Miracle-dz/UniFAR-FTUs huggingface dataset:
A Two-Step Method for Dynamic Parameter Identification of Indy7 Collaborative Robot Manipulator

Accurate dynamic model is critical for collaborative robots to achieve satisfactory performance in model-based control or other applications such as dynamic simulation and external torque estimation. Such dynamic models are frequently restricted to identifying important system parameters and compensating for nonlinear terms. Friction, as a primary nonlinear element in robotics, has a significant impact on model accuracy. In this paper, a reliable dynamic friction model, which incorporates the influence of temperature fluctuation on the robot joint friction, is utilized to increase the accuracy of identified dynamic parameters. First, robot joint friction is investigated. Extensive test series are performed in the full velocity operating range at temperatures ranging from 19 °C to 51 °C to investigate friction dependency on joint module temperature. Then, dynamic parameter identification is performed using an inverse dynamics identification model and weighted least squares regression constrained to the feasible space, guaranteeing the optimal solution. Using the identified friction model parameters, the friction torque is computed for measured robot joint velocity and temperature. Friction torque is subtracted from the measured torque, and a non-friction torque is used to identify dynamic parameters. Finally, the proposed notion is validated experimentally on the Indy7 collaborative robot manipulator, and the results show that the dynamic model with parameters identified using the proposed method outperforms the dynamic model with parameters identified using the conventional method in tracking measured torque, with a relative improvement of up to 70.37%.
A quasi‐planar incident wave excitation for time‐domain scattering analysis of periodic structures

We present a quasi‐planar incident wave excitation for time‐domain scattering analysis of periodic structures. It uses a particular superposition of plane waves that yields an incident wave with the same periodicity as the periodic structure itself. The duration of the incident wave is controlled by means of its frequency spectrum or, equivalently, the angular spread in its constituting plane waves. Accuracy and convergence properties of the method are demonstrated by scattering computations for a planar dielectric half‐space. Equipped with the proposed source, a time‐domain solver based on linear elements yields an error of roughly 1% for a resolution of 20 points per wavelength and second‐order convergence is achieved for smooth scatterers. Computations of the scattering characteristics for a sinusoidal surface and a random rough surface show similar performance. Copyright © 2006 John Wiley & Sons, Ltd.
A Survey on Visualizing EA Models toward Consolidation

EA (Enterprise Architecture) modeling languages have been developed to visualize EA. As the purpose of EA is to create new business value, the scope of EA models is wide. For example, the scope includes business modeling, information system architecture, technology infrastructure, governance, operation, and security. In this paper, a survey on visualizing EA models is explained to show a systematized category of visualization approaches. A visualization of previous innovation theory is also proposed by using the operational model of visualization category.
A particle swarm optimization algorithm based on an improved deb criterion for constrained optimization problems

To solve the nonlinear constrained optimization problem, a particle swarm optimization algorithm based on the improved Deb criterion (CPSO) is proposed. Based on the Deb criterion, the algorithm retains the information of ‘excellent’ infeasible solutions. The algorithm uses this information to escape from the local best solution and quickly converge to the global best solution. Additionally, to further improve the global search ability of the algorithm, the DE strategy is used to optimize the personal best position of the particle, which speeds up the convergence speed of the algorithm. The performance of our method was tested on 24 benchmark problems from IEEE CEC2006 and three real-world constraint optimization problems from CEC2020. The simulation results show that the CPSO algorithm is effective.
Selenium Nanoparticles Can Influence the Immune Response Due to Interactions with Antibodies and Modulation of the Physiological State of Granulocytes

Currently, selenium nanoparticles (SeNPs) are considered potential immunomodulatory agents and as targets for activity modulation are granulocytes, which have the most abundant population of immune blood cells. The present study aims to evaluate the cytotoxic effect and its effect on the functional responses of granulocytes. In addition to the intrinsic activity of SeNPs, we studied the activity of the combination of SeNPs and IgG antibodies. Using laser ablation and fragmentation, we obtained nanoparticles with an average size of 100 nm and a rather narrow size evolution. The resulting nanoparticles do not show acute toxicity to primary cultures of fibroblasts and hepatocytes, epithelial-like cell line L-929 and granulocyte-like culture of HL-60 at a concentration of 109 NPs/mL. SeNPs at a concentration of 1010 NPs/mL reduced the viability of HL-60 cells by no more than 10% and did not affect the viability of the primary culture of mouse granulocytes, and did not have a genotoxic effect on progenitor cells. The addition of SeNPs can affect the production of reactive oxygen species (ROS) by mouse bone marrow granulocytes, modulate the proportion of granulocytes with calcium spikes and enhance fMLF-induced granulocytes degranulation. SeNPs can modulate the effect of IgG on the physiological responses of granulocytes. We studied the expression level of genes associated with inflammation and cell stress. SeNPs increase the expression of catalase, NF-κB, Xrcc5 and some others; antibodies enhance the effect of SeNPs, but IgG without SeNPs decreases the expression level of these genes. This fact can be explained by the interaction between SeNPs and IgG. It has been established that antibodies interact with SeNPs. We showed that antibodies bind to the surface of selenium nanoparticles and are present in aqueous solutions in a bound form from DLS methods, ultraviolet–visible spectroscopy, vibrational–rotational spectrometry, fluorescence spectrometry, and refractometry. At the same time, in a significant part of the antibodies, a partial change in the tertiary and secondary structure is observed. The data obtained will allow a better understanding of the principles of the interaction of immune cells with antibodies and SeNPs and, in the future, may serve to create a new generation of immunomodulators.
Light-Switchable Membrane Permeability in Giant Unilamellar Vesicles

In this work, giant unilamellar vesicles (GUVs) were synthesized by blending the natural phospholipid 1-palmitoyl-2-oleoyl-sn-glycero-3-phosphocholine (POPC) with a photoswitchable amphiphile (1) that undergoes photoisomerization upon irradiation with UV-A (E to Z) and blue (Z to E) light. The mixed vesicles showed marked changes in behavior in response to UV light, including changes in morphology and the opening of pores. The fine control of membrane permeability with consequent cargo release could be attained by modulating either the UV irradiation intensity or the membrane composition. As a proof of concept, the photocontrolled release of sucrose from mixed GUVs is demonstrated using microscopy (phase contrast) and confocal studies. The permeability of the GUVs to sucrose could be increased to ~4 × 10–2 μm/s when the system was illuminated by UV light. With respect to previously reported systems (entirely composed of synthetic amphiphiles), our findings demonstrate the potential of photosensitive GUVs that are mainly composed of natural lipids to be used in medical and biomedical applications, such as targeted drug delivery and localized topical treatments.
An artificial neural network classification method employing longitudinally monitored immune biomarkers to predict the clinical outcome of critically ill COVID-19 patients

Background The severe form of COVID-19 can cause a dysregulated host immune syndrome that might lead patients to death. To understand the underlying immune mechanisms that contribute to COVID-19 disease we have examined 28 different biomarkers in two cohorts of COVID-19 patients, aiming to systematically capture, quantify, and algorithmize how immune signals might be associated to the clinical outcome of COVID-19 patients. Methods The longitudinal concentration of 28 biomarkers of 95 COVID-19 patients was measured. We performed a dimensionality reduction analysis to determine meaningful biomarkers for explaining the data variability. The biomarkers were used as input of artificial neural network, random forest, classification and regression trees, k-nearest neighbors and support vector machines. Two different clinical cohorts were used to grant validity to the findings. Results We benchmarked the classification capacity of two COVID-19 clinicals studies with different models and found that artificial neural networks was the best classifier. From it, we could employ different sets of biomarkers to predict the clinical outcome of COVID-19 patients. First, all the biomarkers available yielded a satisfactory classification. Next, we assessed the prediction capacity of each protein separated. With a reduced set of biomarkers, our model presented 94% accuracy, 96.6% precision, 91.6% recall, and 95% of specificity upon the testing data. We used the same model to predict 83% and 87% (recovered and deceased) of unseen data, granting validity to the results obtained. Conclusions In this work, using state-of-the-art computational techniques, we systematically identified an optimal set of biomarkers that are related to a prediction capacity of COVID-19 patients. The screening of such biomarkers might assist in understanding the underlying immune response towards inflammatory diseases.
Reduced-Order Models of Finite-Element Systems Featuring Shape and Material Parameters

Abstract Since typical finite-element systems are of high dimension, the analysis of parameter-dependent microwave structures over broad frequency bands tends to be very time-consuming. This issue is addressed by parametric order reduction, which provides a systematic methodology for constructing surrogate models that are cheap to evaluate and feature low and controllable levels of error. This article presents an order reduction technique for finite-element models that depends on the operating frequency and features explicit and implicit parameters for material properties and shape, respectively. It uses polynomial interpolation to resolve implicit parameter dependencies and employs parameter-dependent bases defined on sub-domains of parameter space. The resulting reduced-order models are of very small dimension and preserve the structure and frequency dependency of the original finite-element model. Numerical results demonstrate that the proposed method reduces solution times by several orders of magnitude compared to the underlying finite-element model at very low error.
Evolution of RAS Mutations in Cell-Free DNA of Patients with Tissue RAS Wild-Type Metastatic Colorectal Cancer Receiving First-Line Treatment: The PERSEIDA Study

Simple Summary Cell-free DNA RAS mutation is being increasingly monitored in metastatic colorectal cancer (mCRC) for disease molecular characterization and selecting eligible patients for anti-EGFR initiation and rechallenge. Here, we monitored a homogeneous mCRC RAS wild-type (as per baseline solid biopsy) population starting first-line treatment using a BEAMing technique at three different mutant allele fraction (MAF) sensitivity cut-offs and we characterized the role of each MAF threshold and its correlation with clinical variables. Abstract The serial analysis of cell-free DNA (cfDNA) enables minimally invasive monitoring of tumor evolution, providing continuous genetic information. PERSEIDA was an observational, prospective study assessing the cfDNA RAS (KRAS/NRAS) mutational status evolution in first-line, metastatic CRC, RAS wild-type (according to baseline tumor tissue biopsy) patients. Plasma samples were collected before first-line treatment, after 20 ± 2 weeks, and at disease progression. One hundred and nineteen patients were included (102 received panitumumab and chemotherapy as first-line treatment—panitumumab subpopulation). Fifteen (12.6%) patients presented baseline cfDNA RAS mutations (n = 14 [13.7%], panitumumab subpopulation) (mutant allele fraction ≥0.02 for all results). No patients presented emergent mutations (cfDNA RAS mutations not present at baseline) at 20 weeks. At disease progression, 11 patients (n = 9; panitumumab subpopulation) presented emergent mutations (RAS conversion rate: 19.0% [11/58]; 17.7% [9/51], panitumumab subpopulation). In contrast, three (5.2%) patients presenting baseline cfDNA RAS mutations were RAS wild-type at disease progression. No significant associations were observed between overall response rate or progression-free survival and cfDNA RAS mutational status in the total panitumumab subpopulation. Although, in patients with left-sided tumors, a significantly longer progression-free survival was observed in cfDNA RAS wild-type patients compared to those presenting cfDNA RAS mutations at any time. Continuous evaluation of RAS mutations may provide valuable insights on tumor molecular dynamics that can help clinical practice.
Life satisfaction among persons living with dementia and those without dementia

Despite possible major adverse cognitive, physical, social, and behavioral consequences, little is known about how persons living with dementia perceive satisfaction with life, a key component of well‐being. We sought to examine (i) whether persons living with dementia perceive a lower level of satisfaction compared to their peers without dementia and (ii) whether the associations between individual characteristics and life satisfaction are different between persons living with and without dementia.
Resistive Switching Memory Cell Property Improvement by Al/SrZrTiO3/Al/SrZrTiO3/ITO with Embedded Al Layer

The SrZrTiO3 (SZT) thin film prepared by sol-gel process for the insulator of resistive random-access memory (RRAM) is presented. Al was embedded in the SZT thin film to enhance the switching characteristics. Compared with the pure SZT thin-film RRAM, the RRAM with the embedded Al in SZT thin film demonstrated outstanding device parameter improvements, such as a resistance ratio higher than 107, lower operation voltage (VSET = −0.8 V and VRESET = 2.05 V), uniform film, and device stability of more than 105 s. The physical properties of the SZT thin film and the embedded-Al SZT thin-film RRAM devices were probed.
Helicobacter pylori-Associated Iron Deficiency Anemia in Childhood and Adolescence-Pathogenesis and Clinical Management Strategy

Many epidemiological studies and meta-analyses show that persistent Helicobacter pylori infection in the gastric mucosa can lead to iron deficiency or iron deficiency anemia (IDA), particularly in certain populations of children and adolescents. Moreover, it has been demonstrated that H. pylori infection can lead to and be closely associated with recurrent and/or refractory iron deficiency and IDA. However, the pathogenesis and specific risk factors leading to this clinical outcome in H. pylori-infected children remain poorly understood. In general, most of pediatric patients with H. pylori-associated IDA do not show evidence of overt blood loss due to gastrointestinal hemorrhagic lesions. In adult populations, H. pylori atrophic gastritis is reported to cause impaired iron absorption due to impaired gastric acid secretion, which, subsequently, results in IDA. However, significant gastric atrophy, and the resultant substantial reduction in gastric acid secretion, has not been shown in H. pylori-infected children. Recently, it has been hypothesized that competition between H. pylori and humans for iron availability in the upper gastrointestinal tract could lead to IDA. Many genes, including those encoding major outer membrane proteins (OMPs), are known to be involved in iron-uptake mechanisms in H. pylori. Recent studies have been published that describe H. pylori virulence factors, including specific OMP genes that may be associated with the pathogenesis of IDA. Daily iron demand substantively increases in children as they begin pubertal development starting with the associated growth spurt, and this important physiological mechanism may play a synergistic role for the microorganisms as a host pathogenetic factor of IDA. Like in the most recent pediatric guidelines, a test-and-treat strategy in H. pylori infection should be considered, especially for children and adolescents in whom IDA is recurrent or refractory to iron supplementation and other definitive causes have not been identified. This review will focus on providing the evidence that supports a clear biological plausibility for H. pylori infection and iron deficiency, as well as IDA.
Potentiometric Hydrogen Sensor with 3D-Printed BaCe0.6Zr0.3Y0.1O3-α Electrolyte for High-Temperature Applications

Hydrogen is expected to play an important role in the near future in the transition to a net-zero economy. Therefore, the development of new in situ and real-time analytical tools able to quantify hydrogen at high temperatures is required for future applications. Potentiometric sensors based on perovskite-structured solid-state electrolytes can be a good option for H2 monitoring. Nevertheless, the geometry of the sensor should be designed according to the specific necessities of each technological field. Conventional shaping processes need several iterations of green shaping and machining to achieve a good result. In contrast, 3D printing methods stand out from conventional ones since they simplify the creation of prototypes, reducing the cost and the number of iterations needed for the obtainment of the final design. In the present work, BaCe0.6Zr0. 3Y0.1O3-α (BCZY) was used as a proton-conducting electrolyte for potentiometric sensors construction. Two different shapes were tested for the sensors’ electrolyte: pellets (BCZY-Pellet) and crucibles (BCZY-Crucible). Ceramics were shaped using extrusion-based 3D printing. Finally, parameters, such as sensitivity, response time, recovery time and the limit of detection and accuracy, were evaluated for both types of sensors (BCZY-Pellet and BCZY-Crucible) at 500 °C.
Antimicrobial and Antibiofilm Effect of 4,4′-Dihydroxy-azobenzene against Clinically Resistant Staphylococci

The spread of antibiotic resistance among human and animal pathogens is one of the more significant public health concerns. Moreover, the restrictions on the use of particular antibiotics can limit the options for the treatment of infections in veterinary clinical practice. In this context, searching for alternative antimicrobial substances is crucial nowadays. In this study, 4,4′-dihydroxy-azobenzene (DHAB) was tested for its potential in vitro as an antimicrobial agent against two relevant human and animal pathogens, namely Staphylococcus aureus and Staphylococcus pseudintermedius. The values of minimal inhibitory concentration (MIC) were 64 and 32 mg/L respectively, and they comparable to other azo compounds of probed antimicrobial activity. In addition, the minimal bactericidal concentrations (MCB) were 256 and 64 mg/L. The mechanism by which DHAB produces toxicity in staphylococci has been investigated. DHAB caused membrane damage as revealed by the increase in thiobarbituric acid reactive substances (TBARS) such as malondialdehyde. Furthermore, differential induction of the enzymes peroxidases and superoxide dismutase in S. aureus and S. pseudintermedius suggested their prevalent role in ROS-scavenging due to the oxidative burst induced by this compound in either species. In addition, this substance was able to inhibit the formation of biofilms by both bacteria as observed by colorimetric tests and scanning electron microscopy. In order to assess the relevance of DHAB against clinical strains of MRSA, 10 clinical isolates resistant to either methicillin or daptomycin were assayed; 80% of them gave values of CMI and CMB similar to those of the control S. aureus strain. Finally, cutaneous plasters containing a composite formed by an agar base supplemented with DHAB were designed. These plasters were able to inhibit in vitro the growth of S. aureus and S. pseudintermedius, particularly the later, and this suggests that this substance could be a promising candidate as an alternative to antibiotics in the treatment of animal skin infections, as it has been proven that the toxicity of this substance is very low particularly at a dermal level.
Structural, Mechanical, and Thermal Properties of the TiAlTaN/TiAlBN Multilayer

A multilayer structure and incorporation of the fourth element are promising strategies to improve the properties of TiAlN coatings. In this study, the structural, mechanical, and thermal properties of the Ti0.34Al0. 48Ta0.18N/Ti0.42Al0. 54B0.04N multilayer, as well as the Ti0.34Al0. 48Ta0.18N and Ti0.42Al0. 54B0.04N monolithic coatings, were carefully researched. Coherent growth of the multilayer structure induces a single-phase cubic structure of the Ti0.34Al0. 48Ta0.18N/Ti0.42Al0. 54B0.04N multilayer, even though the Ti0.34Al0. 48Ta0.18N and Ti0.42Al0. 54B0.04N coatings have a single-phase cubic structure and a mixed cubic and wurtzite structure, respectively. The Ti0.34Al0. 48Ta0.18N/Ti0.42Al0. 54B0.04N multilayer reveals a higher hardness of 38.2 ± 0.9 GPa due to interfacial strengthening, corresponding to 32.4 ± 0.6 GPa of Ti0.34Al0. 48Ta0.18N and 32.7 ± 0.9 GPa of Ti0.42Al0. 54B0.04N. During annealing, our three kinds of coating demonstrate an age-hardening effect. The Ti0.34Al0. 48Ta0.18N/Ti0.42Al0. 54B0.04N multilayer presents a hardness peak of 40.0 ± 0.9 GPa at 1000 °C, whereas the Ti0.34Al0. 48Ta0.18N and Ti0.34Al0. 48Ta0.18N coatings show the hardness peaks of 37.1 ± 0.7 and 35.0 ± 0.6 GPa at 900 °C, respectively. Furthermore, the improved oxidation resistance is obtained by the Ti0.34Al0. 48Ta0.18N/Ti0.42Al0. 54B0.04N multilayer.
Polarity- and Pressure-Induced Emission from a Benzophenone-Based Luminophore

Since strong polarity usually causes emission quenching, materials with polarity-induced emission (PIE) are rarely reported despite their important applications in polar environments. Herein, an N-phenylcarbazole-substituted benzophenone derivative (BP-3-Cz) with a twisted electron donor–acceptor (D–A) structure is synthesized. The incorporation of heteroatoms into the twisted π-conjugated D–A backbone simultaneously endows BP-3-Cz with obvious polarity- and pressure-induced emission. Spectral analysis, X-ray diffraction, differential scanning calorimetry, and quantum chemical calculation results confirm that BP-3-Cz has special optical features related to the molecular conformation change and excited state turning to planarized intramolecular charge transfer with an increase in polarity or applied pressure. These findings contribute to the understanding of the PIE mechanism and the design of new PIE materials.