Miracle-dz/UniFAR-FTUs huggingface dataset:
Method of adaptive gripper drive control signal formation

Anthropomorphic gripper is basic component of anthropomorphic robots determining its functionality. Structural scheme provides reliable interaction with nondeterminate external objects. Each actuating system has three output links realizing three degrees of freedom. Movement through individual motors increases gripper dimensions. It determined designing of new type grippers with group drive in actuating system. Interaction between actuating system and external objects realizes in two stages: grasping and holding. In grasping the links execute motions consequently from proximal to distal, output parameters are angles of their relative rotation. Control is performed according to open circuit. actuating system can grasp external objects in nine ways. In holding the output parameter is a force created by the last link got in touch with external objects. Formation of control signal for closed loop control realization includes: registration of links rotation angles, revelation of output link, formalization of calculated parameters. Then the second stage actions are performed: calculation of reduced moment according to required force on output link, control of moment on motor providing minimization of noncoincidence between actual and indicated value. The first stage operations are common for all anthropomorphic robots constructions. Calculated correspondences of the second stage are determined by individual characteristics of applied motion transmission system.
'Parasitoid' species and assemblages: convenient definitions or misleading compromises?

In contrast to similar terms such as herbivore, predator or parasite, the term parasitoid is, a commonly defined, taxonomically restricted. Insects alone are typically regarded as parasitoids. Nonetheless, there are a great many other organisms with essentially functionally identical biologies. These include species of nematode, fungus, protist, bacteria and virus. Thus, inter-kingdom and inter-phyletic competition within the parasitoid guild may be important in generating some of the observed patterns in insect parasitoid assemblages
Optimal critical mass for the two-dimensional Keller–Segel model with rotational flux terms

Our aim is to show that several important systems of partial differential equations arising in mathematical biology, fluid dynamics and electrokinetics can be approached within a single model, namely, a Keller-Segel-type system with rotational flux terms. In particular, we establish sharp conditions on the optimal critical mass for having global existence and finite time blow-up of solutions in two spatial dimensions. Our results imply that the rotated chemotactic response can delay or even avoid the blow-up. The key observation is that for any angle of rotation α∈(-π, π], the resulting PDE system preserves a dissipative energy structure. Inspired by this property, we also provide an alternative derivation of the general system via an energetic variational approach. ©2020 International Press.
Coagulation Tests and Selected Biochemical Analytes in Dairy Cows with Hepatic Lipidosis

Padilla-Arellanes S. , F. Constantino-Casas, L. Nunez-Ochoa, J. Doubek, C. VegaMurguia, J. Bouda: Coagulation Tests and Selected Biochemical Analytes in Dairy Cows with Hepatic Lipidosis. Acta Vet. Brno 2007, 76: 541-546. The aim of this study was to determine the values and changes in conventional and optimised clotting tests, as well as in selected biochemical analytes during hepatic lipidosis in postpartum dairy cows. Ten healthy and ten Holstein cows with hepatic lipidosis were selected based upon clinical history, clinical examination, liver biopsy, flotation test and histological analysis of hepatic tissue. Prothrombin time (PT) and partial thromboplastin time (PTT) were determined in non-diluted and diluted blood plasma samples. Clotting times determined in diluted plasma samples were prolonged in cows with hepatic lipidosis and there was a difference in the PT value at both 50% and 25% plasma dilutions between both groups of animals (P = 0.004 and P = 0.001). Significant differences between healthy animals and cows with hepatic lipidosis were observed in blood serum values for free fatty acids (FFA), aspartate aminotransferase (AST) and triacyglycerols ( P = 0.001, P = 0.007 and P = 0.044), respectively. FFA and liver biopsy are better diagnostic indicators for hepatic lipidosis than coagulation tests. The optimised PT is prolonged in cows with hepatic lipidosis and can detect this alteration that cannot be appreciated using conventional PT test.
Does severe air pollution affect firm innovation: evidence from China

ABSTRACT This study investigates the influence of air pollution on firm innovation by using Chinese listed firms. Our results indicate that firms headquartered in a city with severe air pollution tend to engage less in innovation activities. To more explicitly identify causality, we establish a 2SLS where the air quality is instrumented by the local thermal inversions. This negative effect is primarily driven by brain drain channels, specifically the migration of highly skilled employees. In addition, such a negative effect is more pronounced for firms with low employee salaries and those belonging to competitive industries. The results are robust to a variety of model specifications and alternative measures.
Expression, purification and crystallization of a functional core of the voltage-dependent calcium channel β subunit

Two versions of the functional core of the rabbit voltage-dependent calcium channel β2a subunit were expressed in Escherichia coli. These proteins were purified to homogeneity and screened for crystallization. Crystallization conditions were refined using the hanging-drop vapour-diffusion method and two crystal forms were pursued. Crystal form I is represented by thick rods with tetragonal symmetry, unit-cell parameters a = b = 75, c = 165 A and a diffraction limit of 3.4 A which were obtained using ammonium sulfate as a precipitant. Crystal form II gives rise to plates with orthorhombic symmetry, unit-cell parameters a = 35, b = 75, c = 165 A and a diffraction limit of 2.3 A which were grown using polyethylene glycol 20K as a precipitant.
OBSERVATIONS ON NATURAL CLONES IN HOLCUS MOLLIS

Summary Morphological examination of a group of fifty-eight isolates of Holcus mollis from natural hill vegetation suggested that the collection was composed of four plant-types only. Further experiments proved that there were major discontinuities between the plant-types, and relatively little heterogeneity within them. It is argued that each plant-type corresponds to a single colonizing seedling. Acceptance of this interpretation implies that natural stands of H. mollis contain very few genotypes, some of them replicated very many times, and this fits in with the presumed cytological history of the species. One of the genotypes observed was found in an area over half a mile across, in an ecological non-uniform terrain, so that the actual migration route might have been much longer.
Loss of nitrogen and phosphorus in tile drainage as influenced by urea application and grazing animals

The effects of urea fertiliser and grazing dairy cattle on the amounts of N and P forms transported in tile drainage from permanent pasture were investigated. In 4 weeks after an application of urea (60 kg N/ha) in July 1975 the increased loss of nitrate (NO3) and total nitrogen (TN) in tile drainage accounted for 2.0 and 2.3% respectively, of the applied fertiliser N. Grazing resulted in a dramatic increase in the concentrations of dissolved inorganic P (DIP) and particulate P (1.5- and 40-fold increases respectively). Concentrations of both NO3 and TN increased 5-fold immediately after grazing, although this effect was less sustained than that caused by urea application. Grazing was of comparable importance to urea application of the loss of NO3 and TN in tile drainage. The greater increase in the loss of particulate P (46.9 g/ha/4 weeks), compared to that of DIP (23.1 g/ha/4 weeks), resulted from a 50% increase in the amount of sediment carried. A 17% reduction in the amount of water discharged after g.
Contrasting Sociality in Two Widespread, Generalist, Mustelid Genera, Meles and Martes

Abstract. The genera Meles and Martes both belong to the family Mustelidae, both exhibit similar life history traits, ecology and foraging behaviour, and yet while Meles species are facultatively social, all Martes species are solitary. We compare and contrast the socio-biology of these two genera, establishing that as generalist omnivores both experience similar conditions of resource dispersion, but have intrinsic differences in their morphological and physiological capacity to exploit resources. The rotund body-type of badgers predisposes them to be able to tolerate conditions of restricted food security, by buffering periods of scarcity with increased body-mass. Badgers also use torpor to cope with seasonal food scarcity, and conserve energy by remaining within complex subterranean dens. Martens, in contrast, must maintain a lean, elongate body-type for effective hunting and thus do not store energy as increased body-mass to a comparable extent. Martens do not exhibit torpor and their dens are simple. We conclude that these differences prevent martens from being able to tolerate restricted food security; the type of precursive aggregation fundamental to the formation of social groups observed in badgers. We argue that the Japanese badger is transitionary in the development of integrated social organisation, forming spatial groups with extended juvenile philopatry.
The collapse of benthic macroalgal blooms in response to self-shading

Summary 1. Our goal was to use physiological indicators [photosynthesis–irradiance (P–I) response, nutrient status], population level feedbacks (self-shading) and ambient environmental conditions (dissolved nutrients, light, temperature) to improve our understanding of the seasonal and spatial population dynamics of Cladophora. 2. Cladophora grew in three distinct phases, rapid growth early in the season (May–July), a mid-season population collapse (July–August) and autumn re-growth. Across all sites and dates, mean net maximal photosynthesis [PM (NET)] was 6.9 ± 3.9 mg O2 g DM−1 h−1, and α was 0.055 ± 0.025 mg O2 g DM−1 μm photons−1 m−2. Mean values for critical irradiance (ICR) and the half-saturation light intensity (IK), were 42.9 ± 32.1 and 189.3 ± 123.8 μm photons−1 m−2 s−1 respectively. 3. At most sites growth was phosphorus-limited. Values of α were significantly higher at a site influenced by a nutrient enriched river plume, where algal growth was phosphorus-sufficient. 4. Photoinhibition was not apparent in any of our P–I experiments. Even if photoinhibition had been apparent during in vitro P–I experiments, population level photosynthetic rates in the field would be little affected because intense self-shading restricts inhibiting irradiances to the upper few mm–cm of the algal canopy. 5. Our physiological (P–I response) experiments contradicted previous assertions that high ambient temperatures, or nutrient deficiency, were primary causes of mid-summer sloughing. In our study, sloughing occurred simultaneously at nutrient enriched and nutrient deficient sites, at temperatures well below critical values found during in vitro experiments, and our indicator of physiological condition (P–I response) remained unchanged leading up to, or immediately after, the sloughing event. 6. Self-shading can reduce the convexity of the P–I response within in vitro incubations, even when the amount of algal material is low. Our experiments used 0.08 g DM of algal material that formed clumps c. 1 cm thick. Under these conditions, we estimated negligible (<1%) effects on PM, a 12% reduction in apparent values of α, and 14% and 17% increases in values of the α-dependent terms ICR and IK, respectively. 7. Our results are consistent with the hypothesis that a population-level negative feedback (self-shading) is responsible for sloughing in dense macroalgal beds. Sloughing was probably inevitable once macroalgal bed density and thickness surpassed a critical threshold. Cells towards the base of the bed received insufficient light to maintain metabolic balance, began to decay and weaken, and became increasingly susceptible to physical detachment from shear stress.
QUALIDADE DE VIDA DE PESSOAS COM HIPERTENSÃO E DIABETES NA ATENÇÃO BÁSICA: REVISÃO INTEGRATIVA

Doencas cronicas nao transmissiveis sao a maior causa de morbimortalidade no mundo, com destaque para a hipertensao e o diabetes, que tendem a afetar a qualidade de vida das pessoas acometidas. Este estudo, de revisao integrativa, objetiva analisar evidencias cientificas sobre as acoes de cuidado na promocao da qualidade de vida de pessoas com hipertensao e diabetes na atencao basica a saude. A busca de estudos foi realizada mediante tres cruzamentos na Biblioteca Virtual de Saude, utilizando a estrategia Prisma. Foram selecionados 19 estudos, publicados em revistas indexadas nas bases de dados Lilacs e BDENF. Os resultados evidenciaram ser necessario conhecer as condicoes de saude dos pacientes para planejar intervencoes destinadas a publicos especificos. Ademais, ressalta-se a relevância da educacao em saude visando ao autocuidado e a corresponsabilizacao no tratamento. Tambem foi possivel identificar a importância de o trabalho ser compartilhado por uma equipe multiprofissional. A revisao integrativa propoe que o cuidado em prol da qualidade de vida de pessoas com hipertensao e diabetes seja conduzido colaborativamente, com base nos contextos de vida. Palavras-chave: Qualidade de vida. Hipertensao. Diabetes mellitus. Atencao primaria a saude.
Natural variation and conservation of Lepidium sisymbrioides Hook, f. and L. solandri Kirk (Brassicaceae) in South Island, New Zealand, based on morphological and DNA sequence data

Abstract The South Island, New Zealand, endemics Lepidium sisymbrioides and L. solandri are accepted at species rank. L. solandri Kirk is reinstated and includes L. matau Petrie in synonymy, and L. kawarau is reduced to synonymy of L. sisymbrioides. Twenty‐nine floral and vegetative morphological characters were measured and used for analyses of character variation and principal components analysis. Leaf characters proved to be the most useful in distinguishing between L. sisymbrioides and L. solandri, with 12 of the 15 leaf characters having significantly different means. Only 7 of the 14 floral characters included in the study have significantly different means. In comparison to L. solandri, L. sisymbrioides has longer and narrower terminal and primary pinnae and cauline leaves, more secondary pinnae and cauline leaf lobes, less hairy sepals and ovaries, narrower ovaries, and shorter filaments. L. sisymbrioides occurs on rock outcrops in the upper Manuherikia, Waitaki, and Kawarau river valleys. L. solandri grows mainly on alluvium and outwash gravels in semi‐arid parts of inland Canterbury and Central Otago. DNA sequence data from ITS, ETS, and trnL‐trnF markers were used to examine phylogenetic patterns in L. sisymbrioides and L. solandri, and the related species L. kirkii, L. naufragorum, and L. tenuicaule. There is substantial variation in these markers in L. sisymbrioides and L. solandri, and this is considered to be due to introgression from other species of Lepidium, such as L. kirkii and L. tenuicaule. Much of the variation in the ETS sequences occurs in samples of L. sisymbrioides and L. solandri from the Manuherikia River valley, and this can be attributed to geneflow with the sympatric L. kirkii. Lepidium sisymbrioides and L. solandri are considered to be “Acutely Threatened, Nationally Endangered” using the New Zealand threatened plant classification criteria. In this assessment both species are considered to be data poor. Further field survey for new populations is required.
Etude biomathématique du nombre de glandes peltées des feuilles de Mentha × piperita

The enumeration of peltate glands on Mentha ×piperata leaves was carried out with respect to the date of leaf initiation and the state of its development. For this purpose, observations were made using scanning electron microscopy associated with a mathematical method based on a precise description of gland dispersal on the leaf blade surface. The number of glands can thus be estimated by using only a few photographs of the foliar region located at 2/5 of the leaf length, measuring from the base. The analyses demonstrate a consistency in the number of peltate glands for a given foliar verticil, when the leaf height is equal to or greater than 10 mm. Furthermore, these analyses indicate that the number of peltate glands vary as a function of the level of the foliar verticil. This number increases progressively in verticils 1 to 10, stabilizes, and then decreases in the last verticils produced. This reduction may originate in the meristematic activity that is gradually oriented towards efflorescence. Key wo.
Das akute Lungenversagen (ARDS) und Einsatzspektrum der ECMO-Unterstützung

ZUSAMMENFASSUNG Über viele Jahrzehnte galt die invasive Beatmung als die letzte Eskalationsstufe intensivmedizinischer Maßnahmen für Patienten mit einem akuten Lungenversagen. In den letzten 2 Jahrzehnten kamen als weitere Maßnahmen vermehrt extrakorporale Gasaustauschsysteme „künstliche Lungen“ zum Einsatz (Extracorporeal-life-support, ECLS-Systeme). Die Anzahl der Anwendungen hat in den letzten Jahren bei schwerstkranken Patienten deutlich zugenommen, trotz einer qualitativ geringen wissenschaftlichen Datenlage. Befürworter des Verfahrens betonen, dass es sich um ein Lungenersatzverfahren handelt und um keine Therapie im eigentlichen Sinne. Damit wird auf die sensible Indikationsstellung hingewiesen, die das vermeintliche Regenerationspotenzial des akuten Lungenversagens richtig einschätzen muss. Ein häufiges Problem von klinischen Studien im Bereich der Intensivmedizin ist das heterogene Patientenkollektiv. Die meisten Intensivpatienten sind hochkomplex erkrankt, sodass entweder die Kohorten sehr klein sind oder doch eine Verzerrung diskutiert werden muss. Dieses Problem hatten bisher natürlich auch ECMO-Studien. Die aktuell ablaufende SARS-Coronavirus-2-Pandemie bietet eventuell die Gelegenheit einer homogenen ARDS-Patientengruppe. Extrakorporale Gasaustauschsysteme sollten in spezialisierten Zentren mit ausreichender Erfahrung angewendet werden für eine kritische Indikationsstellung und eine möglichst komplikationsarme technische Durchführung.
Investigation “Tiny House” in urban kampung: sustainable living or responding to scarcity?

Competition on land use for settlements and offices or business areas in big cities in Indonesia, an especially metropolitan city such as Jakarta, have resulted in high land prices. This competition is a result of shifting settlements away from the city centre and people having to commute to the city centre every day to go to their workplaces. This problem occurs not only in developing countries but also in many developed countries. Tiny House Movement later emerged in developed countries and has been considered as one solution to deal with this problem. Living in a tiny house does not only mean living in a small-sized house, but also adapting to a simpler life, becoming less consumptive, being more connected to nature and caring for the environment. Living in a tiny house is not something new to Indonesian society. For people who live in the urban kampung, their place of living can also be considered as tiny houses, albeit having a different appearance to the ones in developed countries. This is what distinguishes between the understanding of tiny house between developed countries and Indonesia. This paper will discuss whether a tiny house is suitable to be applied in the lives of urban communities in Indonesia and whether tiny houses can be said as sustainable living. This research will use both qualitative methods (through interviews with urban kampung communities) and quantitative methods (measurements of tiny houses in urban kampung) to retrieve information. Through this research, it was found that urban kampung residents have applied the tiny living principle in their lives.
Leitfaden digitale Physiotherapie – Therapie per Video

Die Corona-Pandemie hat Physiotherapeuten besonders hart getroffen. Von heute auf morgen digitale Angebote auf die Beine zu stellen, war eine Herausforderung für eine Berufsgruppe, die es sonst gewohnt ist, direkt am Menschen zu arbeiten. Der Leitfaden gibt eine Orientierung im Tele-Dschungel.
Automated Identification of Optically Sensed Aphid (Homoptera: Aphidae) Wingbeat Waveforms

Abstract An optical sensor was used to make digital recordings of wingbeat waveforms for the five most common aphids found on Guam: Aphis craccivora Koch, A. gossypii Glover, A. nerii Fonscolombe, Pentalonia nigronervosa Coquerel, and Toxoptera citricida (Kirkaldy). Wingbeat frequencies for each species overlapped all other species. However, mean wingbeat frequencies were significantly different for all species. Wingbeat frequencies and harmonic patterns were extracted from the recordings and submitted to cluster analysis, which failed to separate species completely. Several nearest neighbor and probabilistic neural network classifiers were built using time series, frequency spectra, wingbeat frequencies, and harmonic patterns as input variables. These classifiers were evaluated by having them identify wingbeat waveforms from aphids collected and recorded after their construction. The best performing classifier model was a probabilistic artificial neural network trained using 256-bin frequency spectra as input. Sixty-nine percent of the waveforms presented to this network were identified correctly. This study demonstrates the feasibility of developing an insect flight monitor that automatically counts and identifies individual flying insects. Essential components of the monitoring system are a photosensor, a multimedia personal computer, and software that identifies wingbeat frequency spectra using an artificial neural network.
Unraveling Scaling Properties of Slow‐Slip Events

A major debate in geophysics is whether earthquakes and slow‐slip events (SSEs) arise from similar failure mechanisms. Recent observations from different subduction zones suggest that SSEs follow the same moment‐duration scaling as earthquakes, unlike qualitatively different scaling proposed by earlier studies. Here, we examine the scaling properties using dynamic simulations of frictional sliding. The resulting sequences of SSEs match observations from the Cascadia subduction zone, including the earthquake‐like cubic moment‐duration scaling. In contrast to conventional and widely used assumptions of magnitude‐invariant rupture velocities and stress drops, both simulated and natural SSEs have rupture velocities and stress drops that increase with event magnitudes. These findings support the same frictional origin for both earthquakes and SSEs while suggesting a new explanation for the observed SSEs scaling.
Evaluation of Gill-Net Sampling for Estimating Abundance and Length Frequency of Reservoir Shad Populations

Abstract Horizontal and vertical gill nets were used to intensively sample gizzard shad Dorosoma cepedianam and threadfin shad D. petenense in Lake Texoma, Texas–Oklahoma, in August 1991. We evaluated spatial patterns, sampling precision, mesh-size selectivity, and sample sizes required to detect differences in shad abundance. Abundance patterns differed among species, length-groups, and sampling sites. Age-0 shad occurred mainly near the surface, whereas older fish were more evenly distributed over depth. Spatial variation in abundance was more pronounced among embayments than between nearshore and offshore sites within embayments. Spatial aggregation of shad was similar to that reported for a variety of other aquatic organisms, suggesting that experimental designs for gill-net surveys should incorporate statistical approaches similar to those used in other sampling programs. With horizontal gill nets, investigators can estimate median catch rate (number per net) within 25% of the true median with 95% ce.