Miracle-dz/UniFAR-FTUs huggingface dataset:
An Improved Force Controller With Low and Passive Apparent Impedance for Series Elastic Actuators

This article presents a force controller for series elastic actuators that are used in gait robots, such as exoskeletons, prostheses, and humanoid robots. Therefore, the controller needs to increase the bandwidth of the actuator, lower its apparent impedance for disturbance rejection or effortless interaction with a human user, and to stably interact with any (dynamic) environment. For gait, these environments are changing discontinuously, thus creating regular impacts. In this article, we propose the use of an inner-loop PD controller to increase the bandwidth of the actuator, alongside an outer-loop disturbance observer (DOB) to lower the apparent impedance of the actuator. To increase the controlled bandwidth of the actuator, we introduce a novel tuning method for the PD controller that allows for independent tuning of bandwidth and damping ratio of the controlled plant. The DOB, which is introduced to reject disturbances by lowering the apparent impedance, causes the apparent impedance to turn nonpassive, resulting in potential contact and coupled instability of the actuator. To enable unconditionally stable interactions with any environment, we scale down the DOB contribution such that it lowers the apparent impedance while remaining passive. The proposed tuning method and DOB adaptation were evaluated on a test setup by identifying the torque controller's transfer behavior and the apparent impedance of the actuator. The results of these tests showed that the proposed tuning method can separately tune bandwidth and damping ratio, whereas the DOB adaptation is able to tradeoff the reduction in the apparent impedance with its passivity.
Knowledge Driven Phenotyping

Extracting patient phenotypes from routinely collected health data (such as Electronic Health Records) requires translating clinically-sound phenotype definitions into queries/computations executable on the underlying data sources by clinical researchers. This requires significant knowledge and skills to deal with heterogeneous and often imperfect data. Translations are time-consuming, error-prone and, most importantly, hard to share and reproduce across different settings. This paper proposes a knowledge driven framework that (1) decouples the specification of phenotype semantics from underlying data sources; (2) can automatically populate and conduct phenotype computations on heterogeneous data spaces. We report preliminary results of deploying this framework on five Scottish health datasets.
Mother Attitudes and Children’s Multiple Intelligence Areas According to Educational Levels of Parents

Abstract This study aims at determining the relationship between mother attitudes and multiple intelligence areas of 6-year-old children enrolled in public nursery schools according to the parents’ educational levels. The study group is composed of 300 children, 300 mothers and 300 fathers. In the study, in order to determine mother attitudes, the Parenting Styles and Dimensions Questionnaire was used. Moreover, to determine different intelligence levels of children, the Teele Inventory of Multiple Intelligences was used. The Bonferroni corrected Kruskal Wallis H Test was used. A statistically significant difference was observed between the mothers’ educational levels and their democratic and authoritarian attitude scores. Again, it was also observed that there was a statistically significant difference between the fathers’ educational levels and the authoritarian mother and the permissive mother attitude scores. As the father’s education level decreases, the mother’s attitude becomes authoritarian. Moreover, the mothers’ and the fathers’ educational levels did not make a difference between the children’s verbal-linguistic, logical-mathematical, visual-spatial, musical-rhythmic, bodily-kinesthetic, intrapersonal and social scores.
GPVI and CLEC-2 regulation and signal transduction: from development through to adulthood

The platelet collagen receptor, GPVI, and podoplanin receptor, CLEC-2, have been shown to share a common tyrosine-kinase linked signalling pathway. GPVI contains a full ITAM (YxxLn6-12YxxL) within its intracellular tail, whilst CLEC-2 contains a hemITAM (YXXL). Both receptors rely on common, key signalling proteins including Src, Syk, LAT, Btk and PLCγ2, however the biological implications of GPVI and CLEC-2 stimulation are significantly different; GPVI is implicated in haemostasis and thrombosis responses whilst CLEC-2 appears to be involved in the newer roles of platelets, such as their roles in infection, immunity, and development. It has also been shown that the organisation and importance of the signalling proteins in the pathway differ between GPVI and CLEC-2. The aims of this thesis are to explore the regulation and function of the tyrosine kinase-linked signalling pathway downstream of the two (hem)ITAM receptors in response to different stimuli at different stages of development. In this thesis, I show that both GPVI and CLEC-2 require an intact, functional Syk kinase domain of Syk to support signalling, regardless of the maintained phosphorylation of certain adapter docking sites. I also show that both GPVI and CLEC-2 are hyporeactive and expressed at lower levels on the platelet surface throughout development, and that these defects appear to be tyrosine kinase-linked pathway specific. Lastly, using samples from homozygous GPVI deficient patients, I have shown that both fibrin and fibrinogen appear to be agonists for GPVI. Overall, I have shown that are likely subtle differences in the regulation and downstream signalling of GPVI and CLEC-2 throughout development and to several different stimuli – including the novel agonists fibrin and fibrinogen.
Dental interventions in patients taking anti-resorptive medication for the treatment of osteoporosis and other bone disease: an audit of current practice in the Dublin Dental University Hospital

Medication-related osteonecrosis of the jaws (MRONJ) is a well-established complication of antiresorptive and, more recently, anti-angiogenic therapy. The dental profession has a pivotal role to play in the prevention and management of this debilitating condition, and all dentists have a responsibility to remain cognisant of national and international best practice guidelines in the prevention of this disease process. The management of patients in the Dublin Dental University Hospital at risk of MRONJ when carrying out dental interventions was audited against nationallyand internationally-published guidelines. The results of the audit showed compliance with the national and international guidance in 5% and 0% of cases, respectively. The most common measures implemented in the management of patients at risk of MRONJ were: preoperative antibiotics in 49% of cases; preoperative chlorhexidine mouthwash in 76%; plain local anaesthetic in 51%; and, post-operative antibiotics in 80%. In conclusion, we found a low level of absolute compliance to both guidelines included in this audit. This highlights a need to re-examine the evidence underpinning these guidelines to ensure best practice patient care. Early recommendations have been made based on the findings of this audit, which will help to maximise its impact on clinical care delivery and generate discussion to stimulate and support action planning. Guidelines that are not followed are indicative of differing clinical opinions, highlighting the need for clarification and guidance as our understanding of this pathological entity broadens. Corresponding author Cían J. Henry, NCHD Department, Dublin Dental University Hospital, Lincoln Place, Dublin 2. E: henryci@tcd.ie
Three-dimensional numerical study of mixed convection within a ventilated cavity (Shape ‘ L ‘) crossed by a nanofluid under the effect of a magnetic field

The present work is dedicated to the three-dimensional numerical study of mixed convection heat transfer, taking place within a ventilated cavity (of shape L) crossed by Cu-water nanofluid. The enclosure is subjected to the action of a magnetic field. The ventilation is assured by two openings of the same size. The cold flow enters by an opening practiced at the top of the left wall, and exits by another opening practiced at the bottom of the right vertical wall. All the cavity walls are maintained at the same temperature, superior to that of the entering flow, except the side walls which are considered as adiabatic. The control parameters are: the Reynolds number and the Hartmann number as well as the nanoparticles volume fraction.
Evidence of effective approaches to social and behavior change communication for preventing and reducing stunting and anemia: findings from a systematic literature review.

This review part of a broader effort by SPRING to support governments and other stakeholders in their delivery of high impact nutrition practices provides a summary of peer-reviewed evidence regarding the effectiveness of SBCC approaches to increase the uptake of three key nutrition behaviors: women’s dietary practices during pregnancy and lactation breastfeeding practices and complementary feeding practices. SBCC interventions have been broadly categorized into three areas: interpersonal communication; use of media; and community / social mobilization. This review also identifies gaps in the evidence and recommendations for further areas of study.
Régulation hybride dans les chaînes de valeur globales

Comment les dispositifs de contrôle des conditions de travail des sous-traitants des FMN s’adaptent-ils aux pressions divergentes des différents acteurs au sein des chaînes globales de valeur ? L’analyse de la genèse du programme pilote de l’OIT Better Factories Cambodia (BFC) montre comment un dispositif de régulation hybride s’est progressivement transformé et a contribué à l’émergence d’un programme global d’audit social (Better Work). L’étude revient sur les conditions d’une possible troisième voie dépassant l’opposition entre régulation publique et privée et souligne l’intérêt des analyses contextualisées et politiques des régimes de régulation socio-environnementale.
Incentive-Based Integrated Demand Response for Multiple Energy Carriers Considering Behavioral Coupling Effect of Consumers

Incentive-based demand response (DR) has been recognized as a powerful tool to mitigate supply-demand imbalance in electricity market. However, it cannot be directly applied into integrated demand response (IDR) for multi-energy systems where there are energy substitution effect among different types of energy carriers and behavioral coupling effect of consumers. In this paper, an incentive-based IDR model for multiple energy carriers considering behavioral coupling effect of consumers is proposed. The proposed model not only effectively deals with the above two effects but also enhances applicability of incentive-based DR into the scenario where curtailment DR and absorbing DR are planned simultaneously. Furtherly, the proposed IDR model is also extended to multi-period coupling IDR considering the effect of energy storage unit. The solution methodologies for the proposed model and extended model are also presented. The existence and uniqueness of optimal solution are identified. Finally, simulation results verify merits of the proposed model in cutting down total cost of multi-energy aggregator (MEA), reducing dissatisfaction of consumers, improving accuracy of optimal solution, and improving the utilization of energy storage unit.
Sequence read mapping and variant discovery from bovine breed-specific augmented reference graphs

Background: The bovine linear reference sequence was assembled from a DNA sample of a Hereford cow. It lacks diversity because it does not contain allelic variation. Lack of diversity is a drawback of linear references that results in reference allele bias. High nucleotide diversity and the separation of individuals by hundreds of breeds make cattle uniquely suited to investigate the optimal composition of variation-aware references. Results: We augment the bovine linear reference sequence (ARS-UCD1.2) with variants filtered for allele frequency in dairy (Brown Swiss, Holstein) and dual-purpose (Fleckvieh, Original Braunvieh) cattle breeds to construct breed-specific and pan-genome reference graphs using the vg toolkit. We find that read mapping is more accurate to variation-aware than linear references if pre-selected variants are used for graph construction. Graphs that contain random variants do not improve read mapping over the linear reference sequence. Breed-specific augmented graphs and pan-genome graphs enable almost similar accuracy improvements over the linear reference. We construct a whole-genome graph that contains the Hereford-based reference sequence and 14 million variants filtered for allele frequency in the Brown Swiss cattle breed. We show that our novel variation-aware reference facilitates accurate read mapping and unbiased sequence variant genotyping. Conclusions: We developed the first variation-aware reference graph for an agricultural animal using variants that were filtered for allele frequency: https://doi.org/10.5281/zenodo.3570312. The novel reference structure improves sequence read mapping and variant genotyping over the linear reference. Our work may serve as a guideline to establish variation-aware reference structures in species with high genetic diversity and many sub-populations.
Quality Assesment of Antibiotic Prescription for Sepsis Treatment in Intensive Care Unit at Top Referral Hospital in West Java, Indonesia

Background: Sepsis is a common disease in intensive care unit (ICU) with high mortality rate. Administration of antibiotic has an important role to determine the outcome of sepsis patient. This study aimed to evaluate the quality of antibiotic prescription for sepsis treatment in intensive care unit (ICU). Methods: This descriptive study was conducted by retrieving data from 48 medical records of patients with sepsis, severe sepsis, and septic shock admitted to ICU Dr. Hasan Sadikin General Hospital (RSHS) in 2013. The study was conducted from August to October 2014. Empiric therapy in the ICUat RSHS and Surviving Sepsis Campaign (SSC) guidelines in 2012 were used as a standard for antibiotic prescription. The quality of antibiotic prescription was assessed then categorized based on Gyssens criteria. The collected data were analyzed in the form of frequency and percentage and presented in tables. Results: This study discovered that most of the patients had severe sepsis and septic shock. Based on Gyssens criteria, 35% antibiotic uses were included into category 0 (proper); 1.4% category I (improper timing); 10.5% category IIA (improper dosage); 9.1% category IIB (improper interval); 3.5% category IIC (improper route); 12.6% category IIIA (improper duration; too long); 1.4% category IIIB (improper duration; too short); 16.8% category IVA (improper; other antibiotics were more effective); 4.2% category IVD (improper; other antibiotics had narrower spectrum); and 5.6% category V (improper; no indication). Conclusions: There are still improper uses of antibiotic for sepsis, severe sepsis, and septic shock patients in the ICU. DOI: 10.15850/amj.v4n2. 1088
A Literature Review of the Association Between the Mediterranean Diet and Cancer: The Tale of Two Regions

1 Chapter 1: Introduction . 2 Chapter 2: Background . 5 The Mediterranean Diet Versus the Westernized Diet . 5 The Science Behind the Food . 6 Cancer Incidence and Mortality . 9 Chapter 3: Methods . 11 Chapter 4: Results and Discussion . 12 The Westernized and Mediterranean Diets Effect on Cancer: the United States . 12 The Westernized Diet and the Mediterranean Diet Effects on Cancer: the Mediterranean Region . 14 Chapter 5: Conclusion . 16 Table 1: Literature Review on Westernized Dietary Pattern . 19 Table 2: Literature Review on Mediterranean Dietary Pattern . 20 References . 23
A Resetting Approach for INS and UWB Sensor Fusion Using Particle Filter for Pedestrian Tracking

Sensor fusion of inertial navigation system (INS) and ultrawideband (UWB) technology is an effective approach to enhance the accuracy and robustness of indoor pedestrian tracking system. The main drawbacks of state-of-the-art approaches are the number of required UWB anchors and poor system scalability in terms of cost-effectiveness when covering a large indoor area. In this article, an INS and UWB fusion system using particle filter (PF) for pedestrian tracking is proposed. The system utilizes only distance measurements from UWB anchors and incorporates a particle resetting approach. The resetting approach aims to address the lost track problem in PF, which limits the long-term reliability of PF-based fusion tracking systems. The developed pedestrian tracking system is able to provide accurate and long-term robust tracking performance, and at the same time, possesses high scalability to cover a large area of indoor environment using sparsely deployed UWB anchors. A practical experiment is conducted with test path length over 500 m to demonstrate the effectiveness of the proposed approach, which is able to reduce the mean position error by 39.42% when compared to INS only result.
Grafting Lignin with Bioderived Polyacrylates for Low-Cost, Ductile, and Fully Biobased Poly(lactic acid) Composites

It has been always attractive to design low-cost, ductile, and fully biobased polylactic acid (PLA) composites based on industrial waste lignin for promoting its practical applications in the industry. Unfortunately, existing material strategies often lead to poor processability and low ductility because of weak interfaces between lignin and PLA. Herein, we report a fully biobased functionalized lignin (Lig-g-P(LMA-co-THFMA, or Mlignin) by chemically grafting two bioderived monomers, lauryl methacrylate (LMA), and tetrahydrofurfuryl methacrylate (THFMA) via free-radical polymerization. Mlignin exhibits moderately lower melt viscosity and improved formability with PLA as compared with pristine lignin due to better interfacial combability. Because of improved interfacial adhesion, Mlignin is capable of uniformly dispersing within the PLA matrix in a submicron phase size, leading to a “sea-island” structure. As a result, the addition of 20 wt % Mlignin increases the ductility by 16 folds (from 12 to 204%) an.
Concurrent sexual partnerships amongst young adults in South Africa. Challenges for HIV prevention communication.

During 2006 CADRE working in partnership with Johns Hopkins Health and Education in South Africa (JHHESA) Johns Hopkins University Center for Communications Programs in Baltimore Health Development Africa (HDA) / Khomanani and Soul City conducted a national HIV / AIDS communication survey in South Africa. The survey followed a cross-sectional design with a nationally representative sample of 7006 respondents aged 15-65. Survey objectives included: Determining the reach and impact of national HIV communication programmes; Identifying and exploring impacts of the Department of Healths Khomanani programme at national level and in identified community action sites; Identifying and exploring impacts of the Tsha Tsha television drama series; Exploring the context of HIV risk amongst 20-30 year olds and identifying the implications for HIV / AIDS communication. This survey was followed by a qualitative study comprising interviews and focus groups with respondents aged 20-30 that was conducted by CADRE during October 2006 and March 2007. This report is one of a number of reports emerging from both studies. The present report explores both quantitative and qualitative data related to the 20-30 year age group with a focus on concurrent sexual relationships amongst heterosexual respondents. (Excerpt)
MICROBIAL PATTERN AND ANTIBIOTIC SENSITIVITY TEST OF HOSPITALIZED CHILDREN

Infection often occurs in children with malignant hematology and causes morbidity and mortality in the children. Antibiotics given must be based on culture results and antibiotic sensitivity testing. This study was aimed to obtain the microbial pattern and sensitivity test in children hospitalized in the Hemato-Oncology Ward, dr. Soetomo Hospital from September 2012 - February 2013. This was a descriptive study. Data were obtained from the patients’ medical records in Dr. Soetomo Hospital. There were 341 culture examinations (blood, urine, rectum swab, faecal, and others) from 88 patients (44 males and 44 females). Most of patients´ age was < 5 years (58%) and suffered from ALL (50%). There were microbial (83 of culture) and yeast (15 of culture) growth out of 98 cultures. Escherichia coli, Burkholderia cefacea, and Klebsiella oxytoca (Gram negative) dan CONS, Stapyloccocus aureus, and Stapylococcus sapropyticus (gram positive) were found in blood culture. S. aureus (gram positive) and E. coli, Klebsiella pneumoniae, and B. cefacea (gram negative) were found in urine culture. Only E. coli was found in rectal swab culture. CONS of gram positive cocci were mostly found in blood culture of children hospitalized in Hemato-Oncology Ward, Dr. Soetomo Hospital. E. coli was the mostly found gram negative rods. Gram positive cocci showed a high resistant to penicillin and co-trimoxazole. E. coli, mostly found in rectal swab and urine, has a high sensitivity to amikacin and meropenem, but highly resistant to ampicillin and ampicillin sulbactam.
The role of informal institutions in early-stage entrepreneurship

This thesis contributes to the literature that has sought to understand the Arabic socio-cultural phenomenon of ‘wasta’ in different aspects of business life. Until now, the relationship between using personal connections (“wasta”) to achieve goals and early-stage entrepreneurship has been neglected. The aim of thesis is to evaluate the role of “wasta” in early stage entrepreneurship in Saudi Arabia. To do so, the thesis examines how wasta, as an informal institution, affects four entrepreneurial domains: liabilities of newness; entrepreneurial orientations; tax morality and the level of start-ups’ formality. Wasta is here measured on both supply and demand sides including the institutions, activities, rewards and people participating in exchanging wasta with entrepreneurs. An exploratory sequential mixed methods approach has been adopted to achieve this. In the first phase, semi-structured interviews were conducted with 20 Saudi entrepreneurs, and analysed using thematic analysis. The findings of this phase helped to gain better and deeper understanding of the phenomenon, and design the quantitative questionnaire. The second phase, a web-based questionnaire was collected from 236 early-stage entrepreneurs in three main regions of Saudi Arabia. The data gathered in this stage was statistically tested using descriptive, correlation and regression analysis. The findings reveal a variety of positive and negative significant relationships between wasta practices on the both demand and supply sides and internal and external liabilities of newness, the four dimensions of entrepreneurial orientations, tax morality and the degree of start-ups’ formality. The practical and theoretical implications are then discussed. Recommendations for future research are then outlined.
Design and Implementation of Power Generation Bidding System in Powerhouse

The electricity market is the main buyer, seller of electricity and related services. The buyer is the electricity user and the middleman, and the seller is the power producer and auxiliary service provider. Based on the comparative we analysis of the bidding mode of the existing power generation electricity market and the characteristics of power grid economic dispatching by the actual situation of China’s national economic development, this paper puts forward two practical bidding modes for power generation electricity market. In a province of electricity market, the proposed model is feasible. This model is conducive to the operation of the power side of the electricity market and a smooth transition, it is also conducive to the optimal allocation of resources to reduce the total cost of electricity generation, reduce user electricity prices, it can also promote the rapid development of industrial and agricultural production.