bluuebunny/crossref_metadata_2025_split huggingface dataset:
Symbolic Differentiation Algorithm for Inverse Dynamics of Serial Robots With Flexible Joints
Authors: Do Thanh-Trung , Vu Viet-Hung , Liu Zhaoheng 
Published: June 2021

AbstractA new symbolic differentiation algorithm is proposed in this paper to automatically generate the inverse dynamics of flexible-joint robots in symbolic form, and results obtained can be used in real-time applications. The proposed method with O(n) computational complexity is developed based on the recursive Newton–Euler algorithm, the chain rule of differentiation, and the computer algebra system. The input of the proposed algorithm consists of symbolic matrices describing the kinematic and dynamic parameters of the robot. The output is the inverse dynamics solution written in portable and optimized code (C-code/Matlab-code). An exemplary, numerical simulation for inverse dynamics of the Kuka LWR4 robot with seven flexible joints is conducted using matlab, in which the computational time per cycle of inverse dynamics is about 0.02 ms. The numerical example provides very good matching results versus existing methods, while requiring much less computation time and complexity.
Balance Recovery Based on Whole-Body Control Using Joint Torque Feedback for Quadrupedal Robots
Authors: Lee Young Hun , Lee Hyunyong , Kang Hansol , Lee Jun Hyuk , Park Ji Man , Kang Chunghyuk , Lee Yoon Haeng , Kim Yong Bum , Choi Hyouk Ryeol 
Published: June 2021

Abstract
In legged locomotion, the contact force between a robot and the ground plays a crucial role in balancing the robot. However, in quadrupedal robots, general whole-body controllers generate feed-forward force commands without considering the actual torque or force feedback. This paper presents a whole-body controller using the actual joint torque measured from a torque sensor, which enables the quadrupedal robot to demonstrate both dynamic locomotion and reaction to external disturbances. We compute external joint torque using the measured joint torque and the robot’s dynamics, and then we transform this to the moment of the center of mass (CoM). Using the computed CoM moment, the moment-based impedance controller distributes a feed-forward force corresponding to the desired moment of the CoM to stabilize the robot’s balance. Furthermore, to recover balance, the CoM motion is generated using capture point-based stepping control and zero moment point trajectory. The proposed whole-body controller was tested on a quadrupedal robot, named AiDIN-VI. Locomotive abilities on uneven terrains and slopes and in the presence of external disturbances are verified through experiments.
Plasticity and Enzymatic Degradation Coupled With Volumetric Growth in Pulmonary Hypertension Progression
Authors: Lee Eun-Ho , Baek Seungik 
Published: June 2021

Abstract
Pulmonary hypertension (PH) is one of the least understood and highly elusive cardiovascular conditions associated with elevated pulmonary arterial pressure. Although the disease mechanisms are not completely understood, evidence has accumulated from human and animal studies that irreversible processes of pulmonary arterial wall damage, compensated by stress-mediated growth, play critical roles in eliciting the mechanisms of disease progression. The aim of this study is to develop a thermodynamic modeling structure of the pulmonary artery to consider coupled plastic-degradation-growth irreversible processes to investigate the mechanical roles of the dissipative phenomena in the disease progression. The proposed model performs a model parameter study of plastic deformation and degradation processes coupled with dissipative growth subjected to elevated pulmonary arterial pressure and computationally generates in silico simulations of PH progression using the clinical features of PH, found in human morphological and mechanical data. The results show that considering plastic deformation can provide a much better fitting of the ex vivo inflation tests than a widely used pure hyperelastic model in higher pressure conditions. In addition, the parameter sensitivity study illustrates that arterial damage and growth cause the increased stiffness, and the full simulation (combining elastic-plastic-degradation-growth models) reveals a key postpathological recovery process of compensating vessel damage by vascular adaptation by reducing the rate of vessel dilation and mediating vascular wall stress. Finally, the simulation results of luminal enlargement, arterial thickening, and arterial stiffness for an anisotropic growth are found to be close to the values from the literature.
Accuracy of malaria diagnostic tests performed on non-invasively collected samples: a systematic review and meta-analysis
Authors: Danwang Celestin , Noubiap Jean Jacques , Souopgui Jacob , Gaudart Jean , Yombi Jean Cyr , Robert Annie 
Published: June 2021

BackgroundDuring the last decade, many studies have assessed the performance of malaria tests on non-invasively collected specimens, but no systematic review has hitherto estimated the overall performance of these tests. We report here the first meta-analysis estimating the diagnostic performance of malaria diagnostic tests performed on saliva, urine, faeces, skin odour (‘sniff and tell’) and hair, using either microscopy or PCR on blood sample as reference test.MethodsWe searched on PubMed, EMBASE, African Journals Online and Cochrane Infectious Diseases from inception until 19 January 2021 for relevant primary studies. A random effects model was used to estimate the overall performance of various diagnostic methods on different types of specimen.ResultsEighteen studies providing 30 data sets were included in the meta-analysis. The overall sensitivity, specificity and diagnostic OR (DOR) of PCR were 84.5% (95% CI 79.3% to 88.6%), 97.3% (95% CI 95.3% to 98.5%) and 184.9 (95% CI 95.8 to 356.9) in saliva, respectively; 57.4% (95% CI 41.4% to 72.1%), 98.6% (95% CI 97.3% to 99.3%) and 47.2 (95% CI 22.1 to 101.1) in urine, respectively. The overall sensitivity, specificity and DOR of rapid diagnostic test for malaria in urine was 59.8% (95% CI 40.0% to 76.9%), 96.9% (95% CI 91.0% to 99.0%) and 30.8 (95% CI:23.5 to 40.4).ConclusionIn settings where PCR is available, saliva and urine samples should be considered for PCR-based malaria diagnosis only if blood samples cannot be collected. The performance of rapid diagnostic testing in the urine is limited, especially its sensitivity. Malaria testing on non-invasively collected specimen still needs substantial improvement.
The utility of platelet inhibition testing in patients undergoing Pipeline embolization of intracranial aneurysms
Authors: Miller Timothy R , Wessell Aaron , Jindal Gaurav , Malhotra Ajay , Simard J Marc , Gandhi Dheeraj 
Published: June 2021

BackgroundThe utility of using the VerifyNow P2Y12 platelet inhibition assay in patients undergoing Pipeline embolization of intracranial aneurysms remains controversial. As we have routinely employed the assay for patients undergoing flow diversion, we elected to explore the relationship between P2Y12 hyporesponse as indicated by a P2Y12 Reaction Units (PRU) value >200 and treatment outcomes, including intraprocedural platelet aggregation and ischemic complications.MethodsAll successful intracranial aneurysm Pipeline treatments performed at our institution from November 2011 to May 2019 were included. The rate of P2Y12 hyporesponse and treatment outcomes were evaluated. Multivariable logistic regression was utilized to determine independent predictors of treatment outcomes.Results333 qualifying treatments were performed in 297 patients. Clopidogrel hyporesponse was initially noted in 24%, falling to 17% by day-of-procedure by dose titration. A glycoprotein (GP) IIb/IIIa inhibitor was administered prophylactically in 3% of cases for persistent, profound hyporesponse. 27 (8.1%) patients developed acute platelet aggregation; only 6 demonstrated day-of-procedure P2Y12 hyporesponse. Day-of-procedure hyporesponse was not associated with intraprocedural platelet aggregation or ischemic complications. Greater Pipeline embolization device (PED) diameter was associated with a reduced odds of platelet aggregation (OR 0.38, 95% CI 0.17 to 0.85; p=0.019). Antiplatelet non-compliance (OR 25.20, 95% CI 3.86 to 164.61; p=0.001) and treatment of posterior circulation aneurysms (OR 5.23, 95% CI 1.22 to 22.33; p=0.026) were the only independent predictors of ischemic complications.ConclusionsP2Y12 hyporesponse was not associated with acute platelet aggregation or ischemic complications in our patients undergoing Pipeline embolization of intracranial aneurysms, possibly due to aggressive management of the hyporesponse using clopidogrel dose titration and/or GP IIb/IIIa inhibitor administration.
Function-related Indicators and Outcomes of Screening Mammography in Older Women: Evidence from the Breast Cancer Surveillance Consortium Cohort
Authors: Zhang Dongyu , Abraham Linn , Demb Joshua , Miglioretti Diana L. , Advani Shailesh , Sprague Brian L. , Henderson Louise M. , Onega Tracy , Wernli Karen J. , Walter Louise C. , Kerlikowske Karla , Schousboe John T. , O'Meara Ellen S. , Braithwaite Dejana 
Published: June 2021

Abstract

Background:
Previous reports suggested risk of death and breast cancer varied by comorbidity and age in older women undergoing mammography. However, impacts of functional limitations remain unclear.

Methods:
We used data from 238,849 women in the Breast Cancer Surveillance Consortium-Medicare linked database (1999–2015) who had screening mammogram at ages 66–94 years. We estimated risk of breast cancer, breast cancer death, and non-breast cancer death by function-related indicator (FRI) which incorporated 16 claims-based items and was categorized as an ordinal variable (0, 1, and 2+). Fine and Gray proportional sub-distribution hazards models were applied with breast cancer and death treated as competing events. Risk estimates by FRI scores were adjusted by age and NCI comorbidity index separately and stratified by these factors.

Results:
Overall, 9,252 women were diagnosed with breast cancer, 406 died of breast cancer, and 41,640 died from non-breast cancer causes. The 10-year age-adjusted invasive breast cancer risk slightly decreased with FRI score [FRI = 0: 4.0%, 95% confidence interval (CI) = 3.8–4.1; FRI = 1: 3.9%, 95% CI = 3.7–4.2; FRI ≥ 2: 3.5%, 95% CI = 3.1–3.9). Risk of non-breast cancer death increased with FRI score (FRI = 0: 18.8%, 95% CI = 18.5–19.1; FRI = 1: 24.4%, 95% CI = 23.9–25.0; FRI ≥ 2: 39.8%, 95% CI = 38.8–40.9]. Risk of breast cancer death was low with minimal differences across FRI scores. NCI comorbidity index–adjusted models and stratified analyses yielded similar patterns.

Conclusions:
Risk of non-breast cancer death substantially increases with FRI score, whereas risk of breast cancer death is low regardless of functional status.

Impact:
Older women with functional limitations should be informed that they may not benefit from screening mammography.
Vorasidenib, a Dual Inhibitor of Mutant IDH1/2, in Recurrent or Progressive Glioma; Results of a First-in-Human Phase I Trial
Authors: Mellinghoff Ingo K. , Penas-Prado Marta , Peters Katherine B. , Burris Howard A. , Maher Elizabeth A. , Janku Filip , Cote Gregory M. , de la Fuente Macarena I. , Clarke Jennifer L. , Ellingson Benjamin M. , Chun Saewon , Young Robert J. , Liu Hua , Choe Sung , Lu Min , Le Kha , Hassan Islam , Steelman Lori , Pandya Shuchi S. , Cloughesy Timothy F. , Wen Patrick Y. 
Published: June 2021

Abstract

Purpose:
Lower grade gliomas (LGGs) are malignant brain tumors. Current therapy is associated with short- and long-term toxicity. Progression to higher tumor grade is associated with contrast enhancement on MRI. The majority of LGGs harbor mutations in the genes encoding isocitrate dehydrogenase 1 or 2 (IDH1/IDH2). Vorasidenib (AG-881) is a first-in-class, brain-penetrant, dual inhibitor of the mutant IDH1 and mutant IDH2 enzymes.

Patients and Methods:
We conducted a multicenter, open-label, phase I, dose-escalation study of vorasidenib in 93 patients with mutant IDH1/2 (mIDH1/2) solid tumors, including 52 patients with glioma that had recurred or progressed following standard therapy. Vorasidenib was administered orally, once daily, in 28-day cycles until progression or unacceptable toxicity. Enrollment is complete; this trial is registered with ClinicalTrials.gov, NCT02481154.

Results:
Vorasidenib showed a favorable safety profile in the glioma cohort. Dose-limiting toxicities of elevated transaminases occurred at doses ≥100 mg and were reversible. The protocol-defined objective response rate per Response Assessment in Neuro-Oncology criteria for LGG in patients with nonenhancing glioma was 18% (one partial response, three minor responses). The median progression-free survival was 36.8 months [95% confidence interval (CI), 11.2–40.8] for patients with nonenhancing glioma and 3.6 months (95% CI, 1.8–6.5) for patients with enhancing glioma. Exploratory evaluation of tumor volumes in patients with nonenhancing glioma showed sustained tumor shrinkage in multiple patients.

Conclusions:
Vorasidenib was well tolerated and showed preliminary antitumor activity in patients with recurrent or progressive nonenhancing mIDH LGG.
Radar-Based Comparison of Thunderstorm Outflow Boundary Speeds versus Peak Wind Gusts from Automated Stations
Authors: Sherburn Keith D. , Bunkers Matthew J. , Mose Angela J. 
Published: June 2021

AbstractStraight-line winds are arguably the most challenging element considered by operational forecasters when issuing severe thunderstorm warnings. Determining the potential maximum surface wind gust prior to an observed, measured gust is very difficult. This work builds upon prior research that quantified a relationship between the observed outflow boundary speed and corresponding measured wind gusts. Whereas this prior study was limited to a 30-case dataset over eastern Colorado, the current study comprises 943 cases across the contiguous United States and encompasses all times of day, seasons, and regions while representing various convective modes and associated near-storm environments. The wind gust ratios (WGRs), or the ratio between a measured wind gust and the associated outflow boundary speed, had a nationwide median of 1.44, mean of 1.68, 25th percentile of 1.19, and 75th percentile of 1.91. WGRs varied considerably by region, season, time of day, convective mode, near-storm environment, and outflow boundary speed. WGRs tended to be higher in the plains, Intermountain West, and southern coastal regions, lower in the cool season and during the morning and overnight, and lower in linear convective modes relative to supercell and disorganized modes. Environments with stronger mean winds and low- to midlevel shear vector magnitudes tended to have lower WGRs, whereas those with steeper low-level lapse rates and other thermodynamic characteristics favorable for momentum transfer and evaporative cooling tended to have higher WGRs. As outflow boundary speed increases, WGRs—and their variability—decrease. Applying these findings may help operational meteorologists to provide more accurate severe thunderstorm warnings.
Metastasectomy for Stage IVA Colon Cancer: Does the Type of Treating Institution Make a Difference?
Authors: Kang Shinho T. , Moran Ryan , Hussain Lala , Guend Hamza , Dunki-Jacobs Erik M. , Lee David Y. 
Published: June 2021

Treatment of metastatic colon cancer has evolved over time. More evidence has been emerging in recent years supporting metastasectomy in selected patients. We sought to elucidate whether the type of institution—community, comprehensive community, academic/research, and integrated cancer network—would have an effect on patient outcome, specifically those colon cancer patients with isolated liver metastasis. This retrospective cohort study queried the National Cancer Database (NCDB) from 2010 to 2014 for patients who were 18 years of age or older with stage IVA colon cancer with isolated liver metastasis. We then performed uni- and multivariate analyses comparing patients based on such factors as age, tumor characteristics, primary tumor location, rate of chemotherapy, and type of treating institution. Patients who came from regions of higher income, receiving chemotherapy, and presenting to an academic/research hospital were more likely to undergo metastasectomy. Median survival was longest at academic/community hospitals at 22.4 months, 6 to 7 months longer than the other three types of institutions. Factors positively affecting survival included receiving chemotherapy, presenting to an academic/research institution, and undergoing metastasectomy, all at P < .05. In our study, the rate of metastasectomy was more than double at academic/research institutions for those with stage IVA colon cancer with isolated liver metastasis. Prior studies have quoted a mere 4.1% synchronous colon resection and metastasectomy. Our findings suggest that we should maintain multidisciplinary approach to this complex disease process and that perhaps it is time for us to consider regionalization of care in treating metastatic colon cancer.
Who Gains from Services FDI—Host or Home Economies? An Analysis of Disaggregated Services FDI Inflows and Outflows of 24 European Economies
Authors: Doytch Nadia 
Published: June 2021

This study focuses on a sample of 24 European economies to examine the spillovers from disaggregated services foreign direct investment (FDI) on economic growth. We study the impact of 20 disaggregated services FDI inflows and outflows, respectively, on their host and home country services sector and overall growth. We find that both financial services and business services FDI are beneficial for growth in both host and home countries. Financial services FDI works though financial holding companies and home countries benefit especially from investment in foreign banks, which provides access to credit. Business services FDI works though management holding companies and home countries benefit, especially from investment in computer activities, which provides access to specialised human capital and high-value knowledge assets. The positive spillovers to home countries provide evidence for arguing against protectionism. JEL Codes: F2, F21, F43
Tympanic Membrane Perforation After Intratympanic Steroid Injection: A Systematic Review and Meta‐analysis
Authors: Kim Young Ho , Lee Doh Young , Lee Dong‐Han , Oh Sohee 
Published: June 2021

ObjectiveWe investigated the incidence of tympanic membrane (TM) perforations induced after intratympanic steroid injection (ITSI) in patients with sudden sensorineural hearing loss (SSNHL) through a systematic review and meta‐analysis.Data SourcesPubMed, Embase, and MEDLINE.Review MethodsPrimary database searches were performed, and 1901 records were identified. After removal of 1802 articles through abstract screening, the remaining 99 full‐text journals were assessed for eligibility to be included in the study. Fifty‐eight studies that used either ventilation tubing (VT) or tympanocentesis (TC) for ITSI were selected for analysis. The subjects were divided into VT and TC groups. The rate of TM perforation after ITSI in 2 groups, sites of ITSI, needle gauge, and influence on residual hearing were investigated.ResultsThe cohorts comprised patients who underwent VT (n = 257, 9.6%) and TC (n = 2415, 90.4%). The proportion of TM perforation after ITSI in each group was 0.073 (95% CI, 0.0469‐0.1113) and 0.010 (95% CI, 0.0045‐0.0215), respectively, which suggested that the VT group showed a significantly higher TM perforation rate than the TC group (P<. 001). In the subgroup analyses, there was no significant difference in the odds ratio for the rate of TM perforation according to the injection site and needle gauge for TC. The proportion of surgical repair showed no significant difference between the 2 groups.ConclusionITSI via VT may have a significantly higher risk of TM perforation than ITSI via TC, although those are relatively small overall. ITSI should be performed in the direction to minimize possible adverse effects.
The effect of bibliotherapy on the development of self-efficacy of women with disabled children
Authors: Öztemiz Semanur , Tekindal Melike 
Published: June 2021

The aim of this study is to reveal the effect of the bibliotherapy technique on the development of general self-efficacy of women with disabled children. The specific objective of the study is to draw attention to bibliotherapy as a method in the library and information science area. The research was conducted with 18 volunteers from 80 mothers of disabled children who received service from ZİÇEV (Mentally Handicapped Education and Protection Foundation) in the 2019-2020 academic year. Group work and the general self-efficacy scale was used to collect data. In the research, 2x2 mixed design (experiment – control – pre-test – post-test) was conducted. The self-efficacy level of the women was chosen as the dependent variable while the independent variable was bibliotherapy activity. 9 women were assigned to the experimental group and the other 9 were the control group. The bibliotherapy program, designed by the researcher, was in six sessions. Each session took 2 hours. The general self-efficacy scale was conducted again at the last session. Statistically significant results were observed between the experimental and control groups. The results of the study showed that bibliotherapy increased the self-efficacy of women with disabled children. The research drew attention to the importance of bibliotherapy in the process of tackling the low self-efficacy levels of women with disabled children. It is expected that the study will contribute to the literature by encouraging interdisciplinary research based on bibliotherapy.
Undernutrition when young and the risk of poor renal function in adulthood in women with diabetes in Shanghai, China
Authors: Qin Qiaojing , Chang Kaili , Wu Qing , Fan Weifeng , Gu Yong , Niu Jianying , Liu Xueguang 
Published: June 2021

Objective To evaluate the effect of undernutrition when young on the risk of poor renal function in adulthood in women with diabetes mellitus. Methods We studied diabetic women born between 1921 and 1958 who were exposed to the 1959-to-1962 Chinese famine when they were 0 to 37 years old. Exposure age was classified as young adulthood (18 to 37 years), adolescence (10 to 17 years), or childhood (0 to 9 years). The Adolescence group, which was provided with the largest amount of food during the famine, was used as the control group, and variance and binary logistic regression analyses were performed. Results The prevalences of low estimated glomerular filtration rate (eGFR) in the Childhood, Adolescence, and Young adulthood groups were 5.26%, 22.39%, and 79.24%, respectively. The risk of low eGFR for the Young adulthood group (odds ratio [OR] 1.65, 95% confidence interval [CI] 1.10, 2.48), but not for the Childhood group (OR 1.10, 95% CI 0.68, 1.78), was higher than that for the Adolescence group after adjustment for potential confounders. Conclusions Undernutrition during young adulthood significantly increases the risk of renal dysfunction in adult women with diabetes. Therefore, the nutrition of less affluent young women should be improved.