Miracle-dz/UniFAR-FTUs huggingface dataset:
Introducing active linear and nonlinear damping to enable stable high gain force control in case of stiff contact

Most force control algorithms become unstable in case of stiff contact between the end-effector and the environment. To cope with this problem, the authors introduce active damping based on force sensor data. Linear active damping is introduced using the force derivative which is obtained either by means of filtered differentiation or by means of a state-space estimator, and both enable stable stiff contact. Nonlinear active damping through a feedforward method is introduced. The novel algorithm is simple and does not require knowledge of the contact stiffness. It enables satisfactory force response which is fast and without overshoot in the case of a high feedback gain with stiff contact. This algorithm has better potential for rejecting positional disturbances than many current algorithms. <<ETX>>
A Comprehensive Expression Analysis of Cancer Testis Antigens in Head and Neck Squamous Cell Carcinoma Revels MAGEA3/6 as a Marker for Recurrence

Despite significant advances in the treatment of head and neck squamous cell carcinoma (HNSCC), the survival rate has not changed in the last decades. Therefore, the development of novel therapeutic strategies is pursued. Cancer–testis antigens (CTA) are strong immunogenic proteins with a tumor-restricted expression pattern, and are considered ideal targets for tumor-specific immunotherapeutic approaches. In this study, using an in silico approach, we selected, among 139 previously described CTA, candidates to be evaluated in 89 HNSCC and 20 normal mucosa samples. SPANX-CD (71.9%), MAGEB2 (44.9%), MAGEA1 (44.9%), MAGEB6 (32.6%), and CXORF48 (27.0%) were found frequently expressed in HNSCC, and over 85% of the tumors expressed at least one of these five CTAs. The mRNA positivity of CXORF48, MAGEB6, and CRISP2 presented significant associations with recognized clinical features for poor outcome. Furthermore, MAGEA3/6 positivity was associated with significantly better disease-free survival (DFS, P = 0.014), and the expression of this antigen was shown to be an independent prognostic factor for tumor recurrence. In conclusion, one of five selected CTAs is expressed in at least 85% of the HNSCCs, suggesting a possible usage as target for immunotherapeutic approaches, and the mRNA-positivity for MAGEA3/6 is shown to be an independent marker for DFS. Mol Cancer Ther; 14(3); 828–34. ©2015 AACR.
Accommodative movements of the vitreous membrane, choroid, and sclera in young and presbyopic human and nonhuman primate eyes.

PURPOSE We report, for the first time to our knowledge, dynamic movements of the vitreous membrane and peripheral choroid during accommodation, and age-related changes in the anterior sclera. METHODS We studied 11 rhesus monkeys (ages 6-27 years) and 12 human subjects (ages 19-65 years). Accommodation was induced pharmacologically in human subjects and by central electrical stimulation in the monkeys. Ultrasound biomicroscopy, endoscopy, and contrast agents were used to image various intraocular structures. RESULTS In the monkey, the anterior hyaloid membrane bows backward during accommodation in proportion to accommodative amplitude and lens thickening. A cleft exists between the pars plicata region and the anterior hyaloid membrane, and the cleft width increases during accommodation from 0.79 ± 0.01 mm to 1.01 ± 0.02 mm in young eyes (n = 2, P < 0.005), as fluid from the anterior chamber flows around the lens equator toward the cleft. In the older eyes the cleft width was 0.30 ± 0.19 mm, which during accommodation increased to 0.45 ± 0.20 mm (n = 2). During accommodation the ciliary muscle moved forward by approximately 1.0 mm, pulling forward the choroid, retina, vitreous zonule, and the neighboring vitreous interconnected with the vitreous zonule. Among the humans, in the older eyes the scleral contour bowed inward in the region of the limbus, compared to the young eyes. CONCLUSIONS The monkey anterior hyaloid bends posteriorly during accommodation in proportion to accommodative amplitude and the sclera bows inward with increasing age in both species. Future descriptions of the accommodative mechanism, and approaches to presbyopia therapy, may need to incorporate these findings.
Vaccination with Recombinant N-Terminal Domain of Als1p Improves Survival during Murine Disseminated Candidiasis by Enhancing Cell-Mediated, Not Humoral, Immunity

ABSTRACT Candida spp. are opportunistic fungal pathogens that are among the most common causes of nosocomial bloodstream infections. The mortality attributable to disseminated candidiasis is 40 to 50% despite antifungal therapy. Clearly, new strategies are needed to prevent this life-threatening infection. Because risk factors for disseminated candidiasis are well defined and frequently of limited duration, vaccination is an appealing prophylactic strategy. We have identified a cell surface protein, Als1p, that mediates adherence of Candida albicans to a variety of human substrates and plastic. Here we report that immunizing BALB/c mice with the recombinant N-terminal domain of Als1p (rAls1p-N) improved survival during a subsequent challenge with a lethal inoculum of C. albicans. The protective 20-μg dose of rAls1p-N significantly increased Candida stimulation of Th1 splenocytes and increased in vivo delayed-type hypersensitivity. In contrast, antibody titers did not correlate with protection. Finally, the vaccine was not protective in T-cell-deficient mice but was protective in B-cell-deficient mice. These data indicate that the mechanism of action of the rAls1p-N vaccine is stimulation of cell-mediated, rather than humoral, immunity against C. albicans. The majority of efforts to date have focused on the development of passive immunization strategies to prevent or treat disseminated candidiasis. In contrast, our results provide proof of principle for vaccination with an adhesin of C. albicans and emphasize the potential for cell-mediated immune modulation as a prophylactic or therapeutic strategy against disseminated candidiasis.
[Sleep habits and sleep disturbance in school-age children of China].

OBJECTIVE To survey the sleep habits (bedtime, wake time), sleep duration, and sleep problems in school-age children of China. METHOD From November to December, 2005, a total of 19,299 school-age children from 55 elementary schools of 9 cities entered the study by a cross-sectional survey. A parent-administered questionnaire and the Chinese version of the Children's Sleep Habits Questionnaire were applied to investigate children's sociodemographic characteristics and sleep behaviors, respectively. RESULTS The mean sleep duration was 9 hours and 10 minutes (9:10, SD:48 min) during the weekdays and 9:48 (SD: 63 min) during the weekends. In about 71.4% and 41.8% school-aged children the sleep duration per day did not reach the lowest criterion of 10 hours recommended by the Ministry of Education of China during weekdays and weekends, respectively. Sleep problems were common with prevalence ranging from 14.5% for sleep-disordered breathing to 75.3% for daytime sleepiness. Parasomnia (chi(2) = 13.76, P < 0.01) and sleep-disordered breathing (chi(2) = 119.83, P < 0.01) were more prevalent in boys than in girls; however, sleep anxiety was more prevalent in girls than in boys (chi(2) = 19.42, P < 0.01). Except for night waking, other types of sleep problems were significantly associated with age. CONCLUSIONS Inadequate sleep duration and sleep problems prevail among school-age children, which indicates that children's sleep health may be a major public health concern in China.
Analyzing Volume Diagnosis Results with Statistical Learning for Yield Improvement

A novel statistical learning algorithm is proposed to accurately analyze volume diagnosis results. This algorithm effectively overcomes the inherent ambiguities in logic diagnosis, to produce accurate feature failure probabilities, which are critical in understanding systematic yield limiters. The results of Monte-Carlo simulation are presented, which demonstrate the feasibility and impacts of various factors on this approach. Additional experiments based on injected defects are performed, which confirm the ability of this approach to generate accurate feature failure probabilities for an industrial design using actual diagnosis results.
The importance of decoupling recurrent and disruption risks in a supply chain

This paper focuses on the importance of decoupling recurrent supply risk and disruption risk when planning appropriate mitigation strategies. We show that bundling the two uncertainties leads a manager to underutilize a reliable source while over utilizing a cheaper but less reliable supplier. As in Dada et al. (working paper, University of Illinois, Champaign, IL, 2003), we show that increasing quantity from a cheaper but less reliable source is an effective risk mitigation strategy if most of the supply risk growth comes from an increase in recurrent uncertainty. In contrast, we show that a firm should order more from a reliable source and less from a cheaper but less reliable source if most of the supply risk growth comes from an increase in disruption probability. © 2007 Wiley Periodicals, Inc. Naval Research Logistics, 2007
Spinal blockage of P/Q‐ or N‐type voltage‐gated calcium channels modulates functional and symptomatic changes related to haemorrhagic cystitis in mice

Spinal voltage‐gated calcium channels (VGCCs) are pivotal regulators of painful and inflammatory alterations, representing attractive therapeutic targets. We examined the effects of epidural administration of the P/Q‐ and N‐type VGCC blockers Tx3‐3 and Phα1β, respectively, isolated from the spider Phoneutria nigriventer, on symptomatic, inflammatory and functional changes allied to mouse cyclophosphamide (CPA)‐induced haemorrhagic cystitis (HC). The effects of P. nigriventer‐derived toxins were compared with those displayed by MVIIC and MVIIA, extracted from the cone snail Conus magus.
Kinetics of serum and ocular antibody responses in susceptible mice that received a secondary corneal infection with Pseudomonas aeruginosa

When susceptible C57BL/6J mice were infected with Pseudomonas aeruginosa in one eye and then reinfected in the previously uninfected contralateral control eye either 4 or 8 weeks after the primary infection, approximately 20 to 30% of the mice receiving a 4-week reinfection regimen restored corneal clarity within 4 weeks, while almost all of the 8-week-reinfected mice restored corneal clarity within 3 to 6 days postinfection. However, the rate of bacterial clearance was the same in both sets of mice despite the presence of opsonophagocytic antibodies only in the 8-week-reinfected mice. As determined by enzyme-linked immunosorbent assay, immunoglobulin G was the major immunoglobulin in both serum and ocular tissue of both mouse sets, and the immunoglobulin G level was two- to fourfold higher after the 8-week secondary infection than in the 4-week-reinfected mice.
DNA Methylation in Bladder Cancer

The methylation of cytosine residues in DNA is essential for normal embryonic development yet adds a conthe type of bladder cancer and the etiological agent thought to be responsible for carcinogenesis. Transitional siderable mutational load on organisms which methylate their DNAs. Unlike the situation in normal cells, where cell carcinomas in the Western population and Japan show a relatively low frequency of mutations at CpG methylation patterns are highly regular among different individuals, tumors show marked changes in the patterns sites suggesting that DNA methylation does not play a predominant role in inducing these changes within the and distribution of DNA methylation [1, 2]. These changes in methylation patterns may contribute to alp53 tumor-suppressor gene. On the other hand, squamous cell carcinomas and transitional cell carcinomas in tered gene expression which occurs during cancer development. We therefore investigated the role of DNA high-risk populations exposed to phenacetin or to arsenic in the drinking water, show an increased prevalence of methylation in the initiation and progression of bladder cancer. mutations due to the deamination of 5-methylcytosine. The role of methylation in inducing cancer-causing mutations therefore changes in these different tumor types and with the different etiological agents. Methods We have also analyzed the changes in methylation patterns which accompany tumor initiation and progression We have developed two new methods for the detection and quantitation of DNA methylation changes in cancer cells. The first in carcinoma of the bladder. These experiments have is a genome-scanning technique which enables the identification of shown frequent changes in the exon 2 region of the p16 sequences which show abnormal de novo methylation [3]. The segene which serve as markers for transformation, although cond is a highly quantitative technique which can be used to quantitthey play no role in altering the level of expression of the ate the methylation levels at specific sites once they have been identigene within the tumors. We have also observed methylfied [4]. These two techniques were used to analyze methylation changes in bladder cancers. ation within the CpG island of the promoter of the p16 gene in a low number of primary tumors and in a large number of tumor-derived cell lines [5]. This methylation may be responsible for an epigenetic mechanism to silence Results and Discussion the activity of the p16 tumor-suppressor gene and can be reversed by treatment with 5-azacytidine. Once again, The role of DNA methylation in the formation of the prevalence of epigenetic changes varies among differinactivating transition mutations in the p53 and p16
Concept : Di ( 2-ethylhexyl ) Phthalate ( DEHP ) and Phthalate Mixtures Project

program prior to designing and conducting toxicology studies. The purpose of the research concept document is to outline the general elements of a research program that would address the specific public health concerns that prompted the nomination of the substance or issue for study. It may also encompass substance-specific studies that address larger public health issues or topics in toxicology. Additional information about the nomination, review, and selection of substances for study by the NTP is provided at Nominations to the NTP Testing Program (http://ntp.niehs.nih.gov/go/nom). A draft version of this research concept was reviewed by the NTP Board of Scientific Counselors at a public meeting on December 6, 2007 (http://ntp.niehs.nih.gov/go/9741) and subsequently revised.
p21-activated kinase 4: a druggable target in the elusive oncogenic KRAS pathway?

Challenges in targeting the KRAS pathway Oncogenic Ras (KRAS) is one of the most prevalent somatic aberrations in cancer [1]. KRAS acts as a molecular switch that recruits and activates a repertoire of proteins necessary for cell proliferation, desmoplasia, maintenance of tumor heterogeneity (cancer stem-like cells), tumor aggressiveness and metastases [2]. Even though there is a consensus regarding the importance of KRAS in cancer, the absence of a typical drug binding pocket in its structure has kept KRAS as an elusive target for more than three decades [3]. While targeted agents against important members downstream of KRAS such as PI3K, AKT, MEK and EGFR do show initial response, resistance develops in almost all instances, thereby making these targets ineffectual [4]. Therefore, in order to overcome this challenge, newer druggable avenues either through the Ras structure itself or through critical direct interacting partners or downstream effectors of this master oncogenic regulator are urgently needed [5]. This article builds the case for the p21-activated kinases (PAKs) in general and PAK4 in particular as unique druggable avenues that are downstream of KRAS signaling.
Towards Discovering and Containing Privacy Violations in Software

Malicious code can wreak havoc on our cyberinfrastructure. Hence, discovering and containing malicious code is an important goal. This paper focuses on privacy-violating malicious code. Examples of privacy violations are leaking private user data to an external entity or downloading data to a user’s host without their permission. Spyware, which has recently received considerable attention in the popular literature, is an important example of privacy-violating malicious code. We propose a multi-step approach to discovering and containing privacy violations. We have designed and implemented a dynamic slicing tool to discover dependencies between events in an execution trace. We demonstrate that dynamic slicing can be used to discover privacy violations. Information gathered using dynamic slicing can be used to construct security policies to contain the discovered privacy violations. These security policies are then enforced by a sandbox. We have implemented a sandbox for Windows, and have successfully evaluated our approach on two applications: KaZaa and RealOne Player. For both of these applications we were able to discover privacy violations in them using our dynamic-slicing tool. Moreover, using information gathered through dynamic slicing we were able to design policies to thwart these privacy-violations. Although our preliminary evaluation was performed on spyware, in the future we will evaluate our approach on other privacy-violating malicious code.
Sarcoglycans in muscular dystrophy

Muscular dystrophy is a heterogeneous genetic disease that affects skeletal and cardiac muscle. The genetic defects associated with muscular dystrophy include mutations in dystrophin and its associated glycoproteins, the sarcoglycans. Furthermore, defects in dystrophin have been shown to cause a disruption of the normal expression and localization of the sarcoglycan complex. Thus, abnormalities of sarcoglycan are a common molecular feature in a number of dystrophies. By combining biochemistry, molecular cell biology, and human and mouse genetics, a growing understanding of the sarcoglycan complex is emerging. Sarcoglycan appears to be an important, independent mediator of dystrophic pathology in both skeletal muscle and heart. The absence of sarcoglycan leads to alterations of membrane permeability and apoptosis, two shared features of a number of dystrophies. β‐sarcoglycan and δ‐sarcoglycan may form the core of the sarcoglycan subcomplex with α‐ and γ‐sarcoglycan less tightly associated to this core. The relationship of ϵ‐sarcoglycan to the dystrophin‐glycoprotein complex remains unclear. Animals lacking α‐, γ‐ and δ‐sarcoglycan have been described and provide excellent opportunities for further investigation of the function of sarcoglycan. Dystrophin with dystroglycan and laminin may be a mechanical link between the actin cytoskeleton and the extracellular matrix. By positioning itself in close proximity to dystrophin and dystroglycan, sarcoglycan may function to couple mechanical and chemical signals in striated muscle. Sarcoglycan may be an independent signaling or regulatory module whose position in the membrane is determined by dystrophin but whose function is carried out independent of the dystrophin‐dystroglycan‐laminin axis. Microsc. Res. Tech. 48:167–180, 2000. © 2000 Wiley‐Liss, Inc.
Absence of Epstein-Barr virus in lymphomatoid papulosis. An immunohistochemical and in situ hybridization study.

BACKGROUND AND DESIGN Lymphomatoid papulosis (LyP) and cutaneous Hodgkin's disease share many clinical, histopathologic, and immunohistochemical features. Epstein-Barr virus (EBV) has been implicated in the pathogenesis of several lymphoid malignancies, including Hodgkin's disease. Given the similarities between LyP and Hodgkin's disease, we asked if EBV could be detected in lesions of LyP. We examined 31 specimens of LyP that were obtained from 24 patients for evidence of EBV by in situ hybridization to EBER1 transcripts and for immunohistochemistry of viral latent membrane protein 1 (LMP1). RESULTS In no instance there was there any evidence of EBV gene products by either in situ hybridization or immunohistochemistry. CONCLUSIONS The absence of EBV in LyP suggests that this virus is not operative in the pathogenesis of LyP. Furthermore, it suggests that LyP and Hodgkin's disease may not share the same molecular mechanisms despite their phenotypic similarities.
La mejoría del empleo inmigrante en España en 2014: ¿cambios estructurales?

En 2014, el empleo inmigrante ha roto la trayectoria anterior de reducciones mas intensas que la media, situandose entre los colectivos con mayores aumentos (3,8% anual en 2014/T4). Su fuerte avance en la construccion y la industria se ha traducido, junto a un buen registro en los servicios, en la reversion de tendencias previas que habian penalizado la ocupacion inmigrante masculina, joven, de bajo nivel educativo, asalariada con contrato temporal y a jornada completa. De consolidarse la recuperacion, va a comenzarse a percibir el impacto de la perdida de jovenes inmigrantes que ha tenido lugar en los ultimos anos, de forma que cabe esperar un cambio de sentido de las salidas iniciadas a partir de 2010
Single image dehazing via multi-scale gradient domain contrast enhancement

Outdoor images captured under bad weathers often suffer from low visibility. In this study, a novel method is presented to improve the visibility of a single input hazy image. On the basis of the observation that degradation of a hazy image occurs both in contrast and colour, the authors method aims at compensating the contrast and colour of the image, respectively. To achieve this, they propose a multi-scale gradient domain contrast enhancement approach that handles the different residual images rather than the entire image, and correct the attenuation of colour according to the estimated transmission. Since there is no need to recover the scene radiance by the degradation model, their method depends less on the accuracy of transmission and does not require the estimation of atmospheric light. Experiments on a variety types of hazy images show that their method yields accurate results with fine details and vivid colour, even better than other state-of-the-art dehazing methods.
Liver regeneration in donors and adult recipients after living donor liver transplantation

In living donor liver transplantation, the safety of the donor operation is the highest priority. The introduction of the right lobe graft was late because of concerns about donor safety. We investigated donor liver regeneration by the types of resected segments as well as recipients to assess that appropriate regeneration was occurring. Eighty‐seven donors were classified into 3 groups: left lateral section donors, left lobe donors, and right lobe donors. Forty‐seven adult recipients were classified as either left or right lobe grafted recipients. Volumetry was retrospectively performed at 1 week, 1, 2, 3, and 6 months, and 1 year after the operation. In the right lobe donor group, the remnant liver volume was 45.4%, and it rapidly increased to 68.9% at 1 month and 89.8% at 6 months. At 6 months, the regeneration ratios were almost the same in all donor groups. The recipient liver volume increased rapidly until 2 months, exceeding the standard liver volume, and then gradually decreased to 90% of the standard liver volume. Livers of the right lobe donor group regenerated fastest in the donor groups, and the recipient liver regenerated faster than the donor liver. Analyzing liver regeneration many times with a large number of donors enabled us to understand the normal liver regeneration pattern. Although the donor livers did not reach their initial volume, the donors showed normal liver function at 1 year. The donors have returned to their normal daily activities. Donor hepatectomy, even right hepatectomy, can be safely performed with accurate preoperative volumetry and careful decision‐making concerning graft‐type selection. Liver Transpl 14:1718–1724, 2008. © 2008 AASLD.