Miracle-dz/UniFAR-FTUs huggingface dataset:
6D Pose Task Trajectory Tracking for a Class of 3D Aerial Manipulator From Differential Flatness

In this paper, the dynamics and control of a novel class of aerial manipulator for the purpose of end effector full pose trajectory tracking are investigated. The 6D pose of the end effector is set as a part of the flat output, from which the conditions that the system has the proposed flat output is obtained. The control law for the end effector tracking purpose is designed. The core part of the controller is an almost global controller in the configuration space of the system. From the transformation between the state space and the output space, the tracking control of the end effector in $SE(3)$ is also achieved. The stability of the controlled system is analyzed. A numerical example is presented to demonstrate the theoretical analysis.
Throwing darts utilizes the interaction torque of the elbow joint

Acquiring the skillful movements of experts is a difficult task in many fields. If we find quantitative indices of skillful movement, we can develop an adaptive training system using the indices. We focused on throwing darts in our previous study. It was found that optimization criteria of sum of squared joint torque changes over time was negatively correlated with subject's scores, suggesting that the experts optimally controlled the shoulder elevations and rotation around the elbow joint in terms of dynamics. In this study, we investigate the relationship between the skill level of subjects and their utilization joint torque components such as the muscular torque, interaction torque and gravity torque. It is shown found that the sum of squared joint torque components of the subjects correlates with their scores, suggesting that the subjects who can take higher scores utilize the interaction torque of the elbow joint without shoulder displacement.
The Gateway Effect of E-cigarettes: Reflections on Main Criticisms.

The recent spread of e-cigarette use has spurred not only enthusiasm about their harm reduction and smoking cessation potential but also concerns about possible risks from long-term use, and stalled cessation through dual use.1 Another main concern is that e-cigarette use is increasing among tobacco-naive youth2 than among only adult smokers who are using them for cessation and expectation of risk reduction.1 With youth smoking at all-time lows in several nations with advanced tobacco control programs,3–5 there are therefore concerns that e-cigarettes may stall or reverse these declines as youth who were likely to never use any form of nicotine become familiar with it, and start experimenting with other forms of nicotine delivery. These concerns were strengthened by the recent publication of a meta-analysis of longitudinal studies showing that e-cigarettes can serve as a gateway to later cigarette smoking among nicotine-naive youth.6 They were also emphasized by the 2018 report of the National Academies of Sciences, Engineering, and Medicine (NASEM),7 which concluded that such studies “provided “strong evidence of plausibility and specificity of a possible causal effect of e-cigarette use on smoking…” with the Committee “consider[ing] the overall body of evidence of a causal effect of e-cigarette use on risk of transition from never to ever smoking to be substantial” (pp. 16–32). By contrast, Public Health England concluded, “Despite some experimentation with these devices among never smokers, e-cigarettes are attracting very few young people who have never smoked into regular use”. 8 Given the importance of putative gateway or “catalyst”9 effects in assessing the population impact of e-cigarettes, proponents of e-cigarettes were quick to criticize such evidence and their underlying gateway hypothesis.10–13 In the context of this debate, the gateway hypothesis is adapted to denote the use of less harmful forms of nicotine delivery (eg, e-cigarettes), leading to the use of more harmful ones (eg, combustible cigarettes). 7,10–13 We here present and respond to three major criticisms that have been made of e-cigarettes’ gateway potential based on currently available evidence.
Circulating Tumor Cells in Breast Cancer Patients Treated by Neoadjuvant Chemotherapy: A Meta-analysis

Background We conducted a meta-analysis in nonmetastatic breast cancer patients treated by neoadjuvant chemotherapy (NCT) to assess the clinical validity of circulating tumor cell (CTC) detection as a prognostic marker. Methods We collected individual patient data from 21 studies in which CTC detection by CellSearch was performed in early breast cancer patients treated with NCT. The primary end point was overall survival, analyzed according to CTC detection, using Cox regression models stratified by study. Secondary end points included distant disease-free survival, locoregional relapse-free interval, and pathological complete response. All statistical tests were two-sided. Results Data from patients were collected before NCT (n = 1574) and before surgery (n = 1200). CTC detection revealed one or more CTCs in 25.2% of patients before NCT; this was associated with tumor size (P < .001). The number of CTCs detected had a detrimental and decremental impact on overall survival (P < .001), distant disease-free survival (P < .001), and locoregional relapse-free interval (P < .001), but not on pathological complete response. Patients with one, two, three to four, and five or more CTCs before NCT displayed hazard ratios of death of 1.09 (95% confidence interval [CI] = 0.65 to 1.69), 2.63 (95% CI = 1.42 to 4.54), 3.83 (95% CI = 2.08 to 6.66), and 6.25 (95% CI = 4.34 to 9.09), respectively. In 861 patients with full data available, adding CTC detection before NCT increased the prognostic ability of multivariable prognostic models for overall survival (P < .001), distant disease-free survival (P < .001), and locoregional relapse-free interval (P = .008). Conclusions CTC count is an independent and quantitative prognostic factor in early breast cancer patients treated by NCT. It complements current prognostic models based on tumor characteristics and response to therapy.
Onsager's Conjecture and Anomalous Dissipation on Domains with Boundary

We give a localized regularity condition for energy conservation of weak solutions of the Euler equations on a domain $\Omega\subset \mathbb{R}^d$, $d\ge 2$, with boundary. In the bulk of fluid, we assume Besov regularity of the velocity $u\in L^3(0,T;B_{3}^{1/3, c_0})$. On an arbitrary thin neighborhood of the boundary, we assume boundedness of velocity and pressure and, at the boundary, we assume continuity of wall-normal velocity. We also prove two theorems which establish that the global viscous dissipation vanishes in the inviscid limit for Leray--Hopf solutions $u^\nu$ of the Navier--Stokes equations under the similar assumptions, but holding uniformly in a thin boundary layer of width $O(\nu^{\min\{1,\frac{1}{2(1-\sigma)}\}})$ when $u\in L^3(0, T; B_3^{\sigma, c_0})$ in the interior for any $\sigma\in [1/3,1]$. The first theorem assumes continuity of the velocity in the boundary layer, whereas the second assumes a condition on the vanishing of energy dissipation within the layer. In both cases, str.
Identifying the Most Dominant Event in a News Article by Mining Event Coreference Relations

Identifying the most dominant and central event of a document, which governs and connects other foreground and background events in the document, is useful for many applications, such as text summarization, storyline generation and text segmentation. We observed that the central event of a document usually has many coreferential event mentions that are scattered throughout the document for enabling a smooth transition of subtopics. Our empirical experiments, using gold event coreference relations, have shown that the central event of a document can be well identified by mining properties of event coreference chains. But the performance drops when switching to system predicted event coreference relations. In addition, we found that the central event can be more accurately identified by further considering the number of sub-events as well as the realis status of an event.
Using Ontologies for the Online Recognition of Activities of Daily Living†

The recognition of activities of daily living is an important research area of interest in recent years. The process of activity recognition aims to recognize the actions of one or more people in a smart environment, in which a set of sensors has been deployed. Usually, all the events produced during each activity are taken into account to develop the classification models. However, the instant in which an activity started is unknown in a real environment. Therefore, only the most recent events are usually used. In this paper, we use statistics to determine the most appropriate length of that interval for each type of activity. In addition, we use ontologies to automatically generate features that serve as the input for the supervised learning algorithms that produce the classification model. The features are formed by combining the entities in the ontology, such as concepts and properties. The results obtained show a significant increase in the accuracy of the classification models generated with respect to the classical approach, in which only the state of the sensors is taken into account. Moreover, the results obtained in a simulation of a real environment under an event-based segmentation also show an improvement in most activities.
Regret Bounds for Model-Free Linear Quadratic Control

Model-free approaches for reinforcement learning (RL) and continuous control find policies based only on past states and rewards, without fitting a model of the system dynamics. They are appealing as they are general purpose and easy to implement; however, they also come with fewer theoretical guarantees than model-based approaches. In this work, we present a model-free algorithm for controlling linear quadratic (LQ) systems, which is the simplest setting for continuous control and widely used in practice. Our approach is based on a reduction of the control of Markov decision processes to an expert prediction problem. We show that the algorithm regret scales as $O(T^{3/4})$, where $T$ is the number of rounds.
User Experience for Social Human-Robot Interactions

A significant threat social robots often faces is that their integration in real social, human environments will dehumanise some of the roles currently being played by the humans. This perception implicitly overestimates the social skills of the robots, which despite being continually upgraded, are still far from being able to dominate humans entirely. It also reflects loosely fears that robots may overcome humans in the near future and impact on the need to employ humans. This paper aims to address the role and relevance of user experience of socially interactive robots, separating several issues related to the evaluation of social human-robot interaction and then more specifically how this should be considered in developing countries where socially interactive robots are viewed with resistance and apprehension.
Mechanistic subtypes of focal right ventricular tachycardia

Idiopathic sustained focal right ventricular tachycardia (VT) is most frequently due to outflow tract (OT) tachycardia. This arrhythmia is recognized by its characteristic ECG pattern and sensitivity to adenosine. However, there are other forms of idiopathic, focal sustained VT that originate from the right ventricle (RV), which are less well appreciated and easily overlooked. This review will identify the characteristic features and electrophysiologic properties of these forms of RV VT, including those originating from the tricuspid annulus, right ventricular papillary muscles, and moderator band as well as variants of classic RVOT tachycardia and those due to microreentry in the presence of preclinical disease. Recognition of these subtypes of focal RV tachycardia should facilitate targeted therapy.
Difference between elderly and non-elderly patients in using serum lactate level to predict mortality caused by sepsis in the emergency department

Abstract Elderly people are more susceptible to sepsis and experience more comorbidities and complications than young adults. Serum lactate is a useful biomarker to predict mortality in patients with sepsis. Lactate production is affected by the severity of sepsis, organ dysfunction, and adrenergic stimulation. Whether the predictive ability of serum lactate will be different between non-elderly and elderly patients is unknown. A retrospective cohort study was conducted to compare the prognostic value of hyperlactatemia in predicting the mortality between elderly (≥65 years) and non-elderly (<65 years) patients with sepsis. This is a single-center retrospective observational cohort study conducted from January 2007 to December 2013 in southern Taiwan. All patients with sepsis, who used antibiotics, with blood culture collected, and with available serum lactate levels in the emergency department, were included in the analysis. We evaluated the difference in serum lactate level between the elderly and non-elderly septic patients by using multiple regression models. A total of 7087 patients were enrolled in the study. Elderly and non-elderly patients accounted for 62.3% (4414) and 40.2% (2673) of all patients, respectively. Statistically significant difference of serum lactate levels was not observed between elderly and non-elderly survivors (2.9 vs 3.0 mmol/L; P = .57); however, elderly patients had lower lactate levels than those within the 28-day in-hospital mortality (5.5 vs 6.6 mmol/L, P < .01). Multiple logistic regression revealed higher adjusted mortality risk in elderly and non-elderly patients with lactate levels of ≥4.0 mmol/L (odds ratio [OR], 4.98 and 5.82; P < .01, respectively), and lactate level between 2 and 4 mmol/L (OR, 1.57 and 1.99; P < .01, respectively) compared to that in the reference group with lactate levels of <2.0 mmol/L in each group. In receiver operating characteristic curve analysis, sensitivity rates for predicting mortality were 0.80 and 0.77 for non-elderly and elderly patients, respectively, by using serum lactate levels higher than 2.0 mmol/L. Septic elderly non-survivors had 1 mmol/L lower serum lactate level than those of the non-elderly non-survivors. Lactate >2 mmol/L still could provide enough sensitivity in predicting sepsis mortality in elder patients.
A Petrov–Galerkin spectral method for the linearized time fractional KdV equation

ABSTRACT In this work, we consider the numerical approximation of a linearized time fractional KdV equation in a bounded domain. A fully discrete scheme combining a Petrov–Galerkin spectral method for the spatial discretization and L1-approximation for the Caputo temporal derivative is proposed. Stability and convergence of the fully discrete scheme are rigourously established. Numerical results are presented to confirm the theoretical results.
Transcranial direct current stimulation for depression: 3-week, randomised, sham-controlled trial

Background Preliminary evidence suggests transcranial direct current stimulation (tDCS) has antidepressant efficacy. Aims To further investigate the efficacy of tDCS in a double-blind, sham-controlled trial (registered at www.clinicaltrials.gov: NCT00763230). Method Sixty-four participants with current depression received active or sham anodal tDCS to the left prefrontal cortex (2 mA, 15 sessions over 3 weeks), followed by a 3-week open-label active treatment phase. Mood and neuropsychological effects were assessed. Results There was significantly greater improvement in mood after active than after sham treatment (P<0.05), although no difference in responder rates (13% in both groups). Attention and working memory improved after a single session of active but not sham tDCS (P<0.05). There was no decline in neuropsychological functioning after 3–6 weeks of active stimulation. One participant with bipolar disorder became hypomanic after active tDCS. Conclusions Findings confirm earlier reports of the antidepressant efficacy and safety of tDCS. Vigilance for mood switching is advised when administering tDCS to individuals with bipolar disorder.
A Comparative Genomic Analysis Provides Novel Insights Into the Ecological Success of the Monophasic Salmonella Serovar 4,[5],12:i:-

Over the past decades, Salmonella 4,[5],12:i:- has rapidly emerged and it is isolated with high frequency in the swine food chain. Although many studies have documented the epidemiological success of this serovar, few investigations have tried to explain this phenomenon from a genetic perspective. Here a comparative whole-genome analysis of 50 epidemiologically unrelated S. 4,[5],12:i:-, isolated in Italy from 2010 to 2016 was performed, characterizing them in terms of genetic elements potentially conferring resistance, tolerance and persistence characteristics. Phylogenetic analyses indicated interesting distinctions among the investigated isolates. The most striking genetic trait characterizing the analyzed isolates is the widespread presence of heavy metals tolerance gene cassettes: most of the strains possess genes expected to confer resistance to copper and silver, whereas about half of the isolates also contain the mercury tolerance gene merA. A functional assay showed that these genes might be useful for preventing the toxic effects of metals, thus supporting the hypothesis that they can contribute to the success of S. 4,[5],12:i:- in farming environments. In addition, the analysis of the distribution of type II toxin-antitoxin families indicated that these elements are abundant in this serovar, suggesting that this is another factor that might favor its successful spread.
Serine/threonine phosphorylation associated with hamster sperm hyperactivation

Background and AimsMammalian sperm activation and hyperactivation is regulated by protein phosphorylation. Although tyrosine phosphoiylation is considered very important, several studies have investigated whether serine and threonine phosphoiylation are also associated with sperm activation and hyperactivation, and that was also the aim of the present study.MethodsProtein phosphorylation of hamster spermatozoa was detected by Western blotting using antiphospho-amino acid monoclonal antibodies after tricine sodium dodecyl sulfate-polyacrylamide gel electrophoresis. Amino acid sequences were analyzed using a peptide sequencer.ResultsFour proteins were phosphorylated at serine residues during hyperactivation via activation and their approximate molecular weights were 90, 38, 32 and 10 kDa, respectively. Five proteins were phosphorylated or dephosphorylated at threonine residues and their approximate molecular weights were 90, 70, 65, 35 and 10 kDa, respectively. The 10-kDa protein corresponded to a previously reported 10-kDa tyrosine phosphoprotein. N-terminal sequences of the 10-kDa protein were similar to carcinustatin, which is a neuropeptide.ConclusionsDuring hyperactivation, four serine phosphorylation and five threonine phospho- or dephosphorylations occurred, which suggested that the 10-kDa protein was phosphorylated at tyrosine residues when spermatozoa were activated and then dual-phosphorylated at the serine and threonine residues during hyperactivation.
Study of the functional hyperconnectivity between couples of pilots during flight simulation: An EEG hyperscanning study

Brain Hyperscanning, i.e. the simultaneous recording of the cerebral activity of different human subjects involved in interaction tasks, is a very recent field of Neuroscience aiming at understanding the cerebral processes generating and generated by social interactions. This approach allows the observation and modeling of the neural signature specifically dependent on the interaction between subjects, and, even more interestingly, of the functional links existing between the activities in the brains of the subjects interacting together. In this EEG hyperscanning study we explored the functional hyperconnectivity between the activity in different scalp sites of couples of Civil Aviation Pilots during different phases of a flight reproduced in a flight simulator. Results shown a dense network of connections between the two brains in the takeoff and landing phases, when the cooperation between them is maximal, in contrast with phases during which the activity of the two pilots was independent, when no or quite few links were shown. These results confirms that the study of the brain connectivity between the activity simultaneously acquired in human brains during interaction tasks can provide important information about the neural basis of the “spirit of the group”.
Interstitial Lung Disease in a 70-Year-Old Man with Ulcerative Colitis

Interstitial lung disease is a rare but increasingly recognized extraintestinal manifestation of inflammatory bowel disease that can have devastating consequences if left untreated. We report a case of ulcerative colitis–associated interstitial lung disease presenting with acute hypoxic respiratory failure during an ulcerative colitis flare. Gastroenterologists and pulmonologists should be aware of the numerous bronchopulmonary signs and symptoms that can suggest systemic illness in inflammatory bowel disease.
Simulation of the Readout Methods for Inductively Coupled High-Frequency Resonance Sensors

The readout methods for inductively coupled resonance sensors were simulated using a lumped element model. The purpose of the study was to analyze the readout methods at high frequencies where the self-resonance of the reader coil is likely to interfere with the measurements. Furthermore, the changes in the reading distance cause measurement errors. This phenomenon was studied using simulation. In addition, an algorithm that compensates these errors was tested. The simulation results were in agreement with the test measurements. In addition, the tested error compensation improved the resonance frequency estimates calculated using the simulated and measured data.
Benefits of entrepreneurship education and training for engineering students

In the present economic situation, having knowledge of an academic subject is no longer sufficient for a new graduate. Students are increasingly required to have skills and abilities which will increase their employability, such as: the retrieval and handling of information; communication and presentation; planning and problem solving; and social development and interaction. Entrepreneurial education and training provides individuals with the ability to recognize commercial opportunities, self‐esteem, knowledge and skills to act on them. It includes instruction in opportunity recognition, commercializing a concept, managing resources, and initiating a business venture. It also includes instruction in traditional business disciplines such as management, marketing, information systems and finance. Entrepreneurs or the move towards self‐employment is, and will continue to become, an increasingly important element of economic growth and development. It is essential to have the infrastructure required to facilitate entrepreneurial mind-set and encourage self-employment. Having a culture of the creation of a new enterprise is a critical aspect of this infrastructure, as it will encourage students to take the risk of starting a business. The purpose of this paper is to describe the design and introduction of the entrepreneurial mindset for engineering students.