previously referred to P. isonensis, was collected at a site that is both stratigraphically and geographically separated from the type locality of P. isonensis. The dentary becomes the holotype of a new taxon, Koutalisaurus kohlerorum, on the basis of a uniquely elongated and medially projecting edentulous portion. This results in a distance between the symphysis and the lateral wall of the dentary that is three times the mediolateral breadth of the bone. K. kohlerorum shares with other hadrosauroids a tooth row that extends caudal to the apex of the coronoid process and, with Hadrosauridae, a tooth row that is, in occlusal view, straight and parallel to the lateral face of the dentary.
MIT Open Access Articles Functional Characterization of Intrinsic and Extrinsic Geometry

We propose a novel way to capture and characterize distortion between pairs of shapes by extending the recently proposed framework of shape differences built on functional maps. We modify the original deﬁnition of shape differences slightly and prove that, after this change, the discrete metric is fully encoded in two shape difference operators and can be recovered by solving two linear systems of equations. Then, we introduce an extension of the shape difference operators using offset surfaces to capture extrinsic or embedding-dependent distortion, complementing the purely intrinsic nature of the original shape differences. Finally, we demonstrate that a set of four operators is complete , capturing intrinsic and extrinsic structure and fully encoding a shape up to rigid motion in both discrete and continuous settings. We highlight the usefulness of our constructions by showing the complementary nature of our extrinsic shape differences in capturing distortion ignored by previous approaches. We additionally provide examples where we recover local shape structure from the shape difference operators, suggesting shape editing and analysis tools based on manipulating shape differences.