Miracle-dz/UniFAR-FTUs huggingface dataset:
Human-like Planning for Reaching in Cluttered Environments

Humans, in comparison to robots, are remarkably adept at reaching for objects in cluttered environments. The best existing robot planners are based on random sampling of configuration space- which becomes excessively high-dimensional with large number of objects. Consequently, most planners often fail to efficiently find object manipulation plans in such environments. We addressed this problem by identifying high-level manipulation plans in humans, and transferring these skills to robot planners. We used virtual reality to capture human participants reaching for a target object on a tabletop cluttered with obstacles. From this, we devised a qualitative representation of the task space to abstract the decision making, irrespective of the number of obstacles. Based on this representation, human demonstrations were segmented and used to train decision classifiers. Using these classifiers, our planner produced a list of waypoints in task space. These waypoints provided a high-level plan, which could be transferred to an arbitrary robot model and used to initialise a local trajectory optimiser. We evaluated this approach through testing on unseen human VR data, a physics-based robot simulation, and a real robot (dataset and code are publicly available1). We found that the human-like planner outperformed a state-of-the-art standard trajectory optimisation algorithm, and was able to generate effective strategies for rapid planning- irrespective of the number of obstacles in the environment.
Participación del cerebelo en la regulación del afecto, la emoción y la conducta

Introduction. In recent decades there has been a significant increase in the number of articles that have drawn attention to the possible importance ofthe role of the cerebellum in non-motorfunctions. Schmahmann and Sherman, for example, have described the cognitive, behavioural and emotional pattern of what has been called cerebellar cognitive affective syndrome. A central aspect of this disorder is the dysregulation of affect that occurs when lesions involve what has been called the limbic cerebellum (mainly the vermis). Development. A non-systematic review of the most important literature on the role of the cerebellum in emotional and behavioural regulation was carried out. Two lines of analysis were followed. The first of them was the study of the psycho-pathological symptoms or neuropsychiatric disorders presented by patients suffering from different cerebellar pathologies ranging from congenital pathologies such as agenesis of the cerebellum, dysplasia or hypoplasia to other acquired diseases like tumours in the posterior fossa, cerebellitis or superficial siderosis. In such cases it has been seen that when the cerebellar vermis is compromised, patients display disorders affecting their behaviour and emotions, and psychiatric pathologies are more frequent. In the second line, we analysed the role played by the cerebellum in different psycho-pathological disorders in which the structure of the cerebellum was found to be altered. Although not universal, these alterations were consistent, since they involve the cerebellar vermis. Conclusions. Although the body of evidence continues to grow, a critical review of the scientific literature leads us to reflect on evolution in the study of the cerebral substrate underlying the cognitive functions and the evolution undergone by this study.
Mucus-associated microbiotas among different body sites of wild tuna from the South China Sea

The mucus-associated symbionts have profound impacts on the pathogen defense, metabolism, and development of aquatic animals. To understand the microbial structure of regional endothermic fish, a total of 52 samples from the skin, oral, gill, and hindgut of wild tuna Thunnus albacares and T. obesus were determined by 16S amplicon sequencing. The results showed the diversity and composition of microbial communities varied in the four different body sites of tunas, with a greater heterogeneity between the external surface and the gut. Phyla Proteobacteria, Firmicutes, Actinobacteria and genus Acinetobacter were found in high relative abundance in all body sites. The other abundant taxa were enriched in different body sites, such as Lactobacillus and Kocuria in the skin and Geobacillus in the gut. The core taxa interacted with each other to different degrees in the four body sites, which may be related to species’ co-evolution and microbial community stability. Finally, the correlation between biomarkers and COG functions highlighted the importance of microbial biomarkers to the host. This work firstly characterized the microbial feature in different body sites of wild tunas, providing a foundational dataset to understand the microbial role in endothermic fish and to find key microbial components beneficial to farmed tunas.
Kidney tonifying traditional Chinese medicine: Potential implications for the prevention and treatment of osteoporosis

The aging global population is increasingly affected by osteoporosis (OP), which is one of the most significant threats to the elderly. Moreover, its prevention and treatment situations have become increasingly severe. Therefore, it is imperative to develop alternatives or complementary drugs for preventing and treating osteoporosis. Kidney tonifying traditional Chinese medicine (KTTCM) has been used for the treatment of osteoporosis for a long time. Pharmacological studies have shown that kidney tonifying traditional Chinese medicine can promote osteoblasts, inhibit osteoclasts, and regulate the level of estrogen and plays vital roles in stimulating osteogenesis, restraining adipogenesis of marrow mesenchymal stem cells (MSCs), regulating the metabolism of calcium and phosphorus, and inhibiting oxidative stress. These effects are mediated by OPG/RANKL/RANK, BMP/Smads, MAPKs, and Wnt/β-catenin systems. To develop a safe, synergistic, effective, and homogenized TCM formula with robust scientific evidence to provide faster and more economical alternatives, the anti-osteoporosis ingredients and pharmacological mechanisms of kidney tonifying traditional Chinese medicine are recapitulated from the perspective of molecular and cell biology, and the safety and toxicity of kidney tonifying traditional Chinese medicine have also been reviewed in this paper.
Antibacterial quaternary ammonium chitosan/carboxymethyl starch/alginate sponges with enhanced hemostatic property for the prevention of dry socket

Tooth extraction commonly leads to postoperative wound bleeding, bacterial infection, and even the occurrence of dry socket. Therefore, developing a biomedical material with favorable antibacterial and excellent hemostatic properties to prevent the post-extraction dry socket is necessary. Herein, quaternary ammonium chitosan/ carboxymethyl starch/alginate (ACQ) sponges are developed via Ca2+ cross-linking, electrostatic interaction, and lyophilization methods. The results show that the bio-multifunctional sponges exhibit interconnected porous structures with significant fluid absorption rates and suitable water vapor transmission rates. In vitro cellular and hemolysis experiments indicate that the developed sponges have acceptable biocompatibility. Notably, the constructed sponges effectively inhibit the growth of E. coli, S. aureus, and C. albicans, as well as achieve rapid hemostasis in the mouse liver injury and mini-pig tooth extraction models by absorbing blood and promoting red blood cell adhesion. Thus, the created bio-multifunctional sponges show tremendous promise as a hemostatic material for wound management after tooth extraction.
The use of intravenous gammaglobulin in dengue fever, a case report.

: We managed a serologically documented case of dengue fever with thrombocytopenia with IV IgG. Acute and convalescent ELISA and HI titers indicated an acute dengue infection with a secondary response that clinically, and by laboratory parameters dramatically improved after IV IgG administration. The use of IV IgG in cases of thrombocytopenia associated with dengue has both theoretical advantages and disadvantages. IV IgG may have a role in the management of DHF/DSS because of the significant morbidity and mortality associated with DHF/DSS. A prospective randomized study should be developed to determine if IV IgG does indeed effect the course of thrombocytopenia in dengue infections.
Diffusion-weighted MRI in Anterior Spinal Artery Stroke of the Cervical Spinal Cord

The authors present a case of anterior spinal artery stroke demonstrated by diffusion-weighted MRI (DWI) using single-shot echo-planar imaging. DWI clearly demonstrated hyperintensity with a decreased apparent diffusion coefficient (ADC) at 26 hours after onset. At 28 days, there was persistent hyperintensity with an increased ADC, corresponding to T2-weighted hyperintensity in the whole spinal gray matter at the C2-C7 vertebral level. DWI provided satisfactory images and was helpful for diagnosing and evaluating anterior spinal artery stroke.
Competencias blandas y calidez en enfermería: Definiciones, concepción y características.

El trabajo del enfermero se centra en el cuidado del paciente, para lo cual se requiere el dominio de habilidades O competencias especificas. Habitualmente estas habilidades se separan en "duras" y "blandas", relacionandose las primeras al dominio del conocimiento profesional. Por su parte, las habilidades o competencias blandas son "aquellas capacidades, disposiciones o destrezas necesarias para el desarrollo de una tarea de manera efectiva, y que marcan la diferencia en el otro cuando se usa un tono agradable o produce una grata experiencia". Las competencias blandas influyen en gran medida en el desempeno del enfermero en el campo laboral, y en el grado de exito de esta labor. En este articulo se revisan trabajos cientificos que tienen como finalidad el analisis de la satisfaccion del usuario de servicios de salud o su evaluacion de la calidad de la atencion recibida. En todos estos trabajos, la labor de los enfermeros es senalada por los usuarios como un factor indispensable para calificar el nivel de satisfaccion. Ademas, los atributos que caracterizan la labor de los enfermeros y que influyen en esta calificacion no se hayan asociado principalmente a competencias tecnicas de los enfermeros, sino que mas bien a competencias blandas, entre ellas, la comunicacion, la confianza, la escucha activa, la cordialidad, la amabilidad y el trato tierno acompanado de una sonrisa. De esta revision surge la calidez como la competencia mas relevante que trasciende a las otras mencionadas, siendo el atributo diferenciador de la atencion prestada desde la perspectiva del usuario.
Utilité des anticorps antiprotéines citrullinées dans le diagnostic et le pronostic de la polyarthrite rhumatoïde

Si les facteurs rhumatoides, marqueurs traditionnels de la polyarthrite rhumatoide, sont des anticorps assez sensibles, ils ne sont pas tres specifiques. En revanche, les anticorps antiproteines citrullinees sont recemment apparus comme ayant une sensibilite raisonnable et une specificite elevee, une capacite a diagnostiquer la polyarthrite rhumatoide de facon precoce et a predire les formes les plus agressives de la maladie. Meme si une sensibilite plus elevee serait souhaitable, la detection des anticorps antiproteines citrullinees satisfait la plupart des exigences requises pour un bon marqueur serologique de la polyarthrite rhumatoide. Leur valeur pronostique constitue une indication pour un traitement agressif. En consequence, leur addition aux criteres de l'American College of Rheumatology permettrait d'ameliorer les performances de ces criteres de classification.
The epidemiology of viral hepatitis in the United States.

: Hepatitis types A, B, and C are the most important forms of viral hepatitis in the Unites States. High-risk sexual and drug use behavior have been associated with epidemics of hepatitis A and endemic transmission of both hepatitis B and hepatitis C. Immune globulin preparations and vaccines have been developed that effectively prevent hepatitis A and hepatitis B. In the absence of such preventive measures, the prevention of hepatitis C will depend on a better understanding of the host and environmental factors that facilitate transmission of this disease.
Asi olgularinin adli-tibbi açidan incelenmesi Medico-legal examination of hanging

Hanging is usually fatal and it is one of the most preferred method of suicide due to can be applied easily at any environment. In hanging particularly serious injuries is seen on the neck structures. Vascular injuries, cervical spine injury, laryngeal, tracheal injury can be seen or cerebral edema, intracranial hemorrhage can be occurred secondary to neck injury. In survivors of hanging, epilepsy, pulmonary complications such as acute respiratory distress syndrome, pulmonary edema, and bronchopneumonia are frequently observed. Hanging is a serious health problem that requires urgent intervention and post-professional care. Hanging has a high mortality despite early and accurate intervention. However the relief of neck structures and the treatment of accompanying complications can increase survival. In this study, we aimed that once again attract attention one of the most preferred way of suicide hanging cases, raise awareness of community on this issue and emphasize the importance of the early interventions in patients with near hanging. J Clin Exp Invest 2015; 6 (4): 400-405
Suplementação com gordura (Flushing) para vacas de corte no pós-parto submetidas ao desmame precoce: desempenho animal

1 Pontifícia Universidade Católica-PR, Toledo, Paraná, Brasil 2 Universidade Estadual de Maringá, Centro de Ciências Agrárias, Depto. de Zootecnia, Maringá, Paraná, Brasil 3 Instituto Agronômico do Paraná, Londrina, Paraná, Brasil 4 Universidade Estadual do Sudoeste da Bahia, Jequié, Bahia, Brasil 5 Universidade Estadual do Sudoeste da Bahia, Departamento de Zootecnia, Itapetinga, Bahia, Brasil Endereço para correspondência: mylene@rla01.pucpr. br
Venous Insufficiency following Deep Vein Thrombosis

It has long been recognized that deep vein thrombosis (DVT) may be followed by symptoms of leg swelling, secondary varicose veins, inflammation induration venous claudication and leg Ulceration known v~riously as post-thrombotic or postphlebitic syndrome. An association between acute DVT and the development of leg ulcers was first noted by Leriche! in 1927. Howe.ver, it was Homans, in 1938, who fully descnbed a syndrome of 'post-phlebitic induration and ulceration'< The natural history of untreated DVT was defined by Bauer (1942). In a classical study of 99 patients followed for. 15 years after phlebographically proven extensive DVT, Bauer described the clinical course and outcome and advocated heparin as a means of reducing complications.P-s
Blood cholesterol in patients with cancer

: In a retrospective, descriptive and observational study realized between 1995 and January 1997 the seric levels cholesterol of 610 patients with cancer and 61 healthy ones, who were used as controls were revised. The serum cholesterol observed in the patients with cancer were lower than the ones observed in the healthy controls. These differences show and statistical significance. We could see in our study that cholesterol were lower in patients with disseminate disease than in the ones with localize disease and that had and statistical value. The number of patients included in each type of tumor, the seric cholesterol were lower than the ones obtained in the control group apart from the patients with metastasis in and unknown origin tumor which have not been significant.
The smuggling – trafficking nexus and the myths surrounding human trafficking

Purpose – To define, compare, and contrast human smuggling and trafficking, trace the route from recruitment and transportation to arrival at the destination and exploitation; examine some incorrect assumptions about human trafficking. Methodology – Literature review of academic studies, conference presentations, and reports issued by governmental, non-governmental, and international organizations. Findings – Instead of being an international phenomenon in which women and children are recruited with false promises of employment and then exploited by male members of highly organized international trafficking networks, research shows that victims – including men – are exploited in their own countries outside of the commercial sexual industry by women and by others operating as individuals or often in loosely organized networks. Value – This article summarizes what is known about human trafficking including trafficking for human organs and for children used as child soldiers.
SECONDARY HYPERPARATHYROIDISM AND CHRONIC KIDNEY DISEASE

One of the chronic kidney disease complications, is secondary hyperparathyroidism. The development of secondary hyperparathyroidism results from various factors, including deficiency of calcitriol, retention of phosphorus, a decrease in the activation of the calcium-sensing receptor in the parathyroid gland, and skeletal resistance to the calcemic effects of parathormone. As kidney function declines, so does phosphorus excretion, thus causing plasma phosphorus levels to rise while plasma calcium and calcitriol levels decrease. A reduction in calcitriol also contributes to a reduction in intestinal calcium absorption. All of these factors contribute to the development of hypocalcemia, which is the motivation for an increased production of parathormone (1). Several studies have assessed the relation of hyperparathyroidism in dialysis patients with other risk factors. In these studies, the relationship between malnutrition and inflammatory processes and cardiovascular complications in dialysis patients are discussed. The results suggest a positive association between parathormone and C-reactive protein and the inverse relationship between parathormone and body mass index. It was recommended that the hyperphosphatemia should be managed and parathormone levels did not exceed more than 1.5 times the normal level to prevent from secondary hyperparathyroidism complications (2,3). Parathormone may be responsible for long-term consequences that include renal osteodystrophy, severe vascular calcifications, changes in cardiovascular structure and function, anemia and immune dysfunction. These unfavorable effects may be related to an increased risk of cardiovascular morbidity and mortality among end-stage renal failure patients (1-4). In a study, there was a significant inverse association between Ca×PO4 product and the age and significant positive correlation of logarithm of serum C-reactive protein with Ca×PO4 product. This study indicated to further attention to hyperphosphatemia in hemodialysis patients (5). Progression of chronic kidney disease is associated with Implication for health policy/practice/research/ medical education Secondary hyperparathyroidism is a frequently encountered problem in the management of patients with chronic kidney disease. Its pathophysiology is mainly due to hyperphosphatemia and vitamin D deficiency and resistance. This situation has a high impact on the mortality and morbidity of dialysis patients. Prompt diagnosis of secondary hyperparathyroidism is crucial in the management of patients with chronic kidney disease. The treatment remains a challenge for patients and their clinicians. It would comprise a combination of dietary phosphorus restriction, phosphate binders, calcimimetics and vitamin D analogues.
Effect of Surface Segmental Mobility on Adhesion of Acrylic Soft Adhesives

The dependence of adhesion on the surface segmental dynamics of polymer substrates in thin-film poly(methyl acrylate) (PMA)− and poly(methyl methacrylate) (PMMA)−adhesive tape systems was probed via tape peel tests. From 90° angle tape peel experiments at 28 °C of very thin films of PMA adsorbed on glass slides, it was found that the peel velocities varied linearly with applied force and the force−velocity curves were dependent on film thickness. Extrapolation of the peel−velocity curves to zero velocity yielded an estimate of the fracture energies, which varied from about 50 to 20 J/m2 for thicknesses from 50 to 2000 nm. The fracture energies were also found to depend exponentially on film thickness with a decay length of 110 nm. In contrast to the behavior of PMA, PMMA films showed larger fracture energies but no thickness dependence. The differences in the behavior of the two types of films are believed to be due to differences in segmental mobilities in the films which give rise to differences in the .
Management of refractory rheumatoid arthritis.

Based on the results of a MEDLINE search (1992-1997), the term 'refractory rheumatoid arthritis' (refractory RA) is ill-defined, in terms of both patient characterization and description of previous treatments. Current strategies of management of refractory RA include increasing disease-modifying anti-rheumatic drug dosage above standard dosage regimens, using combination therapy, and adding or increasing the dosage of corticosteroids. Options for further strategies include target-oriented biological agents (e.g. anti-tumour necrosis factor), gene therapy, stem-cell treatment and oral tolerance induction.
Situational awareness is more than exceptional vision.

: Superior situational awareness, an extraordinary awareness of the total flight environment and aerial combat situation, is a significant contributor to success in aerial engagement. Review of over 1,000 published sources has led to the formulation of situational awareness as being principally in the cognitive domain. Superior awareness involves exceptional sensitivity to performance-critical cues in the operational environment, an exceptional capacity to anticipate changes in system states and operational conditions, and the ability to act on those changes in a proactive mode. Three important constructs are described: 1) automatic information processing; 2) near-threshold processing; and 3) skilled memory. In combination, they constitute a pilot attribute which uniquely facilitates the full armamentarium of skills and abilities of the superior tactical pilot.
Percepção do usuário quanto aos atributos de engajamento: uma análise qualitativa

Atualmente, as motivações do usuários vão além de meramente completar uma tarefa operacional nos sistemas de informação. As soluções devem também ser projetadas para promover o engajamento dos usuários. O engajamento pode ser definido como uma qualidade de experiência do usuário. Pelo engajamento estar mais atrelado à parte comportamental e subjetiva, surge a necessidade de capturar e mensurar respostas afetivas durante as interações. Consequentemente, torna-se primordial a evolução dos métodos de medição de tais experiências, a fim de aferir os aspectos subjetivos intrínsecos aos atributos de engajamento para sistemicamente atender a essa nova demanda. Este estudo aborda uma forma de análise qualitativa das características do engajamento objetivando descobrir a importância de cada uma sob a ótica do usuário e a correlação entre elas. Diante deste cenário, visamos contribuir com uma avaliação a partir da percepção do usuário a respeito de quais fatores efetivamente os envolvem durante sua experiência de uso com os sistemas. Nossos resultados apresentaram os atributos de engajamento mais valorizados pelos usuários e quais possuem uma relação de dependência entre eles.