Miracle-dz/UniFAR-FTUs huggingface dataset:
A humanoid robot standing up through learning from demonstration using a multimodal reward function

Humans are known to manage postural movements in a very elegant manner. In the task of standing up from a chair, a humanoid robot can benefit from the variability of human demonstrations. In this paper we propose a novel method for humanoid robots to imitate a dynamic postural movement demonstrated by humans. Since the kinematics of human participants and the humanoid robot used in this experiment are different, we solve the correspondence problem by making comparisons in a common reward space defined by a multimodal reward function composed of balance and effort terms. We fitted a fully actuated triple inverted pendulum to model both human and robot. We used Differential Evolution to find the optimal articular trajectory that minimizes the Kullback-Leibler difference between the human's and robot's reward profile subject to constraints.
[Diagnostic tests for hepatitis C].

HCV感染的病原学检测指标主要为抗H CV,HCVRNA,HCV基因型和HCV核心抗原. 抗-HCV和HCV RNA两项指标主要用于HCV感染的诊断. 其它病毒学检测方法包括HCV基因型测定和HCV RNA定量分析,主要用于制定患者治疗方案和评价治疗效果。
Second messenger cascade specificity and pharmacological selectivity of the human P2Y1‐purinoceptor

1 . The coding sequence of the P2Y1‐purinoceptor was cloned from a human genomic library. 2 . The open reading frame encodes a protein of 373 amino acids that is 83% identical to the previously cloned chick and turkey P2Y1‐purinoceptor and is ≥95% homologous to the recently cloned rat, mouse, and bovine P2Y1‐purinoceptors. 3 . The human P2Y1‐purinoceptor was stably expressed in 1321N1 human astrocytoma cells using a retroviral vector. Although the P2Y1‐purinoceptor agonist, 2MeSATP, had no effect on inositol phosphate accumulation in 1321N1 cells infected with the control virus, this agonist markedly stimulated inositol phosphate accumulation in cells infected with the P2Y1‐purinoceptor virus. No effect of 2MeSATP on cyclic AMP accumulation was observed in P2Y1‐receptor‐expressing 1321N1 cells. 4 . The pharmacological selectivity of 18 purinoceptor agonists was established for the expressed human P2Y1‐purinoceptor. 2MeSATP was more potent than ATP but less potent than 2MeSADP. ADP also was more potent than ATP. A similar maximal effect was observed with most agonists tested. However, α,β‐MeATP had no effect and 3′‐NH2‐3′‐deoxyATP and A2P4 were partial agonists. The order of potency of agonists for activation of the turkey P2Y1‐purinoceptor, also stably expressed in 1321N1 cells, was identical to that observed for the human P2Y1‐purinoceptor. 5 . C6 glioma cells express a P2Y‐purinoceptor that inhibits adenylyl cyclase but does not activate phospholipase C. Expression of the human P2Y1‐purinoceptor in C6 cells conferred 2MeSATP‐stimulated inositol lipid hydrolysis to these cells. The phospholipase C‐activating human P2Y1‐purinoceptor could be delineated from the endogenous P2Y‐purinoceptor of C6 glioma cells by use of the P2‐purinoceptor antagonist, PPADS, which blocks the P2Y1‐purinoceptor but does not block the endogenous P2Y‐ purinoceptor of C6 cells. P2‐purinoceptor agonists also exhibited differential selectivities for activation of these two P2Y‐purinoceptors.
DNA Typing- A Method to Identify Criminals

DNA typing is also called DNA fingerprinting. It is a forensic technique mainly used to identify the characteristics of individual’s genome called DNA. DNA (deoxyribonucleic acid) represents the blueprint of the human genetic makeup. It exists in virtually every cell of the human body and differs in its sequence of nucleotides (molecules that make up DNA, also abbreviated as adenine (A), thymine (T), guanine (G), and cytosine (C). It is called as "fingerprint" because any two people do not have exactly the same DNA and same physical fingerprint. The human genome is made up of 3 billion nucleotides, which are 99.9% identical from one person to another person. The 0.1% variation, therefore, can be used to distinguish one individual from another. It was first developed and used in 1985. The modern process of DNA profiling was developed in 1988. It is used for parentage testing and criminal investigation, to identify a person or to place a person at a crime scene to facilitate police detective work and help clarify paternity and immigration disputes. DNA fingerprinting has also been widely used in the study of animal populations and has revolutionized the field of zoology.
Incidence of tinnitus in mp 3 player users Abstract

Ricardo Rodrigues Figueiredo, Andreia Aparecida de Azevedo, Patrícia Mello de Oliveira, Sandro Pereira Vasconcellos Amorim, Artur Guedes Rios, Vanderlei Baptista 1 Master’s degree in general surgery, area of concentration ENT, Rio de Janeiro Federal University (Universidade Federal do Rio de Janeiro). Adjunct professor and head of the ENT unit, Valença Medical School (Faculdade de Medicina de Valença), RJ. 2 Physician, otorhinolaryngologist at OTOSUL (Otorrinolaringologia Sul-Fluminense). 3 Audiologist, speech therapist at OTOSUL (Otorrinolaringologia Sul-Fluminense). 4 6th-year medical undergraduate, Valença Medical School, RJ. Scholarship from the scientific initiation program, Valença Medical School. 5 6th-year medical undergraduate, Valença Medical School, RJ. Scholarship from the scientific initiation program, Valença Medical School. 6 6th-year medical undergraduate, Valença Medical School, RJ. Scholarship from the scientific initiation program, Valença Medical School. Paper submitted to the BJORL-SGP (Publishing Management System – Brazilian Journal of Otorhinolaryngology) on August 23, 2010; and accepted on November 7, 2010. cod. 7287 Exposure to loud noise is one of the main causes of tinnitus. Aim: To analyze the incidence of tinnitus in mp3 player users and non-users. Material and method: One hundred subjects aged from 15 to 30 years were enrolled, 54 of them were regular mp3 player users and 46 were not. Patients with continuous tinnitus for at least 6 months completed the Tinnitus Handicap Inventory (THI) and were tested with high frequency audiometry and transient-evoked otoacoustic emissions (TAOE). Study design: A cross-sectional cohort study. Results: The incidence of tinnitus in non-users was about 8 %; in mp3 player users it was about 28 %, a statistically significant difference. Hearing thresholds at 8kHz were significantly higher in tinnitus patients that used mp3 portable players.TAOE were reduced at 2 kHz in the users group. No statistically significant difference was found in the THI scores between the two groups. Conclusion: Tinnitus was more frequent in teenagers and young adults who regularly listen to mp3 music in players. Moreover, the incidence of tinnitus among mp3 player users was associated with higher hearing thresholds at 8 kHz and lower TOAE at 2 kHz. Clinicaltrials.gov registration number: NCT 01187251 ORIGINAL ARTICLE Braz J Otorhinolaryngol. 2011;77(3):293-8. BJORL
Orbital band magnetism in actinide intermetallics.

Revision breve de la theorie developpee pour le traitement du magnetisme des electrons 5f dans une approche de la theorie des bandes. Une consequence de cette theorie, qui inclut les effets de la polarisation orbitale, est que de fortes modifications sont predites dans le rapport du magnetisme orbital sur le magnetisme des spins, par comparaison au comportement des electrons-f localises. Les experiences de diffusion des neutrons ont permis de determiner ce rapport, et l'accord avec la theorie est bon
Administration of haloperidol with biperiden reduces mRNAs related to the ubiquitin‐proteasome system in mice

In order to find molecules affected by administration of an antipsychotic drug with an antimuscarinic drug, which is a common prescription used to prevent extrapyramidal adverse effects caused by the antipsychotic drugs, gene expression profiling in the frontal cortex was studied in mice. After 14 days of administration with 2 mg/kg haloperidol, a typical antipsychotic drug, and 2 mg/kg biperiden, a high‐affinity antagonist for muscarinic receptors in the brain, ∼500 mRNAs related to synaptic function were investigated. The levels of the mRNAs related to the ubiquitin‐related systems were significantly reduced after the combined administration. However, the separate administration of either haloperidol or biperiden had little effect on the levels of the mRNAs. This result suggests that coadministration of haloperidol and biperiden specifically affects the ubiquitin‐related system. Synapse 56:175–184, 2005. © 2005 Wiley‐Liss, Inc.
Detection and Tracking of Road Barrier Based on Radar and Vision Sensor Fusion

The detection and tracking algorithms of road barrier including tunnel and guardrail are proposed to enhance performance and reliability for driver assistance systems. Although the road barrier is one of the key features to determine a safe drivable area, it may be recognized incorrectly due to performance degradation of commercial sensors such as radar and monocular camera. Two frequent cases among many challenging problems are considered with the commercial sensors. The first case is that few tracks of radar to road barrier are detected due to material type of road barrier. The second one is inaccuracy of relative lateral position by radar, thus resulting in large variance of distance between a vehicle and road barrier. To overcome the problems, the detection and estimation algorithms of tracks corresponding to road barrier are proposed. Then, the tracking algorithm based on a probabilistic data association filter (PDAF) is used to reduce variation of lateral distance between vehicle and road barrier. Finally, the proposed algorithms are validated via field test data and their performance is compared with that of road barrier measured by lidar.
Long-Term Prognosis of Probands With Brugada-Pattern ST-Elevation in Leads V1–V3

Background—The prognosis of patients with saddleback or noncoved type (non–type 1) ST-elevation in Brugada syndrome is unknown. The purpose of this study was to clarify the long-term prognosis of probands with non–type 1 ECG and those with coved (type 1) Brugada-pattern ECG. Methods and Results—A total of 330 (123 symptomatic, 207 asymptomatic) probands with a coved or saddleback ST-elevation ≥1 mm in leads V1–V3 were divided into 2 ECG groups—type 1 (245 probands) and non–type 1 (85 probands)—and were prospectively followed for 48.7±15.0 months. The absence of type 1 ECG was confirmed by drug provocation test and multiple recordings. The ratio of individuals with a family history of sudden cardiac death (14%) was lower than previous studies. Clinical profiles and outcomes were not notably different between the 2 groups (annual arrhythmic event rate of probands with ventricular fibrillation; type 1: 10.2%, non–type 1: 10.6%, probands with syncope; type 1: 0.6%, non–type 1: 1.2%, and asymptomatic probands; type 1: 0.5%, non–type 1: 0%). Family history of sudden cardiac death at age <45 years and coexistence of inferolateral early repolarization with Brugada-pattern ECG were independent predictors of fatal arrhythmic events (hazard ratio, 3.28; 95% confidence interval, 1.42 to 7.60; P=0.005; hazard ratio, 2.66; 95% confidence interval, 1.06 to 6.71; P=0.03, respectively, by multivariate analysis), although spontaneous type 1 ECG and ventricular fibrillation inducibility by electrophysiological study were not reliable parameters. Conclusions—The long-term prognosis of probands in non–type 1 group was similar to that of type 1 group. Family history of sudden cardiac death and the presence of early repolarization were predictors of poor outcome in this study, which included only probands with Brugada-pattern ST-elevation.
Mamillary body in the rat: A cytoarchitectonic, golgi, and ultrastructural study

The present study provides a comprehensive light and electron microscopic analysis of the anatomical organization of the rat mamillary body. The cytoarchitecture and morphology of mamillary neurons were investigated with the aid of Nissl‐stained and Golgi‐impregnated sections cut in transverse, horizontal, and sagittal planes. The ultrastructural features of the mamillary nuclei were correlated with observations made on Golgi material. The mamillary body is comprised of a lateral and a medial nucleus, the latter being subdivided into five major subnuclei: pars lateralis, pars basalis, pars medialis, pars medianus, and pars posterior. The perikarya are medium‐sized or small with the proportions of each differing among subnuclei. The largest perikarya are found in the lateral mamillary nucleus (cell area 257.0 μm2) and have 2‐5 radially oriented aspiny dendrites that are often beaded. Small cells predominate in the pars lateralis (cell area 116.3 μm2) and pars basalis (cell area 118.3 μm2), whereas the pars medialis (cell area 196.7 μm2), pars medianus (cell area 136.5 μm2), and pars posterior (cell area 154.6 μm2) contain mainly medium‐sized cells. The dendrites of most cells in the medial nucleus are radially oriented and exhibit a variety of spines including numerous short stubby spines, spines with thin necks that end in spherical swellings, and long thin spines. Neuronal somata are often closely apposed with no intervening glial processes and contain eccentrically located nuclei with one or more invaginations of the nuclear envelope.
Tic-Tac-Toe-Arch: a self-organising virtual architecture for Underwater Sensor Networks

In this study, the authors propose Tic-Tac-Toe-Arch, an `energy-efficient', `self-organising', and `virtual' network architecture for Underwater Sensor Networks (UWSNs). In UWSNs, underwater currents play a major role for connectivity disruption. The Tic-Tac-Toe-Arch is capable of self-organising the selection of active nodes to maintain the connectivity providing a `virtual topology'. Further, this selection is such that the redundant nodes are selected based on node density and passive node mobility in the corresponding underwater layer. Thus, the network energy consumption is less because of different, but low activity ratio, through the layers. Prior works on UWSN architecture, such as Multipath Virtual Sink, 3D Architecture, and EDETA, did not consider the change in topology because of passive node mobility. Moreover, they did not consider the duty-cycle control through topology management, which, in turn consumes high energy. The authors evaluated the performance of Tic-Tac-Toe-Arch through simulations in NS-3. In terms of the topology formation time, the simulation results show that 99.3% performance improvement is achieved in Tic-Tac-Toe-Arch than EDETA.
Super-Resolution Algorithms for Spectral Estimation in Cognitive Radio Systems

Cognitive radio is new technology that uses spectrum more effectively. Spectrum sensing is one of the most challenging problems in cognitive radio systems. There are some sensing methods for indentifying the unused spectrum for opportunistic transmission. This paper develops one method based on multiple signal classification (MUSIC) algorithm for spectral estimation in cognitive radio system. Unlike traditional MUSIC algorithm that estimates direction of arrival of signal of interest, the modified MUSIC algorithm based on frequency difference of arrival (FDOA) estimates frequencies or carriers of users in cognitive radio network. The developed algorithm brings a more coherent spectrum and real power values than traditional MUSIC as well as fast fourier transform (FFT) approach. In this paper, we also discuss resolution issue and evaluate parameters having significant effects on it.
A benchmark survey of the common plants of South Northumberland and Durham, United Kingdom

Abstract Background It is obvious to anyone studying plants in the landscape that man-made environmental change is having profound effects on the abundance, distribution and composition of plant communities. Nevertheless, quantifying these changes and estimating the impact of the different drivers of change is extremely difficult. Botanical surveying can potentially provide insights to the changes that are occurring and inform decisions related to conservation, agriculture and forestry policy. However, much of botanical surveying is conducted in such a way that it is not comparable between dates and places. Any comparison of historical and modern data has to account for biases in the recording of different taxonomic groups, geographic biases and varying surveying effort in time. In 2010 botanical recorders in the Vice Counties of Durham and South Northumberland in the United Kingdom decided to conduct a four year survey specifically to benchmark the abundance and distribution of common plants in their counties. It is intended that this survey will provide a relatively unbiased assessment with which to compare future and past surveys of the area and a means to study the drivers of biodiversity change in the North-east of England. New information This survey of Durham and South Northumberland has been designed with two goals, firstly to provide information on common vascular plant species and secondly to provide a dataset that will be versatile with respect to the sorts of questions that can be answered with the data. The survey is primarily an occupancy study of 1km2 grid squares, however, observers were also asked to provide a relative abundance estimate of the species in each grid square. The collection of relative abundance estimate data was an experiment to assess the repeatablity and useablity of such estimates.
Informal economies in post-socialist spaces : practices, institutions and networks

Introduction PART I: THINKING INFORMALITY AND DEVELOPMENT WRIT LARGE AND SMALL 1. 'Evaluating The Validity Of The Contrasting Theoretical Perspectives Towards The Informal Economy In Ukraine' Colin Williams And Olga Onoschenko 2. 'Institutional Transformation And Informality In Azerbaijan And Georgia' Huseyn Aliyev 3. 'Fighting The Shadows Lithuania's Informal Workers And The Financial Crisis' Ida Harboe Knudsen 4. 'Formal Crutches For Broken Sociality' Aet Annist PART II: RE-THEORISING INFORMALITY: POWER, CULTURE, KINSHIP AND HISTORY 5. 'Field Notes On Informality's Culture Of Ubiquity: Recognition And Symbolic Power Within Informal Economic Practices In Kosovo' Anna Danielsson 6. 'The Importance Of Having tela: Reproduction Of Informality In The Democratization Sector In Bosnia' Karla Koutkova 7. 'Perception Vs. Practices: Nepotism In Small Businesses In Bulgaria' Tanya Chavdarova 8. 'The Importance Of Personalized Relationships In Postsocialist Rural Bulgaria: Informality And The Socioeconomic Success Of Capitalist Agricultural Entrepreneurs' Christian Giordano PART III: 'INFORMAL PUBLIC SECTORS AND WELFARE: STATE INTERVENTION OR WITHDRAWAL? ' 9. 'Informal Payments For Healthcare Services In Lithuania And Ukraine' Tetiana Stepurko, Milena Pavlova, Irena Gryga, Liubove Murauskiene, Wim Groot 10. Nuclear Borders: Informally Negotiating The Chernobyl Exclusion Zone' Thom Davies 11. 'Governing Informal Payments In Healthcare: Lessons From China' Jingqing Yang 12. 'Informal Economic Practices Within The Kyrgyz Police (Militsiia)' Liam O'Shea
Factores de éxito y fracaso de la cooperación entre empresas: un enfoque organizativo y estratégico

El presente trabajo se centra en el estudio de los factores de exito y fracaso de las alianzas estrategicas, tanto en el contexto del Enfoque Organizativo como del Enfoque Estrategico. Los resultados muestran que el exito de los acuerdos de cooperacion puede explicarse de una manera similar desde ambas aproximaciones, lo que nos lleva a pensar en la existencia de una relacion entre las mismas. En efecto, se constata que los problemas que surgen entre los socios son mas faciles de superar en unas alianzas que en otras, segun cual sea la razon por la que estas se han creado. Palabras clave : Alianzas Estrategicas, Cooperacion entre Empresas, Factores de Exito y Fracaso.
Control Techniques for Increasing the Scan Speed and Minimizing Image Artifacts in Tapping-Mode Atomic Force Microscopy: Toward Video-Rate Nanoscale Imaging

The atomic force microscope (AFM) [1] is a mechanical microscope capable of producing three-dimensional images of a wide variety of sample surfaces with nanometer precision in air, vacuum, or liquid environments. This article provides an overview of the AFM and its three main modes of operation, with a focus on the tapping mode of operation. The challenges associated with obtaining high-speed images with a tapping-mode AFM while minimizing image artifacts are outlined and control techniques that have been developed to overcome these challenges are reviewed.
Functional Mapping of Ca2+ Signaling Complexes in Plasma Membrane Microdomains of Polarized Cells*

Many cells cluster signaling complexes in plasma membrane microdomains. Polarized secretory cells cluster all Ca2+ signaling proteins, including GPCRs, at the apical pole. The functional significance of such an arrangement is not known because of a lack of techniques for functional mapping of signaling complexes at plasma membrane patches. In the present work, we developed such a technique based on the use of two patch pipettes, a recording and a stimulating pipette (SP). Including 20% glycerol in the SP solution increased the viscosity and the hydrophobicity to prevent leakage and formation of tight seals on the plasma membrane. This allowed moving the SP between sites to stimulate multiple patches of the same cell and with the same agonist concentrations. Functional mapping of Ca2+ signaling in pancreatic acinar cells revealed that the M3, cholecystokinin, and bombesin signaling complexes at the apical pole are much more sensitive to stimulation than those at the basal pole. Furthermore, at physiological agonist concentrations, Ca2+ signals could be evoked only by stimulation of membrane patches at the apical pole. [Ca2+]i imaging revealed that Ca2+ waves were invariably initiated at the site of apical membrane patch stimulation, suggesting that long range diffusion of second messengers is not obligatory to initiate and propagate apical-to-basal Ca2+ waves. The present studies reveal a remarkable heterogeneity in responsiveness of Ca2+ signaling complexes at membrane microdomains, with the most responsive complexes confined to the apical pole, probably to restrict the Ca2+ signals to the site of exocytosis and allow the polarized functions of secretory cells.
Cardiovascular Responses to Tonic Pain in REM Sleep-Deprived Rats: Role of Melatonin and Beta Endorphin.

OBJECTIVE Chronic pain is associated with increased incidence of hypertension. Sleep deprivation, common in patients with chronic pain, is associated with increased blood pressure and heart rate. This study was designed to determine whether sleep deprivation induces increased cardiovascular responses to pain. In addition; we examined the role of melatonin and endorphins in mediating these responses. METHOD The study was conducted in Sprague-Dawely rats divided into a control group (n=8) and Rapid Eye Moment sleep deprived (REMSD) group (n=8). REM sleep deprivation was done for three days using the inverted flowerpot technique. Systolic BP and HR were recorded at baseline as well as 5, 10 and 30 minutes after intra-plantar formalin injection. In addition, serum melatonin and endorphin levels were determined. RESULTS Under basal conditions, BP and HR and following acute pain (1(st) phase of formalin injection) were comparable with non-sleep deprived (non-SD) state. In contrast, the REMSD rats showed significantly greater increases in HR and BP during the 2(nd) phase of formalin pain as compared to non-SD state. These changes were associated with significant reductions in serum melatonin and endorphin levels in REMSD rats. CONCLUSION These data indicate that exaggerated blood pressure and HR responsiveness to pain in sleep deprivation could be mediated through reductions in melatonin and endorphin.