Miracle-dz/UniFAR-FTUs huggingface dataset:
Towards Assistive Feeding with a General-Purpose Mobile Manipulator

General-purpose mobile manipulators have the potential to serve as a versatile form of assistive technology. However, their complexity creates challenges, including the risk of being too difficult to use. We present a proof-of-concept robotic system for assistive feeding that consists of a Willow Garage PR2, a high-level web-based interface, and specialized autonomous behaviors for scooping and feeding yogurt. As a step towards use by people with disabilities, we evaluated our system with 5 able-bodied participants. All 5 successfully ate yogurt using the system and reported high rates of success for the system's autonomous behaviors. Also, Henry Evans, a person with severe quadriplegia, operated the system remotely to feed an able-bodied person. In general, people who operated the system reported that it was easy to use, including Henry. The feeding system also incorporates corrective actions designed to be triggered either autonomously or by the user. In an offline evaluation using data collected with the feeding system, a new version of our multimodal anomaly detection system outperformed prior versions.
A Review of Medical Error Reporting System Design Considerations and a Proposed Cross-Level Systems Research Framework

Objective: To review the literature on medical error reporting systems, identify gaps in the literature, and present an integrative cross-level systems model of reporting to address the gaps and to serve as a framework for understanding and guiding reporting system design and research. Background: Medical errors are thought to be a leading cause of death among adults in the United States. However, no review exists summarizing what is known about the barriers and facilitators for successful reporting systems, and no integrated model exists to guide further research into and development of medical error reporting systems. Method: Relevant literature was identified using online databases; references in relevant articles were searched for additional relevant articles. Results: The literature review identified components of medical error reporting systems, error reporting system design choices, barriers and incentives for reporting, and suggestions for successful reporting system design. Little theory was found to guide the published research. An integrative cross-level model of medical error reporting system design was developed and is proposed as a framework for understanding the medical error reporting literature, addressing existing limitations, and guiding future design and research. Conclusion: The medical error reporting research provides some guidance for designing and implementing successful reporting systems. The proposed cross-level systems model provides a way to understand this existing research. However, additional research is needed on reporting and related safety actions. The proposed model provides a framework for such future research. Application: This work can be used to guide the design, implementation, and study of medical error reporting systems.
Remote sensing of interannual boreal forest NDVI in relation to climatic conditions in interior Alaska

Climate has warmed substantially in interior Alaska and several remote sensing studies have documented a decadal-scale decline in the normalized difference vegetation index (NDVI) termed a ‘browning trend’. Reduced summer soil moisture due to changing climatic factors such as earlier springs, less snowpack, and summer drought may reduce boreal productivity and NDVI. However, the relative importance of these climatic factors is poorly understood in boreal interior Alaska. In this study, I used the remotely sensed peak summer NDVI as an index of boreal productivity at 250 m pixel size from 2000 to 2014. Maximum summer NDVI was related to last day of spring snow, early spring snow water equivalent (SWE), and a summer moisture index. There was no significant correlation between early spring SWE and peak summer NDVI. There was a significant correlation between the last day of spring snow and peak summer NDVI, but only for a few higher elevation stations. This was likely due to snowmelt occurring later at higher elevations, thus having a greater effect on summer soil moisture relative to lower elevation sites. For most of boreal interior Alaska, summer drought was likely the dominant control on peak summer NDVI and this effect may persist for several years. Peak summer NDVI declined at all 26 stations after the 2004 drought, and the decline persisted for 2 years at all stations. Due to the shallow rooting zone of most boreal plants, even cool and moist sites at lower elevations are likely vulnerable to drought. For example the peak summer NDVI response following the 2004 drought was similar for adjacent cold and warm watershed basins. Thus, if frequent and severe summer droughts continue, moisture stress effects are likely to be widespread and prolonged throughout most of interior boreal Alaska, including relatively cool, moist sites regardless of spring snowpack conditions or spring phenology.
Black hat training of white hat resources: The future of security is gaming

It is now necessary to have a better understanding of the mindset of a hacker in order to provide better protection for your network systems. The large scale and well organized targeted attacks that have been recently uncovered, demonstrate that system administrators can ill afford to take the wait and see approach. Also it has been shown that on-the-job training is limited in how well it can prepare organization's defensive capacity. Another issue is the lack of a standardized approach on gauging the technical proficiency of staff or the robustness of the network they protect. Attacks to computer networks are on the increase as the tools used by attackers are getting more automated and easier to use for the non-technical person. Staying one step ahead of the enemy has never been more important with the rise of the number of script kiddies, the proliferation of increasingly advanced one click automated attack tools and the apparent destructive force available to hacker groups such as anonymous. Defining and profiling the enemy is a large part of this problem. Recent anonymous arrests have shown these attacks originated from stereotypical disgruntled teenagers whom lack the cause and effect understanding that adults posses. We must somehow begin to deliver effective industrial training to the system administrators. “If a system has not been compromised to-date, does it mean it will not be compromised tomorrow? ” and “How do we know that the defenses of the system can withstand an attack if it has not already done so. ” This paper outlines the merits of utilizing the Security Shepherd white-hat gaming framework as a mechanism for rapid up skilling of front-line computer network defensive staff to the mindset of hackers.
Feature-based attention: it is all bottom-up priming

Feature-based attention (FBA) enhances the representation of image characteristics throughout the visual field, a mechanism that is particularly useful when searching for a specific stimulus feature. Even though most theories of visual search implicitly or explicitly assume that FBA is under top-down control, we argue that the role of top-down processing in FBA may be limited. Our review of the literature indicates that all behavioural and neuro-imaging studies investigating FBA suffer from the shortcoming that they cannot rule out an effect of priming. The mere attending to a feature enhances the mandatory processing of that feature across the visual field, an effect that is likely to occur in an automatic, bottom-up way. Studies that have investigated the feasibility of FBA by means of cueing paradigms suggest that the role of top-down processing in FBA is limited (e.g. prepare for red). Instead, the actual processing of the stimulus is needed to cause the mandatory tuning of responses throughout the visual field. We conclude that it is likely that all FBA effects reported previously are the result of bottom-up priming.
Modelling and control of a miniature ducted-fan in fast forward flight

In this paper we present both the modelling and preliminary control results relative to a configuration of ducted-fan MAV (miniature aerial vehicle) which is characterized by a mechanical and aerodynamical structure designed in order to allow efficient forward flights at small values of the angle of attack. Thanks to these modifications the system is able to accomplish both stationary and fast forward flight by means of a transition between two different operative configurations. After deriving a nonlinear model capable to describe the system dynamics in a general flight envelope, which include slow flights, fast forward flights at low values of angle of attack and the transition between the two previous conditions, we concentrate on the fast forward flight presenting preliminary control results.
Development of structure and effect of processing parameters on Strength–structure relationships for two ferritic stainless steels

AbstractThe development of substructure as material passes through the roll gap has been examined for a ferritie stainless steel and it is shown that the final structure evolves close to the roll gap exit. Temperature variations as the material was rolled were monitored and the subsequent effect on substructure investigated. The variation of substructure with processing for two ferritic steels is discussed and the effect of this variation on room temperature properties is presented. It is shown that the strength–structure relationship is highly dependent upon retained martensite which degrades the tensile strength.MST/380
A Multicriteria Collaborative Filtering Approach Using the Indifference Relation and its Application to Initiator Recommendation for Group-Buying

For recommender systems, the main aim of the popular collaborative filtering approaches is to recommend items that users with similar preferences have liked in the past. Single-criterion recommender systems have been successfully used in several applications. Because leveraging multicriteria information can potentially improve recommendation accuracy, multicriteria rating systems that allow users to assign ratings to various content attributes of items they have consumed have become the focus in recommendation systems. By treating the recommendation of items as a multicriteria decision problem, it is interesting to incorporate the preference relation of users of multicriteria decision making (MCDM) into the similarity measure for a collaborative filtering approach. For this, the well-known indifference relation can justify a discrimination or similarity between any two users, if outranking relation theory is incorporated. The applicability of the proposed single-criterion and multicriteria recommendation approaches to the recommendation of initiators on a group-buying website was examined. Experimental results have demonstrated that the generalization ability of the proposed multicriteria recommendation approach performs well in comparison to other single-criterion and multicriteria collaborative filtering approaches.
Interprofessional critical care training: Interactive virtual learning environments and simulations

Interprofessional critical care training (ICCT) is an important activity that helps develop and formalize an understanding of the roles, expertise, and unique contributions attributed to members of multi-disciplinary teams in critical situations. Such training is of particular importance for teams that operate under tight time constraints in highly stressful conditions, such as that found in medicine. Here we describe our first steps towards developing a virtual learning environment (simulation) specifically aimed at ICCT for pediatric critical care teams. Our virtual learning environment employs a tabletop computing platform with novel image-based sensing technologies to enable collaboration and interaction amongst a group of trainees while promoting a learner-centric approach where the simulation is tailored specifically to the needs of each trainee.
The localization of pre mRNA splicing factor PRPF38B is a novel prognostic biomarker that may predict survival benefit of trastuzumab in patients with breast cancer overexpressing HER2

Cancer biomarkers that can define disease status and provide a prognostic insight are essential for the effective management of patients with breast cancer (BC). The prevalence, clinicopathological and prognostic significance of PRPF38B expression in a consecutive series of 1650 patients with primary invasive breast carcinoma were examined using immunohistochemistry. Furthermore, the relationship(s) between clinical outcome and PRPF38B expression was explored in 627 patients with ER-negative (oestrogen receptor) disease, and 322 patients with HER2-overexpressing disease. Membranous expression of PRPF38B was observed in 148/1388 (10.7%) cases and was significantly associated with aggressive clinicopathological features, including high grade, high mitotic index, pleomorphism, invasive ductal carcinoma of no specific type (IDC-NST), ER-negative, HER2-overexpression and p53 mutational status (all p < 0.01). In patients with ER-negative disease receiving chemotherapy, nuclear expression of PRPF38B was significantly associated with a reduced risk of relapse (p = 0.0004), whereas membranous PRPF38B expression was significantly associated with increased risk of relapse (p = 0.004; respectively) at a 5 year follow-up. When patients were stratified according to ER-negative/HER2-positive status, membranous PRPF38B expression was associated with a higher risk of relapse in those patients that did not receive trastuzumab therapy (p = 0.02), whereas in those patients with ER-negative/HER2-positive disease that received trastuzumab adjuvant therapy, membranous PRPF38B expression associated with a lower risk of relapse (p = 0.00018). Nuclear expression of PRPF38B is a good prognostic indicator in both ER-negative patients and ER-negative/HER2-positive BC (breast cancer) patients, whereas membranous localisation of PRPF38B is a poor prognostic biomarker that predicts survival benefit from trastuzumab therapy in patients with ER-negative/HER2-overexpressing BC.
Metamaterials: Theory, Design, and Applications

Metamaterials:Theory, Design, and Applications goes beyond left-handed materials (LHM) or negative index materials (NIM) and focuses on recent research activity. Included here is an introduction to optical transformation theory, revealing invisible cloaks, EM concentrators, beam splitters, and new-type antennas, a presentation of general theory on artificial metamaterials composed of periodic structures, coverage of a new rapid design method for inhomogeneous metamaterials, which makes it easier to design a cloak, and new developments including but not limited to experimental verification of invisible cloaks, FDTD simulations of invisible cloaks, the microwave and RF applications of metamaterials, sub-wavelength imaging using anisotropic metamaterials, dynamical metamaterial systems, photonic metamaterials, and magnetic plasmon effects of metamaterials.
Ia determinants on human T-cell subsets defined by monoclonal antibody. Activation stimuli required for expression

The nature of Ia antigens which appear on human T cells after activation and the stimuli required for their expression was examined utilizing a monoclonal antibody reactive with the Ia antigen framework. T cells were purified using monoclonal antibodies directed either at the entire T-cell population (OKT3) or the T-cell inducer subset (OKT4). By indirect immunofluorescence, it was shown that the human T- cell population contains no detectable Ia+ cells in the resting state. In contrast, in excess of 60% of the T-cell population expresses Ia antigen after alloactivation in the mixed lymphocyte culture. Moreover, these Ia antigens are expressed within both the OKT4+ and OKT4- subsets. Similarly, phytohemagglutinin and concanavalin A induced approximately 20% of peripheral T cells to express Ia antigen and the expression of these antigens is not restricted to either OKT4 subset. In contrast, only the inducer T-cell population which proliferates maximally to soluble antigen expresses Ia antigens after activation by tetanus toxoid. Thus, the expression of human Ia antigens on unique T- cell subsets depends upon the activation stimuli utilized and ability of the individual subset to respond to a given stimulus. Additional studies indicated that Ia antigens appear on previously Ia- T cells after activation and do not result from clonal expansion of a small subset of Ia+ T cells.
Sexually transmitted infection testing and self-reported diagnoses among a community sample of men who have sex with men, in Scotland

Introduction To examine sexually transmitted infection (STI) testing and self-reported diagnoses among men who have sex with men (MSM), in Scotland. Methods Cross-sectional survey of seven Glasgow gay bars in July 2010 (n=822, 62% response rate); 693 are included in the analyses. Results 81.8% reported ever having had an STI test; 37.4% had tested in the previous 6 months; 13.2% reported having an STI in the previous 12 months. The adjusted odds of having ever tested were significantly higher for men who had 6+ sexual partners in the previous 12 months (adjusted OR=2.66), a maximum sexual health knowledge score (2.23), and had talked to an outreach worker/participated in counselling (1.96), and lower for men reporting any high-risk unprotected anal intercourse (UAI) in the previous 12 months (0.51). Adjusted odds of recent testing were higher for men who had 6+ sexual partners (2.10), talked to an outreach worker/participated in counselling (1.66), maximum sexual health knowledge (1.59), and higher condom use knowledge (1.04), and lower for men aged ≥25 years (0.46). Adjusted odds of having had an STI in the previous 12 months were higher for men who had 6+ sexual partners (3.96) and any high-risk UAI in the previous 12 months (2.24) and lower for men aged ≥25 years (0.57). Conclusions STI testing rates were relatively high, yet still below the minimum recommended for MSM at high risk. Consideration should be given to initiating recall systems for men who test positive for STIs, and to developing behavioural interventions which seek to address STI transmission.
The Design of VoIP Systems With High Perceptual Conversational Quality

This paper describes our work on real-time two-party and multi-party VoIP (voice-over-IP) systems that can achieve high perceptual conversational quality. It focuses on the fundamental understanding of conversational quality and its trade-offs among the design of speech codecs and strategies for network control, playout scheduling, and loss concealments. We have studied three key aspects that address the limitations of existing work and improve the perceptual quality of VoIP systems. Firstly, we have developed a statistical approach based on just-noticeable difference (JND) to significantly reduce the large number of subjective tests, as well as a classification method to automatically learn and generalize the results to unseen conditions. Using network and conversational conditions measured at run time, the classifier learned helps adjust the control algorithms in achieving high perceptual conversational quality. Secondly, we have designed a cross-layer speech codec to interface with the loss-concealment and playout scheduling algorithms in the packet-stream layer in order to be more robust and effective against packet losses. Thirdly, we have developed a distributed algorithm for equalizing mutual silences and an overlay network for multi-party VoIP systems. The approach leads to multi-party conversations with high listening only speech quality and balanced mutual silences.
Artemisinin resistance in Plasmodium falciparum malaria.

BACKGROUND Artemisinin-based combination therapies are the recommended first-line treatments of falciparum malaria in all countries with endemic disease. There are recent concerns that the efficacy of such therapies has declined on the Thai-Cambodian border, historically a site of emerging antimalarial-drug resistance. METHODS In two open-label, randomized trials, we compared the efficacies of two treatments for uncomplicated falciparum malaria in Pailin, western Cambodia, and Wang Pha, northwestern Thailand: oral artesunate given at a dose of 2 mg per kilogram of body weight per day, for 7 days, and artesunate given at a dose of 4 mg per kilogram per day, for 3 days, followed by mefloquine at two doses totaling 25 mg per kilogram. We assessed in vitro and in vivo Plasmodium falciparum susceptibility, artesunate pharmacokinetics, and molecular markers of resistance. RESULTS We studied 40 patients in each of the two locations. The overall median parasite clearance times were 84 hours (interquartile range, 60 to 96) in Pailin and 48 hours (interquartile range, 36 to 66) in Wang Pha (P<0.001). Recrudescence confirmed by means of polymerase-chain-reaction assay occurred in 6 of 20 patients (30%) receiving artesunate monotherapy and 1 of 20 (5%) receiving artesunate-mefloquine therapy in Pailin, as compared with 2 of 20 (10%) and 1 of 20 (5%), respectively, in Wang Pha (P=0.31). These markedly different parasitologic responses were not explained by differences in age, artesunate or dihydroartemisinin pharmacokinetics, results of isotopic in vitro sensitivity tests, or putative molecular correlates of P. falciparum drug resistance (mutations or amplifications of the gene encoding a multidrug resistance protein [PfMDR1] or mutations in the gene encoding sarco-endoplasmic reticulum calcium ATPase6 [PfSERCA]). Adverse events were mild and did not differ significantly between the two treatment groups. CONCLUSIONS P. falciparum has reduced in vivo susceptibility to artesunate in western Cambodia as compared with northwestern Thailand. Resistance is characterized by slow parasite clearance in vivo without corresponding reductions on conventional in vitro susceptibility testing. Containment measures are urgently needed. (ClinicalTrials.gov number, NCT00493363, and Current Controlled Trials number, ISRCTN64835265.)
Differential FEC and ARQ for Radio Link Protocols

To bring TCP-based services to the mobile devices in a cellular network, it is necessary that TCP be extended over the wireless link. However, the performance of TCP severely degrades in a wireless medium. Hence, radio link protocols (RLPs) are used as an interface between TCP and the physical medium. RLPs fragment TCP segments into frames and use robust error correcting codes and fast retransmission schemes to shield the channel related losses from TCP, thus preventing TCP throughput degradation. In this paper, we show the limitations of the existing RLPs, which do not differentiate the frames generated from the same TCP segment. We claim that if selective frames are made more robust to transmission failures, then the performance of RLP and, hence, TCP can be improved. We identify such decisive frames and categorize them as crucial and noncrucial. Our claim is based on the fact that initial frames can afford a few trials of retransmissions, whereas the later ones cannot. We treat the frames differentially with respect to forward error correcting (FEC) coding and automatic repeat request (ARQ) schemes. We consider specific cases of FEC and ARQ strategies and show the qualitative difference in the performance of the RLP through analysis and simulations. The gain in the performance is more prominent when both FEC and ARQ (hybrid-ARQ) are used. The increase in TCP throughput with the proposed RLP is also demonstrated