Miracle-dz/UniFAR-FTUs huggingface dataset:
Minimum-Acceleration Trajectory Optimization for Humanoid Manipulator Based on Differential Evolution

A humanoid manipulator produces significantly reactive forces against a humanoid body when it operates in a rapid and continuous reaction environment (e.g., playing baseball, ping-pong etc.). This not only disturbs the balance and stability of the humanoid robot, but also influences its operation precision. To solve this problem, a novel approach, which is able to generate a minimum-acceleration and continuous acceleration trajectory for the humanoid manipulator, is presented in this paper. By this method, the whole trajectory of humanoid manipulation is divided into two processes, i.e., the operation process and the return process. Moreover, the target operation point is considered as a particular point that should be passed through. As such, the trajectory of each process is described through a quartic polynomial in the joint space, after which the trajectory planning problem for the humanoid manipulator can be formulated as a global constrained optimization problem. In order to alleviate the reactive force, a fitness function that aims to minimize the maximum acceleration of each joint of the manipulator is defined, while differential evolution is employed to determine the joint accelerations of the target operation point. Thus, a trajectory with a minimum-acceleration and continuous acceleration profile is obtained, which can reduce the effect on the body and be favourable for the balance and stability of the humanoid robot to a certain extent. Finally, a humanoid robot with a 7-DOF manipulator for ping-pong playing is employed as an example. Simulation experiment results show the effectiveness of this method for the trajectory planning problem being studied.
Fenestelloid clades of the Cucurbitariaceae

Fresh collections and their ascospore and conidial isolates backed up by type studies and molecular phylogenetic analyses of a multigene matrix of partial nuSSU-, complete ITS, partial LSU rDNA, rpb2, tef1 and tub2 sequences were used to evaluate the boundaries and species composition of Fenestella and related genera of the Cucurbitariaceae. Eight species, of which five are new, are recognised in Fenestella s.str. , 13 in Parafenestella with eight new species and two in the new genus Synfenestella with one new species. Cucurbitaria crataegi is combined in Fenestella, C. sorbi in Synfenestella, Fenestella faberi and Thyridium salicis in Parafenestella. Cucurbitaria subcaespitosa is distinct from C. sorbi and combined in Neocucurbitaria. Fenestella minor is a synonym of Valsa tetratrupha, which is combined in Parafenestella. Cucurbitaria marchica is synonymous with Parafenestella salicis, Fenestella bavarica with S. sorbi, F. macrospora with F. media, and P. mackenziei is synonymous with P. faberi, and the latter is lectotypified. Cucurbitaria sorbi, C. subcaespitosa and Fenestella macrospora are lecto- and epitypified, Cucurbitaria crataegi, Fenestella media, F. minor and Valsa tetratrupha are epitypified in order to stabilise the names in their phylogenetic positions. A neotype is proposed for Thyridium salicis. A determinative key to species is given. Asexual morphs of fenestelloid fungi are phoma-like and do not differ from those of other representatives of the Cucurbitariaceae. The phylogenetic structure of the fenestelloid clades is complex and can only be resolved at the species level by protein-coding genes, such as rpb2, tef1 and tub2. All fungal species studied here occur, as far as has been possible to determine, on members of Diaporthales, most frequently on asexual and sexual morphs of Cytospora.
Secured Outsourced Linear Algebra

We propose an interactive algorithmic scheme for outsourcing matrix computations on untrusted global computing infrastructures such as clouds or volunteer peer-to-peer platforms. In this scheme, the client outsources part of the computation with guaranties on both the inputs' secrecy and output's integrity. For the sake of efficiency, thanks to interaction, the number of operations performed by the client is almost linear in the input/output size, while the number of outsourced operations is of the order of matrix multiplication. The scheme is homomorphic, based on linear codes (especially evaluation/interpolation version of Reed-Solomon codes). Privacy is ensured by encoding the inputs using a secret generator matrix, while fault tolerance is ensured by the high error detection and correction capability of the code. The scheme can tolerate multiple malicious errors and hence provides an efficient solution beyond resilience against soft errors.
A multicenter, phase II study of soluble LAG-3 (Eftilagimod alpha) in combination with pembrolizumab (TACTI-002) in patients with advanced non-small cell lung cancer (NSCLC) or head and neck squamous cell carcinoma (HNSCC).

TPS2667 Background: Eftilagimod alpha (efti, IMP321) is a recombinant LAG-3Ig fusion protein that binds to MHC class II and mediates antigen-presenting cell (APC) activation followed by CD8 T-cell activation. Pembrolizumab binds to the PD-1 receptor, blocking both immune-suppressing ligands, PD-L1 and PD-L2, from interacting with PD-1 to help restore effector T-cell responses. The rationale to combine efti and pembrolizumab comes from their complementary mechanisms of action. Efti activates APCs and lead to an increase in activated T cells which effect potentially reduces the number of non-responders to pembrolizumab. Combining an APC activator like efti to pembrolizumab is therefore fundamentally different from many other trials combining two checkpoint inhibitors like an anti-LAG-3 mAb with an anti-PD-1 mAb. In a previous phase I study (NCT 02676869) in metastatic melanoma the combination was found to be safe and well tolerable with encouraging signs of clinical activity. Methods: In the course of this multicenter, open label, Phase II study, patients will be recruited for each of three indications: A: 1st line, PD-X (PD-1 or PD-L1) naïve non-small cell lung cancer (NSCLC); B: 2nd line, PD-X refractory NSCLC; C: 2nd line PD-X naive head and neck squamous cell carcinoma (HNSCC). The study is designed according to Simon's optimal two-stage design, with objective response rate acc to iRECIST as primary endpoint. Secondary endpoints include progression free survival and overall survival. In case there are more responses achieved than a predefined threshold (each part counted separately) in pts recruited in the initial stage (n = 58), additional pts (51) will be recruited in stage 2. Efti will be administered for a maximum of 18 cycles (1 cycle = 3 weeks) as 30 mg subcutaneous injection every 2 weeks for the first 8 and every 3 weeks for the 10 following cycles. Pembrolizumab (200 mg intravenous infusion every 3 weeks) is administered in parallel for up to 35 cycles. Patients are followed up for progression and survival. Clinical trial information: 03625323.
Metal-tip monopoles for microwave ablation

We study the characteristics of various metal-tip monopole antennas for microwave catheter ablation of the endocardium. The investigation is done with a computer model based on the finite-element method in the frequency domain. The results are validated by making measurements of the reflection coefficient of antenna prototypes. We identify design trade-offs and propose optimum dimensions for a microwave applicator.
Hindlimb abnormality reduces locomotor performance in Pelobates cultripes metamorphs but is not predicted by larval morphometrics

Locomotor performance is a fundamental feature commonly related to many animals’ fitness. In most cases, locomotor performance is closely related to morphology of the structures responsible for it, which is therefore under strong selective pressure. Hence, limb abnormality could hinder locomotion and, for that reason, be eradicated by selection, which could explain its overall low prevalence that makes proper research difficult. Here, we took advantage of the moderately high prevalence of hindlimb abnormality in a sample of Iberian spadefoot (Pelobatescultripes) metamorphs developed from tadpoles captured and transferred to the laboratory before selection could act against metamorph abnormality. We tested the hypothesis that limb abnormality impairs locomotor performance. Moreover, we measured several larval and metamorph morphometrics, and checked for differences between normal and abnormal-limbed individuals. We also assessed correlations between hindlimb ratio (hindlimb length/SVL) and jumping performance in normal and abnormal-limbed metamorphs. Larval traits measured could not predict hindlimb abnormality. In metamorphs, only hindlimb ratio differed between normal and abnormal-limbed individuals, being shorter in the latter. Abnormal-limbed metamorphs jumped considerably shorter distances than normal-limbed conspecifics. Therefore, selection against reduced locomotor performance could eliminate limb abnormality from populations. Hindlimb ratio was included in the model as a covariable, and thus controlled for. Consequently, other factors besides shorter hindlimbs, probably hindlimb abnormality itself, could play a role in worse jumping capability of abnormal-limbed individuals. Hindlimb ratio was positively related to jumping distance in both groups, although the relationship was weaker in abnormal-limbed metamorphs.
Randomized prospective trial comparing two supraglottic airway devices: i-gel TM and LMA-Supreme TM in paralyzed patients Etude prospective randomisee comparant deux dispositifs pour voie aerienne supraglottique: i-gel TM et LMA-Supreme TM chez des patients paralyses

Purpose Many features can influence the choice of a supraglottic airway device (SAD), including ease of insertion, adequate ventilation pressures and lack of adverse effects. The goal of this randomized prospective trial was to compare the performance of the i-gel TM with that of the LMA-Supreme TM .
Clinico-pathological evaluation and etiological stratification of chronic AUB patients based on PALM-COEIN classification: A prospective study in tertiary care center of Nalgonda District

Context: Abnormal uterine bleeding (AUB) is a common crippling gynaecological condition with vast financial implications. A structured approach for establishing the cause using the FIGO defined PALMCOEIN (Polyp, Adenomyosis, Leiomyoma, Malignancy (and hyperplasia), Coagulopathy, Ovulatory disorders, Endometrial, Iatrogenic and Not otherwise classified) classification system will facilitate accurate diagnosis and inform treatment options. Aims and objectives: 1. Clinico-pathological evaluation of patients presenting with chronic AUB. 2. Etiological stratification of patients with chronic AUB in accordance to PALM-COEIN Classification. 3. To determine frequency of various uterine histopathological findings and their associated etiologies in the population of Nalgonda district. Settings and Design: The present study was a cross-sectional prospective study conducted at the Department of pathology and Department of Obstetrics and Gynecology, Kamineni Institute of Medical Sciences, Narketpalli over a period of 2 years starting from June 2016 to June 2018. Methods and Material: The study population included 188 cases of Chronic AUB. Specimens analysed were: 1. endometrial biopsy obtained by dilatation and curettage. 2. Hysteroscopy guided biopsy 3. Hysterectomy specimens. Histopathological evaluation of specimens was done and reported in accordance with PALM-COEIN classification. Results: The commonest Age group involved was perimenopausal group (41-50) constituting (39.4%). Multiparous women most commonly presented with AUB accounting for 44.1% of all cases. Menorrhagia is the most common clinical presentation in reproductive age group (50.6%) and perimenopausal women (39.2%). Post-menopausal bleeding (36.0%) is commonest presentation in Postmenopausal age-group of AUB patients. Proliferative endometrium is the most common histological finding in reproductive age group (44.9%) and perimenopausal women (33.8%). Leiomyomas are the most common presentation is Post-menopausal women (32%). 4 Patients in the Post-menopausal Age group presented with Endometrioid Adenocarcinoma. According to PALMCOEIN classification AUB-E is the most common etiologic factor across all age groups. Non-structural causes account for 54.8% of AUB cases and among 45.2% of structural causes, Simple cystic hyperplasia is the most common histological finding. Conclusions: AUB is a common and debilitating condition with high direct and indirect costs. Histopathological evaluation is the gold standard tool in the evaluation of the patients with Chronic AUB. A structured approach to establishing the cause using the FIGO PALM-COEIN classification system will facilitate accurate diagnosis and inform treatment options.
COMPARATIVE STUDY OF COMPLETE HAEMOGRAM AND IRON PROFILE FROM CORD BLOOD OF NEW BORN WITH RESPECT TO GESTATION AGE.

Infants and toddlers are vulnerable to the effects of anemia due to rapid growthand development of brain and rest of the body from birth to age three. Pretermand/or low birth weight infants are more vulnerable. Iron-deficiency anemiaaffects neurological development due to reduced myelination of the spinal cord,as well as a change in myelin composition. To correlate complete serum iron, TIBC and serum ferritin of new born of ? 32weeks(wks),33-36weeks, 37-40weeks and >40weeks gestation age from umbilical cord bloodfor early detection of anemia and perinatal managem eonf t complications.Ninty six new born cord blood was collected of gestation age ? 32wks(10),33-36wks(12), 37-40wks(60), >40wks(14). Comparison of complete blood countparameters with respect to gestation age was done in a tertiary care hospital,Kolkata by ANOVA(one way analysis of variance) test with Graphpad Instat 3software.We found significant correlation coefficient for hematocrit(p=0.024), meancorpuscular volume(p=.0049), platelet count(p=0.0097), red cell distributionwidth(p=0.033),serum iron(p=0.0034),serumTIBC(p=0.0482). Anemia is oftenfirst shown by complete blood count (CBC). Sufficiently low hemoglobin(HGB) by definition makes the diagnosis of anemia, and low hematocrit(HCT) value is also characteristic of anemia. Biochemical tests usuallydone are serum ferritin, serum iron level, total iron binding capacity (TIBC). Currently, there is no clear recommendation of iron supplementation to thenew born with decreased iron content other than exclusive breast feedingwhich is compulsory to all new born. As it is an easy, early and non-invasiveprocedure of estimation of fetal iron deficiency, it may berecommended in health care programmes for early detection and treatment ofiron deficiency before the development of actual anemia.
Industrial process error estimation by machine learning

Performing a set-up on a complex machine may be difficult. This problem arises frequently for the industry, especially when the relation between input and output data cannot be defined precisely. Heavy methods of optimization may be used to perform a set-up. This master thesis investigate the possibility to use a machine learning approach on a specific machine. We study the structure of the relation between input and output data. We show the variations are smooth. We define a set of tests to evaluate future models. We design and test several models on simulation data, and select the best one. We design a strategy to use data in the best possible way. The selected model is then tested on actual data in order to be optimized.
c-Met expression and response to telisotuzumab vedotin (teliso-v) in patients with non-small cell lung cancer.

9023 Background: c-Met overexpression (OE) and MET amplification (amp) are prognostic of poor outcome for non-small cell lung cancer (NSCLC). Telisotuzumab vedotin (ABBV-399; teliso-v [T]), an anti–c-Met Ab and monomethyl auristatin E drug conjugate, showed efficacy as monotherapy (mono) and combined with erlotinib (T+Er) in a phase 1/1b trial (NCT02099058) in NSCLC patients (pts) with c-Met OE. Here, c-Met OE (by immunohistochemistry [IHC]) and its association with T efficacy were explored. IHC, mRNA, and amp platforms for MET were also compared. Methods: Archival tissue from pts with NSCLC in the phase 1/1b trial was examined. c-Met was assessed centrally by IHC with SP44 Ab (Ventana Medical Systems) and pts with c-Met OE (membrane H-score [H-S] of ≥150) were enrolled. MET mRNA expression was analyzed from total RNA and sequenced on HiSeq 3000 (Illumina). MET amp was analyzed by FISH ( MET/ CEP7 ratio of ≥2) or whole-exome sequencing (copy number ≥2). Efficacy in the T mono every 2 (TQ2W) or 3 (TQ3W) weeks and the T+Er EGFR mutant cohorts was assessed for IHC H-S ≥150 and ≥225. Results: As of Dec 2018, 238 pts with NSCLC were screened centrally for c-Met OE. Of these, 118 pts were enrolled. For screened pts, 76%/37% of nonsquamous (NSQ, n = 201) and 58%/16% of squamous (SQ, n = 32) pts had H-S ≥150/≥225; 75%/41% of NSQ and 55%/16% of SQ NSCLC pts had ≥50% cells with 2+/3+ staining intensity. MET amp was reported for 5 pts, all with high H-S (≥270); there was an association between MET amp and MET RNA levels (n = 4) (t-test p value: 0.0002). See Table for ORR and median PFS by H-S and T treatment. Conclusions: c-Met expression prevalence in NSCLC showed a similar trend as in previous reports. In T+Er-treated pts, ORR was higher for those with c-Met H-S ≥225 than ≥150– < 225, suggesting that biomarker expression may act as an effect size multiplier. Optimization of the c-Met IHC cutoff warrants further investigation. Clinical trial information: NCT02099058. [Table: see text]
The wolves are back! Local attitudes towards the recently re-populated grey wolf and wolf management in Bükk National Park, Hungary

Parallel to trends in North America and elsewhere in Europe, the population of large carnivores is slowly increasing in Hungary, including within the Bukk National Park (BNP). After almost a century of absence, the wolf (Canis lupus) re-entered the BNP in 2010, and human-wolf conflicts of livestock depredation and competition for wild game immediately followed. Local acceptance is a key factor in successful large carnivore conservation and coexistence. Utilizing a household questionnaire administered in 3 local villages and semi-structured interviews with key stakeholders, in this exploratory study we assessed local attitudes and the suite of demographic, socio-economic, and cultural variables which shape them, and their implications towards wolf management in BNP. Our results are similar to global trends, namely attitudes are varied towards institutions responsible for wolf management, and towards wolves themselves with Wolf Attitude Index values ranging from -20 to 22 (M=0.59, SD=10.874, n=51) reflecting positive, neutral and negative sentiments. We demonstrate that attitudes towards wolves are largely determined by communication channels concerning wolf knowledge and hunting orientation. These factors are discussed, along with recommendations towards expanded research and enhanced coexistence.
Biomechanics of rotational instability and anatomic anterior cruciate ligament reconstruction

The anterior cruciate ligament (ACL) is the primary restraint to tibial anterior translation (anterior draw). Tibial anterior draw is normally accompanied by a “coupled” tibial internal rotation. Both internal rotation and anterior translation can be increased by rupture of the ACL, resulting in a large movement of the mobile lateral tibial plateau. Arthroscopic ACL reconstruction adequately restores the anterior draw; however, the peripheral structures that are the primary restraints to tibial rotation often are neglected. Recent work has shown that a residual or “mini” pivot shift can remain after successfully restoring the anterior-posterior laxity of the knee. The search for a better restoration of normal kinematics has reawakened interest in double-bundle reconstructions. Although biomechanical studies have demonstrated that this type of reconstruction may better restore the normal kinematics, there is as yet no clinical evidence. Draw testing should now be superseded by kinematics measures of both rotations and translations of the knee with quantified loads to provide objective measures that better assess the efficacy of new surgical techniques.
Adaptive Gaussian mixture models for pre-screening in GPR data

Due to the large amount of data generated by vehicle-mounted ground penetrating radar (GPR) antennae arrays, advanced feature extraction and classification can only be performed on a small subset of data during real-time operation. As a result, most GPR based landmine detection systems implement "pre-screening" algorithms to processes all of the data generated by the antennae array and identify locations with anomalous signatures for more advanced processing. These pre-screening algorithms must be computationally efficient and obtain high probability of detection, but can permit a false alarm rate which might be higher than the total system requirements. Many approaches to prescreening have previously been proposed, including linear prediction coefficients, the LMS algorithm, and CFAR-based approaches. Similar pre-screening techniques have also been developed in the field of video processing to identify anomalous behavior or anomalous objects. One such algorithm, an online k-means approximation to an adaptive Gaussian mixture model (GMM), is particularly well-suited to application for pre-screening in GPR data due to its computational efficiency, non-linear nature, and relevance of the logic underlying the algorithm to GPR processing. In this work we explore the application of an adaptive GMM-based approach for anomaly detection from the video processing literature to pre-screening in GPR data. Results with the ARA Nemesis landmine detection system demonstrate significant pre-screening performance improvements compared to alternative approaches, and indicate that the proposed algorithm is a complimentary technique to existing methods.
Diabetes in Eskimos

To the Editor. — Diabetes mellitus is rare in Alaskan natives (Bering Sea coastal Eskimos, Arctic Ocean coastal Eskimos, Athabascan Indians, and Aleuts). Mouratoff and Scott's report (226:1345, 1973) suggests that the Eskimos' high glucose tolerance may be associated with physical exertion rather than a genetic origin. I would suggest that the data as presented are also consistent with a genetic origin. Routine inquiry to my patients concerning family history of diabetes also includes an assessment of racial background. Most of the diabetic Alaskan natives that I have encountered have European or Russian ancestors, and often the patient can identify these forebearers as also being diabetics! Like Mouratoff and Scott, I have seen very few Alaskan natives with diabetes; I have seen no full-blooded Alaskan natives with childhood-onset, insulin-dependent diabetes. If their conclusion were correct that physical activity and fitness are important factors in the prevention of clinical diabetes, the white