Miracle-dz/UniFAR-FTUs huggingface dataset:
A Comparison of Production Performance, Egg Quality, and Cecal Microbiota in Laying Hens Receiving Graded Levels of Vitamin B12

The objective of the study was to investigate the effect of fortified diets with standard vs. high levels of vitamin B12 on cecal microbiota composition, production performance, and eggshell quality of laying hens. Dietary treatments consisted of a basal diet with no supplementation of vitamin B12 or supplemented with 25, 100, and 400 μg/kg vitamin B12, respectively. A total of 432 laying hens were randomly assigned to four treatments with six replicates per treatment. No significant effect of dietary treatments on the production performance of hens was detected. The shell thickness of eggs from hens fed diet supplemented with 100 μg/kg of vitamin B12 was higher (P < 0.01) than that of eggs from hens fed control diet or supplemented with 25 μg/kg vitamin B12. The shell percentage of eggs from hens fed diet supplemented with 400 μg/kg of vitamin B12 was higher (P < 0.01) than that of eggs from hens fed other treatment diets. Dietary vitamin B12 did not modulate diversity of the cecal microbiota of the layers. At genus level, the cecal content from layers fed diet with supplemental level of 100 or 400 μg/kg of vitamin B12 had higher (P < 0.01) abundance of Faecalibacterium and lower (P < 0.05) abundance of Acinetobacter compared with the cecal content from layers fed other two diets. The abundance of Lactobacillus in the cecal samples from layers fed 100 μg/kg of supplemental level of vitamin B12 was higher (P < 0.05) than that from layers fed other three diets. The abundance of Butyricicoccus was higher (P < 0.05), while Bilophila was lower (P < 0.05) in the cecal content of layers fed 400 μg/kg of vitamin B12 diet compared with those from layers fed other three diets. The results of PICRUSt analysis indicated that 10 predicted metabolic functions of the cecal microbial communities were positively correlated to dietary vitamin B12 level. Overall, dietary supplementation of 100 or 400 μg/kg of vitamin B12 had equivalent effects and caused the significant change in composition and metabolic functions of cecal microorganisms, which could positively impact eggshell quality, metabolism, and gut health of laying hens.
Optimized Method for Planning and Controlling the Somersault Motion of Quadruped Robot

A method for planning and controlling the somersault motion of a quadruped robot is proposed in this paper. The method divides the somersault motion into 5 stages according to intuitive understanding. Based on the simplified dynamic model, the linear programming method is used to obtain the maximum ground reaction force under the constraints of joint torque and friction cone, and then the optimal leg thrusting trajectory is obtained by double integration of the acceleration. In order to achieve the buffered landing of the robot after somersault, a whole body controller based on null space projection is used to obtain the optimal joint torque under the constraints of the robot’s foot position, torso position and torso posture. The somersault motion control method proposed in this paper has been verified by the dynamics simulation software Webots and quadruped robot platform Yobogo. The results show that the robot can complete stable front flip and back flip under the constraints of joint output torque and foot motion space constraints.
Bayesian Estimation of Potential Performance Improvement Elicited by Robot-Guided Training

Improving human motor performance via physical guidance by an assist robot device is a major field of interest of the society in many different contexts, such as rehabilitation and sports training. In this study, we propose a Bayesian estimation method to predict whether motor performance of a user can be improved or not by the robot guidance from the user’s initial skill level. We designed a robot-guided motor training procedure in which subjects were asked to generate a desired circular hand movement. We then evaluated the tracking error between the desired and actual subject’s hand movement. Results showed that we were able to predict whether a novel user can reduce the tracking error after the robot-guided training from the user’s initial movement performance by checking whether the initial error was larger than a certain threshold, where the threshold was derived by using the proposed Bayesian estimation method. Our proposed approach can potentially help users to decide if they should try a robot-guided training or not without conducting the time-consuming robot-guided movement training.
Coupled Mobile Manipulation via Trajectory Optimization with Free Space Decomposition

This paper presents a real-time method for whole-body trajectory optimization of mobile manipulators in simplified dynamic and unstructured environments. Current trajectory optimization methods typically use decoupling of the mobile base and the robotic arm, which reduces flexibility in motion, does not scale to unstructured environments, and does not consider the future evolution of the environment, which is crucial to avoid dynamic obstacles. Given a goal configuration, such as waypoints generated by a global path planner, we formulate a receding horizon trajectory optimization minimizing the distance-to-target while avoiding collisions with static and dynamic obstacles. The presented method unifies the control of a robotic arm and a non-holonomic base to allow coupled trajectory planning. For collision avoidance, we propose to compute three convex regions englobing the robot's major body parts (i.e., base, shoulder-link and wrist-link) and thus reducing and limiting the number of inequality constraints, regardless of the number of obstacles in the environment. Moreover, our approach incorporates predicted trajectory information to smoothly, and in advance, avoid dynamic obstacles. The presented results show that trajectory optimization for the coupled system can reduce the total execution time by 48% and that applying the convex region generation for individual links allows keeping the computational costs low, even for complex scenarios, enabling onboard implementation.
Magnetically-Connected Modular Reconfigurable Mini-robotic System with Bilateral Isokinematic Mapping and Fast On-site Assembly towards Minimally Invasive Procedures

This paper presents a modular and reconfigurable mini-robotic system with 5 degrees of freedom (DoFs) towards minimally invasive surgery (MIS). The mini-robotic system consists of two modules, a 2-DoFs rotational end-effector, and a 3-DoFs positioning platform. The 2-DoFs rotational end-effector is based on a spring-spherical joint mechanism, whose rotation is controlled by Bowden-cable. The 3-DoFs positioning platform is based on the linear Delta parallel mechanism. Magnetic spherical joints are adopted to replace the traditional spherical joint. The magnetic joint connections enable fast assembling and disassemble of the end platform and kinematic chains. Different surgical instruments can be installed without changing the driver and control system. A flexible shaft actuates the 3-DoFs positioning platform to arrange the motors away from the manipulator side. Based on these structure characteristics, the 3-DoFs positioning platform’s size is dramatically reduced. The outer diameter of the current prototype is 32.5 mm. The single-axis positioning accuracy of the 3-DoFs positioning platform is within -1 mm to 0.85 mm. Three axes tracking experiments are also carried out, with the positioning errors of ± 1.2 mm for cylindrical curves and -1.5 mm to 2 mm for spherical helix curves. Static and dynamic load capabilities are also tested. Finally, the feasibility of the proposed system is demonstrated.
Mitigating Class Imbalance for IoT Network Intrusion Detection: A Survey

As the number of Internet of Things (IoT) devices continues to rapidly increase, the need to effectively manage the related security risks has become more obvious. For this reason, datasets such as Bot-IoT were created to train machine learning models on network-based intrusion detection. Bot-IoT is modern, publicly available, and covers a wide range of botnet attack traffic in IoT networks. Out of the roughly 73,000,000 instances contained in this dataset, only about 0.013% represents normal traffic, which indicates that the issue of class imbalance should not be ignored for Bot-IoT. Our contribution includes several important findings based on works that address the imbalance in this dataset. In general, we noted the excellent performance of a diverse range of trained models. This suggests Bot-IoT is a reliable dataset that is relatively easy to classify. We also observed that information on data cleaning was left out in a few papers, thus making it challenging for outside researchers to reproduce experiments from these works. Finally, we noted the popularity of both data-level and algorithm-level approaches for mitigating class imbalance in Bot-IoT.
Efficient and Robust Orientation Estimation of Strawberries for Fruit Picking Applications

Recent developments in agriculture have high-lighted the potential of as well as the need for the use of robotics. Various processes in this field can benefit from the proper use of state of the art technology [1], in terms of efficiency as well as quality. One of these areas is the harvesting of ripe fruit.In order to be able to automate this process, a robotic harvester needs to be aware of the full poses of the crop/fruit to be collected in order to perform proper path- and collision-planning. The current state of the art mainly considers problems of detection and segmentation of fruit with localisation limited to the 3D position only. The reliable and real-time estimation of the respective orientations remains a mostly unaddressed problem.In this paper, we present a compact and efficient network architecture for estimating the orientation of soft fruit such as strawberries from colour and, optionally, depth images. The proposed system can be automatically trained in a realistic simulation environment. We evaluate the system’s performance on simulated datasets and validate its operation on publicly available images of strawberries to demonstrate its practical use. Depending on the amount of training data used, coverage of state space, as well as the availability of RGB-D or RGB data only, mean errors of as low as 11° could be achieved.
Primary Cilia and Centrosomes in Neocortex Development

During mammalian brain development, neural stem and progenitor cells generate the neurons for the six-layered neocortex. The proliferative capacity of the different types of progenitor cells within the germinal zones of the developing neocortex is a major determinant for the number of neurons generated. Furthermore, the various modes of progenitor cell divisions, for which the orientation of the mitotic spindle of progenitor cells has a pivotal role, are a key parameter to ensure the appropriate size and proper cytoarchitecture of the neocortex. Here, we review the roles of primary cilia and centrosomes of progenitor cells in these processes during neocortical development. We specifically focus on the apical progenitor cells in the ventricular zone. In particular, we address the alternating, dual role of the mother centriole (i) as a component of one of the spindle poles during mitosis, and (ii) as the basal body of the primary cilium in interphase, which is pivotal for the fate of apical progenitor cells and their proliferative capacity. We also discuss the interactions of these organelles with the microtubule and actin cytoskeleton, and with junctional complexes. Centriolar appendages have a specific role in this interaction with the cell cortex and the plasma membrane. Another topic of this review is the specific molecular composition of the ciliary membrane and the membrane vesicle traffic to the primary cilium of apical progenitors, which underlie the ciliary signaling during neocortical development; this signaling itself, however, is not covered in depth here. We also discuss the recently emerging evidence regarding the composition and roles of primary cilia and centrosomes in basal progenitors, a class of progenitors thought to be of particular importance for neocortex expansion in development and evolution. While the tight interplay between primary cilia and centrosomes makes it difficult to allocate independent roles to either organelle, mutations in genes encoding ciliary and/or centrosome proteins indicate that both are necessary for the formation of a properly sized and functioning neocortex during development. Human neocortical malformations, like microcephaly, underpin the importance of primary cilia/centrosome-related processes in neocortical development and provide fundamental insight into the underlying mechanisms involved.
A Retrospective Study on Statins and Post-stroke Patients: What About Functional Outcome and Follow-Up in a Stroke Rehabilitation Cohort?

Objective: Statins exert pleiotropic effects by influencing several mechanisms, including synaptogenesis, neurogenesis, cerebral flow regulation, and angiogenesis. Results from in vitro and animal models suggest that statins could have beneficial effect on functional recovery and outcome after stroke events. However, results in human studies are still controversial. The aim of our study was to evaluate the role of statin in influencing functional outcome and subsequent clinical follow-up in a large cohort of post-stroke rehabilitation patients. Methods: This retrospective study consecutively enrolled 413 adult patients with stroke event, admitted to the division of Neurorehabilitation of the IRCCS ICS Maugeri, Veruno (Italy), for an individual rehabilitation program between 2015 and 2017. Follow-up lasted 3–5 years after discharge. Demographic data, etiology, classification, and anatomical site of stroke lesion, functional assessment, use and duration of statin therapy, and death during hospitalization were collected at baseline and on discharge. Clinical data on subsequent follow-up were also evaluated, considering these as variables: stroke recurrence, bone fractures, cardiovascular complications, and death. Results: In our cohort, 177 patients (42.9%) were prescribed statin therapy, of whom 50 (28.2%) before the stroke event and 127 (71.8%) at the beginning of the rehabilitation process. The use and type of statin therapy as well as the duration of treatment were not associated with recovery and functional outcome, regardless of confounders including sex, age, etiology, and site of stroke lesion, and initial functional level. For what concern post-discharge clinical follow-up, the use of statin therapy was significantly associated with a lower risk of bone fractures (OR = 0.095, CI 95%: 0.012–0.743, p = 0.01) independently from age, sex, initial and final functional level, and comorbidities. Conclusions: The use of statins does not seem to influence the functional outcome in post-stroke patients. However, they could exert a protective role against bone fractures during post-discharge follow-up, suggesting further evaluation on this topic.
How Do Children Reason About Mirrors? A Comparison Between Adults, Typically Developed Children, and Children With Autism Spectrum Disorder

The information about what one can see and what other people can see from different viewpoints is important. There are circumstances in which adults and children make systematic errors when predicting what is visible from their own or others’ viewpoints. This happens for example when reasoning about mirrors. We explored differences among three developmental groups: young adults (N=60) typically developing children (N=30); and children with autism spectrum disorder (ASD, N=30). We used an illustration of a top-down view of a room with a mirror on a wall (Room Observer and Mirror Perspective test: ROMP). Participants selected (circled on paper) which objects behind the observer in the room were visible, reflected from the mirror and from a given position (viewpoint). For half of each group, the observer in the room was described as a teddy bear; for the other half, it was described as a child. Overall, there were many errors in all groups, which we separate in errors of ignoring the viewpoint (same response to all three locations) and inversion errors (choosing objects on the left instead of the right or vice versa). In addition to the overall task difficulty, the ASD group made relatively more mistakes of ignoring the viewpoint compared to the other groups and underestimated how many objects were visible in the teddy bear condition that is when the viewpoint was an inanimate object. We suggest that this is related to a delay in theory of mind (ToM) development.
Application of OXITEST for Prediction of Shelf-Lives of Selected Cold-Pressed Oils

Introduction: Due to the enhanced awareness of consumers concerning healthy foods, homemade expeller-pressed oils have become popular worldwide. However, an extended storage period may lead to oxidization of the oil and exposure to hazardous byproducts by consumers. Methods: In this study, 10 pressed oil samples prepared from common oilseeds using a small-scale expeller oil press were analyzed by OXITEST with a sample amount of 5 g of oil and an oxygen pressure of 800 kPa under accelerated conditions for shelf-life projections. The oil properties were investigated, including the recovery, smoke point, acid value, iodine value, “fatty acid composition, and contents of pigments and tocopherols”. Results: The autoxidation reaction of various expeller-pressed oils under an accelerated testing system followed zero-order Arrhenius kinetics (R2 > 0.99). Shelf-lives of the pressed oils at 25°C were estimated by extrapolation to range 105~1,089 days. The obtained shelf-lives were significantly correlated with log induction period (IP) values (r > 0.81, p < 0.05) and unsaturated fatty acids (UFAs) (r < −0.69, p < 0.05), but not with the iodine value, acid value, or smoke point. Scatter diagrams between shelf-lives and UFAs suggested that these pressed oils could be grouped by two linear regression curves (r > 0.98, p < 0.05). The predictive equations using multiple linear regression are presented herein, with predictor variables of UFAs and an unspecified item involving potential influencing factors such as tocopherol contents (r > 0.88, p < 0.05). Conclusions: Our findings first revealed that the UFA portion was partially correlated with the shelf-lives of selected expeller-pressed seed oils as estimated by the OXITEST. The derived equations can be applied for shelf-life predictions of expeller-pressed oils stored under dark ambient conditions based on the fatty acid profile.
The Generation of Involuntary Mental Imagery in an Ecologically-Valid Task

Laboratory tasks (e.g., the flanker task) reveal that incidental stimuli (e.g., distractors) can reliably trigger involuntary conscious imagery. Can such involuntary effects, involving competing representations, arise during dual-task conditions? Another concern about these laboratory tasks is whether such effects arise in highly ecologically-valid conditions. For example, do these effects arise from tasks involving dynamic stimuli (e.g., simulations of semi-automated driving experiences)? The data from our experiment suggest that the answer to our two questions is yes. Subjects were presented with video footage of the kinds of events that one would observe if one were seated in the driver's seat of a semi-automated vehicle. Before being presented with this video footage, subjects had been trained to respond to street signs according to laboratory techniques that cause stimulus-elicited involuntary imagery. After training, in the Respond condition, subjects responded to the signs; in the Suppress condition, subjects were instructed to not respond to the signs in the video footage. Subjects in the Suppress condition reported involuntary imagery on a substantive proportion of the trials. Such involuntary effects arose even under dual-task conditions (while performing the n-back task or psychomotor vigilance task). The present laboratory task has implications for semi-automated driving, because the safe interaction between driver and vehicle requires that the communicative signals from vehicle to driver be effective at activating the appropriate cognitions and behavioral inclinations. In addition, our data from the dual-task conditions provide constraints for theoretical models of cognitive resources.
Pharmacology of Natural Volatiles and Essential Oils in Food, Therapy, and Disease Prophylaxis

This commentary critically examines the modern paradigm of natural volatiles in ‘medical aromatherapy’, first by explaining the semantics of natural volatiles in health, then by addressing chemophenetic challenges to authenticity or reproducibility, and finally by elaborating on pharmacokinetic and pharmacodynamic processes in food, therapy, and disease prophylaxis. Research over the last 50 years has generated substantial knowledge of the chemical diversity of volatiles, and their strengths and weaknesses as antimicrobial agents. However, due to modest in vitro outcomes, the emphasis has shifted toward the ability to synergise or potentiate non-volatile natural or pharmaceutical drugs, and to modulate gene expression by binding to the lipophilic domain of mammalian cell receptors. Because essential oils and natural volatiles are small and lipophilic, they demonstrate high skin penetrating abilities when suitably encapsulated, or if derived from a dietary item they bioaccumulate in fatty tissues in the body. In the skin or body, they may synergise or drive de novo therapeutic outcomes that range from anti-inflammatory effects through to insulin sensitisation, dermal rejuvenation, keratinocyte migration, upregulation of hair follicle bulb stem cells or complementation of anti-cancer therapies. Taking all this into consideration, volatile organic compounds should be examined as candidates for prophylaxis of cardiovascular disease. Considering the modern understanding of biology, the science of natural volatiles may need to be revisited in the context of health and nutrition.
Generation of Two Paclitaxel-Resistant High-Grade Serous Carcinoma Cell Lines With Increased Expression of P-Glycoprotein

Debulking surgery followed by chemotherapy are the standard of care for high-grade serous carcinoma. After an initial good response to treatment, the majority of patients relapse with a chemoresistant profile, leading to a poor overall survival. Chemotherapy regimens used in high-grade serous carcinomas are based in a combination of classical chemotherapeutic drugs, namely, Carboplatin and Paclitaxel. The mechanisms underlying drug resistance and new drug discovery are crucial to improve patients’ survival. To uncover the molecular mechanisms of chemoresistance and test drugs capable of overcoming this resistant profile, it is fundamental to use good cellular models capable of mimicking the chemoresistant disease. Herein, we established two high-grade serous carcinoma cell lines with intrinsic resistance to Carboplatin and induced Paclitaxel resistance (OVCAR8 PTX R C and OVCAR8 PTX R P) derived from the OVCAR8 cell line. These two chemoresistant cell line variants acquired an enhanced resistance to Paclitaxel-induced cell death by increasing the drug efflux capacity, and this resistance was stable in long-term culture and following freeze/thaw cycles. The mechanism underlying Paclitaxel resistance resides in a significant increase in P-glycoprotein expression and, when this drug efflux pump was blocked with Verapamil, cells re-acquired Paclitaxel sensitivity. We generated two high-grade serous carcinoma cell lines, with a double-chemoresistant (Carboplatin and Paclitaxel) phenotype that mimics the majority of tumor recurrences in ovarian cancer context. This robust tool is suitable for preliminary drug testing towards the development of therapeutic strategies to overcome chemoresistance.