Miracle-dz/UniFAR-FTUs huggingface dataset:
Decentralized Adaptive Path Selection for Multi-Agent Conflict Minimization

Consider multiple robots moving towards individual goals in a cluttered environment. While contacts between robots in these situations can be averted by reactive collision avoidance methods, deadlocks may arise in tight spaces if robots move along precomputed, conflicting paths. To resolve these issues, methods have been proposed which consider robots that employ communication, or centralized planning, or follow predefined rules. This work considers only decentralized planning solutions that employ minimum information, i.e., each robot has access only to the current position of its neighbors, without using any form of prediction, intent recognition or agent modeling. This leads to a study of several methods for minimum-conflict path selection among dynamic obstacles. The evaluation of these methods in varying simulated benchmarks, provides the following insights: (a) considering the “minimumconflict” path given the other agents’ current positions is critical for deadlock avoidance, (b) reasoning over a diverse set of paths that provide multiple alternatives improves path quality, and (c) accumulating cost over alternative paths by finding the agent’s best path selection in hindsight allows robots to learn effective highlevel strategies in a computationally efficient way that is adaptive to the other agents’ behavior, reducing task completion time and average path lengths. 1
ABBI, a New Technology for Sensory-motor Rehabilitation of Visual Impaired People

ABBI, the audio bracelet for blind interaction, aims to rehabilitate spatial cognition, mobility and social interaction in children and adults with visual deficits through natural audio-motor and tactile-motor interactions. ABBI is a new tool that provides spatial information on where and how the body is moving, providing significant information regarding spatial orientation, postural control, and motor coordination. Furthermore, ABBI is easy to use, and it can be applied in the first years of life.
Immunogenic synthetic peptides against mycobacteria of potential immunodiagnostic and immunoprophylactic value.

Introduction Tuberculosis continues to be a great public health problem throughout the world. 30 . 000 . 000 . new cases are reported anually of whom 5 . 000 . 000 die per year. In search for new immunoprophylactic methods to control this disease , a series of chemi­ cal and immunological studies of the Koch ' s bacil l i , capable of inducing a protective im­ mune response against the infection caused by the Mycobacterium tuberculosis have been developed . The great chemical complexity of this microorganism is seen when analyzing the Myco­ bacterium tuberculosis sonicates on Coomassie-blue stained SDS-PAGE . A large number of protein bands of different sizes can be observed , with molecular weights ranging from 1 75KD (Kilodaltons) to peptides of 6 . 000 daltons . Despite the numerous studies o n the composition o f the M . tuberculosis bacil l i , little i s known about the chemical structure of i ts proteins mainly due to the fact that only a few have been isolated and characterized in detail . To understand the biology o f M. tuberculosis our laboratory started working on the iso­ lation and chemical and immunological characterization of a series of these molecules , cen­ tering its interest in the molecules capable of inducing an immunogenic specific response in human beings . Thi s research is the purpose of this report .
Algorithms for Arithmetic Circuits

Given a multivariate polynomial f(X) ∈ F[X] as an arithmetic circuit we would like to efficiently determine: 1. Identity Testing. Is f(X) identically zero? 2. Degree Computation. Is the degree of the polynomial f(X) at most a given integer d . 3. Polynomial Equivalence. Upto an invertible linear transformation of its variables, is f(X) equal to a given polynomial g(X). The algorithmic complexity of these problems is studied. Some new algorithms are provided here while some known ones are simplified. For the first problem, a deterministic algorithm is presented for the special case where the input circuit is a ”sum of powers of sums of univariate polynomials” . For the second problem, a coRP-algorithm is presented. Finally, randomized polynomial-time algorithms are presented for certain special cases of the third problem.
Effects of plasma charging damage on the noise performance of thin-oxide MOSFET's

The effects of plasma charging damage on the noise properties of MOSFET's which is a necessary consideration for high-performance analog applications were studied using 1/f noise, Random Telegraph Signal (RTS) noise and charge pumping techniques. Plasma ashing significantly increases the drain flicker noise, more with larger antenna sizes, mainly in the low-frequency and low-gate-bias regime. The observed RTS reveals that an oxide trap with a few milliseconds time constant was induced by the plasma processing. This oxide trap is located in the energy space which corresponds to the low gate bias of device. This trap may be reproduced by Fowler Nordheim stress as suggested by noise and charge pumping measurements, supporting the notion that plasma ashing damage is a result of electrical stress, not radiation, for example. <<ETX>>
Tissue regeneration in stroke: cellular and trophic mechanisms

Stroke is a leading cause of morbidity in the developed world and results in chronic disability in many cases. The literature related to the critical factors that regulate tissue self-regeneration in stroke is still limited, which restricts effective therapy. However, optimism in this area has been provided by recent research. The mechanisms involved in tissue regeneration and the mode of the participation of stem/progenitor cells and soluble protein neurotrophic factors in this process may yield a more complete understanding of the nature of stroke. This review summarizes the current understanding of both cellular and humoral issues with a particular emphasis on how these issues contribute to tissue regeneration in stroke.
Design of CMOS core for practical examination of DC references [educational aid]

The objective of this paper is to present a CMOS core, for educational purposes, which has been developed with two goals in mind. The first is to demonstrate and learn the basic theory of analog integrated DC circuits. The second goal is to use a practical approach, which gives possibilities for configuration of many circuits so that the students can actively participate in the process of education. For that purpose, the architectures of widely used analog circuits are analyzed. On this basis, the analog DC core is implemented. This is the way to acquire more experience and new knowledge, by comparing the simulated with measurement results. The core is to be used in bachelor's and master's degree programs, which include analog integrated circuit design, microelectronics and computer-aided design (CAD) courses. The core is designed using modern and low cost 0.35 /spl mu/m CMOS Si technology.
Normal 0 false false false EN-US X-NONE X-NONE Crystal and molecular structure of muga wild silk fibres based on [Ala-Gly] n sequence using LALS technique

X-ray diffraction pattern of muga wild silk fibres has been recorded using imaging plate system (Dip-100S). In order to identify various Bragg reflections and to compute X-ray intensities of these reflections, fibre processing software (CCP13) has been used. A molecular model is first constructed with standard bond lengths and angles using helical symmetry and layer-line spacing observed in the X-ray pattern. The model is then refined against observed X-ray data using linked atom least squares method. The crystal and molecular structure of muga wild silk fibres are compared with reported domestic and wild silk fibre. We could get good R–factor with refinement of a model having beta-pleated sheet structures formed by hydrogen bonds having antipolar – antiparallel arrangement.
High-Performance Deep Submicron Ge pMOSFETs With Halo Implants

Ge pMOSFETs with HfO2 gate dielectric and gate lengths down to 125 nm are fabricated in a Si-like process. Long-channel hole mobilities exceed the universal curve for Si by more than 2.5 times for vertical effective fields as large as 1 MV/cm. The mobility enhancement is found to be relevant at submicron gate lengths, and a drive current of 1034 muA/mum is achieved for L=125 nm at VG-VT=VD=-1.5 V. The introduction of halo implants allows significantly improved control of short-channel effects, with approximately three orders of magnitude reduction in source junction off-current. VT rolloff and drain-induced barrier lowering are reduced from 207 mV and 230 mV/V to 36 mV and 54 mV/V, respectively, for the highest n-well dose investigated. Four key logic benchmarking metrics are used to demonstrate that Ge is able to outperform Si down to the shortest investigated gate length, with an almost twofold improvement in intrinsic gate delay. ION=722 muA/mum is demonstrated for IOFF=11 nA/mum at a power supply voltage of -1.5 V, when evaluating from the source.
Measurement and Partial Characterization of Immunoreactive Glucagon in Gastrointestinal Tissues of Dogs

We have reported previously that increasing amounts of immunoreactive glucagon (IRG), measured by four specific antisera, appeared in plasma of depancreatized insulin-deficient dogs. It was therefore concluded that pancreatectomy was not accompanied by glucagon deficiency in the dog, but instead excessive amounts of extrapancreatic IRG could contribute to the diabetic syndrome. In order to locate the source of extrapancreatic glucagon, tissue extracts were assayed with anti-glucagon sera 30-K and K-44, which cross-react minimally with crude gut extracts. IRG was detected in all gastrointestinal tissues and in the salivary glands, but not in extracts of liver, kidney, brain, heart atrium, and adenohypophysis. Immunologic dilution curves of extracts from all gastrointestinal tissues were parallel to those of the pure pancreatic glucagon standard, and both antisera (30-K and K-44) measured the same concentrations. The highest concentration of gastrointestinal IRG was found in the fundus and corpus of the stomach. Presence of IRG in gastrointestinal tissues of depancreatized dogs indicates that gastrointestinal cells can not only secrete but also store large amounts of IRG. Extracts of mucosa of stomach fundus were further purified by gel filtration on Biogel P-30 columns. The immunoreactivity in the eluate was assayed by 30-K and a strongly crossreacting antibody, K-4023. One pooled fraction corresponding to marker pancreatic glucagon in its elution volume was found to contain the largest amount of IRG and the highest specific immunoreactivity (IRG/protein concentration). This fraction showed also the highest activity in a glucagon-receptor assay system. Disc gel electrophoresis in the presence of urea resolved this fraction into three immunoreactive components, one of which was identical to pancreatic glucagon in its electrophoretic mobility. It appears, therefore, that mucosa of the upper stomach in the dog contains a polypeptide similar to pancreatic glucagon. We conclude that (a) hyperglucagonemia in the dog can result from excessive secretion of IRG not only by the pancreatic α cells but also by cells of the gastrointestinal tract; (b) the highest IRG concentration was found in fundus and corpus of the stomach and lower concentrations throughout the gastrointestinal tract; (c) the IRG component in the stomach displayed immunologic and physical properties similar to pancreatic glucagon.
Future trends in Animal Breeding due to new genetic technologies

The Darwin theory of evolution by natural selection is based on three principles: (a) variation; (b) inheritance; and (c) natural selection. Here, I take these principles as an excuse to review some topics related to the future research prospects in Animal Breeding. With respect to the first principle I describe two forms of variation different from mutation that are becoming increasingly important: variation in copy number and microRNAs. With respect to the second principle I comment on the possible relevance of non-mendelian inheritance, the so-called epigenetic effects, of which the genomic imprinting is the best characterized in domestic species. Regarding selection principle I emphasize the importance of selection for social traits and how this could contribute to both productivity and animal welfare. Finally, I analyse the impact of molecular biology in Animal Breeding, the achievements and limitations of quantitative trait locus and classical marker-assisted selection and the future of genomic selection.
Anti‐BP180 autoantibodies as a marker of poor prognosis in bullous pemphigoid: a cohort analysis of 94 elderly patients

The prognosis of bullous pemphigoid (BP), a disorder which usually affects elderly patients, is not well established and conflicting data have been reported about the mortality rate of the disease. Our objective in this study was to assess the clinical and immunological factors determining survival in a prospective series of 94 patients with BP. A cohort of 94 consecutive patients with BP (mean age ±SD: 81 ±4 years) was studied over an 8‐year period (1987–94) in one department and patients followed up for at least 1 year. The diagnosis of BP was made on clinical criteria (using a standardized questionnaire), direct immunofluorescence (IF) findings (i.e. linear deposits of IgG and/or C3 along the basement membrane zone) and confirmed by direct immunoelectron microscopy and/or Western immunoblotting. Our analysis (median duration of follow‐up: 5 years) showed that 37% of BP patients were dead within a year of starting treatment. The clinical or immunological factors which may influence the prognosis of BP were studied according to the criterion of death or survival by the end of the first year of treatment. None of the following factors was found to be significantly linked to the prognosis in BP: age, sex, extent of skin lesions at presentation, presence of mucosal lesions, blood eosinophilia, or the presence of circulating basement membrane zone autoantibodies by indirect IF. An impaired general condition and a history of coronary artery disease indicated a bad prognosis. The presence of circulating autoantibodies against BP180 autoantigen but not autoantibodies against BP230, as detected by immunobiotting on epidermal extracts, was found to be significantly more frequent (60% vs. 25%) in BP patients who died within the first year of treatment (P < 0·01). We conclude that the presence of circulating autoantibodies against BP180 represents the first intrinsic prognostic factor that has been demonstrated in BP. This result supports the growing body of evidence for the pathophysiological importance of the anti‐BP180 autoantibodies.
Are 12CO lines good indicators of the star formation rate in galaxies

In this paper, we investigate the relevance of using the ^(12)CO-line emissions as indicators of star formation rates (SFRs). For the first time, we present this study for a relatively large number of ^(12)CO transitions (12) as well as over a large interval in redshift (from z∼ 0 to 6). For the nearby sources (D≤ 10 Mpc) , we have used our previously published homogeneous sample of ^(12)CO data, mixing observational and modelled line intensities. For higher z sources (z≥ 1) , we have collected ^(12)CO observations from various papers and completed the data set of line intensities with model predictions which we also present in this paper. Finally, for increasing the statistics, we have included recent ^(12)CO(1–0) and ^(12)CO(3–2) observations of intermediate-z sources. Linear regressions have been calculated for identifying the tightest SFR–^(12)CO-line luminosity relationships. We show that the total^(12)CO, the ^(12)CO(5–4), the ^(12)CO(6–5) and the ^(12)CO(7–6) luminosities are the best indicators of SFRs (as measured by the far-infrared luminosity). Comparisons with theoretical approaches from Krumholz & Thompson and Narayanan et al. are also performed in this paper. Although in general agreement, the predictions made by these authors and the observational results we present here show small and interesting discrepancies. In particular, the slope of the linear regressions for J_(upper)≥ 4 ^(12)CO lines is not similar between theoretical studies and observations. On the one hand, a larger high-J^(12)CO data set of observations might help to better agree with models, increasing the statistics. On the other hand, theoretical studies extended to high-redshift sources might also reduce such discrepancies.
Acute decreases in cerebrospinal fluid glutathione levels after intracerebroventricular morphine for cancer pain.

UNLABELLED Intracerebroventricular (ICV) morphine administration is effective for the management of refractory cancer pain. Recent preclinical observations of acute depletion of the major endogenous intracellular antioxidant glutathione (GSH) in brain and peripheral organs after ICV morphine in rodents led us to apply microchemical methods to profile the neurochemical effects of ICV morphine in three patients treated for intractable cancer pain. Assessment of morphine, morphine-6-glucuronide, and a panel of endogenous compounds and metabolites in ventricular and cisternal cerebrospinal fluid (CSF) demonstrated transient, postdose increases in morphine and morphine-6-glucuronide in ventricular and cistemal CSF, accompanied by acute decreases in CSF GSH levels. Significant changes were also observed in the CSF levels of 4-hydroxybenzoic acid, homovanillic acid, 5-hydroxyphenyllactic acid, and uric acid. These pilot clinical observations of acute central GSH depletion after ICV morphine suggest a novel mechanism for neuropsychiatric toxicity or preclinical findings, such as hyperalgesia or increased motoric activity observed in nonhuman species after central morphine administration. Because ICV morphine is a mainstay of treatment for refractory cancer pain, elucidation of a mechanism's (or mechanisms') mediating a potential pro-oxidant state in the central nervous system induced by ICV morphine is important. IMPLICATIONS We observed acute decreases in glutathione levels in cerebrospinal fluid sampled from patients after intracerebroventricular doses of morphine for intractable cancer pain. Such doses may, by depleting the antioxidant glutathione, render the central nervous system vulnerable to damage from oxidative stress.
Insurance Coverage and Care of Patients with NonST-Segment Elevation Acute Coronary Syndromes

TO THE EDITOR: Calvin and colleagues (1) report that patients insured by Medicaid (but not Medicare) were less likely to receive evidence-based care for nonST-segment elevation acute coronary syndromes than were patients insured by health maintenance organizations or other private payers. However, the authors did not distinguish whether patients received Medicaid coverage through a managed care programan important limitation. In 2001, at the time of study enrollment, Medicaid provided health coverage to nearly 34 million Americans, 18.8 million (56%) of whom were enrolled in managed care programs (2). Moreover, 19 states had active Section 1115 waivers to implement statewide mandatory managed care enrollment for Medicaid beneficiaries and 14 states had enrolled 75% or more of their Medicaid beneficiaries in managed care programs (2). Health maintenance organizations have been shown to favorably select younger and healthier Medicaid beneficiaries for enrollment (3); thus, Calvin and colleagues' study focuses on a selected subset of the Medicaid population. Rather than comparing the average Medicaid beneficiary with the average health maintenance organization enrollee, their analysis compared Medicaid beneficiaries who have fee-for-service coverage, who are likely to be older and less healthy, with all individuals with private insurance, whether it was employer-based, purchased individually, or provided by Medicaid. Also, until November 2003, Calvin and colleagues categorized all patients enrolled in either Medicaid or Medicare dichotomously (yes if the patient was enrolled in either) and therefore could not distinguish patients enrolled in Medicaid or Medicare before this time. Patients younger than age 65 years enrolled in either Medicaid or Medicare were categorized as having Medicaid, whereas those age 65 years or older were categorized as having Medicare. However, from 2000 to 2004, the proportion of nonelderly Medicare beneficiaries has grown steadily to 15% of all Medicare beneficiaries (4). What proportion of the 6999 patients categorized as Medicaid beneficiaries was, in fact, Medicare beneficiaries who were totally or permanently disabled or had end-stage renal disease is not clear. Calvin and colleagues should be commended for their examination of an important and understudied topic: quality of care for Medicaid beneficiaries. However, because of the limitations of their principal independent variable, their results cannot inform policymakers and health care professionals in the growing number of states who have enrolled most of their Medicaid beneficiaries in managed care programs.
Increasing Nurses’ Access to Evidence Through a Web-Based Resource

This article describes an institution’s efforts to help nurses integrate evidence into practice through the development of a Web-based resource. After assessing nurses’ attitudes and use of evidence resources, a Web site was created to provide a central location for accessing and using evidence. Nurses who utilized the Web site had more favorable attitudes toward evidence-based practice and were more likely to access evidence resources.
THE EFFECTS OF TANNIC ACID ON THE FITNESS-RELATED TRAITS OF LYMANTRIA DISPAR L. LARVAE

In this study we investigated the effects of tannic acid on fitness-related traits in gypsy moth larvae from two differently adapted populations. Thirty two full-sib families from oak (suitable host plant, Quercus population), and twenty six full-sib families from locust-tree (unsuitable host plant, Robinia population) forests were reared on artificial diets with or without a 5% tannic acid supplement. Tannic acid shortened the duration of larval development till the 4 th instar in the Robinia population, and decreased the mass of larvae from both Quercus and Robinia populations. Local adaptation was not recorded for any of the examined traits. In general, regardless of population origin, genetic variation (broad-sense heritability) was higher in larvae fed on the diet containing tannic acid than in larvae fed on the control diet. Variability of phenotypic plasticity was significant for the examined traits, except for larval duration traits in Quercus larvae, point- ing to the potential of gypsy moth larvae from both populations for the evolution of adaptive plastic responses to new environmental conditions and the presence of stressors. Genetic correlations between the environments were positive and significantly different from "one" and accordingly, do not represent constraint for the evolution of plasticity.
New delay-dependent robust stability criterion for neutral stochastic neural networks with time delays

In this paper, the problem of delay-dependent robust stability for uncertain neutral stochastic neural networks with time delays is considered. Based on Lyapunov stability theory combined with linear matrix inequalities (LMIs) techniques, some new delay-dependent stability conditions in terms of LMIs are derived by introducing some free weighting matrices and using Leibniz-Newton formula which can be selected properly to lead to less conservative results. Finally, a numerical example is given to illustrate the feasibility and effectiveness of the results.