Miracle-dz/UniFAR-FTUs huggingface dataset:
Motion and Force Control of Coordinated Robots During Constrained Motion Tasks

The motion of coordinated robots manipulating an object con strained by the contact with an environment, in the presence of uncertainty in the dynamic models, represents an important class of control problems. In this article an approach to motion and force control of such multiple coordinated robots, based on an adaptive scheme, is proposed. Three major variables are regulated simultaneously: the object motion, the contact force between the object and the environment, and the internal force. The adaptive controller estimates the unknown parameters of the coordinated robots and object in terms of certain error equations. The convergence of the motion, contact, and inter nal force errors is analyzed using Lyapunov stability theory. The proposed controller is also experimentally evaluated on two coordinated AdeptOne robots. In comparison with fixed parameter controllers, the experimental results show that the proposed controller improves the object motion, contact, and internal force tracking accuracy for a class of robotic systems with uncertain knowledge of the dynamic model.
The intravenous adenosine test: a new test for the identification of bradycardia pacing indications? A pilot study in subjects with bradycardia pacing indications, vasovagal syncope and controls.

BACKGROUND Intravenous adenosine has recently been used in the diagnosis of unexplained syncope, but there is no consensus as to the meaning of a 'positive' test. The objective is to determine the sensitivity and specificity of intravenous adenosine testing in the diagnosis of bradycardia-pacing indications [sinus node dysfunction(SND), atrio-ventricular block (AVB) and cardio-inhibitory carotid sinus syndrome (CSS)]. DESIGN Pilot cohort study. METHODS Patients-(i) Bradycardia-pacing group: Consecutive patients referred for pacing for SND, AVB and CSS; (ii) Consecutive head-up tilt (HUT)-positive VVS patients. Controls-(i) Simple controls (S-Con: normal examination/ECG) and (ii) Electrophysiology controls (EP-Con: consecutive subjects referred for accessory pathway ablation). Pacing referrals and EP-Con had electrophysiology studies to confirm referral diagnosis and exclude others. All subjects had bolus injection of 20 mg intravenous adenosine during continuous ECG and blood pressure monitoring (positive test: >or=6 s asystole, >or=10 s high-degree AVB post-injection). Sensitivity, specificity, safety and tolerability of the test were measured. RESULTS Of 264 potential participants (4 SND, 8 AVB, 7 CSS, 10 VVS, 10 EP-Con and 11 S-Con) 50 were studied. All (100%) of the bradycardia-pacing group were adenosine test-positive, as were 6 (60%) VVS. None (0%) and 3 (27%) of the EP- and S-Con groups were positive. Adenosine testing was 100% sensitive and 86% specific for bradycardia-pacing indications, and 100% specific using the diagnostically 'clean' EP-Con results. There were no significant adverse or side effects. CONCLUSION Adenosine testing reliably identified patients with definitive bradycardia-pacing indications in whom alternative diagnoses were excluded. Further work is needed to evaluate the role of this test in the diagnosis of unexplained syncope.
Expression of Bone Morphogenetic Proteins in Stromal Cells from Human Bone Marrow Long-term Culture

Highly purified primitive hemopoietic stem cells express BMP receptors but do not synthesize bone morphogenetic proteins (BMPs). However, exogenously added BMPs regulate their proliferation, differentiation, and survival. To further explore the mechanism by which BMPs might be involved in hemopoietic differentiation, we tested whether stromal cells from long-term culture (LTC) of normal human bone marrow produce BMPs, BMP receptors, and SMAD signaling molecules. Stromal cells were immunohistochemically characterized by the presence of lyzozyme, CD 31, factor VIII, CD 68, S100, alkaline phosphatase, and vimentin. Gene expression was analyzed by RT-PCR and the presence of BMP protein was confirmed by immunohistochemistry (IHC). The supportive role of the stromal cell layer in hemopoiesis in vitro was confirmed by a colony assay of clonogenic progenitors. Bone marrow stromal cells express mRNA and protein for BMP-3, -4, and -7 but not for BMP-2, -5, and -6 from the first to the eighth week of culture. Furthermore, stromal cells express the BMP type I receptors, activin-like kinase-3 (ALK-3), ALK-6, and the downstream transducers SMAD-1, -4, and -5. Thus, human bone marrow stromal cells synthesize BMPs, which might exert their effects on hemopoietic stem cells in a paracrine manner through specific BMP receptors.
Reliability of Concentric and Eccentric Muscle Testing of Adults with Cerebral Palsy

The purpose of this study was to determine the reliability of eccentric and concentric strength of adults with cerebral palsy (CP) as measured on the Kin-Corn. Fourteen subjects performed four eccentric and concentric contractions of shoulder adduction and abduction, and knee flexion and extension at a speed of 60°/s during three testing sessions. Peak and average torque were calculated for each type of contraction for each of the four movements. Generalizability coefficients were high for all scores (r = .79 to .96) except average eccentric extension of the knee (r = .26). The variance components revealed that differences between test sessions were large (8.5%–65.8%) compared to the differences between trials (0.0%–5.8%). These data indicate that the Kin-Corn is a reliable mode for testing average and maximal concentric muscular strength, and maximal eccentric contractions on adults with CP, following an initial orientation session.
Autonomic Effects of Controlled Fine Particulate Exposure in Young Healthy Adults: Effect Modification by Ozone

Background Human controlled-exposure studies have assessed the impact of ambient fine particulate matter on cardiac autonomic function measured by heart rate variability (HRV), but whether these effects are modified by concomitant ozone exposure remains unknown. Objective In this study we assessed the impact of O3 and particulate matter exposure on HRV in humans. Methods In a crossover design, 50 subjects (19–48 years of age) were randomized to 2-hr controlled exposures to filtered air (FA), concentrated ambient particles (CAPs), O3, or combined CAPs and ozone (CAPs + O3). The primary end point was change in HRV between the start and end of exposure. Secondary analyses included blood pressure (BP) responses, and effect modification by asthmatic status. Results Achieved mean CAPs and O3 exposure concentrations were 121.6 ± 48.0 μg/m3 and 113.9 ± 6.6 ppb, respectively. In a categorical analysis, exposure had no consistent effect on HRV indices. However, the dose–response relationship between CAPs mass concentration and HRV indices seemed to vary depending on the presence of O3. This heterogeneity was statistically significant for the low-frequency component of HRV (p = 0.02) and approached significance for the high-frequency component and time-domain measures of HRV. Exposure to CAPs + O3 increased diastolic BP by 2.0 mmHg (SE, 1.2; p = 0.02). No other statistically significant changes in BP were observed. Asthmatic status did not modify these effects. Conclusion The potentiation by O3 of CAPs effects on diastolic BP and possibly HRV is of small magnitude in young adults. Further studies are needed to assess potential effects in more vulnerable populations.
Female Reproductive Disorders, Diseases, and Costs of Exposure to Endocrine Disrupting Chemicals in the European Union.

CONTEXT A growing body of evidence suggests that endocrine-disrupting chemicals (EDCs) contribute to female reproductive disorders. OBJECTIVE To calculate the associated combined health care and economic costs attributable to specific EDC exposures within the European Union (EU). DESIGN An expert panel evaluated evidence for probability of causation using the Intergovernmental Panel on Climate Change weight-of-evidence characterization. Exposure-response relationships and reference levels were evaluated, and biomarker data were organized from carefully identified studies from the peer-reviewed literature to represent European exposure and approximate burden of disease as it occurred in 2010. Cost-of-illness estimation used multiple peer-reviewed sources. SETTING, PATIENTS AND PARTICIPANTS AND INTERVENTION Cost estimation was carried out from a societal perspective, ie, including direct costs (eg, treatment costs) and indirect costs such as productivity loss. RESULTS The most robust EDC-related data for female reproductive disorders exist for 1) diphenyldichloroethene-attributable fibroids and 2) phthalate-attributable endometriosis in Europe. In both cases, the strength of epidemiological evidence was rated as low and the toxicological evidence as moderate, with an assigned probability of causation of 20%–39%. Across the EU, attributable cases were estimated to be 56 700 and 145 000 women, respectively, with total combined economic and health care costs potentially reaching €163 million and €1.25 billion. CONCLUSIONS EDCs (diphenyldichloroethene and phthalates) may contribute substantially to the most common reproductive disorders in women, endometriosis and fibroids, costing nearly €1.5 billion annually. These estimates represent only EDCs for which there were sufficient epidemiologic studies and those with the highest probability of causation. These public health costs should be considered as the EU contemplates regulatory action on EDCs.
A prospective trial of infliximab therapy for refractory uveitis: preliminary safety and efficacy outcomes.

OBJECTIVE Infliximab, a monoclonal antibody against tumor necrosis factor alpha, is approved by the US Food and Drug Administration for treatment of numerous autoimmune disorders. We conducted a prospective, open-label phase 2 clinical trial to assess the effectiveness of infliximab in treating refractory autoimmune uveitis. METHODS We prospectively enrolled 23 patients from the uveitis clinic of the Casey Eye Institute, Portland, Ore, into this trial. All patients meeting eligibility criteria received 3 infliximab infusions at weeks 0, 2, and 6. Clinical success was ascertained at week 10. Patients meeting initial criteria for success received an infusion at week 14 and every 8 weeks thereafter, with dose escalation permitted for breakthrough inflammation, and underwent outcome measurements at week 50. RESULTS All patients underwent outcome assessment at week 10. Eighteen (78%) of these subjects met criteria for clinical success at this time. Success was judged by the composite clinical end point of visual acuity, control of intraocular inflammation, ability to taper concomitant medication therapy, and improvement in inflammatory signs on fluorescein angiography and/or ocular coherence tomography. Successful grading required improvement in at least 1 of 4 subcomponents and worsening in none. Seven of 14 patients enrolled for 1 year continued infliximab therapy and maintained their successful grading. Five did not complete 1 year of treatment because of significant adverse events, and 2 terminated treatment early for reasons unrelated to the study. Serious adverse events that were potentially related to infliximab included pulmonary embolus, congestive heart failure, lupus-like reaction in 2, and vitreous hemorrhage in 2 patients. Antinuclear antibodies developed in 15 of 20 enrolled patients receiving 3 or more infusions. CONCLUSIONS Infliximab was an effective short-term immunosuppressive agent in most of the patients, with 18 of 23 meeting criteria for clinical success at week 10. Infliximab was effective in the long term in all patients able to complete 50 weeks of therapy. Although some patients achieved clear benefit, the rate of serious toxic effects was unexpectedly high. Further long-term studies are warranted to determine the safety and efficacy of infliximab in treating intraocular inflammation.
Ascorbate deficiency results in impaired neutrophil apoptosis and clearance and is associated with up‐regulation of hypoxia‐inducible factor 1α

Some cells, including neutrophils, accumulate high intracellular ascorbate concentrations, which suggests that they have an important function in these cells. In this study we have used L‐gulono‐γ‐lactone oxidase (Gulo)−/− mice, which are unable to synthesize ascorbate, to generate ascorbate‐deficient neutrophils and have used these to investigate the effect of ascorbate on neutrophil function. Peritoneal neutrophils from ascorbate‐deficient animals had normal morphology and respiratory burst activity but failed to undergo spontaneous apoptosis, determined by morphology and the surface expression of phosphatidylserine. Initially, there was increased cell survival, but death eventually occurred by necrosis within 48 h. Neutrophils persisted in thioglycollate‐induced inflammation in Gulo−/Ȓ mice with the later appearance of necrotic cells, suggesting that apoptosis was also affected in vivo. Also, ascorbate‐deficient neutrophils were not recognized by macrophages in an in vitro assay for phagocytosis, providing further evidence for defective apoptosis and clearance. Neutrophils from Gulo−/− mice had elevated levels of hypoxia‐inducible factor (HIF)‐1α, a transcription factor regulated by Fe2+‐dependent hydroxylases which require ascorbate for optimal activity. HIF‐1α has been shown previously to inhibit neutrophil apoptosis under hypoxic conditions. Our results suggest that in ascorbate deficiency, up‐regulation of HIF‐1α blocks neutrophil apoptosis under normoxic conditions and that this represents a novel and important function for vitamin C in inflammatory cells.
Fast distributed demand response algorithm in smart grid

This paper proposes a fast distributed demand response U+0028 DR U+0029 algorithm for future smart grid based on primaldual interior method and Gaussian belief propagation U+0028 GaBP U+0029 solver. At the beginning of each time slot, each end-user U+002F energysupplier exchanges limited rounds of messages that are not private with its neighbors, and computes the amount of energy consumption U+002F generation locally. The proposed demand response algorithm converges rapidly to a consumption U+002F generation decision that yields the optimal social welfare when the demands of endusers are low. When the demands are high, each end-user U+002F energysupplier estimates its energy consumption U+002F generation quickly such that a sub-optimal social welfare is achieved and the power system is ensured to operate within its capacity constraints. The impact of distributed computation errors on the proposed algorithm is analyzed theoretically. The simulation results show a good performance of the proposed algorithm.
High-Velocity Intermittent Running: Effects of Beta-alanine Supplementation

Abstract Smith-Ryan, AE, Fukuda, DH, Stout, JR, and Kendall, KL. High-velocity intermittent running: effects of beta-alanine supplementation. J Strength Cond Res 26(10): 2798–2805, 2012—The use of &bgr;-alanine in sport is widespread. However, the effects across all sport activities are inconclusive. The purpose of this study was to evaluate the effects of &bgr;-alanine supplementation on high-intensity running performance and critical velocity (CV) and anaerobic running capacity (ARC). Fifty recreationally trained men were randomly assigned, in a double-blind fashion, to a &bgr;-alanine group (BA, 2 × 800 mg tablets, 3 times daily; CarnoSyn; n = 26) or placebo group (PL, 2 × 800 mg maltodextrin tablets, 3 times daily; n = 24). A graded exercise test (GXT) was performed to establish peak velocity (PV). Three high-speed runs to exhaustion were performed at 110, 100, and 90% of PV, with 15 minutes of rest between bouts. The distances achieved were plotted over the time to exhaustion (TTE). Linear regression was used to determine the slope (CV) and y-intercept (ARC) of these relationships to assess aerobic and anaerobic performances, respectively. There were no significant treatment effects (p > 0.05) on CV or ARC for either men or women. Additionally, no TTE effects were evident for bouts at 90–110%PV lasting 1.95–5.06 minutes. There seems to be no ergogenic effect of &bgr;-alanine supplementation on CV, ARC, or high-intensity running lasting approximately 2–5 minutes in either men or women in the current study.
Please Scroll down for Article Language and Cognitive Processes beyond Alphabetic Orthographies: the Role of Form and Phonology in Transposition Effects in Katakana

This article may be used for research, teaching and private study purposes. Any substantial or systematic reproduction, redistribution , reselling , loan or sub-licensing, systematic supply or distribution in any form to anyone is expressly forbidden. The publisher does not give any warranty express or implied or make any representation that the contents will be complete or accurate or up to date. The accuracy of any instructions, formulae and drug doses should be independently verified with primary sources. The publisher shall not be liable for any loss, actions, claims, proceedings, demand or costs or damages whatsoever or howsoever caused arising directly or indirectly in connection with or arising out of the use of this material.
The application of multilevel modelling to dental caries data

Clinical studies of dental caries experience generate multiple outcome data for each participant, with information collected for each individual tooth surface. This paper investigates multilevel modelling as a method of analysis for dental caries data, allowing for full use of the data collected at surface level. Data from a clinical trial of a caries preventive agent in adolescents are modelled. The effect of tooth position within the mouth on the development of dental caries is investigated, with the results showing the importance of differentiating between the upper and lower arches, when modelling the probabilities of caries developing on teeth. Calculation of the intracluster correlation using the threshold model is suggested for use in multilevel logistic regression modelling of caries data. This model, which assumes that a dichotomous outcome is based on an underlying continuous variable with a threshold point where the outcome changes from zero to one, is identified to be appropriate for the analysis of caries which is a continuous process, but is only identified as present in a clinical trial when it has reached a certain level of severity. Copyright © 2007 John Wiley & Sons, Ltd.
High-speed centrifugation induces aggregation of extracellular vesicles

Plasma and other body fluids contain cell-derived extracellular vesicles (EVs), which participate in physiopathological processes and have potential biomedical applications. In order to isolate, concentrate and purify EVs, high-speed centrifugation is often used. We show here, using electron microscopy, receptor-specific gold labelling and flow cytometry, that high-speed centrifugation induces the formation of EV aggregates composed of a mixture of EVs of various phenotypes and morphologies. The presence of aggregates made of EVs of different phenotypes may lead to erroneous interpretation concerning the existence of EVs harbouring surface antigens from different cell origins.
Fast Nonnegative Matrix Tri-Factorization for Large-Scale Data Co-Clustering

Nonnegative Matrix Factorization (NMF) based coclustering methods have attracted increasing attention in recent years because of their mathematical elegance and encouraging empirical results. However, the algorithms to solve NMF problems usually involve intensive matrix multiplications, which make them computationally inefficient. In this paper, instead of constraining the factor matrices of NMF to be nonnegative as existing methods, we propose a novel Fast Nonnegative Matrix Trifactorization (FNMTF) approach to constrain them to be cluster indicator matrices, a special type of nonnegative matrices. As a result, the optimization problem of our approach can be decoupled, which results in much smaller size subproblems requiring much less matrix multiplications, such that our approach works well for large-scale input data. Moreover, the resulted factor matrices can directly assign cluster labels to data points and features due to the nature of indicator matrices. In addition, through exploiting the manifold structures in both data and feature spaces, we further introduce the Locality Preserved FNMTF (LP-FNMTF) approach, by which the clustering performance is improved. The promising results in extensive experimental evaluations validate the effectiveness of the proposed methods.
Using refl ecting role-plays in refl ecting teams

Refl ecting on how we refl ect Refl ection is privileged in systemic work. In our training courses, part of the art of learning to become a systemic therapist is the ability to refl ect on one’s actions, thoughts and feelings. Role-plays are often used as part of systemic trainings (e.g. Piercy et al., 1996) and can be used with families as a useful intervention, often to elicit hidden stories using dramatic playful eff ects (e.g. Wilson, 2007). We often meet families where refl ection is not privileged. Many families are caught up in diffi culties. Refl ection – that is, stepping back and thinking about what one is doing – does not seem possible; or is perhaps only a glimmer. The old saying, ‘not being able to see the wood for the trees’, captures this dilemma. Sometimes, family members are so used to battles, the possibility of taking a step back and refl ecting on the situation seems unlikely. This is where refl ecting role-play’s can contribute to fi nding ways of making a positive diff erence in our work with families. These role-plays do not replace the main therapist’s attempts to work in creative ways (for examples, see Rober, 1999) but they do, in my view, add support to both the family and therapist in helping create conditions for positive change, when conversations have got stuck or have become overly negative and rigid.
Calcium-Permeable AMPA Receptors Mediate the Induction of the Protein Kinase A-Dependent Component of Long-Term Potentiation in the Hippocampus

Two forms of NMDA receptor (NMDAR)-dependent long-term potentiation (LTP) at hippocampal CA1 synapses can be distinguished based on their sensitivity to inhibitors of protein kinase A (PKA). The PKA-dependent form requires multiple episodes of high-frequency stimulation (HFS) or theta burst stimuli (TBS) with a spacing between episodes in the order of minutes. To investigate the mechanism by which spaced episodes induce the PKA-dependent form of LTP, we have compared, in interleaved experiments, spaced (s) and compressed (c) TBS protocols in the rat CA1 synapses. We find that LTP induced by sTBS, but not that induced by cTBS, involves the insertion of calcium-permeable (CP) AMPARs, as assessed using pharmacological and electrophysiological criteria. Furthermore, a single TBS when paired with rolipram [4-(3-(cyclopentyloxy)-4-methoxyphenyl)pyrrolidin-2-one], to activate PKA, generates an LTP that also involves the insertion of CP-AMPARs. These data demonstrate that the involvement of CP-AMPARs in LTP is critically determined by the timing of the induction trigger and is associated specifically with the PKA-dependent form of LTP. SIGNIFICANCE STATEMENT Long-term potentiation is a family of synaptic mechanisms that are believed to be important for learning and memory. Two of the most extensively studied forms are triggered by the synaptic activation of NMDA receptors and expressed by changes in AMPA receptor function. They can be distinguished on the basis of their requirement for activation of a protein kinase, PKA. We show that the PKA-dependent form also involves the transient insertion of calcium-permeable AMPA receptors. These results have implications for relating synaptic plasticity to learning and memory and suggest a specific linkage between PKA activation and the rapid synaptic insertion of calcium-permeable AMPA receptors during long-term potentiation.