Miracle-dz/UniFAR-FTUs huggingface dataset:
Hierarchical fall avoidance strategy for small-scale humanoid robots

Ankle, momentum, and/or take-a-step strategies constitute different schemes that a humanoid robot may take to avoid falling, where each strategy has a different energy overhead associated to it. To minimize energy consumption it is important to know when each of these strategies can be applied and yet be effective at preventing a fall. This paper is a continuation of our previous work on the development of a hierarchical fall avoidance approach for humanoid robots. While ankle and hip strategies were previously developed, here we develop a decision surface for a stepping strategy that determines at the onset of a disturbance if by taking a step falling can be avoided. Experiments are conducted on the Webots simulator to validate the theory.
Crypto-Book: an architecture for privacy preserving online identities

Through cross-site authentication schemes such as OAuth and OpenID, users increasingly rely on popular social networking sites for their digital identities--but use of these identities brings privacy and tracking risks. We propose Crypto-Book, an extension to existing digital identity infrastructures that offers privacy-preserving, digital identities through the use of public key cryptography and ring signatures. Crypto-Book builds a privacy-preserving cryptographic layer atop existing social network identities, via third-party key servers that convert social network identities into public/private key-pairs on demand. Using linkable ring signatures, these key-pairs along with the public keys of other identities create unique pseudonyms untraceable back to the owner yet can resist anonymous abuse. Our proof-of-concept implementation of Crypto-Book creates public/private key pairs for Facebook users, and includes a private key pickup protocol based on E-mail. We present Black Box, a case study application that uses Crypto-Book for accountable anonymous whistle-blowing. Black Box allows users to sign files deniably using ring signatures, using a list of arbitrary Facebook users -- who need not consent or even be aware of this use -- as an explicit anonymity set.
Effects of Exercise on Left Ventricular Systolic and Diastolic Properties in Patients With Heart Failure and a Preserved Ejection Fraction Versus Heart Failure and a Reduced Ejection Fraction

Background—The purpose of the current study was to define exercise-induced changes in indices of left ventricular (LV) systolic and diastolic properties in patients with chronic heart failure (HF), compare these changes in patients with HF and a reduced ejection fraction (EF) versus HF and a preserved EF, and compare the hemodynamic responses to activities of daily living with symptom-limited upright exercise. Methods and Results—Subjects with HF and a preserved EF (n=8) and subjects with HF and a reduced EF (n=5) underwent symptom-limited Naughton protocol treadmill exercise tests. Implantable hemodynamic monitor data and echocardiographic data were obtained before exercise and at peak exercise. Implantable hemodynamic monitor data were obtained during activities of daily living during a 24-hour time period. In patients with HF and a reduced EF, limited exercise time (639±164 seconds) was associated with a marked rise in right ventricular systolic, diastolic, and estimated pulmonary artery diastolic (ePAD) pressures and an increase in LV end diastolic volume (EDV). LV systolic properties, namely EF, end systolic elastance, stroke work, and preload recruitable stroke work, all decreased. The ePAD/EDV ratio increased; to a large extent, this was dependent on an increase in EDV. By contrast, in HF and a preserved EF, limited exercise time (411±128 seconds) and the marked rise in right ventricular systolic, diastolic, and ePAD pressures were associated with no change in LV EDV. LV systolic properties increased or were unchanged; ePAD/EDV ratio increased during exercise, but the increase was independent of a change in EDV. The ranges of right ventricular systolic, diastolic, and ePAD pressures during activities of daily living were higher than the ranges of these values during the exercise stress test. Conclusions—Although exercise limitations were similar between HF and a reduced EF and HF and a preserved EF, there were significant differences in exercise-induced changes in LV systolic and diastolic properties. These differences likely reflect the different pathophysiologies of these clinical syndromes of HF.
Visceral pain as a triggering factor for fibromyalgia symptoms in comorbid patients

Abstract Fibromyalgia syndrome (FMS) is a central sensitization syndrome; however, peripheral pain sources potentially exacerbate its symptoms of chronic diffuse musculoskeletal pain and hyperalgesia. This prospective study evaluated visceral pain as a possible triggering factor for FMS pain and hyperalgesia in comorbid patients. Women with (1) FMS + irritable bowel syndrome (IBS); (2) FMS + primary dysmenorrhea (Dys); (3) FMS + Dys secondary to endometriosis (Endo); (4) FMS + colon diverticulosis (Div) were compared with FMS-only women, for fibromyalgia pain (number and intensity of episodes and analgesic consumption) over comparable periods and for somatic hyperalgesia (electrical and pressure pain thresholds) in painful (tender points) and control areas (trapezius, deltoid, quadriceps muscles, and overlying subcutis and skin). In comorbid subgroups, FMS symptoms were also reassessed after treatment of the visceral condition or no treatment. All comorbid groups vs FMS-only had significantly higher FMS pain (number/intensity of episodes and analgesic consumption) and hyperalgesia in deep somatic tissues (subcutis and muscle) at all sites (0.05 < P < 0.0001). Visceral pain (number of IBS days, painful menstrual cycles, and abdominal pain episodes from diverticulitis) correlated directly with all parameters of FMS pain and inversely with muscle pain thresholds at all sites (0.03 < P < 0.0001). Fibromyalgia syndrome pain and hyperalgesia in all tissues and all sites significantly decreased in patients after visceral comorbidity treatment (dietary for 6 months [IBS], hormonal for 6 months [dysmenorrhea], laser [endometriosis], and surgery [diverticulosis]) (0.05 < P < 0.0001) vs no change in untreated patients. Visceral pain enhances FMS symptoms, probably augmenting the level of central sensitization typical of the syndrome. Systematic assessment and treatment of visceral pain comorbidities should be a part of FMS management strategy.
Gel Dosimetry

Gel dosimetry involves filling a model of a body part, such as the head, neck or breast, with a gel mixture. The gel-filled model (phantom) then undergoes MRI, CT, ultrasound, or radiation therapy, to gauge how effective the same procedure might be for the patient. Radiation alters the chemical structure of the gel, and the changes appear when scientists view a cross-section of the phantom on the computer screen. (from Medscape)
How the timing and quality of early experiences influence the development of brain architecture.

Early life events can exert a powerful influence on both the pattern of brain architecture and behavioral development. In this study a conceptual framework is provided for considering how the structure of early experience gets "under the skin. " The study begins with a description of the genetic framework that lays the foundation for brain development, and then proceeds to the ways experience interacts with and modifies the structures and functions of the developing brain. Much of the attention is focused on early experience and sensitive periods, although it is made clear that later experience also plays an important role in maintaining and elaborating this early wiring diagram, which is critical to establishing a solid footing for development beyond the early years.
Global stability with time delay in optimization flow control

In this paper we consider a dual-gradient optimization flow control scheme. In an earlier work it was shown that such algorithms converge in a delay free case. We present the sufficient condition under which the stability can be global focusing on the scenario of a single flow and bottleneck link with delay. We first show that this synchronous algorithm is convergent in general network topology without delay. Then we provide a result that even with delays, the queue length increasing at the router is bounded. The upper bound grows with increase in the number of flows as well as the maximum source sending rate and the maximum round trip delay. The upper bound decreases as the link departing rate and stepsize increase.
Image Analysis of Metallic Ropes for the Measurement of the Lay Length

The lay length of metallic wire ropes is an important dimensional quantity whose analysis is useful to highlight rope deformations due to distributed damages. The paper describes a measurement system based on a camera, which is employed to acquire images of hauling ropes, and on an image and signal processing algorithm that extracts the rope contour and measures the distance among rope strands. A mathematical model of the rope contour has been derived and it has been employed to test the proposed algorithm with simulated data. The simulation results have been also employed to set the view-angle of the vision system. Preliminary tests have been carried out on an aerial cableway with a general purpose camera in order to test the feasibility of the proposed measurement system.
Tuning of Auto-Disturbance Rejection Controller Based on the Invasive Weed Optimization

Auto-Disturbance Rejection Controller (ADRC) has been proved to be a capable replacement of PID with unmistakable advantage in performance and practicality. But it is difficult to obtain a set of optimal parameters, for ADRC controller has too many parameters and has no deterministic rules to compute the parameters. In this paper, Objective function is constructed based on the control system performance indexes. Combined with experienced parameters of ADRC, an invasive weed optimization algorithm (IWO) is employed to obtain a set of key parameters. The simulation results show the validity of the IWO algorithm.
Evaluation of symptomatic reflux esophagitis in proton pump inhibitor users

The aim of the present study was to evaluate symptomatic reflux esophagitis (RE) in proton pump inhibitor (PPI) users. The present study conducted a hospital-based, retrospective cross-sectional study of consecutive RE cases in PPI users at Juntendo University Hospital recruited between 2008 and 2016. Eligible patients were PPI users with a complete patient profile, who completed the Frequency Scale for the Symptoms of Gastroesophageal Reflux Disease (FSSG) questionnaire, and who underwent upper gastrointestinal endoscopy for the examination of RE, hiatal hernia (HH) and endoscopic gastric mucosal atrophy (EGA). The patients with RE who were administered PPIs were divided into two groups: Those with symptomatic RE (FSSG≥8) and those with non-symptomatic RE (FSSG<8). The present study investigated the risk factors for symptomatic RE among the patients with RE patients who were administered PPIs. Of the 13,052 cases who underwent patient profiling, the FSSG questionnaire and upper gastrointestinal endoscopy, a total of 2,444 PPI users were eligible. Of the PPI users, 206 cases (8.4%) had RE. Among the 206 patients with RE, 115 (55.8%) had symptomatic RE. The profile of the symptomatic and non-symptomatic RE groups were as follows: A total of 45 females (39.1%) vs. 32 females (35.2%; non-significant); mean ± standard deviation age, 54.8±13.5 vs. 62.9±11.1 years (P<0.01); mean body mass index, 23.5±3.3 vs. 23.2±3.8 (non-significant); severe RE, 12 (10.4%) vs. 2 (2.2%; P<0.05); HH, 70 (60.9%) vs. 40 (44.0%; P<0.05); and mean score of EGA, 1.2±1.8 vs. 1.8±2.1 (P<0.05). Multivariate analysis revealed that a younger age [odds ratio (OR)=0.94; 95% confidence interval (CI): 0.92-0.97, P<0.01] and HH(+) (OR=2.37; 95% CI: 1.30-4.34, P<0.01) were associated with symptomatic RE among patients with RE who were administered PPIs. In conclusion, a younger age and HH were associated with symptomatic RE in patients with RE who were administered PPIs.
EFFECT OF HIGH LEVELS DISTILLERS DRIED GRAINS WITH SOLUBLES IN PERFORMANCE OF FATTENING PIGS

KANEV, D. , R. NEDEVA, S. IVANOVA and B. SZOSTAK, 2016. Effect of high levels distillers dried grains with solubles in performance of fattening pigs. Bulg. J. Agric. Sci., 22: 135–139 The aim of the experiment was to investigate effect of high levels of wheat Distillers Dried Grains with Solubles (wDDGS), waste of fermented wheat grains, used as a source of protein in the compound feed of fattening pigs. A scientific experiment with total 21 pigs from Danube White breed was carried out. The experiment started at 30 kg of live weight (LW) and lasted till animals reached 110 kg LW. Animals were housed individually and fed at libitum. They were allocated to three treatments at 7 animals. First treatment was control (CT). During the growing period, second treatment (ST) and third treatment (TT) – experimental groups were fed by the compound feed containing 300 g.kg-1 wDDGS, replacement of bigger part of soybean meal in the diet. During the fattening period, experimental groups were fed by the compound feed diets containing 133.0 g.kg-1 wDDGS, replacement of 1000 g.kg-1 of soybean meal. In the TT enzyme complex, consisted of endo-1,4-beta-glucanase, endo1,4-beta-xylanase, endo-1,3(4)-beta-glucanase and lipase, was added. Protein, lysine, calcium and phosphorus were in the same amounts for all three treatments. It was concluded inclusion of 300 g.kg-1 wDDGS as a replacement of soybean meal in the compound feed of growing pigs from 30 to 70 kg LW caused a reduction of the average daily gain (ADG) by 250 g.kg-1 (Р < 0.05) in ST and by 230 g.kg-1 (Р < 0.01) in TT in comparison to CT. Feed conversion ratio (FCR) has been decreased by 280 g.kg-1 (Р < 0.01) in ST and by 250 g.kg-1 (Р < 0.01) in TT in comparison to CT. Enzyme inclusion had no effect on ADG and FCR.
Physician Information Needs and Electronic Health Records (EHRs): Time to Reengineer the Clinic Note

Background: Primary care physicians face cognitive overload daily, perhaps exacerbated by the form of electronic health record documentation. We examined physician information needs to prepare for clinic visits, focusing on past clinic progress notes. Methods: This study used cognitive task analysis with 16 primary care physicians in the scenario of preparing for office visits. Physicians reviewed simulated acute and chronic care visit notes. We collected field notes and document highlighting and review, and we audio-recorded cognitive interview while on task, with subsequent thematic qualitative analysis. Member checks included the presentation of findings to the interviewed physicians and their faculty peers. Results: The Assessment and Plan section was most important and usually reviewed first. The History of the Present Illness section could provide supporting information, especially if in narrative form. Physicians expressed frustration with the Review of Systems section, lamenting that the forces driving note construction did not match their information needs. Repetition of information contained in other parts of the chart (eg, medication lists) was identified as a source of note clutter. A workflow that included a patient summary dashboard made some elements of past notes redundant and therefore a source of clutter. Conclusions: Current ambulatory progress notes present more information to the physician than necessary and in an antiquated format. It is time to reengineer the clinic progress note to match the workflow and information needs of its primary consumer.
Shape Modeling and Image Visualization in 3D with M-rep Object Models

We present a framework and geometry for object modeling in medical image analysis and display based on a sampled medial representation called an m-rep. This approach provides a coordinate system that is relative to the shape of the model—important because it allows the definition of more accurate visualization of 3D image data relative to a model. It also provides a means for describing the correspondence between points of two spaces or shapes. The methods described in this paper have been used successfully in 3D image segmentation by deformable m-reps.
Differential Modulation of Glutamatergic Transmission by 3,5-Dibromo-l-phenylalanine

An increasing body of evidence supports the hypothesis that diminished function of N-methyl-d-aspartate (NMDA) receptors and the associated increase in glutamate release and overstimulation of α-amino-3-hydroxy-5-methyl-4-isoxazolepropionic acid (AMPA)/kainate receptors are critical elements of the pathophysiology of schizophrenia. Here, we describe a halogenated derivative of the aromatic amino acid l-phenylalanine that 1) activates NMDA receptors, 2) depresses presynaptic glutamate release, and 3) blocks AMPA/kainate receptors. The experiments were conducted in rat cerebrocortical cultured neurons by using the patch-clamp technique. 3,5-Dibromo-l-phenylalanine (3,5-DBr-l-Phe) augmented NMDA miniature excitatory postsynaptic currents (mEPSCs) and activated the steady-state current, effects that were eliminated by NMDA receptor antagonists dl-2-amino-5-phosphonopentanoic acid and MK-801 (dizocilpine maleate; 5H-dibenzo[a,d]cyclohepten-5,10-imine). 3,5-DBr-l-Phe was a partial agonist at the glutamate-binding site of NMDA receptors with an EC50 of 331.6 ± 78.6 μM and with an efficacy of 30.5 ± 4.7% compared with NMDA. 3,5-DBr-l-Phe depressed both amplitude and frequency of AMPA/kainate mEPSCs. The IC50 of 3,5-DBr-l-Phe to inhibit AMPA/kainate mEPSC frequency was 29.4 ± 4.3 μM. 3,5-DBr-l-Phe significantly decreased paired pulse depression of AMPA/kainate EPSCs and attenuated current activated by AMPA with higher efficacy at lower concentration of AMPA. 3,5-DBr-l-Phe neither affected GABA miniature inhibitory postsynaptic currents nor elicited action potentials. By enhancing NMDA receptor function, reducing glutamate release and blocking AMPA/kainate receptors 3,5-DBr-l-Phe represents a new type of polyvalent modulator of glutamatergic synaptic transmission with potential therapeutic applications.
Efficient new-view synthesis using pairwise dictionary priors

New-view synthesis (NVS) using texture priors (as opposed to surface-smoothness priors) can yield high quality results, but the standard formulation is in terms of large-clique Markov random fields (MRFs). Only local optimization methods such as iterated conditional modes, which are prone to fall into local minima close to the initial estimate, are practical for solving these problems. In this paper we replace the large-clique energies with pairwise potentials, by restricting the patch dictionary for each clique to image regions suitable for that clique. This enables for the first time the use of a global optimization method, such as tree-reweighted message passing, to solve the NVS problem with image-based priors. We employ a robust, truncated quadratic kernel to reject outliers caused by occlusions, specularities and moving objects, within our global optimization. Because the MRF optimization is thus fast, computing the unary potentials becomes the new performance bottleneck. An additional contribution of this paper is a novel, fast method for enumerating color modes of the per-pixel unary potentials, despite the non-convex nature of our robust kernel. We compare the results of our technique with other rendering methods, and discuss the relative merits and flaws of regularizing color, and of local versus global dictionaries.
A multivariate view of the evolution of sexual dimorphism

Sexual differences are often dramatic and widespread across taxa. Their extravagance and ubiquity can be puzzling because the common underlying genome of males and females is expected to impede rather than foster phenotypic divergence. Widespread dimorphism, despite a shared genome, may be more readily explained by considering the multivariate, rather than univariate, framework governing the evolution of sexual dimorphism. In the univariate formulation, differences in genetic variances and a low intersexual genetic correlation ( rMF ) can facilitate the evolution of sexual dimorphism. However, studies that have analysed sex‐specific differences in heritabilities or genetic variances do not always find significant differences. Furthermore, many of the reported estimates of rMF are very high and positive. When monomorphic heritabilities and a high rMF are present together, the evolution of sexual dimorphism on a trait‐by‐trait basis is severely constrained. By contrast, the multivariate formulation has greater generality and more flexibility. Although the number of multivariate sexual dimorphism studies is low, almost all support sex‐specific differences in the G (variance‐covariance) matrix; G matrices can differ with respect to size and/or orientation, affecting the response to selection differently between the sexes. Second, whereas positive values of the univariate quantity rMF only hinder positive changes in sexual dimorphism, positive covariances in the intersexual covariance B matrix can either help or hinder. Similarly, the handful of studies reporting B matrices indicate that it is often asymmetric, so that B can affect the evolution of single traits differently between the sexes. Multivariate approaches typically demonstrate that genetic covariances among traits can strongly constrain trait evolution when compared with univariate approaches. By contrast, in the evolution of sexual dimorphism, a multivariate view potentially reveals more opportunities for sexual dimorphism to evolve by considering the effect sex‐specific selection has on sex‐specific G matrices and an asymmetric B matrix.
Demographics of News Sharing in the U.S. Twittersphere

The widespread adoption and dissemination of online news through social media systems have been revolutionizing many segments of our society and ultimately our daily lives. In these systems, users can play a central role as they share content to their friends. Despite that, little is known about news spreaders in social media. In this paper, we provide the first of its kind in-depth characterization of news spreaders in social media. In particular, we investigate their demographics, what kind of content they share, and the audience they reach. Among our main findings, we show that males and white users tend to be more active in terms of sharing news, biasing the news audience to the interests of these demographic groups. Our results also quantify differences in interests of news sharing across demographics, which has implications for personalized news digests.