Miracle-dz/UniFAR-FTUs huggingface dataset:
Grasping With Mechanical Intelligence

Many robotic hands have been designed and a number have been built. Because of the difficulty of controlling and using complex hands, which usually have nine or more degrees of freedom, the simple one- or two-degree-of-freedom gripper is still the most common robotic end effector. A new category of device is presented: a medium-complexity end effector. With three to five degrees of freedom, such a tool is much easier to control and use, as well as more economical, compact and lightweight than complex hands. In order to increase the versatility, it was necessary to identify grasping primitives and to implement them in the mechanism. In addition, power and enveloping grasps are stressed over fingertip and precision grasps. The design is based upon analysis of object apprehension types, requisite characteristics for active sensing, and a determination of necessary environmental interactions. Contained are the general concepts necessary to the design of a medium-complexity end effector, an analysis of typical performance, and a computer simulation of a grasp planning algorithm specific to this type of mechanism. Finally, some details concerning the UPenn Hand-a tool designed for the research laboratory-are presented.
The significance of the history of goiter for the etiology of the disease.

T HIS DISCUSSION 15 concerned with endemic goiter. Tumors of the thyroid may be expected to occur about as frequently as do tumors of other organs. However, thyroid tumors occur much more frequently and this prevalence is conspicuous in certain regions. In many places, endemic goiter appeared quite recently and its subsequent history resembled that of a newly introduced infectious disease. I am not so naive as to believe that absence of mention means absence of the disease. Only when the description of a population is so detailed as to physique, diseases and medical practices as to make it almost certain that goiter, if present, would have been recorded, do I regard the absence of such mention as an indication of absence. In a few instances, definite statements that the disease was not present, or had not been present until a comparatively short time earlier, are made. It is impossible to review all the work of fifteen years in this report; only a few instances can be discussed.t In contrast to the prolonged controversy over the pre-Columbian existence of syphilis, the question of the presence of goiter in the Americas attracted no attention until I raised it. This neglect seems to have been due to two factors. The first was the general acceptance of the view that the disorder was due to some factor in the environment, which was supposed
Conformational equilibria of alpha-L-iduronate residues in disaccharides derived from heparin.

The disaccharides IdoA(2SO3)-anManOH(6SO3) and IdoA-anManOH (where IdoA represents alpha-L-iduronate, anManOH represents 2,5-anhydro-D-mannitol and SO3 represents sulphate ester) were prepared from bovine lung heparin using HNO2 depolymerization, borohydride reduction and desulphation, and were examined by 400 MHz 1H-n.m. r. spectroscopy. Three-bond proton-proton coupling constants around the IdoA ring were determined under a range of experimental conditions. For unsulphated IdoA all four proton-proton coupling constants varied markedly as a function of temperature, pH and solvent, providing clear evidence for a rapid conformational equilibrium. These data were analysed in terms of the three most energetically stable IdoA conformers: 1C4, 4C1, and 2S0. Predicted coupling constants for these conformers were determined using a modified Karplus-type relationship. For unsulphated IdoA in dimethyl sulphoxide the equilibrium was provoked strongly in favour of a slightly distorted 4C1 'chair' IdoA conformer for which coupling constants have not previously been reported. For sulphated IdoA in aqueous conditions and at low pH the equilibrium is strongly in favour of the alternative 1C4 chair conformer. Under many conditions, however, significant contributions from all three conformers occur for the non-reducing terminal IdoA in these disaccharides.
Modelling Accents for Automatic Speech Recognition

Accent is cited as an issue for speech recognition systems. If they are to be widely deployed, Automatic Speech Recognition (ASR) systems must deliver consistently high performance across user populations. Hence the development of accentrobust ASR is of significant importance. This research investigates techniques for compensating for the effects of accents on performance of Hidden Markov Model (HMM) based ASR systems. Recently, HMM systems based on Deep Neural Networks (DNNs) have achieved superior performance to more traditional systems based on Gaussian Mixture Models (GMMs), due to the discriminative nature of DNNs. Our research confirms, this by showing that a DNN system outperforms the GMM system even after an accent-dependent acoustic model was selected using Accent Identification (AID), followed by speaker adaptation. The average performance of the DNN system over all accent groups is maximized when either accent diversity is highest, or data from “difficult” accent-groups is included in the training set.
Improved Harris Feature Point Set for Orientation-Sensitive Urban-Area Detection in Aerial Images

This letter addresses the automatic detection of urban area in remotely sensed images. As manual administration is time consuming and unfeasible, researchers have to focus on automated processing techniques, which can handle various image characteristics and huge amount of data. The applied method extracts feature points in the first step, which is followed by the construction of a voting map to represent urban areas. Finally, an adaptive decision making is performed to find urban areas. This letter presents methodological contributions in two key issues to the algorithm: 1) An automatically extracted Harris-based feature point set is introduced for the first step, which is able to represent urban areas more precisely. 2) An improved orientation-sensitive voting technique is proposed, exploiting the orientation information calculated in the local neighborhood of points. Evaluation results show that the proposed contributions increase the detection accuracy of urban areas.
Isolite vs cotton roll isolation in the placement of dental sealants.

PURPOSE The purpose of this split-mouth, randomized, controlled trial was to evaluate the retention rates of sealants placed under Isolite vs cotton roll isolation. METHODS A convenience sample of 29 patients, with a mean age of 9.8 years and a total of 96 teeth, was included in this study. Matched contralateral pairs of first and second molars were randomized to receive sealants with Isolite or cotton roll isolation. All sealants were performed by one standardized operator. Sealants were placed on first and second permanent molars that had a matched contralateral molar requiring a sealant as well. Photographs were taken of the sealants on the day of placement, and at 6-month and 12-month recalls. Photographs were viewed, and retention of the sealants was evaluated and scored by three calibrated pediatric dentists. The scores were analyzed via Mann-Whitney U and chi-square tests. RESULTS There were no significant differences in the retention rates between sealants placed using Isolite isolation compared with cotton roll isolation. CONCLUSION Isolite and cotton roll isolation both appear to be equally effective in creating a favorable environment for sealant placement by a single operator.
Treatment Outcomes of HER-2 Positive Metastatic Breast Cancer Patients Treated with Pertuzumab in the First Line Setting- Real Life Experience

Objective: Pertuzumab, a new recombinant humanized monoclonal antibody, has been developed to inhibit the formation of HER2:HER3 heterodimerization. The clinical benefit of pertuzumab therapy in HER2 positive metastatic Breast Cancer (mBC) patients in the first -line setting has been shown in previous phase III studies. Herein we aimed to analyze the efficacy and toxicity profile of pertuzumab in patients with HER2 positive mBC. Materials and Methods: This was a retrospective study of 28 patients with mBC followed from two different centers in Turkey. All patients were treated with pertuzumab in the first line setting, with a combination including trastuzumab and docetaxel. Treatment outcomes along with drug efficacy and safety were retrospectively analyzed. Results: At a median follow-up time of 10.1 (2.4-25.2) months, among the 28 patients, 1 (3.6%) case of death and 2 (7.1%) cases of progression occurred. The median age was determined as 47 (18-74) years. Excluding 1 patient, all had (96.4%) de-novo metastatic disease at presentation. The median number of treatment cycles was 7 (4 12) for docetaxel, 18 (4 35) for pertuzumab + trastuzumab, and 10 (1 29) for the maintenance therapy (pertuzumab + trastuzumab). The most common side effects were fatigue (75%) and arthralgia/myalgia (64.3%). Grade 3 or 4 toxicity was observed to be very infrequent as follows: neutropenia; grade 3 in 4 (14%) patients and grade 4 in 1 (3.6%) patient, neuropathy; grade 3 in 5 (17.8%) patients. Conclusion: Even with a small sample size, our results confirm that pertuzumab + trastuzumab + docetaxel combination therapy in the first line setting for HER2 positive mBC patients is the standard of care, with acceptable toxicity profile.
Very low delay and high quality coding of 20 Hz-15 kHz speech signals at 64 Kbit/s

An algorithm for coding 20 Hz-15 kHz speech signals at 64 kbit/s with a very low delay (frame of 0.16 ms) is presented. To achieve a quality near to transparency, the authors propose adapting the Low-Delay CELP coder to the 15 kHz bandwidth and suggest a new noise shaping method based on a psychoacoustic model. In this way they take advantage of linear predictive coding and masking properties of the human perception system. Finally, an algebraic codebook is proposed, allowing an important reduction of coder computational complexity, without decreasing the perceived quality of signals.
Variation in Concurrent Sexual Partnerships and Sexually Transmitted Diseases Among African Men in Cape Town, South Africa

Background: Most studies that assess the relationship between concurrent sexual partnerships and sexually transmitted diseases (STDs) use dichotomous measures of whether concurrency was reported or not. However, different forms of concurrency have different degrees of associated risk for disease transmission, and this should be considered. This article examines variation in both individual concurrency and partner concurrency among African men in Cape Town, South Africa, and assesses the relationship between different types of concurrent partnerships and STDs. Methods: Longitudinal data from sexual partner history tables are used to form measures of concurrency and the type of partner (main vs. nonmain) and degree of condom use (consistent vs. inconsistent) associated with these concurrent relationships. Cross-sectional data from a self-administered module are also used to assess the number of partners men have had concurrently and duration of individual concurrency. Probit regression models assess the association between the partner concurrency measures and self-reported STD history. Results: Substantial differences between concurrent sexual partnerships were observed and these variations were associated with different disease risk. Men had a greater chance of reporting an STD when partner concurrency was associated with main partners and inconsistent condom use. Conclusion: Partnership dynamics must be taken into account in studies assessing the role of concurrency in STD transmission.
Inhibition of primary breast tumor growth and metastasis using a neuropilin-1 transmembrane domain interfering peptide

The transmembrane domains (TMD) in membrane receptors play a key role in cell signaling. As previously shown by us a peptide targeting the TMD of neuropilin-1 (MTP-NRP1), blocks cell proliferation, cell migration and angiogenesis in vitro, and decreases glioblastoma growth in vivo. We now explored the clinical potential of MTP-NRP1 on breast cancer models and demonstrate that MTP-NRP1 blocks proliferation of several breast cancer lines including the MDA-MB-231, a triple negative human breast cancer cell line. In models with long term in vivo administration of the peptide, MTP-NRP1 not only reduced tumor volume but also decreased number and size of breast cancer metastases. Strikingly, treating mice before tumors developed protected from metastasis establishment/formation. Overall, our results report that targeting the TMD of NRP1 in breast cancer is a potent new strategy to fight against breast cancer and related metastasis.
Helicobacter pylori L-form and patients with chronic gastritis.

AIM To study the relationship between infection with Helicobacter pylori L-forms and chronic gastritis and its association with possible changes of cellular immune function. METHODS Gastric mucosal biopsies were taken from 428 patients with chronic gastritis to detect H pylori L-form by Gram staining and immunohistochemistry staining. Peripheral venous blood samples of patients were taken to detect the percentage of CD3+, CD4+ and CD8+ by the biotin-streptavidin (BSA) assay and the levels of IL-2, IL-6 and IL-8 by ELISA. RESULTS The rate of infection with H pylori L-forms was 48.83% (209/428). The rate was 50.47% (216/428) and 52.80% (226/428), respectively, as detected by immunohistochemistry staining and Gram staining (P>0.05). The rate of H pylori L-forms in males and females was 57.8% (136/235) and 37.28% (73/193), respectively, (chi2=17.05, P<0.01). Furthermore, the rate increased with age, with the rate being significantly greater in patients > or =40 years old than in those <40 years old (P<0.01). The percentage of CD3+, CD4+, CD8+, the ratio of CD4+/CD8+, and the levels of IL-2, IL-6, IL-8 in H pylori-positive patients were 47.58+/-4.44%, 25.51+/-4.74%, 22.77+/-7.46%, 1.44+/-0.51%, 1.56+/-0.47 mg/L, 103.62+/-5.85 ng/L, and 109.79+/-7.18 ng/L, respectively. Compared with H pylori-negative patients, the percentage of CD3+, CD4+ and the ratio of CD4+/CD8+ and the IL-2 level decreased, but the levels of IL-6, IL-8 increased (P<0.001-P<0.01). Moreover, the percentage of CD3+, CD4+, CD8+, the ratio of CD4+/CD8+, and the levels of IL-2, IL-6 and IL-8 in patients infected with both H pylori L-forms and vegetative forms were 46.67+/-5.21%, 30.75+/-4.89%, 22.15+/-6.45%, 1.32+/-0.47%, 1.16+/-0.38 mg/L, 116.45+/-5.44 ng/L, and 118.64+/-6.24 ng/L, respectively. Compared with patients infected with only vegetative forms, the percentage of CD4+, the ratio of CD4+/CD8+and IL-2 level decreased, but the levels of IL-6 and IL-8 increased (P<0.001 or P<0.01). CONCLUSION L-form variation often occurs in patients with chronic gastritis and is commonly found in male patients and associates with ages. The L-form variation may be an important factor causing disorder of cellular immune function in the patients with H pylori-induced chronic gastritis.
Interleaved Concatenated Coding for Secrecy in the Finite Blocklength Regime

We propose a systematic concatenated coding scheme based on the combination of interleaving with powerful channel codes and jamming for wireless secrecy under the practical assumption of codes in the finite blocklength regime. The basic idea lies in generating a short random key that is used to shuffle/interleave information at the source, Alice. This key is then sent to the legitimate receiver, Bob, during a brief period of advantageous communication over the eavesdropper Eve (e.g., due to more interference from a jammer). Finally, the key is decoded at Bob to properly deinterleave the original information. Bob receives a better quality version of the interleaving key, therefore having the needed advantage over Eve. Information reliability is provided by a strong inner code, while security against Eve results from the proper selection of the outer code and interference levels over the key. We propose a methodology for selection of the outer code with reliability and security constraints. For that, we introduce bit error complementary cumulative distribution function metrics, suitable for security and reliability analysis of error correcting codes.
Ocean Research Priorities: Similarities and Differences among Scientists, Policymakers, and Fishermen in the United States

&NA; Understanding and solving complex ocean conservation problems requires cooperation not just among scientific disciplines but also across sectors. A recently published survey that probed research priorities of marine scientists, when provided to ocean stakeholders, revealed some agreement on priorities but also illuminated key differences. Ocean acidification, cumulative impacts, bycatch effects, and restoration effectiveness were in the top 10 priorities for scientists and stakeholder groups. Significant priority differences were that scientists favored research questions about ocean acidification and marine protected areas; policymakers prioritized questions about habitat restoration, bycatch, and precaution; and fisheries sector resource users called for the inclusion of local ecological knowledge in policymaking. These results quantitatively demonstrate how different stakeholder groups approach ocean issues and highlight the need to incorporate other types of knowledge in the codesign of solutions‐oriented research, which may facilitate cross‐sectoral collaboration.
Exploring the Development Requirements for Virtual Reality Gait Analysis

The hip joint is highly prone to traumatic and degenerative pathologies resulting in irregular locomotion. Monitoring and treatment depend on high-end technology facilities requiring physician and patient co-location, thus limiting access to specialist monitoring and treatment for populations living in rural and remote locations. Telemedicine offers an alternative means of monitoring, negating the need for patient physical presence. In addition, emerging technologies, such as virtual reality (VR) and immersive technologies, offer potential future solutions through virtual presence, where the patient and health professional can meet in a virtual environment (a virtual clinic). To this end, a prototype asynchronous telemedicine VR gait analysis system was designed, aiming to transfer a full clinical facility within the patients’ local proximity. The proposed system employs cost-effective alternative motion capture combined with the system’s immersive 3D virtual gait analysis clinic. The user interface and the tools in the application offer health professionals asynchronous, objective, and subjective analyses. This paper investigates the requirements for the design of such a system and discusses preliminary comparative data of its performance evaluation against a high-fidelity gait analysis clinical application.
Balanced routing of random calls

We consider an online network routing problem in continuous time, where calls have Poisson arrivals and exponential durations. The first-fit dynamic alternative routing algorithm sequentially selects up to $d$ random two-link routes between the two endpoints of a call, via an intermediate node, and assigns the call to the first route with spare capacity on each link, if there is such a route. The balanced dynamic alternative routing algorithm simultaneously selects $d$ random two-link routes, and the call is accepted on a route minimising the maximum of the loads on its two links, provided neither of these two links is saturated. We determine the capacities needed for these algorithms to route calls successfully and find that the balanced algorithm requires a much smaller capacity. In order to handle such interacting random processes on networks, we develop appropriate tools such as lemmas on biased random walks.
High‐Dose Vitamin D3 during Tuberculosis Treatment in Mongolia. A Randomized Controlled Trial

Rationale: Existing trials of adjunctive vitamin D in the treatment of pulmonary tuberculosis (PTB) are variously limited by small sample sizes, inadequate dosing regimens, and high baseline vitamin D status among participants. Comprehensive analyses of the effects of genetic variation in the vitamin D pathway on response to vitamin D supplementation are lacking. Objectives: To determine the effect of high‐dose vitamin D3 on response to antimicrobial therapy for PTB and to evaluate the influence of single‐nucleotide polymorphisms (SNPs) in vitamin D pathway genes on response to adjunctive vitamin D3. Methods: We conducted a clinical trial in 390 adults with PTB in Ulaanbaatar, Mongolia, who were randomized to receive four biweekly doses of 3.5 mg (140,000 IU) vitamin D3 (n = 190) or placebo (n = 200) during intensive‐phase antituberculosis treatment. Measurements and Main Results: The intervention elevated 8‐week serum 25‐hydroxyvitamin D concentrations (154.5 nmol/L vs. 15.2 nmol/L in active vs. placebo arms, respectively; 95% confidence interval for difference, 125.9‐154.7 nmol/L; P < 0.001) but did not influence time to sputum culture conversion overall (adjusted hazard ratio, 1.09; 95% confidence interval, 0.86‐1.36; P = 0.48). Adjunctive vitamin D3 accelerated sputum culture conversion in patients with one or more minor alleles for SNPs in genes encoding the vitamin D receptor (rs4334089, rs11568820) and 25‐hydroxyvitamin D 1&agr;‐hydroxylase (CYP27B1: rs4646536) (adjusted hazard ratio ≥ 1.47; P for interaction ≤ 0.02). Conclusions: Vitamin D3 did not influence time to sputum culture conversion in the study population overall. Effects of the intervention were modified by SNPs in VDR and CYP27B1. Clinical trial registered with www.clinicaltrials. gov (NCT01657656).
Study : Privacy Preserving Release of Spatio-temporal Density in Paris

With billions of handsets in use worldwide, the quantity of mobility data is gigantic. When aggregated they can help understand complex processes, such as the spread viruses, and built better transportation systems, prevent traffic congestion. While the benefits provided by these datasets are indisputable, they unfortunately pose a considerable threat to location privacy. In this paper, we present a new anonymization scheme to release the spatio-temporal density of Paris, in France, i.e., the number of individuals in 989 different areas of the city released every hour over a whole week. The density is computed from a call-data-record (CDR) dataset, provided by the French Telecom operator Orange, containing the CDR of roughly 2 million users over one week. Our scheme is differential private, and hence, provides provable privacy guarantee to each individual in the dataset. Our main goal with this case study is to show that, even with large dimensional sensitive data, differential privacy can provide practical utility with meaningful privacy guarantee, if the anonymization scheme is carefully designed. This work is part of the national project XData (http://xdata.fr) that aims at combining large (anonymized) datasets provided by different service providers (telecom, electricity, water management, postal service, etc.).