Miracle-dz/UniFAR-FTUs huggingface dataset:
Task-Based Motion Planning Using Optimal Redundancy for a Minimally Actuated Robotic Arm

In planning robotic manipulations, heuristic searches are commonly considered impractical due to the high dimensionality of the problem caused by redundancy in the kinematic chain. In this paper, we present an optimal motion planning algorithm for an overly redundant minimally actuated serial robot (MASR) using the manipulator workspace as a foundation for the heuristic search. By utilizing optimized numerical probability methods, a novel sub-workspace search was developed. The sub-workspace allows the search to quickly and accurately find the minimal sub-set of joints to be actuated and ensures the existence of a path to a given target. Further on, the search result is used as a search graph for the heuristic planning problem which guarantees an optimal solution within the problem boundaries. Using this approach, optimal heuristic search can become practical for various types of manipulators, tasks, and environments. We describe our workspace minimization and heuristic search using the example of a general robotic arm and then implement the approach on a MASR model, a robotic arm with five passive joints and a single mobile actuator that is free to travel along the arm and rotate each joint separately. A series of simulations show how our minimal redundancy approach can benefit from path planning in the case of traditional hyper-redundant manipulators, and its greater effectiveness when addressing the specific design of the MASR.
Direct Simulation Monte Carlo for Atmospheric Entry. 2. Code Development and Application Results

Abstract : The direct simulation Monte Carlo method (DSMC) has evolved over 40 years into a powerful numerical technique for the computation of complex, nonequilibrium gas flows. In this context, nonequilibrium means that the velocity distribution function is not in an equilibrium form due to a low number of intermolecular collisions within a fluid element. In atmospheric entry, nonequilibrium conditions occur at high altitude and in regions of flow fields with small length scales. In this second article of two parts, several different implementations of the DSMC technique in various, widely used codes are described. Validation of the DSMC technique for hypersonic flows using data measured in the laboratory is discussed. A review is then provided of the application of the DSMC technique to atmospheric entry flows. Illustrations of DSMC analyses are provided for slender and blunt body vehicles for entry into Earth, followed by examples of DSMC modeling of planetary entry flows.
Cardiac vs. Non Cardiac Chest Pain: Prospect of Different Pathological and Physiological Etiologies and Managements

Chest pain with/without etiologies are common phenomenon in day to day life . Like indigestion, dyspepsia and heartburn, people of third world country frequently suffer from these symptoms. Though it is not uncommon, lack of precautions and awareness it would be life threatening situation unless treatment module is activated. Different medical roles along with life style modification helpful in this regard for managing chest pain with different clinical features.
A novel FGF23 mutation in hyperphosphatemic familial tumoral calcinosis and its deleterious effect on protein O-glycosylation

Background Hyperphosphatemic familial tumoral calcinosis (HFTC) is a rare disease characterized by hyperphosphatemia and ectopic calcification, predominantly at periarticular locations. This study was performed to characterize the clinical profile of tumoral calcinosis and to identify gene mutations associated with HFTC and elucidated its pathogenic role. Methods The three subjects (two male and one female) were aged 30, 25 and 15 years, respectively. The clinical features, histopathological findings, and outcomes of three subjects with HFTC were retrospectively reviewed. The three subjects were analyzed for FGF23, GALNT3 and KL mutations. Function of mutant gene was analyzed by western blotting and wheat germ agglutinin affinity chromatography. Results All subjects had hyperphosphatemia and elevated calcium-phosphorus product. Calcinosis positions included the left shoulder, left index finger, and right hip. Bone and joint damage were present in two cases and multiple foci influenced body growth in one case. The histopathological features were firm, rubbery masses comprising multiple nodules of calcified material bordered by the proliferation of mononuclear or multinuclear macrophages, osteoclastic-like giant cells, fibroblasts, and chronic inflammatory cells. The novel mutation c.484A>G (p.N162D) in exon 3 of FGF23 was identified in one subject and his family members. Measurement of circulating FGF23 in the subject confirmed low intact FGF23 and increased C-terminal fragment. In vitro experiments showed that the mutant FGF23 proteins had defective O-glycosylation and impaired protein proteolysis protection. Conclusion We identified a novel FGF23 missense mutation, and confirmed its damaging role in FGF23 protein O-glycosylation. Our findings expand the current spectrum of FGF23 variations that influence phosphorus metabolism.
Low Methylation of Matrix Metalloproteinase 1 (MMP1) is Associated with Preterm Labour in Malaysian Mothers

Preterm births comprise 10.6% of livebirths worldwide and account for 35% of deaths among newborn babies. Understanding DNA methylation may offer basic knowledge in the understanding of pathogenesis of preterm labour. The study was undertaken to determine DNA methylation of matrix metalloproteinase 1 (MMP1) promoter in term and preterm labour using methylation-specific polymerase chain reaction (MSP). Thirty maternal venous blood samples (n=15 each) of term and preterm labour was subjected to bisulfite treatment prior to MSP. This result was then validated using DNA sequencing. Evaluation of the sequencing results by CpG islands analysis was performed using the ClustalW and SPSS software. Primers for MMP1 were located between -1226 and -1378 upstream from the transcription start site (TSS) that consisted five CpG islands. Preterm labour group had significantly lower methylated CpG islands with 39 out of total 75 (52%) compared to the term labour that has 49 out of 75 methylated CpG islands (65.33%) (t=0.694, p<0.05). Methylation occurred in 4 out of 5 methylated CpG islands in the MMP1 promoter where it only involved 2 preterm samples (13.33%) and 7 term samples (46.47%). This data suggested there were significant lower percentage of methylated MMP1 in preterm labour. Higher percentage of methylated MMP1 as observed in the term labour, will probably reduce the expression of MMP1, thus maintaining fibrillar collagen strength on the amniotic membrane and subsequently maintain the pregnancy till term. In conclusion, preterm labour has higher percentage of methylated CpG compared with term labour in MMP1 gene.
HUBUNGAN DURASI GADGET DENGAN EMOSIONAL ANAK USIA PRASEKOLAH DI PAUD NAURA LOSUNG BATU KOTA PADANGSIDIMPUAN

ABSTRAK Durasi gadget yang berlebihan dapat mengganggu perkembangan anak, terutama pada anak usia prasekolah. Pada anak usia prasekolah perkembangan emosi merupakan salah satu sangat penting dalam perkembangan anak karena kemampuan anak dalam mengelola emosi dan mengenal emosi sangat dibutuhkan ketika anak memasuki lingkungan di sekitarnya yang memiliki pengaruh terhadap perilaku anak. Tujuan penelitian untuk mengetahui apakah ada Hubungan Durasi Penggunaan Gadget Dengan Emosional Anak Usia Prasekolah Di Paud Naura Losung Batu Kota Padangsidimpuan. Jenis Penelitian kuantitatif dengan menggunakan Desain penelitian croos sectional study dan jumlah Populasi penelitian sebanyak 54 orang. Tehnik pengambilan Sampel penelitian dengan tehnik snowballing sampling sebanyak 24 orang dan Uji statistik yang digunakan yaitu Chi square. Hasil penelitian mayoritas durasi gadget diperoleh 17 orang (70.8%) dan minoritas durasi gadget sebanyak 3 orang (12.5%). Diharapkan penelitian ini menambah wawasan memberi masukan dan sebagai bahan perbandingan mengenai hubungan durasi gadget dengan emosional anak khususnya penerapan mutu pelayanan kesehatan anak. Excessive duration of gadgets can interfere with child development, especially in preschoolers. In preschool age children, emotional development is very important in child development because the child's ability to manage emotions and recognize emotions is needed when children enter the surrounding environment that has an influence on children's behavior. The purpose of the study was to determine whether there was a relationship between the duration of gadget use and the emotions of preschool-age children at Paud Naura Losung Batu, Padangsidimpuan City. This type of research is quantitative using a cross sectional study design and the number of research population is 54 people. The sampling technique used was the snowballing sampling technique as many as 24 people and the statistical test used was Chi square. The results of the study were that the majority of gadget durations were obtained by 17 people (70.8%) and the minority of gadget durations by 3 people (12.5%). It is hoped that this research will add insight to provide input and as a comparison material regarding the relationship between gadget duration and children's emotions, especially the application of the quality of child health services. Keywords: Gadget Duration, Children's Emotional, Preschool
Matheme and mathematics. On the main concepts of the philosophy of Alain Badiou

In this paper, I present a critical discussion of mathematical arguments employed in the philosophy of event of Alain Badiou. On the basis of "Being and Event" as well as his other writings, I analyze the main notions of his philosophy such as the indiscernible, the undecidable, and the unnameable. The focus of my analysis is both on their mathematical consistency, and their philosophical consequences. I argue that the mathematical approach developed by Badiou is seriously defective, and, as a result, that it cannot serve as an ontological basis for the concept of event as presented in "Being and Event".
Determining the Extent of Economical Sustainability of a Case Study Milk Farm in Bosnia and Herzegovina Based on the Real Options Model

The aim of this research was to determine a sustainable economic model of a milk farm in Bosnia and Herzegovina through the possibility of reorientation of raw milk production into cheese on-farm processing. All investment costs, annual production costs, production quantities, prices and annual income were collected through an unstructured questionnaire. The case study farm, originally engaged in milk production, reoriented itself to processing milk into several products. A cost–benefit analysis was applied for the 14-year project lifetime, as well as the Black–Scholes and binomial models of real options evaluation for shifting to cheese production in the fourth year of the project. The milk production farm is economically inefficient, and the investment project is unacceptable, resulting in negative net present value under assumed typical production parameters, and the payback period is longer than the project lifetime. The cheese production option value is positive according to the Black–Scholes and binominal models. Both real options models confirmed that processing milk into cheese is sustainable long-term and economically.
Design of a Filtering Power Divider with Simple Symmetric Structure Using Stubs

A power divider (PD) with a wide stopband and simple symmetric structure using open- and short-ended stubs is analyzed and implemented in this paper. In the proposed power divider, for the first time, the output resistor is divided into two sections and open- and short-ended stubs are used between the resistors. The incorporated open- and short-ended stubs have resulted in a controllable bandwidth for the proposed PD, which resulted in 40% of the fractional bandwidth considering 3 dB attenuation of insertion loss. The proposed PD operates at 2 GHz, which shows more than 20 dB attenuation for the return and isolation losses. In addition, the obtained insertion loss at the operating frequency is approximately 0.3 dB, which shows a minor loss, and also, high isolation is achieved in the device. Moreover, 20 dB and 30 dB attenuation levels have been achieved for second and third harmonics. The results show high performance for the proposed power divider.
Transient Global Amnesia Masquerading as Transient Ischemic Attack

Transient global amnesia (TGA) is a rare self-limited syndrome characterized primarily by anterograde amnesia. It shares multiple characteristics with a transient ischemic attack and ischemic stroke, which carry a more ominous outlook. There is a debate with respect to what is sufficient for ruling out more serious pathologies. Additionally, there is data that challenge the historical view that TGA is a benign condition requiring no long-term management. Here, we present the case of a 70-year-old female who was admitted to a free-standing emergency room with confusion, memory loss, and hypertensive crisis that was diagnosed as TGA. The patient was evaluated by a neurologist and transferred to the hospital. The patient was discharged after more serious pathologies were excluded after an extensive workup. This scenario showcases how physicians have to balance the risk of serious diseases with the need for further testing. Future research should focus on how to accurately identify or rule out serious diseases leading to a reduction in adverse events and patient costs. It is also not clear if TGA is truly benign or has an association with stroke.
A Comprehensive Operation Status Evaluation Method for Mining XLPE Cables

At present, the online insulation monitoring and fault diagnosis of mining cables are extensively discussed, while their operation status assessment has not been deeply studied. Considering that mining cables are closely related to the safe and stable operation of coal mine power supply systems, a comprehensive evaluation method including the Analytic Hierarchy Process (AHP), the membership cloud theory, and the D-S evidence theory is proposed in this paper in order to accurately assess the operation status of the mining XLPE cable. Firstly, the membership cloud is introduced to solve the index membership degree and the weights are calculated by an improved weight vector calculation method. Secondly, the conversion from the base layer indicator membership degree to the target layer trust degree is realized based on the D-S evidence theory. Then, the cable operation status is judged via the trust degree maximum and the distribution of conflict coefficients is further analyzed to warn the indicators with a bad status in the base layer. Finally, the feasibility of the proposed evaluation method is verified by a sufficient and detailed case analysis.
Accuracy of Inertial Measurement Units When Applied to the Countermovement Jump of Track and Field Athletes

In this study, we aimed to assess the countermovement jump (CMJ) using a developed instrument encompassing an off-the-shelf Inertial Measurement Unit (IMU) in order to analyze performance during the contraction phase, as well as to determine the jump height and the modified reactive strength index (RSImod), using force plate (FP) data as reference. Eight athletes (six males and two females) performed CMJs with the IMU placed on their fifth lumbar vertebra. Accuracy was measured through mean error (standard deviation), correlation, and comparison tests. The results indicated high accuracy, high correlation (r), and no statistical differences between the IMU and the FP for contraction time (r = 0.902; ρ < 0.001), negative impulse phase time (r = 0.773; ρ < 0.001), flight time (r = 0.737; ρ < 0.001), jump time (r = 0.708; ρ < 0.001), RSImod (r = 0.725; ρ < 0.001), nor minimum force (r = 0.758; ρ < 0.001). However, the values related to the positive impulse phase did not have the expected accuracy, as we used different devices and positions. Our results demonstrated that our developed instrument could be utilized to identify the contraction phase, jump height, RSImod, and minimum force in the negative impulse phase with high accuracy, obtaining a signal similar to that of an FP. This information can help coaches and athletes with training monitoring and control, as the device has simpler applicability making it more systematic.
2D Compressed Sensing Using Nonlocal Low-Rank Prior Reconstruction for Cipher-Image Coding

In recent years, cipher-image coding by using compressed sensing (CS) has became a hot topic. However, the ratio-distortion (R-D) performance of the previous methods are barely satisfactory. In order to address this concern, a 2D CS (2DCS) scheme by using nonlocal low-rank prior (NLP) reconstruction is proposed in this letter. Firstly, the scrambling encryption is applied to mask the plaintext image. Secondly, the cipher image is compressed by 2DCS. Lastly, an iterative singular value thresholding (ISVT) algorithm is developed, which can reconstruct the image effectively by exploring the NLP information of the image. Simulation results show that the proposed method outperforms the previous CS-based methods in terms of R-D performance.
Calculation of geometrical and spin features of a series of metal-endofullerenes

A series of endofullerenes M@C60 were calculated from the first principles (unrestricted Hartree Fock and DFT B3LYP) methods with effective core potential (M = Ag, Cs) and all-electronic basis set (M = Li, Na, Cu). An arbitrary symmetry distortion (down to C1 point group) was assumed. The geometrical and electronic properties of M@C60 are compared for this series of endoatoms including the off-center position of enoatoms within C60, effective charges and spin density. The latter values are featured for Ag@C60 and Cu@C60.
Myostatin/HIF2α-Mediated Ferroptosis is Involved in Skeletal Muscle Dysfunction in Chronic Obstructive Pulmonary Disease

Objective Skeletal muscle dysfunction is an important comorbidity in patients with chronic obstructive pulmonary disease (COPD), and is associated with poor quality of life and reduced survival, but the mechanisms involved remain elusive. Ferroptosis is a newly discovered type of cell death resulting from iron‐dependent lipid peroxide accumulation. The purpose of this study was to examine whether ferroptosis is involved in COPD-associated skeletal muscle dysfunction. Methods A mouse model of COPD was established after 24 weeks of cigarette smoke (CS) exposure, and mRNA sequencing, hematoxylin-eosin (H&E) staining, immunostaining (IF), RT-PCR, and Western blot were utilized to identify the changes in gastrocnemius muscles. In vitro, C2C12 myotubes were treated with CS extract (CSE) and evaluated for ferroptosis-related molecules. The pathways regulating ferroptosis were then explored in CSE-stimulated myotubes. Results Compared with controls, COPD mice showed an enriched ferroptosis pathway. Gpx4 was decreased, while hypoxia-inducible factor (Hif) 2α was increased, at gene and protein levels. A reduced level of GSH, but increased cell death, Fe2+, lipid ROS, LPO, and 4-HNE were observed in COPD mice or in CSE-stimulated C2C12 myotubes, which could be ameliorated by ferroptosis inhibitors. The expression of myostatin (MSTN) was enhanced in COPD mice and CSE-stimulated myotubes. MSTN up-regulated HIF2α expression and led to ferroptosis in myotubes, whereas inhibition of MSTN binding to its receptor or inhibition/knockdown of HIF2α resulted in decreased cell death, and partially restored GPX4 and GSH. Conclusion CS exposure induced ferroptosis in vivo and in vitro. Mechanistically, CS-exposure upregulated MSTN which further induced ferroptosis through HIF2α in skeletal muscles, which may contribute to muscle dysfunction through impairing metabolic capacity and decreasing muscle fiber numbers, revealing a potential novel therapeutic target for COPD-related skeletal muscle dysfunction.
Identifying Merging Galaxies in MaNGA using H-a and Hi Observations

Reliable methods that could recognise and distinguish galactic mergers are important for better understanding of galaxy evolution. This paper explores the feasibility of using observations on Hα and HI as a method to identify mergers. Sixty sample galaxies were carefully selected from the MaNGA DR15 database and cross-checked with the MaNGA Deep Learning DR15 Morphology to determine the merger signature. The chosen galaxies were divided into two groups, where galaxies with P M E RG < 0.5 were selected as non-merging galaxies and galaxies with P M E RG > 0.8 were selected as mergers. The Hα emission line plot and Hα velocity maps were obtained from the MaNGA DR15 database while HI data comes from HI-MaNGA DR1 catalogue for all 60 galaxies. Seventeen of the 30 merging galaxies have more than Hα blobs (28.3% of the 60 galaxies) compared to 14 of the 30 non-merging galaxies (23.3%). Fourteen of the mergers (23.3% of 60 galaxies) have asymmetric Hα velocity plots compared to 8 of the non-mergers. Thirteen of the mergers have a well-defined HI peak (21.7%) versus 11 of the non-merging galaxies (18.3%). These parameters were found to be a feasible new method in determining merging galaxies in the universe.
Galactic AGB stars from the IPHAS survey

Abstract We present a photometric analysis of the properties of asymptotic giant branch stars identified in the INT Photometric H-alpha Survey (IPHAS) of the northern Galactic plane. Follow-up spectroscopy has revealed that the IPHAS (r - Ha) colour is a valuable diagnostic of the photospheric C/O ratio, and may be used to identify hundreds of carbon and S-type stars.
Social equity in sustainability certification systems for the built environment: understanding concepts, value, and practice implications

Sustainability certification systems play both an agenda-setting and practical role for a variety of architecture, planning, and engineering project types. The evolution of existing systems and the creation of new certification systems to address a broader set of social sustainability topics provide a unique opportunity to explore the different ways the industry is thinking about and applying social equity ideas to varied projects. We explore this diversity by conducting a content analysis of the guidance documents from eight sustainability certification systems to better understand how social equity is defined, the context in which the concept is applied, and how systems value the idea. The manner and degree to which systems engage with recognitional, procedural, and distributional aspects of social equity varies. Consequently, there is no guarantee that certification leads to real-world equitable outcomes. Moreover, sustainability professionals seeking to use certification systems to address unequal social impacts or benefits still need to bring a clear set of goals regarding equity of what and for whom, as well as ideas of how to measure and evaluate the distribution of social costs/benefits in order to put social equity into practice.
Hereditary neuropathy with liability to pressure palsies misdiagnosed as Guillain–Barré Syndrome: A case report

Rationale: Hereditary neuropathy with liability to pressure palsies (HNPP) is an autosomal dominantly inherited genetic disease characterized by recurrent numbness and limb weakness. HNPP can be easily missed or misdiagnosed because of electrophysiological heterogeneity and atypical clinical symptoms. To date, diagnosis of HNPP remains a challenge for clinicians. Patient concerns: Here, we report the case of a 12-year-old woman diagnosed with HNPP, which was initially diagnosed with Guillain–Barré Syndrome (GBS) and treated with intravenous immunoglobulin (IVIG). Diagnoses: Repeat electrodiagnostic studies and genetic testing confirmed the diagnosis of HNPP. Interventions: The patient was treated with neurotrophic drugs and health education, including avoiding maintenance of a certain posture for extended periods, which could damage the peripheral nerves. Outcomes: The patient was discharged 5 days later. The patient was free from recurrence after 6 months of follow-up. Lessons: This case highlights the complexity of HNPP diagnosis and emphasizes the importance of early identification.