Miracle-dz/UniFAR-FTUs huggingface dataset:
Extending Boids for Safety-Critical Search and Rescue

—Robot swarms can be used to accomplish complex tasks that are difficult or impossible for any single agent alone. In this paper, we seek to design swarm robotic algorithms for search and rescue that are scalable to large swarms, efficient in terms of computations, safe from collisions, and tunable to mediate the trade-off between exploration of the environment and exploitation of possible target location information. To accomplish this, we propose extending the classical Boids algorithm from computer animation. Without modifying the three Boids rules of alignment, cohesion, and separation, we add target-seeking and general collision avoidance through the novel use of ghost boids . In addition, we use a control barrier function to further improve safety at the cost of increased computations. Through simulations in a search and rescue task, we analyze the trade-offs between safety, computational efficiency, and coverage of the environment for our algorithm.
METHODS FOR THE SUBJECTIVE ASSESSMENT OF SMALL IMPAIRMENTS IN AUDIO SYSTEMS INCLUDING MULTICHANNEL SOUND SYSTEMS

considering a) that Recommendations ITU-R BT.500, ITU-R BS.562, ITU-R BT.710 and ITU-R BT.811 have established some methods for assessing subjective quality of audio and video systems; b) that subjective listening tests permit assessment of the degree of annoyance caused to the listener by any impairment of the wanted signal during its transmission between the originating source and the listener; c) that classical objective methods may not be adequate in assessing advanced audio coding schemes and that perceptual objective assessment methods are being developed for testing the sound quality of sound systems; d) that the use of standardized methods is important for the exchange, compatibility and correct evaluation of the test data; e) that the introduction of new advanced digital audio systems exploiting psycho-acoustic properties, especially with small impairments requires advancements in subjective assessment methods; f) that the introduction of new multichannel stereophonic sound systems with or without accompanying picture requires new subjective assessment methods, including the experimental conditions,
Pilot Study to Determine the Prevalence of CYP2B6*6(C.516G>T), CYP2C19*2 (C.681G>A) and CYP2C19*3 (C.636G>A) in Breast Cancer Patients versus Normal Healthy Controls among Three Major Ethnic Groups in Singapore

Early detection of cancers plays an important role in reducing the mortality rate of cancers. However, breast cancer is usually detected at later stages of diseases [1]. The reliability of existing breast cancer biomarkers as an efficient means of detection needs to be reviewed. There is continuous effort to search for efficient breast cancer biomarkers as tools for early detection of breast cancer. At the same time, the biomarkers could serve as an important indicator for prognosis in breast cancer treatment
Optimal position and distribution mode for on-site hydrogen electrolyzers in onshore wind farms for a minimal levelized cost of hydrogen (LCoH)

Abstract. Storing energy is a major challenge in achieving a 100 % renewable energy system. One promising approach is the production of green hydrogen from wind power. This work proposes a method for optimizing the design of wind–hydrogen systems for existing onshore wind farms in order to achieve the lowest possible levelized cost of hydrogen (LCoH). This is done by the application of a novel Python-based optimization model that iteratively determines the optimal electrolyzer position and distribution mode of hydrogen for given wind farm layouts. The model includes the costs of all required infrastructure components. It considers peripheral factors such as existing and new roads, necessary power cables and pipelines, wage and fuel costs for truck transportation, and the distance to the point of demand (POD). Based on the results, a decision can be made whether to distribute the hydrogen to the POD by truck or pipeline. For a 23.4 MW onshore wind farm in Germany, a minimal LCoH of EUR 4.58 kgH2-1 at an annual hydrogen production of 241.4 tH2a-1 is computed. These results are significantly affected by the position of the electrolyzer, the distribution mode, varying wind farm and electrolyzer sizes, and the distance to the POD. The influence of the ratio of electrolyzer power to wind farm power is also investigated. The ideal ratio between the rated power of the electrolyzer and the wind farm lies at around 10 %, with a resulting capacity factor of 78 % for the given case. The new model can be used by system planners and researchers to improve and accelerate the planning process for wind–hydrogen systems. Additionally, the economic efficiency, hence competitiveness, of wind–hydrogen systems is increased, which contributes to an urgently needed accelerated expansion of electrolyzers. The results of the influencing parameters on the LCoH will help to set development goals and indicate a path towards a cost-competitive green wind–hydrogen system.
Maxwell: Developing a Low-Cost Mobile Manipulator

In this paper we describe our recent work developing an inexpensive mobile manipulator, capable of operating in human-scale environments. Our robot (Maxwell) has a 5-degree of freedom arm, pan and tilt head with depth sensor, and differential drive mobile base. The robot is fully integrated with the open-source ROS framework, easing software development and allowing interoperability with a large amount of existing software.
( + )-Grandifloracin, an antiausterity agent, induces autophagic Panc-1 pancreatic cancer cell death

: Human pancreatic tumors are known to be highly resistant to nutrient starvation, and this prolongs their survival in the hypovascular (austere) tumor microenvironment. Agents that retard this tolerance to nutrient starvation represent a novel antiausterity strategy in anticancer drug discovery. ( + )-Grandifloracin (GF), isolated from Uvaria dac , has shown preferential toxicity to PANC-1 human pancreatic cancer cells under nutrient starvation, with a PC 50 value of 14.5 µ M. However, the underlying mechanism is not clear. In this study, GF was found to preferentially induce PANC-1 cell death in a nutrient-deprived medium via hyperactivation of autophagy, as evidenced by a dramatic upregulation of microtubule-associated protein 1 light chain 3. No change was observed in expression of the caspase-3 and Bcl-2 apoptosis marker proteins. GF was also found to strongly inhibit the activation of Akt, a key regulator of cancer cell survival and proliferation. Because pancreatic tumors are highly resistant to current therapies that induce apoptosis, the alternative cell death mechanism exhibited by GF provides a novel therapeutic insight into antiausterity drug candidates.
Weibull Racing Survival Analysis with Competing Events, Left Truncation, and Time-varying Covariates

We propose Bayesian nonparametric Weibull delegate racing (WDR) for survival analysis with competing events and achieve both model interpretability and flexibility. Utilizing a natural mechanism of surviving competing events, we assume a race among a potentially infinite number of sub-events. In doing this, WDR accommodates nonlinear covariate effects with no need of data transformation. Moreover, WDR is able to handle left truncation, time-varying covariates, different types of censoring, and missing event times or types. We develop an efficient MCMC algorithm based on Gibbs sampling for Bayesian inference and provide an R package. Synthetic data analysis and comparison with benchmark approaches demonstrate WDR’s outstanding performance and parsimonious nonlinear modeling capacity. In addition, we analyze two real data sets and showcase advantages of WDR. Specifically, we 1 ar X iv :1 91 1. 01 82 7v 3 [ st at . M E ] 2 2 M ar 2 02 2 study time to death of three types of lymphoma and show the potential of WDR in modeling nonlinear covariate effects and discovering new diseases. We also use WDR to investigate the age at onset of mild cognitive impairment and interpret the accelerating or decelerating effects of biomarkers on the progression of Alzheimer’s disease.
The Relationship between Velocity and Cerebral Resistance during Vasomotor Reactivity Testing: Should We Report a Different Measurement?

Introduction and Objective Changes in arterial resistance are an important aspect in the regulation of cerebral blood flow. Vasomotor reactivity testing with transcranial Doppler (TCD) is used commonly to report findings in terms of mean flow velocity changes. Yet, the pertinent clinical question is about resistance changes. How effectively do the cerebral resistance vessels dilate and constrict, or what is their vasomotor capacity? In this study, we examine the relationship between cerebral flow velocity and resistance and propose a new measurement for vasomotor reactivity studies. Methods We recruited 35 healthy subjects and measured TCD mean flow velocities in the middle cerebral artery during vasoreactivity testing using 6% CO2 inhalation (hypercapnia) to produce cerebral vasodilatation, and controlled hyperventilation (hypocapnia) to produce vasoconstriction. Brachial blood pressure was also recorded. Mean Resistance (mean blood pressure/mean flow velocity) was calculated at baseline, hypercapnia, and hypocapnia. We compared the % change from baseline in both mean flow velocity (cm/s) and Mean Resistance (mmHg s/cm), in relation to gender and age. Results For the group overall, hypercapnia produced a 39.3 ± 19.9% increase in mean flow velocity; however, this resulted in only a 21.9 ± 9.9% decrease in Mean Resistance. Whereas during hypocapnia, a 32.4 ± 9.3% decrease in velocity produced a much larger increase in Mean Resistance (48.9 ± 22.2%). Young women had the greatest capacity to vasodilate, showing a 26.1 ± 9.2% decrease in Mean Resistance (46.0 ± 14.6% increase in velocity). However, young men showed the largest change during vasoconstriction; a 59.5 ± 31.6% increase in Mean Resistance (35.3 ± 9.5% decrease in velocity). Conclusions Large velocity increases during hypercapnia do not represent large changes in resistance. Whereas small velocity decreases during hypocapnia actually represent much larger changes in resistance, the calculation of Mean Resistance is a more clinically relevant measurement to report than velocity alone, and should be incorporated into TCD studies in the future.
Title: Heteroplasmy and repeat expansion in the plant-like mitochondrial genome of a bivalve mollusc

Background ​ : Animal mitochondrial genomes are typically circular, 14-20 kb in length, maternally inherited, contain 13 coding genes, two ribosomal genes and are homoplasmic. In contrast, plant mitogenomes display frequent gene rearrangements, often contain greatly expanded repetitive regions, encode various open reading frames of unknown function and may be heteroplasmic due to differential repeat expansions between molecules. Error correction by recombination is common in plant mitochondria and has been proposed as the driver behind the rearrangements and repeat expansions that are often observed. In contrast, most animal mitochondria never or only very seldomly recombine and their utilisation of other repair mechanisms for mitochondrial genome error correction is a potential driver of their non-coding DNA reduction. Results ​ : Using PacBio long reads for genome assembly and structural variant detection, we identify evidence of heteroplasmy in the form of variable repeat lengths within two blocks of repetitive DNA within the expanded 46 kb mitochondrial genome of the bivalve mollusc, quagga mussel, ​ Dreissena rostriformis ​ . The quagga mussel also has a greatly expanded repertoire of coding genes in comparison to most animals which includes an additional nine open reading frames (ORFs) encoding predicted transmembrane peptides of unknown orthology. Conclusions ​ : The genome size, repeat content and coding gene repertoire of the quagga mussel mitogenome closely resemble those of plants and the identification of repeat-associated heteroplasmy is consistent with the utilisation of plant-like recombination-based error correction mechanisms. Given the frequency of mitochondrial repeat expansions within the Bivalvia, recombination may be an underappreciated mechanism for mitogenomic error correction within this and other animal lineages.
Single Image Defocus Deblurring via Implicit Neural Inverse Kernels

Single image defocus deblurring (SIDD) is a challenging task due to the spatially-varying nature of defocus blur, characterized by per-pixel point spread functions (PSFs). Existing deep-learning-based methods for SIDD are limited by either over-fitting due to the lack of model constraints or under-parametrization that restricts their applicability to real-world images. To address the limitations, this paper proposes an interpretable approach that explicitly predicts inverse kernels with structural regularization. Motivated by the observation that defocus PSFs within an image often have similar shapes but different sizes, we represent the inverse kernels linearly over a multi-scale dictionary parameterized by implicit neural representations. We predict the corresponding representation coefficients via a duplex scale-recurrent neural network that jointly performs fine-to-coarse and coarse-to-fine estimations. Extensive experiments demonstrate that our approach achieves excellent performance using a lightweight model.
Identi�cation of NHXs in Gossypium species and the positive role of GhNHX1 in salt tolerance

Background: Plant Na + /H + antiporters (NHXs) are membrane-localized proteins that maintain cellular Na + /K + and pH homeostasis. Considerable evidence highlighted the critical roles of NHX family in plant development and salt response; however, NHXs in cotton are rarely studied. Results: The comprehensive and systematic comparative study of NHXs in three Gossypium species was performed. We identi�ed 12, 12, and 23 putative NHX proteins from G. arboreum , G. raimondii , and G. hirsutum , respectively. Phylogenetic study revealed that repeated polyploidization of Gossypium spp. contributed to the expansion of NHX family. Gene structure analysis showed that cotton NHXs contain many introns, which will lead to alternative splicing and help plants to adapt to high salt concentrations in soil. The expression changes of NHX s indicate the possible differences in the roles of distinct NHX s in salt response. GhNHX1 was proved to be located in the vacuolar system and intensively induced by salt stress in cotton. Silencing of GhNHX1 resulted in enhanced sensitivity of cotton seedlings to high salt concentrations, which suggests that GhNHX1 positively regulates cotton tolerance to salt stress. Conclusion: We characterized the gene structure, phylogenetic relationship, chromosomal location, and expression pattern of NHX genes from G. arboreum , G. raimondii , and G. hirsutum . Our �ndings indicated that the cotton NHX genes are regulated meticulously and differently at the transcription level with possible alternative splicing. The tolerance of plants to salt stress may rely on the expression level of a particular NHX , rather than the number of NHXs in the genome. This study could provide signi�cant insights into the function of plant NHX s, as well as propose promising candidate genes for breeding salt-resistant cotton cultivars.
Cleaning and Consolidation of Damaged Plasters, Writings and Drawings on the Walls of the Pilgrims' Room in the Monastery Anba

: The Aswan governorate, in Egypt, contains a wealth of rich and varied cultural heritage. These rare monuments suffer from factors of deterioration that cause numerous damages that may finally lead to the complete loss of these important buildings, including the monastery of St. Hydra, which is located on the West Bank of the Aswan Nile. This study aims to conduct investigations using an electron microscope (SEM) with an EDX module. Studying the markings and decorations on monuments and the walls of Coptic churches and monasteries became one of the most crucial things for archaeologists and researchers to accomplish as a result of certain mortar layer samples that had fallen. So that it will last over time and make the restoration process appear simple and easy to understand, the conservators must preserve it and keep it clean. Then, this study suggests the use of the following materials: a cobalt-ferrite nanoparticle with a technique for cleaning plaster layers. It showed satisfactory results during its experiment on prepared samples that simulated the part to be cleaned. In addition, tests were conducted to use Nano graphene oxide to improve the properties of adobe bricks used as supports, which showed good results. The results also showed that the use of nanoparticles of calcium carbonate was useful in improving the properties. In further studies, these materials will be mentioned in more detail. But this research is concerned with studying damage in the monastery and giving treatment suggestions for consolidation and cleaning.
The gut microbiome dysbiosis and regulation by fecal microbiota transplantation: umbrella review

Background Gut microbiome dysbiosis has been implicated in various gastrointestinal and extra-gastrointestinal diseases, but evidence on the efficacy and safety of fecal microbiota transplantation (FMT) for therapeutic indications remains unclear. Methods The gutMDisorder database was used to summarize the associations between gut microbiome dysbiosis and diseases. We performed an umbrella review of published meta-analyses to determine the evidence synthesis on the efficacy and safety of FMT in treating various diseases. Our study was registered in PROSPERO (CRD42022301226). Results Gut microbiome dysbiosis was associated with 117 gastrointestinal and extra-gastrointestinal. Colorectal cancer was associated with 92 dysbiosis. Dysbiosis involving Firmicutes (phylum) was associated with 34 diseases. We identified 62 published meta-analyses of FMT. FMT was found to be effective for 13 diseases, with a 95.56% cure rate (95% CI: 93.88–97.05%) for recurrent Chloridoids difficile infection (rCDI). Evidence was high quality for rCDI and moderate to high quality for ulcerative colitis and Crohn’s disease but low to very low quality for other diseases. Conclusion Gut microbiome dysbiosis may be implicated in numerous diseases. Substantial evidence suggests FMT improves clinical outcomes for certain indications, but evidence quality varies greatly depending on the specific indication, route of administration, frequency of instillation, fecal preparation, and donor type. This variability should inform clinical, policy, and implementation decisions regarding FMT.
The Efficacy and Safety of Dotinurad on Uric Acid and Renal Function in Patients with Hyperuricemia and Advanced Chronic Kidney Disease: A Single Center, Retrospective Analysis

Objective We investigated the efficacy and safety of dotinurad, a selective urate reabsorption inhibitor, in hyperuricemic patients with advanced chronic kidney disease (CKD) (stage G3-5). Patients and Methods We retrospectively analyzed the cases of 34 patients (mean age, 68.6 ± 13.3 years; 17 men and 17 women) after 12 months of dotinurad treatment based on the changes in uric acid (UA) and the urine protein-to-creatinine ratio (UPCR) plus the annual change in estimated glomerular filtration rate (eGFR). Hyperuricemia (UA ≥6.0 mg/dL) and advanced CKD (mean eGFR: 32.0 ± 13.3 mL/min/1.73m2; stage G3, n=17; G4, n=13; G5, n=4) were present in all of the patients. The cases of 34 matched individuals with similar propensity scores (who were not taking dotinurad) were analyzed as a control group. Results UA values decreased significantly in the dotinurad group (7.1 ± 0.8 mg/dL to 5.9 ± 1.0 mg/dL, p<0.05) but those did not change in the control group. UPCR did not change in either group. Low-density lipoprotein cholesterol also decreased significantly in the dotinurad group (98.8 ± 43.4 mg/dL to 82.9 ± 33.1 mg/dL, p<0.05). With the 12-month dotinurad treatment, the annual change in the patients’ eGFR was significantly improved from −6.0 ± 12.9 mL/min/1.73 m2/year to −0.9 ± 4.6 mL/min/1.73 m2/year (p<0.05), but there was no change in the control group. Conclusion Dotinurad can decrease UA levels and might attenuate renal function decline in individuals with hyperuricemia and advanced CKD.
Equilibrium of population and economic development in the top ten urban agglomerations in China

For the top ten urban agglomerations in China including Yangtze River Delta and Pearl River Delta,we calculated urban economic Gini indices and urban scale Gini indices,and judged the equilibrium of population and economic development after evaluation of Gini quotient indices. The results suggest that the degree of economic concentration of ten urban agglomerations is greater than the degree of population concentration. Secondly,the equilibria of population and economic development in top ten urban agglomerations are significantly different. Finally,regional differentiation features of the equilibrium of population and economic development in ten urban agglomerations are not obvious. In the following aspects,such as location factors,urban economy development,urbanization,urbanization approach,the population movement,management system and so on,we analyze the influencing factors.
The moderating role of internal control system on the relationship between service quality of accounting information system and customer satisfaction: a study of some selected customers from commercial banks in Jordan

The purpose of this empirical study is to determine how Jordan's internal control system affects the efficiency of accounting information systems (AIS) services and client satisfaction. The study's goal is to shed light on how important a robust internal control system is for increasing customer satisfaction with AIS services. A quantitative research methodology is used to collect data from a survey of 265 representative customers of Jordanian enterprises (Commercial BANKS). Data is analyzed using second generation analysis technic (SmartPLS) software. In the context of AIS, the findings emphasize the significance of the internal control system in bolstering the link between service quality and customer satisfaction. The research advances our understanding of AIS and has significant ramifications for companies seeking to improve customer satisfaction and service quality. The researcher also offered suggestions for further research.
Dynamics of Water Quality for Vannamei Shrimp Cultivation in Intensive Ponds in Coastal Areas

Cultivators increase production using intensive cultivation which applies stocking densities and feeding in high quantities, which triggers a decrease in water quality, both cultivation water and cultivation wastewater because it contains high levels of organic matter. Changes in water quality have an impact on plankton community structure. This research aims to determine the dynamics of the physical, chemical, and biological quality of cultivation media water and the disposal of vaname shrimp cultivation waste in Ujungpangkah District, Gresik Regency. The research was conducted in January 2023 using a survey method. Water and plankton samples were taken from reservoirs, ponds, and pond waste disposal sites. Sampling was carried out in vaname shrimp cultivation ponds in the Coastal Area of ​​Ujungpangkah District, Gresik Regency. The physical and chemical quality of water has a pattern of changes up and down but is relatively the same and stable every week. All of these water quality parameters show a pattern of change that is quite good for the growth of vaname shrimp, but in waste disposal, the parameters for nitrate, phosphate, ammonia, and TOM are above the quality standards. The highest abundance of plankton is in waste dumps, with the highest phytoplankton coming from the Bacillariophyta phylum (49%), while zooplankton comes from the Rotifera phylum (54%). Regular monitoring of water quality in ponds and waste disposal sites is required so that it remains stable and safe for the environment.