Miracle-dz/UniFAR-FTUs huggingface dataset:
Robust Ungrasping of High Aspect Ratio Objects Through Dexterous Manipulation

In this work, we address robotic dexterous ungrasping, the capability of securely transferring a grasped object from the gripper to the robot’s environment, i.e. the inverse of grasping or picking, through dexterous manipulation. The situation of dexterous ungrasping can commonly be found in many occasions such as placing a Go stone or inserting a battery pack, where it is necessary to carefully perform contact-rich interactions for stable ungrasping. Advancing from our recent work that formulated a planning framework for dexterous ungrasping, this study addresses the robustness of the motion control for executing the planned ungrasping operations, through an analysis of possible failure cases and caging conditions. We also address how the guaranteed robustness facilitates the modeling and planning of dexterous ungrasping and guides the arrangement of a gripper system. A series of experiments demonstrate the effectiveness of the resulting hardware and software system in practical ungrasping tasks.
Effect of Feeding Discarded Durian Peel Ensiled with Lactobacillus casei TH14 and Additives in Total Mixed Rations on Digestibility, Ruminal Fermentation, Methane Mitigation, and Nitrogen Balance of Thai Native–Anglo-Nubian Goats

The objective of this study was to evaluate the effect of fermented discarded durian peel with Lactobacillus casei TH14, cellulase, and molasses separately or in combination in total mixed rations on feed utilization, digestibility, ruminal fermentation, and nitrogen utilization in growing crossbreed Thai Native–Anglo-Nubian goats. Five crossbreed Thai Native–Anglo-Nubian goats (50%) at 9 to 12 months of age and 20 ± 1 of body weight (BW) were assigned to a 5 × 5 Latin square design. Evaluated treatments were fermented discarded durian peel without additives (FDP), fermented discarded durian peel with 5% of molasses (FDPM), fermented discarded durian peel with 2% of cellulase (FDPC), fermented discarded durian peel with 1.0 × 105 cfu/g fresh matter of L. casei TH14 (FDPL), and fermented discarded durian peel with 5% of molasses and 1.0 × 105 cfu/g fresh matter of L. casei TH14 (FDPML). This study showed that acid detergent fiber intake was different (p < 0.05) between goats fed FDP and those fed FDPLM, 0.24 g/d and 0.20 g/d, respectively. The FDPML ration had significantly (p < 0.05) greater apparent nutrient digestibility and a better propionate concentration compared with other treatments. FDPML treatment significantly (p < 0.05) decreased the acetate-to-propionate ratio, methane production, and urinary nitrogen. Therefore, treated discarded durian peel with molasses and L. casei TH14 in combination could add 25% of dry matter into the diet for growing goats without a negative impact.
A brief history and indications for cesarean section

Cesarean section (CS) is one of the oldest surgical operations. Originally, this surgery was performed post-mortem by cutting open the woman’s abdomen to remove a dead or alive fetus. It was therefore not intended for saving the mother in ancient times. Roman law and religious rituals shaped the procedure until the Middle Ages. At that time, the indication of CS was only post-mortem. Although CS became a medical procedure in the Renaissance, maternal mortality was extremely high, mainly due to hemorrhage and puerperal infection. The reason for performing CS was to rescue the mother and fetus from protracted labor as a last resort. Since the late 19th century, with the introduction of chloroform and the developments of surgical techniques, and the availability of blood transfusion in the early twentieth century, CS became a relatively safe procedure, further helped by the introduction of antibiotics after World War II. Then, CS was increasingly an intervention to preserve the health and safety of both mother and fetus. During the 21st century, CS has been performed even without medical indication, such as maternal choice. Advancement of obstetric practice technologically and professionally during the period as well as changing attitudes of both obstetricians and childbearing women meant indications for CS are no longer limited to medical/obstetric indications. CS is perceived as a safer mode of childbirth. Therefore, the indications of CS have been changed drastically from ancient times (rescuing a baby from dying or dead mother) to the 21st century (maternal choice/reproductive rights).
Essential Roles of Efferent Duct Multicilia in Male Fertility

Cilia are microtubule-based hair-like organelles on the cell surface. Cilia have been implicated in various biological processes ranging from mechanosensation to fluid movement. Ciliary dysfunction leads to a plethora of human diseases, known as ciliopathies. Although non-motile primary cilia are ubiquitous, motile multicilia are found in restricted locations of the body, such as the respiratory tract, the oviduct, the efferent duct, and the brain ventricles. Multicilia beat in a whip-like motion to generate fluid flow over the apical surface of an epithelium. The concerted ciliary motion provides the driving force critical for clearing airway mucus and debris, transporting ova from the ovary to the uterus, maintaining sperm in suspension, and circulating cerebrospinal fluid in the brain. In the male reproductive tract, multiciliated cells (MCCs) were first described in the mid-1800s, but their importance in male fertility remained elusive until recently. MCCs exist in the efferent ducts, which are small, highly convoluted tubules that connect the testis to the epididymis and play an essential role in male fertility. In this review, we will introduce multiciliogenesis, discuss mouse models of male infertility with defective multicilia, and summarize our current knowledge on the biological function of multicilia in the male reproductive tract.
An Illustrative Review of Positional Asphyxiation in Infants Secured Upright in Car Seats

Sudden Unexpected Infant Death (SUID) includes the full spectrum of all causes of infant death, which include “Determined” causes [e.g. Sudden Infant Death Syndrome (SIDS) at 42% and Accidental Suffocation and Strangulation at 24%], as well as “Undetermined” causes at 34% [1]. Literature is replete with studies that address the risk factors associated with SIDS, accounting for at least 42% of infant mortality,[1] but scarcely do published reports address risk factors associated with Positional Asphyxia (PA). This illustrative narrative addresses the 2.8 – 3.0% (98-105) healthy infants who have no pre-existing medical conditions, including prematurity, who die from SUID primarily in car seats, and whose suspected cause of death is PA. Webster’s Dictionary defines PA as, “A condition of deficient oxygen supply to the body which occurs when a person’s physical position prevents adequate breathing. ” This tragic phenomenon is suspected when the autopsy of an infant reveals no discovery of a traumatic injury, when there is no pre-existing medical pathology, and when the cause of death is determined to be “Undetermined or Unknown. ”
Scarcity of Labels in Non-Stationary Data Streams: A Survey

In a dynamic stream there is an assumption that the underlying process generating the stream is non-stationary and that concepts within the stream will drift and change as the stream progresses. Concepts learned by a classification model are prone to change and non-adaptive models are likely to deteriorate and become ineffective over time. The challenge of recognising and reacting to change in a stream is compounded by the scarcity of labels problem. This refers to the very realistic situation in which the true class label of an incoming point is not immediately available (or might never be available) or in situations where manually annotating data points are prohibitively expensive. In a high-velocity stream, it is perhaps impossible to manually label every incoming point and pursue a fully supervised approach. In this article, we formally describe the types of change, which can occur in a data-stream and then catalogue the methods for dealing with change when there is limited access to labels. We present an overview of the most influential ideas in the field along with recent advancements and we highlight trends, research gaps, and future research directions.
How Does Land Size Mediate the Relationship between Specialisation and Commercialisation? Lessons from Rice Farming in the Fogera Plain of Ethiopia

The introduction of rice into Ethiopia provided a solution to food insecurity. More recently, national policy has emphasised the positive relationship between rice specialisation and commercialisation and, thus, higher incomes. In retrospect, this initiative has been hugely successful as the regions where rice has been introduced have been transformed from heavily relying on food aid to becoming a thriving commercial centre. This transformation owes much to the increase in the production, consumption and commercial value of rice. However, the relationship between specialisation and commercialisation is far from straightforward and is mediated by poverty, as proxied by farm size in this paper. Using a novel cross-sectional dataset of rice farmers from the Fogera Plain in Ethiopia, collected in 2018, in this paper we look at the relationship between rice specialisation and commercialisation and how specialisation and commercialisation decisions and outcomes are mediated by farm size. Specifically, we characterise farmers by the extent of rice specialisation and commercialisation and explore the role of landholding size.
Obesity and Thyroid Cancer Risk: An Update

Thyroid cancer (TC) is the most common endocrine malignancy worldwide and its incidence has increased dramatically in recent years. In parallel, the prevalence of overweight and obesity has also increased, suggesting a possible link between these two diseases. Indeed, low-grade chronic inflammation, altered cytokine levels, insulin resistance, oxidative stress, and hormonal changes that occur in obese patients are all factors that contribute to the occurrence and growth of TC. In this review, the most recent evidence supporting the potential role of the mechanisms linking obesity to TC will be discussed.
Depression and anxiety as predictors of quality of life after a stroke

Introduction: Evaluating quality of life in stroke patients is an essential part of treatment. Quality of life can be predicted not only by the physical disability after a stroke, but also by the patient’s psychosocial state. The aim of the present study is to examine the relationship between depression, anxiety, and quality of life in the acute phase after strokes. Methods: A cross-sectional descriptive type of study was carried out. The research sample consisted of 79 patients after a stroke (Mage = 67.9 ± 12.3). Depression and anxiety were measured using the Hospital Anxiety and Depression Scale, and quality of life using the Stroke Specific Quality of Life Scale. Simple and multiple linear regression analyses were used for data analysis. Results: Depression and anxiety predicted overall quality of life in patients after a stroke. The physical aspect of quality of life and overall quality of life were strongly predicted by depression, while the psychosocial aspect of quality of life was strongly related to anxiety in stroke patients. Higher depression and anxiety are manifested in a worsened quality of life, and it is similar in the physical and psychosocial aspects. Approximately 20% of patients had severe depression and anxiety. Conclusions: A patient’s quality of life after a stroke is affected not only by their functional condition, but also by psychosocial distress. Early diagnostics of psychosocial distress should be an important part of the care and treatment of stroke patients.
Influence of Tactical Formation on Average and Peak Demands of Elite Soccer Match-Play

Global Positioning Systems (GPS) have provided practitioners with information on the activity profiles of team-sport players. There is no available literature identifying the average or peak physical demands of elite soccer in the USA. This investigation aims to quantify the activity profiles and most demanding passages of elite soccer competition within different positions, periods, and tactical formations. Activity profiles were captured from 449 whole-period, and 661 peak-period data from 24 field players across a 31-game Major League Soccer season. Total distance covered (metres), average speed (m·min-1), and number of acceleration and deceleration (m·s-2) efforts were used to comprise whole-period profiles. Peak values for speed (m·min-1) were obtained by using a moving-average approach for durations lasting 1, 2, 3, 5, and 10 minutes. Across all positions the 4-2-3-1, 3-4-3, and 4-3-3 formations showed a decrease in average speed between the first and second halves. The 4-3-1-2 yielded greatest whole-period accelerations and decelerations for full backs, and overall distance covered and average speed for strikers. Most peak intensities were observed in the first half of match-play, with attacking midfielders and strikers demonstrating their greatest activity during the first half of a 4-3-1-2 formation. Altering tactical formations results in different physical outputs for all positional groups. Depending on the formation implemented, positional groups resulted in differences, with physical outputs, between halves during match-play.
Functional Status Following Pulmonary Rehabilitation: Responders and Non-Responders

The 6 min walking test (6MWT) has been largely studied. Less is, however, known about responders and non-responders to pulmonary rehabilitation (PR) in other meaningful activities. We explored responders and non-responders and the predictors of response to PR in the 1 min sit-to-stand test (1 min STS) and the 6MWT and compared both measures in classifying responders. An observational study was conducted with 121 people with chronic obstructive pulmonary disease (COPD). The functional status was assessed before and after PR. Baseline differences between responders and non-responders were tested with Mann–Whitney U, chi-square, or Fisher exact tests. Predictors were explored with binary logistic regressions. Agreement between both measures was assessed with chi-square, Cohen’s kappa, and McNemar tests. There were 54.5% and 57.0% of responders in the 1 min STS and the 6MWT, respectively. The proportion of responders was significantly different (p = 0.048), with a small agreement between the measures (kappa = 0.180; p = 0.048). The baseline 6MWT was the only significant predictor of response in the 6MWT (OR = 0.995; pseudo-r2 = 0.117; p < 0.001). No significant predictors were found for the 1 min STS. A large number of non-responders in terms of functional status exist. The 1 min STS and the 6MWT should not be used interchangeably. Future studies should explore the added benefit of personalizing PR to this outcome and investigate other potential predictors.
Application of RDFT algorithm in active filters

A harmonic current detection algorithm based on the RDFT(Recursive Discrete Fourier Transform) is proposed,which is deduced from the discrete Fourier transform with the sliding-window iterative method,suitable for the implementation by digital signal processor because of its less computation.It can be applied in shunt APF(Active Power Filter) to detect the fundamental component and different harmonic components of nonlinear load current,and then generate the compensation current reference as need for selective or full harmonic current compensation.Simulative result shows that,the APF with RDFT algorithm detects the harmonic current and follows its variation in a fundamental period.A lab APF prototype is used to selectively compensate the 5th harmonic current of nonlinear load,which reduces the 5th harmonic current of system from 22.51% to 1.1%. For full harmonic current compensation,the total harmonic distortion of system current is reduced from 27.63 % to 3.45 %.
Resolution enhancement of digital holographic microscopy via synthetic aperture: a review

Digital holographic microscopy (DHM), which combines digital holography with optical microscopy, is a wide field, minimally invasive quantitative phase microscopy (QPM) approach for measuring the 3D shape or the inner structure of transparent and translucent samples. However, limited by diffraction, the spatial resolution of conventional DHM is relatively low and incompatible with a wide field of view (FOV) owing to the spatial bandwidth product (SBP) limit of the imaging systems. During the past decades, many efforts have been made to enhance the spatial resolution of DHM while preserving a large FOV by trading with unused degrees of freedom. Illumination modulation techniques, such as oblique illumination, structured illumination, and speckle illumination, can enhance the resolution by adding more high-frequency information to the recording system. Resolution enhancement is also achieved by extrapolation of a hologram or by synthesizing a larger hologram by scanning the sample, the camera, or inserting a diffraction grating between the sample and the camera. For on-chip DHM, spatial resolution is achieved using pixel super-resolution techniques. In this paper, we review various resolution enhancement approaches in DHM and discuss the advantages and disadvantages of these approaches. It is our hope that this review will contribute to advancements in DHM and its practical applications in many fields.
The most important medicinal plants affecting sperm and testosterone production: a systematic review

Objective Infertility, defined as the inability to conceive after one year of intercourse without the use of contraception, affects 15% of couples. Many factors, such as genitourinary tract infections, endocrine disorders, immunological factors and drug-related injuries, affect the male reproductive system and cause infertility. Due to men's fear of infertility, it is very important to pay attention to medicinal plants that are effective in male fertility. Therefore, the aim of this study was to evaluate the medicinal plants that affect sperm and testosterone production in men. Methods In this review, we used the following search terms, consisting of herbal medicine, traditional medicine, traditional therapies, sperm, testosterone, testicles and Iran were used to retrieve the relevant articles published in the journals indexed in the Information Sciences Institute, Science Direct, PubMed, Scopus, PubMed Central and Scientific Information Databases. We searched and used papers published between 2000 and 2020. Then, we analyzed the eligible papers. We collected and analyzed 35 papers from the databases. We selected only the articles about herbs that affect sperm and testosterone production. Results Based on the results, herbs Apium graveolens, Cinnamomum camphora, Cornus mas, Satureja khuzestanica, Withania somnifera, Fumaria parviflora, zingiber officinale, cinnamomum zeylanicum and Phoenix dactylifera are used in the male reproductive system. Conclusions Plants can probably be useful in increasing fertility due to their antioxidant power and low side effects.
Edge of Chaos Theory Resolves Smale Paradox

No isolated system may ever support complexity. Emergent phenomena may however appear in an open system, if, as established by the Edge of Chaos theory, some of its constitutive elements feature the capability to amplify infinitesimal fluctuations in energy, provided an external source supplies them with a sufficient amount of DC power, which is known to be a signature for locally-active behaviour. In particular, complex behaviours, including static and dynamic pattern formation, may emerge in arrays of identical diffusively-coupled cells, if and only if the basic unit is poised on a particular sub-domain of the Local Activity regime, referred to as Edge of Chaos, within which a quiet state hides in fact a high degree of excitability. Here we show, for the first time, that these counterintuitive phenomena may emerge in a basic memristor cellular neural network, consisting of two identical diffusively-coupled second-order cells. The proposed bio-inspired array represents the simplest ever-reported open system, which reproduces the shocking phenomenon, reported by Smale in 1974, when, while studying a model from cellular biology, he observed two identical reaction cells, “mathematically dead” on their own, pulsating together upon diffusive coupling. Impressively, the bio-inspired two-cell reaction-diffusion network contains only nine circuit elements, specifically two DC voltage sources, three linear resistors, two linear capacitors, and two functional niobium oxide (NbO) memristors from NaMLab. Applying the theory of Local Activity to an accurate model of the memristor oscillator, a comprehensive picture for its local and global dynamics may be drawn, providing a systematic method to tune the design parameters of the two-cell array to enable diffusion-driven instabilities therein.
Personalised Display Advertising and Online Purchase Intentions: The Moderating Effect of Internet Use Motivation

Personalized ads are increasingly used by marketers to promote product and service brands, however, the effect of ad personalization on consumer perceptions and online purchase intention has received limited research attention particularly, in different media usage situations. To address this gap, data was collected in four sub-Saharan African countries through an online survey to test the hypothesized model using structural equation modeling. The findings indicate that perceived ad personalization influences online purchase intention and this relationship is partially mediated by perceived relevance and fully mediated by perceived intrusiveness. No effects were found for privacy concern. Notably, internet use motivation moderated the relationships between the predictor and the outcomes. Specifically, the effect of ad personalization on perceived intrusiveness was only significant among paratelic users, its effect on purchase intention was also stronger among paratelic users, and its effect on perceived relevance was more pronounced among telic users.