Miracle-dz/UniFAR-FTUs huggingface dataset:
Formation control of multi-agent system considering obstacle avoidance

This paper deals with distributed and cooperative control algorithm to make each agents to form a formation for a second-order system. However, when forming a formation with a multi-agent system, there is a possibility that the agents collide with each other or collide with obstacles other than the agent. Also, if the agents avoid other agents and obstacles, the distance between agents may be temporarily too far apart. In order to solve these problems, this paper proposes a control algorithm which consists of Leader-Follower structure, consensus algorithm and artificial force based on artificial potential field. For the control algorithm to make agents achieve formation in a decentralized cooperative way, we derive the condition concerning the control gain to ensure stability. In addition, by comparing the amount of energy, we design conditions that ensure collision avoidance between agents, collision avoidance with obstacles, and distance between agents, and also design potential functions that satisfy the conditions. The validity of the control algorithm proposed in this paper is verified by numerical simulations.
Land plants drive photorespiration as higher electron-sink: comparative study of post-illumination transient O2 -uptake rates from liverworts to angiosperms through ferns and gymnosperms.

In higher plants, the electron-sink capacity of photorespiration contributes to alleviation of photoinhibition by dissipating excess energy under conditions when photosynthesis is limited. We addressed the question at which point in the evolution of photosynthetic organisms photorespiration began to function as electron sink and replaced the flavodiiron proteins which catalyze the reduction of O2 at photosystem I in cyanobacteria. Algae do not have a higher activity of photorespiration when CO2 assimilation is limited, and it can therefore not act as an electron sink. Using land plants (liverworts, ferns, gymnosperms, and angiosperms) we compared photorespiration activity and estimated the electron flux driven by photorespiration to evaluate its electron-sink capacity at CO2 -compensation point. In vivo photorespiration activity was estimated by the simultaneous measurement of O2 -exchange rate and chlorophyll fluorescence yield. All C3-plants leaves showed transient O2 -uptake after actinic light illumination (post-illumination transient O2 -uptake), which reflects photorespiration activity. Post-illumination transient O2 -uptake rates increased in the order from liverworts to angiosperms through ferns and gymnosperms. Furthermore, photorespiration-dependent electron flux in photosynthetic linear electron flow was estimated from post-illumination transient O2 -uptake rate and compared with the electron flux in photosynthetic linear electron flow in order to evaluate the electron-sink capacity of photorespiration. The electron-sink capacity at the CO2 -compensation point also increased in the above order. In gymnosperms photorespiration was determined to be the main electron-sink. C3-C4 intermediate species of Flaveria plants showed photorespiration activity, which intermediate between that of C3- and C4-flaveria species. These results indicate that in the first land plants, liverworts, photorespiration started to function as electron sink. According to our hypothesis, the dramatic increase in partial pressure of O2 in the atmosphere about 0.4 billion years ago made it possible to drive photorespiration with higher activity in liverworts.
Appropriate use of polypharmacy for older patients.

Multidisciplinary interventions that address polypharmacy decrease inappropriate prescribing and medication-related problems in patients 65 years and older, but it is not clear if they reduce hospital admissions or improve quality of life. Most interventions studied were led by pharmacists or health systems rather than physicians. Only one study used computerized decision-making support.
Dissipative control for linear systems via PID controller

In this paper a new type of proportional-integral-derivative (PID) controllers is designed to make the closed-loop linear system asymptotically stable and strictly quadratic dissipative. First, we give a state-space realization for such PID controller and then derive the state-space realization of closed-loop system. Second, a necessary and sufficient condition ensuring the closed-loop system to be asymptotically stable and quadratic dissipative is derived in terms of linear matrix inequality (LMI). Based on this result, the explicit expression for the PID controller gains is presented. Finally, an illustrative example is given to demonstrate the effectiveness of the proposed design approach.
The possible modulatory role of estradiol and the influence of rising stress hormone levels for the ageing brain

Background: Obesity, physical inactivity, and altered estrogen metabolism play integrated role contributing to the disease risk profiles of postmenopausal women (PMW). Aim: To study the correlation of body fat and blood lipids with autonomic nervous system activity in PM Indian women. Subjects and Methods: A total of 60 PM sedentary women without any gross systemic disease were selected as a control group and 23 PMW, who were regularly doing morning walk for 1‐year was selected as a study group. Body mass index (BMI), waist/hip (W/H) ratio were recorded; lipid profile analyzed, and conventional autonomic function tests were carried. Results were analyzed using SPSS version 16. Results: There was a significant difference in BMI, W/H ratio, lipid profile, autonomic function tests between the two groups. Aging and menopausal duration (MD) were positively correlated with pulse rate, systolic blood pressure, total cholesterol (TC), low‐density lipoprotein (LDL) cholesterol, orthostatic tolerance test (OTT), and negatively correlated with Valsalva ratio (VR), deep breath test (DBT), 30:15 relative risk (RR) intervals ratio, isometric hand‐grip test (HGT), cold pressor test (CPT). BMI and W/H ratio were positively correlated with TC, triglyceride, LDL cholesterol, OTT, and negatively correlated with isometric HGT, CPT. TC and LDL were negatively correlated with VR, deep breath difference test, 30:15 RR interval ratios, isometric HGT, CPT, and positively correlated with OTT. Multiple regression analysis revealed LDL cholesterol as the only significant independent explanatory variable of DBT. LDL cholesterol and age were the significant independent explanatory variables of 30:15 RR interval ratios, CPT. TC, LDL cholesterol, and age were the significant independent explanatory variables of isometric HGT. Conclusions: Aging, MD, BMI, and W/H ratio all contribute significantly to worsening of autonomic functions and lipid profile. Multiple regression analysis revealed LDL cholesterol as the most significant contributor of worsening of autonomic functions in PM females and regular exercise can improve these parameters significantly.
PCB dechlorination in Hudson River sediment.

quency of these offspring groups is simply the frequency ofthe mother's genotype times the probability that a female of that genotype will be polygamous (1, 1 -gl, and 1 g2 for mm, mM, andMM females, respectively). Each of the remaining 70 offspring groups are produced by a monogamous mating between a female with one of the seven genotypes capable of monogamy and a male having one of the ten genotypes. The frequency of each of these offspring groups equals the product of the frequencies of the two genotypes involved in the mating times the probability that the female is monogamous (g, andg2 for mM and AMM mothers, respectively). Let us number the offspring groups in arbitrary order from 1 to 80, and let f be the frequency ofoffspring groups ofthejth type. Lety,j be the frequency of the ith genotype in the jth offspring group. The yi,j values are derived in the usual way from knowledge ofthe parents' genotypes and the value of r. Finally, let zj denote the frequency of altruists in thejth type ofoffspring group [zj = b(YJ + Y4.j + Y8sj) + h2(Y2,j + Y5,j + Y6,j + Y9,j) + ±3(Y3,j + Y7,j + ylo,j)]. We may now write:
Risk Factors for Hip Fracture in Older Men: The Osteoporotic Fractures in Men Study (MrOS)

Almost 30% of hip fractures occur in men; the mortality, morbidity, and loss of independence after hip fractures are greater in men than in women. To comprehensively evaluate risk factors for hip fracture in older men, we performed a prospective study of 5994 men, primarily white, age 65+ years recruited at six US clinical centers. During a mean of 8.6 years of 97% complete follow‐up, 178 men experienced incident hip fractures. Information on risk factors including femoral neck bone mineral density (FNBMD) was obtained at the baseline visit. Cox proportional hazards models were used to calculate the hazard ratio (HR) with 95% confidence intervals; Fine and Gray models adjusted for competing mortality risk. Older age (≥75 years), low FNBMD, currently smoking, greater height and height loss since age 25 years, history of fracture, use of tricyclic antidepressants, history of myocardial infarction or angina, hyperthyroidism or Parkinson's disease, lower protein intake, and lower executive function were all associated with an increased hip fracture risk. Further adjustment for competing mortality attenuated HR for smoking, hyperthyroidism, and Parkinson's disease. The incidence rate of hip fracture per 1000 person‐years (PY) was greatest in men with FNBMD T‐scores <–2.5 (white women reference database) who also had 4+ risk factors, 33.4. Men age ≥80 years with 3+ major comorbidities experienced hip fracture at rates of 14.52 versus 0.88 per 1000 PY in men age <70 years with zero comorbidities. Older men with low FNBMD, multiple risk factors, and multimorbidity have a high risk of hip fracture. Many of these assessments can easily be incorporated into routine clinical practice and may lead to improved risk stratification. © 2016 American Society for Bone and Mineral Research.
A Hybrid Approach for Evaluating Environmental Impacts for Urban Transportation Mode Sharing

The current paper presents an AHP based approach for evaluating sustainable transport solution measures like car-sharing, park and ride, access control zones etc. In the first stage, we identify the indicators (criteria) for evaluating the transportation solution measure. These indicators (criteria) can be divided into several sub-indicators (sub-criteria). In the second stage, we allot weights to the indicators and sub-indicators using AHP. The values for the sub-indicators are measured using multiple sources and multiplied with their weights in order to compute state change variable values that form part of the city state equation. The respective values of the state change variables in the city state equation are then used to evaluate the efficiency of the transportation solution measure. Finally, we illustrate our approach by giving an example of car-sharing and measuring its impact on city environmental conditions.
Twenty-Five Years With the Biopsychosocial Model of Low Back Pain—Is It Time to Celebrate? A Report From the Twelfth International Forum for Primary Care Research on Low Back Pain

Study Design. An integrated review of current knowledge about the biopsychosocial model of back pain for understanding etiology, prognosis, and interventions, as presented at the plenary sessions of the XII International Forum on LBP Research in Primary Care (Denmark; October 17–19, 2012). Objective. To evaluate the utility of the model in reference to rising rates of back pain-related disability, by identifying (a) the most promising avenues for future research in biological, psychological, and social approaches, (b) promising combinations of all 3 approaches, and (c) obstacles to effective implementation of biopsychosocial-based research and clinical practice. Summary of Background Data. The biopsychosocial model of back pain has become a dominant model in the conceptualization of the etiology and prognosis of back pain, and has led to the development and testing of many interventions. Despite this back pain remains a leading source of disability worldwide. Methods. The review is a synthesis based on the plenary sessions and discussions at the XII International Forum on LBP Research in Primary Care. The presentations included evidence-based reviews of the current state of knowledge in each of the 3 areas (biological, psychological, and social), identification of obstacles to effective implementation and missed opportunities, and identification of the most promising paths for future research. Results. Although there is good evidence for the role of biological, psychological, and social factors in the etiology and prognosis of back pain, synthesis of the 3 in research and clinical practice has been suboptimal. Conclusion. The utility of the biopsychosocial framework cannot be fully assessed until we truly adopt and apply it in research and clinical practice. Level of Evidence: N/A
Heparin release from thermosensitive polymer coatings: in vivo studies.

Biomer/poly(N-isopropylacrylamide)/[poly(NiPAAm)] thermosensitive polymer blends were prepared and their application as heparin-releasing polymer coatings for the prevention of surface-induced thrombosis was examined. The advantage of using poly (NiPAAm)-based coatings as heparin-releasing polymers is based on the unique temperature-dependent swelling of these materials. At room temperature, i.e., below the lower critical solution temperature (LCST) of poly (NiPAAm), the Biomer/(poly(NiPAAm) coatings are highly swollen. The high swelling enables fast loading of hydrophilic macromolecules (e.g., heparin) into the coating by a solution sorption technique. At a body temperature, i.e., above the LCST of poly (NiPAAm) the coatings are in a deswollen state and the absorbed macromolecules may be slowly released from a dense coating via a diffusion controlled mechanism. Biomer/poly(NiPAAm) coatings were obtained by blending and coprecipitation of the two linear polymers, Biomer and (poly(NiPAAm). The structure and water-swelling properties of the coatings were examined. Significant differences in water swelling at room temperature (RT) and 37 degrees C were observed as a result of the thermosensitivity of poly (NiPAAm). The surface structure of the coatings in dry and swollen states at RT and 37 degrees C was examined by scanning electron microscopy. Heparin was loaded into the coatings via a solution sorption at room temperature. Kinetic studies of heparin loading demonstrated that maximum loading was obtained within 1 h. The in vitro (37 degrees C) release profiles were characterized by a rapid initial release due to the squeezing effect of the collapsing polymer network, followed by a slower release phase controlled by heparin diffusion through the dense coating. The short-term antithrombogenicity of intravenous polyurethane catheters coated with heparin-releasing Biomer/poly(NiPAAm) thermosensitive coating was evaluated in a canine animal model. The results show that the heparin release from Biomer/poly(NiPAAm)-coated surfaces resulted in a significant reduction of thrombus formation on test surfaces in contact with venous blood as compared to control surfaces.
Replacement variant histone genes contain intervening sequences

The nucleotide sequences of two chicken histone genes encoding replacement variant H3.3 polypeptides are described. Unlike the replication variant genes of chickens (and almost all other organisms), these genes contain intervening sequences; introns are present in both genes in the 5' noncoding and coding sequences. Furthermore, the replacement variant histone mRNAs are post-transcriptionally polyadenylated. The locations, but not the sizes, of the two introns within the coding segments of the two genes have been exactly conserved, whereas the intron positions in their respective 5' flanking regions differ. Although both H3.3 genes predict the identical histone polypeptide sequence, they are as different from one another as each of them is from a more common replication variant H3.2 gene in silent base substitutions within the coding sequences. Thus, the H3.3 polypeptide sequence has been precisely maintained over a great evolutionary period, suggesting that this class of histones performs a strongly selected biological function. Although replacement variant histones can account for more than 50% of the total H3 protein in the nuclei of specific chicken tissues, the steady-state level of H3.3 mRNA is nearly the same (and is quite low) in all tissues and ages of animals examined. These properties suggest novel mechanisms for the control of the basal histone biosynthesis which takes place outside of the S phase of the cell cycle.
Age-stratified risk of unexpected uterine sarcoma following surgery for presumed benign leiomyoma.

BACKGROUND Estimates of unexpected uterine sarcoma following surgery for presumed benign leiomyoma that use age-stratification are lacking. PATIENTS AND METHODS A retrospective cohort of 2,075 patients that had undergone myomectomy was evaluated to determine the case incidence of unexpected uterine sarcoma. An aggregate risk estimate was generated using a meta-analysis of similar studies plus our data. Database-derived age distributions of the incidence rates of uterine sarcoma and uterine leiomyoma surgery were used to stratify risk by age. RESULTS Of 2,075 patients in our retrospective cohort, 6 were diagnosed with uterine sarcoma. Our meta-analysis revealed 8 studies from 1980 to 2014. Combined with our study, 18 cases of leiomyosarcoma are reported in 10,120 patients, for an aggregate risk of 1.78 per 1,000 (95% confidence interval [CI]: 1.1-2.8) or 1 in 562. Eight cases of other uterine sarcomas were reported in 6,889 patients, for an aggregate risk of 1.16 per 1,000 (95% CI: 0.5-4.9) or 1 in 861. The summation of these risks gives an overall risk of uterine sarcoma of 2.94 per 1,000 (95% CI: 1.8-4.1) or 1 in 340. After stratification by age, we predict the risk of uterine sarcoma to range from a peak of 10.1 cases per 1,000, or 1 in 98, for patients aged 75-79 years to <1 case per 500 for patients aged <30 years. CONCLUSION The risk of unexpected uterine sarcoma varies significantly across age groups. Our age-stratified predictive model should be incorporated to more accurately counsel patients and to assist in providing guidelines for the surgical technique for leiomyoma.
On Proving with Event-B that a Pipelined Processor Model Implements its ISA Specification

Microprocessor pipelining is a well-established technique that improves performance and reduces power consumption by overlapping instruction execution. Verifying, however, that an implementation meets this ISA specification is complex and time-consuming. One of the key verification issues that must be addressed is that of overlapping instruction execution. This can introduce hazards where, for instance, a new instruction reads the value from a register which will be written by an earlier instruction that has not yet completed. Using Event-B’s support for refinement with automated proof, a method is explored where the abstract machine represents directly an instruction from the ISA that specifies the effect that the instruction has on the microprocessor register file. Refinement is then used systematically to derive a concrete, pipelined execution of that instruction. Microarchitectural considerations are raised to the specification level and design choices can be verified much earlier in the flow. The method proposed therefore has the potential to be integrated into an existing high-level synthesis methodology, providing an automated design and verification flow from high-level specification to hardware.
MPF components and meiotic competence in growing pig oocytes

Growing pig oocytes (≤90 μm in diameter) are unable to resume meiosis in vitro. The objective of our present experiments has been to identify the reasons for meiotic competence in these cells. By comparing histone H1 kinase activity in growing and fully grown oocytes we demonstrate that incompetence is associated with an inability to activate H1 kinase in growing oocytes. Immunoblotting was used to determine whether this kinase inactivity resulted from a lack of either p34cdc2 protein or B‐type cyclin. The results established that each of these cell cycle molecules are present in comparable amounts in both growing and fully grown oocytes. In the third series of studies experiments were carried out in an attempt to induce p34cdc2 activation during growth. Treatment with okadaic acid, an inhibitor of phosphatase 1 and 2A known to stimulate and accelerate the transition into M‐phase of the meiotic cycle in a number of different species, was able to induce p34cdc2 kinase activity and facilitated the G2‐ to M‐phase in growing oocytes.
Nτ-Methylhistidine content of organs and tissues of cattle and an attempt to estimate fractional catabolic and synthetic rates of myofibrillar proteins of skeletal muscle during growth by measuring urinary output of Nτ-methylhistidine

1. Distribution of Nτ-methylhistidine (3-methylhistidine; Me-His) among organs and tissues in cattle was determined. From the amount of Me-His in skeletal muscle protein and daily urinary output of Me-His, fractional catabolic and synthetic rates of myofibrillar proteins of skeletal muscle during growth were calculated. 2. More than 93.4% of the total Me-His (35.6 mg/kg body-weight) in the analysed cattle tissues occurred in skeletal muscle protein. The amount of Me-His in tissues other than skeletal muscle was relatively small. Daily urinary excretion of Me-His in the cattle which were fed on hay and concentrate was 135 mg at a growing stage of 217 kg body-weight and 145 mg at a stage of 312 kg. The Me-His content of foodstuffs was also carefully checked in the present investigation. Assuming that absorbed dietary Me-His in quantitatively excreted in the urine without delay, the contribution of Me-His in foodstuffs was calculated to be approximately 30 % of the urinary Me-His. Rumen protozoa and bacteria contained little Me-His. 3. From these results, fractional catabolic and synthetic rates of myofibrillar proteins of the cattle at a growing stage of 217 kg body-weight were calculated to be 1.22%/d (half-life 56 d) and 2.73%/d, while these rates at a stage of 312 kg body-weight were 1.02%/d (half-life 67 d) and 1.51%/d respectively. These values were calculated on the same assumptions as those for the rat (Young et al. 1972; Funabiki et al. 1976). Of the Me-His present in foodstuffs 94% was tentatively assumed to be excreted into urine.