Miracle-dz/UniFAR-FTUs huggingface dataset:
Efficient Collision Detection and Distance Computation with Realtime Sensor Data

Most prior techniques for proximity computations are designed for synthetic models and assume exact geometric representations. However, real robots construct representations of the environment using their sensors, and the result is usually more cluttered and less precise when compared to synthetic models. Furthermore, this sensor data can be updated at high frequency, depending on the type of sensor used. In this paper, we present new algorithms for collision and distance queries, which can efficiently handle large amounts of point cloud sensor data received at high frequency. Our algorithms speed up the construction of broad phase data structures used for culling proximity checks in two ways: 1) we construct simple broad phase structures that are improved as proximity queries are processed and 2) we directly use an octree representation of the point cloud data as a proximity data structure. When the octrees used include a probability of occupancy for their leafs, our algorithms can optionally return the set of volumes where the probability of collision is high, for specified thresholds. In practice, our new approaches can be up to 15 times faster than previous methods. We demonstrate the performance of the new methods on both synthetic data and on data collected using a Kinect for motion planning for a mobile manipulator robot.
Surgical site infections in tertiary care hospital

Introduction: Infections that occur in the wound created by an invasive surgical procedure are generally referred to as surgical site infections (SSIs). The present study was conducted to find out incidence of SSIs, correlate it with various risk factors and find the pathogens causing these infections with their antibiotic profile. METHODS: This prospective study included 90 cases, admitted for clean and clean-contaminated surgeries, in the months of June-July 2011. They were assessed preoperatively, operatively and postoperatively till 30 days of their operation to detect any SSI. Information which was collected were age, sex, patient’s risk factors like diabetic status, smoking , obesity, type of surgery ( clean or clean contaminated), duration of surgery, insertion of drain, duration of stay. Once wound infection was suspected swabs were collected from these sites and were cultured on Blood agar and Maconkey agar. The data obtained was statistically analyzed by chi square test and Odds Ratio (OR). RESULTS: The rate of SSI was 20%. The clean –contaminated cases had 1.75 times more risk of SSI as compared to clean cases. SSI was more in patients with diabetes (OR= 2.38), smoking (OR=2.08), obesity i.e. patients having BMI >30 (P<0.001), duration of surgery of more than 2 hours (P<0.002), preoperative hospital stay of more than 14 days(OR=4.2), use of drains (P<0.005),and ASA score of >1.The most common organism isolated was Esherichia coli (38.89%),followed by Klebsiella pneumoniae (22.22%), Acinetobacter baumani (22.22%) ,Staphylococcus aureus(16.67%),and Pseudomonas aeruginosa(5.56%). All the Esherichia coli and Klebsiella pneumoniae isolated were ESBLs producer and all the Staphylococci aureus were MRSA. CONCLUSIONS: To conclude, in the present study surgical site infection incidence rate was 20%. Failure of antibiotic prophylaxis seen in the present study gives importance to appropriate feedback to the surgeons which would help them in choosing proper antibiotic for prophylaxis. The achievable preventive measures should be taken to save the economic burden on patient and hospital community as a whole.
M ay 2 01 9 Friedmann equations for deformed entropic gravity

In this study, we investigate the effects of the one and two-parameters deformed systems on the Friedmann equations of the Friedmann-Robertson-Walker (FRW) universe in the context of the entropic gravity approach. We give simplified forms for the deformed Unruh temperature and Einstein field equations for three different deformed systems. Based on these compact equations, we derive the Friedmann equations with the effective gravitational and cosmological constant.
The effect and mechanisms of folic acid complement in protecting myocardium and microvascular of type 2 diabetic rats

Purpose: The aim of this study was to investigate the effect and underlying mechanisms of folic acid complement in protecting myocardium and microvascular in rat model of type 2 diabetes mellitus. Methods: The type 2 diabetes mellitus was induced by low dose streptozotocin (20 mg/kg) combined with sustained high-fat diet in Wistar rats. Experimental groups were designed as follows: normal control, diabetes mellitus, diabetes treated with insulin only, diabetes treated with insulin and folic acid. Blood pressure, blood glucose and homocysteine were measured. The index of cardiac diastolic function was evaluated by ultrasonic cardiogram. The protein expression of MMP-2/9, TIMP-1/2 in cardiac tissues was detected by immunohistochemistry and western blotting. The extracellular matrix of myocardial and microvascular was observed by transmission electron microscope. Results: The induction of streptozotocin followed by high-fat diet resulted in hypertension, hyperglycemia, hyperhomocysteine and hemodynamic anomalies, which could be ameliorated by insulin and folic acid treatment. Our results also showed significant increases in collagen IV and TIMP-1/2 protein levels and a marked decrease of MMP-2/9 activity in the diabetic cardiomyopathy. Compared with the diabetes group, the extracellular matrix of myocardial and microvascular were less deposition in treatment group. Conclusion: The insulin combined with folic acid can improve the structure reconstitution and has effective therapeutic potential in the treatment of the diabetic cardiomyopathy.
Dynamic excess pore water pressures by dynamic soil masses and dynamic water heights

Dynamic excess pore water pressures due to the vertical and horizontal components of earthquakes based on the dynamic water heights and dynamic soil masses increases with the increase in the thickness of liquefiable soil and shear wave velocity of the hard rock; and with the decrease in the density, the Poisson’s ratio and bulk modulus of the liquefiable soil, the depth of the earthquake fault and the earthquake frequency. The geotechnical profile has five layers of soils or rock, e.g. hard rock, weathered rock, hard soil, liquefiable soil and top soil. Keywords—Pore water pressure, liquefaction, bulk modulus, earthquake depth, shear wave velocity, soil density.
EXPERIMENTAL STUDY OF ULTRAFINE-GRAINED COMMERCIAL MAGNESIUM ALLOY AZ 31 PREPARED BY SEVERE PLASTIC DEFORMATION METHOD

Ultrafine-grained (UFG) magnesium materials offer unique properties, for example high strength-to-weight ratio or improved corrosion resistance. Severe plastic deformation methods are very efficient for manufacturing UFG compact bulk material. Namely equal-channel angular pressing (ECAP) and high pressure torsion (HPT) currently attract significant attention of material science community. This contribution summarizes experimental study of UFG magnesium alloys. Investigation utilized light microscopy, scanning electron microscopy, microhardness measurements and other techniques. Results are discussed in light of other experimental studies.
Multinucleon transfer reactions in 40 Ca 1 124 Sn

Angular andQ-value distributions for a large variety of charge and mass partitions populated in the rea Ca 1 Sn have been measured at 170 MeV with a new time-of-flight magnetic spectrometer. Rea channels involving the net transfer of up to six protons and six neutrons have been detected. Pop patterns, cross sections, and energy-loss distributions are compared with results of theoretical calcu based on independent single-nucleon transfer modes. The overall agreement is good, but more complex nisms may be needed to account for the larger drift towards neutron stripping revealed by the experi data. @S0556-2813 ~96! 01107-7#
Achievements and Implications of HIV Prevention Programme among Injecting Drug Users : A Systematic Evaluation of HAF II Project in Bayelsa State , Nigeria

Background: The HIV epidemic appears to be generalized with new infections occurring among persons perceived to be practicing low risk sex in Bayelsa State. The epidemic appeared to be concentrated among the sub-populations including injecting drug users (IDUs). Intervention therefore needed to ameliorate this problem hence, this paper presents achievements of HIV prevention programme among IDUs in Bayelsa state including its implications for programming. Methods: This was an intervention project conducted among injecting drug users in five purposive selected local government areas (LGAs) in Bayelsa State, Nigeria. Centre for Development and Empowerment of Commercial Motorcyclist (CEDECOM) was engaged by Bayelsa State Agency for Control of AIDS and funded under the HIV and AIDS fund (HAF) II project to scale up HIV prevention among injecting drug users. The project was carried out between April, 2016 and January, 2017. The estimated sample size for this intervention was 210 IDUs and minimum prevention package intervention (MPPI) was adopted in the implementation of this project activities. Data were entered on DHIS2 platform and later exported and analyzed using Microsoft Excel. Data were presented using descriptive statistics such as percentage, simple proportion and frequency. Results: The overall target population reached during this intervention was 440 given a target reached of 209.5%. All the 36 community dialogues that took place during the course of this project occurred in the first quarter with a total number of 54 male influencers participated in dialogues and sensitization activities during this period. A total number of 440 peers were registered during this period and a total number of 11,346 male condoms and 656 female condoms were distributed. A total of 243 (55.2%) of the registered peers were reached with all the three stages of MPPI and 427 (97.0%) were reached with HCT. Among these, 21 (4.9%) were tested positive to HIV. Conclusion: This intervention was a success as it scaled up HIV prevention services among injecting drug users in the state. To optimize the effectiveness of this type of intervention in reducing HIV infection among this risk group, future programs should be based on principles related to equity and gender balance.
Woman age limits the improvable effect of reduced oxygen concentration ( 5 % O 2 ) on human embryo quality and pregnancy potential

This study was to assess the effect of women age on embryo quality from early cleavage to day 3, and pregnancy potential under a 5% or 20% oxygen tension. One hundred seventy-four patients undergoing controlled ovarian stimulation, IVF/ICSI, and day 3 embryo transfer. Fertilized oocytes were cultured to day 3 stage under a 5% or 20% oxygen concentration. In younger women, the early cleavage (2-cell stage) rate in 20% O2 tension was significantly higher (68.3%) than that in 5% O2 (60.1%). However, the rate of day 3 good embryo developed from good early cleavage (79.1%), pregnancy (58.0%) and implantation rates (30.7%) in 5% O2 were significantly higher than those in 20% O2 (66.8%, 40.0% and 18.8%, respectively) for women <38 years of age. In older women, no matter embryo quality or pregnancy rates between 5% and 20% O2 groups were no significant difference. It is suggested that embryos from younger but not older women, cultured in 5% O2 tension, will increase the embryo quality and pregnancy rate and implantation rate.
2 6 M ay 2 01 9 Regularized Weighted Chebyshev Approximations for Support Estimation

We introduce a new method for estimating the support size of an unknown distribution which provably matches the performance bounds of the state-of-the-art techniques in the area and outperforms them in practice. In particular, we present both theoretical and computer simulation results that illustrate the utility and performance improvements of our method. The theoretical analysis relies on introducing a new weighted Chebyshev polynomial approximation method, jointly optimizing the bias and variance components of the risk, and combining the weighted minmax polynomial approximation method with discretized semi-infinite programming solvers. Such a setting allows for casting the estimation problem as a linear program (LP) with a small number of variables and constraints that may be solved as efficiently as the original Chebyshev approximation problem. Our technique is tested on synthetic data and used to address an important problem in computational biology estimating the number of bacterial genera in the human gut. On synthetic datasets, for practically relevant sample sizes, we observe significant improvements in the value of the worst-case risk compared to existing methods. For the bioinformatics application, using metagenomic data from the NIH Human Gut and the American Gut Microbiome Projects, we generate a list of frequencies of bacterial taxa that allows us to estimate the number of bacterial genera to ∼ 2300.
A Guide To RF Switching Systems

The RF & Microwave Solutions Update www.rfglobalnet. com 34 How do you design and develop a broadband complex RF switching system, or matrix, for your application that achieves great performance across the band? How do you select the best and most cost-effective RF matrix that meets your system requirements? Whether your application is a ground system, test equipment, or a communication system, RF matrix design always begins with building blocks — discrete components such as switches, amplifiers or attenuators, power dividers, and couplers. As these building blocks are assembled, there are tradeoffs between switching speed and power handling, frequency and signal conditioning, and frequency and RF performance. In order to understand the challenges in a matrix design, it is important to understand the critical building blocks, as well as the important decisions that must be made along the way. This article will explain the requirements placed on switching systems and the tradeoffs that different choices will present.
A Self-Organizing SDN Architecture for Mobile Tactical Edge Networks

Through the separation of control and data planes, software defined networking (SDN) allows a network to be effectively controlled via a logically centralized controller with a global network view. Researchers have started to explore the potentials for introducing SDN to mobile tactical edge networks (MTEN), where moving devices communication through wireless channels. However, SDN was originally developed for wired infrastructures. Its efficiency in MTEN is substantially jeopardized due to the unpredictable state of wireless links and frequent topology changes. In this paper, we design a novel hierarchical, self-organizing SDN architecture for mobile tactical edges. In this architecture, a network is dynamically partitioned into multiple temporary domains in a self-organizing manner. In each domain, a certain node is appointed as a local SDN controller for managing all other nodes in the domain. To realize this architecture, we design a self-organizing network protocol, which includes a neighborhood discovery mechanism, a distributed game-theoretic network partition algorithm, and an abstraction of dynamics. It supports the dynamic adjustment of network partitions and the local controller placement for each domain with a low (re)configuration time, hence ensures the efficiency of the hierarchical SDN architecture in MTEN.
Investigation of curved shaped carbon nano tubes behavior on an elastic foundation due to sinusoidal load using nonlocal elasticity theory

ARTICLE INFORMATION ABSTRACT Original Research Paper Received 30 June 2016 Accepted 27 August 2016 Available Online 30 October 2016 With regard to daily developments in technology, application of carbon nano tubes (CNTs) in manufacturing of many devices and equipment is widely promoted. Many sensors, nanomachines, and developments in oil, petrochemical and aerospace technologies are some of CNTs applications. Considering the importance and wide range of these applications, recognition and investigation of CNTs behavior is extremely significant. CNTs have a slight natural curvature, hence they are predominantly subjected to different transverse loads. In this research, based on nonlocal elasticity theory, possibility of snap-through and bifurcation behaviors of arch shaped CNTs due to sinusoidal load distribution and on elastic foundation are investigated and corresponding graphs are plotted. To obtain buckling critical loads, essential stability equations are derived. Finally, the results of classic theory are compared with the results of nonlocal theory and it is indicated that the dimensionless scale parameter( ), has a key effect on possibility of buckling and its type occurring. According to the results and plotted graphs, in most cases, increase in dimensionless scale parameter( ) has led to increasing the possibility of bifurcation phenomena; some other cases helped to transition from snap-through to bifurcation, meaning that the possibility of the snap-through phenomena happening has been reduced.
Radio Detection of Meteor using Forward Scattering

57 Abstract— In the current scenario, it is a common practice at an amateur level to observe meteor showers through our naked eye. But many obstacles have been encountered while observing the meteor showers; such as bad weather and light conditions. In this paper, a cost-efficient method has been proposed to observe and analyze characteristics of meteor shower, based on the 'forward scattering principle’. The proposed model has been tested and results have been presented in the paper.
gazeNet : E ND-TO-END EYE-MOVEMENT EVENT DETECTION WITH DEEP NEURAL NETWORKS ( Z EMBLYS , N IEHORSTER , AND H OLMQVIST , 2019 )

In a recent article, Zemblys et al. [1] reported on a new method for the classification of eye-movements using deep neural networks. I will refer to this paper as the “gazeNet paper”. I have found 2 errors and two problems with that paper that are explained herein. Error 1: The gazeNet machine-learningbased classification method was built assuming that a hand-scored dataset from Lund University was all collected at 500 Hz, but in fact, six of the 34 recording files were actually collected at 200Hz. Of the six datasets that were used as the training set for the gazeNet algorithm, 2 were actually collected at 200Hz. Problem 1 has to do with the fact that even among the 500Hz data, the inter-timestamp intervals varied widely. Problem 2 is that there are many unusual discontinuities in the saccade trajectories from the Lund University dataset that make it a very poor choice for the construction of an automatic classification method. Error 2 arises out of the novel event-related agreement analysis employed by the gazeNet authors. Although the authors intended to classify unmatched events as either false positives or false negatives, many are actually being classified as true negatives. True negatives are not errors, and any unmatched event misclassified as a true negative is actually driving the kappa statistic higher, whereas unmatched events should be driving the kappa statistic lower.
To help or punish in the face of unfairness: men and women prefer mutually-beneficial strategies over punishment in a sexual selection context

Consistent with a sexual selection account of cooperation, based on female choice, men, in romantic contexts, in general display mutually-beneficial behaviour and women choose men who do so. This evidence is based on a two-choice-architecture (cooperate or not). Here we extend this to include punishment options using a four-choice-architecture (‘punishing a transgressor’, ‘compensating a victim’, ‘both punishing and compensating’ or ‘doing nothing’). Both compensation (a self-serving mutually-beneficial behaviour) and self-serving punishment, are associated with positive mate qualities. We test which is preferred by males and chosen by female undergraduates. We further explore effects of trait empathy and political ideology on these preferences. In a series of three studies using a third-party punishment and compensation (3PPC) game we show (Study One), that romantically-primed undergraduate males, express a preference to either ‘compensate’ or ‘both compensate and punish’, and undergraduate women find males who ‘compensate’ or ‘compensate and punish’ the most attractive (Studies Two and Three). Compensating men are perceived as compassionate, fair and strong by undergraduate women (Study Three). High trait empathy (Studies One and Three) and a left-wing political ideology (Study Three) are associated with a preference for compensation. Thus, self-serving mutually-beneficial behaviour can be preferred over self-serving punishment as a signal of mate quality in undergraduates. Implications for the evolution of cooperation are discussed with respect to sexual selection.
Gone girl: Richardson's ground squirrel offspring and neighbours are resilient to female removal

Within matrilineal societies, the presence of mothers and female kin can greatly enhance survival and reproductive success owing to kin-biased alarm calling, cooperation in territory defence, protection from infanticidal conspecifics, joint care of young and enhanced access to resources. The removal of mothers by predators or disease is expected to increase the stress experienced by offspring via activation of their hypothalamic-pituitary-adrenal axis, increasing circulating glucocorticoids and reducing offspring survival and reproductive success. Yet, few studies have removed mothers in the post-weaning period to examine the assumed physiological and fitness consequences associated with these mortality events. We examined how the loss of a mother affects juvenile Richardson's ground squirrels' (Urocitellus richardsonii) faecal glucocorticoid metabolites and their survival. Given that neighbours are often close kin, we further hypothesized that conspecific removal would similarly diminish the fitness of neighbouring individuals. Upon removing the mother, we detected no impact on offspring or neighbouring conspecific faecal glucocorticoid metabolites in the removal year, or on overwinter survival in the following year. Furthermore, no impact on neighbour reproductive success was detected. Given the high predation rates of ground squirrels in wild populations, resilience to a changing social environment would prove adaptive for both surviving kin and non-kin.
MALAT1 promotes gastric adenocarcinoma through the MALAT1/miR-181a-5p/AKT3 axis

Gastric adenocarcinoma, which originates from the gastric mucosal epithelium, has the highest incidence among various malignant tumours in China. As a crucial long non-coding RNA, metastasis-associated lung adenocarcinoma transcript 1 (MALAT1) has been suggested to play an important role in many tumours. Here, we aimed to investigate the role and underlying mechanism of MALAT1 in gastric adenocarcinoma. Quantitative reverse transcription polymerase chain reaction was applied to determine the expression levels of MALAT1 in serum and cell lines. A CCK-8 assay and a clonogenic survival assay were used to examine cell proliferation and apoptosis. The protein level of RAC-γ serine/threonine-specific protein kinase (AKT3) was determined by western blot. Our results showed that MALAT1 was highly expressed in the serum of patients with gastric adenocarcinoma and in cell lines. Downregulating MALAT1 inhibited proliferation and promoted apoptosis of MGC-803 cells. In addition, MALAT1 directly targeted and decreased the expression of miR-181a-5p, which in turn upregulated the expression of AKT3. Further, overexpressing miR-181a-5p or directly inhibiting the AKT pathway with the inhibitor ipatasertib exhibited similar effects to MALAT1 knockdown. Our research proposes a novel mechanism where the role of MALAT1 is dependent on the MALAT1/miR-181a-5p/AKT3 axis. MALAT1 competes with AKT3 for miR-181a-5p binding, thereby upregulating the AKT3 protein level and ultimately promoting the growth of gastric adenocarcinoma.