bluuebunny/crossref_metadata_2025_split huggingface dataset:
Whole Body Control of a Dual-Arm Mobile Robot Using a Virtual Kinematic Chain
Authors: Wang Yuquan , Smith Christian , Karayiannidis Yiannis , Ögren Petter 
Published: April 2016

Dual-arm manipulators have more advanced manipulation abilities compared to single-arm manipulators and manipulators mounted on a mobile base have additional mobility and a larger workspace. Combining these advantages, mobile dual-arm robots are expected to perform a variety of tasks in the future. Kinematically, the configuration of two arms that branches from the mobile base results in a serial-to-parallel kinematic structure. In order to respond to external disturbances, this serial-to-parallel kinematic structure makes inverse kinematic computations non-trivial, as the motion of the base has to take the needs of both arms into account. Instead of using the dual-arm kinematics directly, we propose to use a virtual kinematic chain (VKC) to specify the common motion of the two arms. We formulate a constraint-based programming solution which consists of two parts. In the first part, we use an extended serial kinematic chain including the mobile base and the VKC to formulate constraints that realize the desired orientation and translation expressed in the world frame. In the second part, we use the resolved VKC motion to constrain the common motion of the two arms. In order to explore the redundancy of the two arms in an optimization framework, we also provide a VKC-oriented manipulability measure as well as its closed-form gradient. We verify the proposed approach with simulations and experiments that are performed on a PR2 robot, which has two 7 degrees of freedom (DoF) arms and a 3 DoF mobile base.
The Jurassic of the Western Tien Shan: the Central Kyzylkum Region, Uzbekistan
Authors: McCann Tom 
Published: April 2016

Abstract
The Sarbatyr inlier in the Kyzylkum area, Uzbekistan contains rare outcrops of Jurassic (Bajocian–Bathonian) rocks which form part of the Kuduksarbatyr Formation. Six facies are differentiated in the general succession, ranging from conglomerates to mudstones. The coarser sediments were deposited in a distal alluvial fan setting, which interdigitated with nearshore/lagoonal marine sediments rich in fossil fragments and glauconite. The overall succession provides evidence of varying sea-levels over time, with three distinct ‘transgressive’ events being noted. Two global transgressive events have been recognized in the Bajocian with another significant event at the Bajocian–Bathonian boundary. While it is possible that the events recognized within the Sarbatyr succession correspond to these global events, the effects of local tectonic activity must also be taken into account. The re-examination of the sediments of the Kuduksarbatyr Formation extends the marine influence on sedimentation through to the Bathonian (previous interpretations suggested that the area was continental).
Spatial distribution and evolution of fault-segment boundary types in rift systems: observations from experimental clay models
Authors: Whipp P. S. , Jackson C. A.-L. , Schlische R. W. , Withjack M. O. , Gawthorpe R. L. 
Published: April 2016

Abstract
Fault-segment boundaries initiate, evolve and die as a result of the propagation, interaction and linkage of normal faults during crustal extension. However, little is known about the distribution, evolution and controls on the development of relay ramps, which are the key structures developed at synthetic segment boundaries. In this study, we use a series of scaled physical models (wet clay) to investigate the distribution and evolution of fault-segment boundaries within an evolving normal-fault population during orthogonal extension. From the models, we can establish a simple geometrical classification for segment boundaries, analyse their spatial and temporal evolution, and identify key factors that influence their variability.
Development of overlapping fault tips is a prerequisite for fault growth via segment linkage. Synthetic segment boundaries are the most common segment boundary type developed in the models. The proportion of synthetic segment boundaries in the total fault population increases with increasing strain, whereas conjugate (antithetic) segment boundaries are very rare. Hanging-wall-breached relay ramps are the most common type (>70%) of breached-segment boundary, followed by footwall-breached relay ramps (<25%). Transfer faults are uncommon in our models. The type of breached segment boundary that develops cannot be predicted based on fault overlap to fault spacing aspect ratio alone. Instead, we show that fault linkage occurs in a range of styles across a wide range of fault overlap to fault spacing ratios (1:1–7:1). Furthermore, we show that fault spacing is constrained by stress-reduction shadows at the time of fault nucleation, whereas fault overlap changes during fault growth and interaction. Our study thus shows that scaled physical models are a powerful tool to assess the style, distribution and controls on the evolution of synthetic segment boundaries developing in rifts. Predictions from these models must now be assessed with data from natural examples exposed in the field or imaged in the subsurface.
p120 Catenin Suppresses Basal Epithelial Cell Extrusion in Invasive Pancreatic Neoplasia
Authors: Hendley Audrey M. , Wang Yue J. , Polireddy Kishore , Alsina Janivette , Ahmed Ishrat , Lafaro Kelly J. , Zhang Hao , Roy Nilotpal , Savidge Samuel G. , Cao Yanna , Hebrok Matthias , Maitra Anirban , Reynolds Albert B. , Goggins Michael , Younes Mamoun , Iacobuzio-Donahue Christine A. , Leach Steven D. , Bailey Jennifer M. 
Published: April 2016

Abstract
Aberrant regulation of cellular extrusion can promote invasion and metastasis. Here, we identify molecular requirements for early cellular invasion using a premalignant mouse model of pancreatic cancer with conditional knockout of p120 catenin (Ctnnd1). Mice with biallelic loss of p120 catenin progressively develop high-grade pancreatic intraepithelial neoplasia (PanIN) lesions and neoplasia accompanied by prominent acute and chronic inflammatory processes, which is mediated, in part, through NF-κB signaling. Loss of p120 catenin in the context of oncogenic Kras also promotes remarkable apical and basal epithelial cell extrusion. Abundant single epithelial cells exit PanIN epithelium basally, retain epithelial morphology, survive, and display features of malignancy. Similar extrusion defects are observed following p120 catenin knockdown in vitro, and these effects are completely abrogated by the activation of S1P/S1pr2 signaling. In the context of oncogenic Kras, p120 catenin loss significantly reduces expression of genes mediating S1P/S1pr2 signaling in vivo and in vitro, and this effect is mediated at least, in part, through activation of NF-κB. These results provide insight into mechanisms controlling early events in the metastatic process and suggest that p120 catenin and S1P/S1pr2 signaling enhance cancer progression by regulating epithelial cell invasion. Cancer Res; 76(11); 3351–63. ©2016 AACR.
Implications of Extracellular Vesicle Transfer on Cellular Heterogeneity in Cancer: What Are the Potential Clinical Ramifications?
Authors: Zomer Anoek , van Rheenen Jacco 
Published: April 2016

Abstract
The functional and phenotypic heterogeneity of tumor cells represents one of the greatest challenges in the successful treatment of cancer patients, because it increases the risk that certain individual tumor cells possess the ability to, for example, metastasize or to tolerate cytotoxic drugs. This heterogeneity in cellular behavior is driven by genetic and epigenetic changes and environmental differences. Recent studies suggest that an additional layer of complexity of tumor heterogeneity exists, based on the ability of cells to share functional biomolecules through local and systemic transfer of extracellular vesicles (EV), with profound effects on cellular behavior. The transfer of functional biomolecules between various populations of tumor cells and between tumor cells and nontumor cells has large consequences for both the tumor cells and the microenvironment that support the cellular behavior of tumor cells, and therefore for the clinical outcome of cancer. Here, we discuss the latest findings on EV transfer and the potential implications of EV-mediated local and systemic transmission of phenotypic behavior, particularly in the context of tumor heterogeneity, metastatic disease, and treatment response. Cancer Res; 76(8); 2071–5. ©2016 AACR.
Multilevel Intervention Raises Latina Participation in Mammography Screening: Findings from ¡Fortaleza Latina!
Authors: Coronado Gloria D. , Beresford Shirley A.A. , McLerran Dale , Jimenez Ricardo , Patrick Donald L. , Ornelas India , Bishop Sonia , Scheel John R. , Thompson Beti 
Published: April 2016

Abstract
Background: Breast cancer is the most commonly diagnosed cancer in women in the United States, and Latinas have relatively low rates of screening participation. The Multilevel Intervention to Increase Latina Participation in Mammography Screening study (¡Fortaleza Latina!) sought to assess the efficacy of a clinic- and patient-level program to increase breast cancer screening among Latinas in Western Washington who seek care at a safety net health center.
Methods: The study enrolled 536 Latinas ages 42 to 74 who had a primary care clinic visit in the previous 5 years and had not obtained a mammogram in the previous 2 years. Participants were block-randomized within clinic to either (i) a control arm (usual care) or (ii) a promotora-led, motivational interviewing intervention that included a home visit and telephone follow-up. At the clinic level, two of four participating clinics were provided additional mammography services delivered by a mobile mammography unit.
Results: Rates of screening mammography 1 year post-randomization were 19.6% in the intervention group and 11.0% in the usual care group (P &lt; 0.01), based on medical record data. No significant differences in participants' mammography screening were observed in clinics randomized to additional mammography services versus usual care (15.8% vs. 14.4%; P = 0.68).
Conclusion: This multilevel intervention of promotora-delivered motivational interviewing and free mammography services modestly raised rates of participation in breast cancer screening among Latinas.
Impact: Our findings can inform future efforts to boost mammography participation in safety net practices. Cancer Epidemiol Biomarkers Prev; 25(4); 584–92. ©2016 AACR.
See all articles in this CEBP Focus section, “Multilevel Approaches to Addressing Cancer Health Disparities.”
Molecular Pathways: Breaking the Epithelial Cancer Barrier for Chimeric Antigen Receptor and T-cell Receptor Gene Therapy
Authors: Hinrichs Christian S. 
Published: April 2016

Abstract
Adoptive transfer of T cells genetically engineered to express a tumor-targeting chimeric antigen receptor (CAR) or T-cell receptor (TCR) can mediate cancer regression in some patients. CARs are synthetic single-chain proteins that use antibody domains to target cell surface antigens. TCRs are natural heterodimeric proteins that can target intracellular antigens through recognition of peptides bound to human leukocyte antigens. CARs have shown promise in B-cell malignancies and TCRs in melanoma, but neither approach has achieved clear success in an epithelial cancer. Treatment of epithelial cancers may be particularly challenging because of a paucity of target antigens expressed by carcinomas and not by important healthy tissues. In addition, epithelial cancers may be protected by inhibitory ligands and soluble factors in the tumor microenvironment. One strategy to overcome these negative regulators is to modulate expression of T-cell genes to enhance intrinsic T-cell function. Programmable nucleases, which can suppress inhibitory genes, and inducible gene expression systems, which can enhance stimulatory genes, are entering clinical testing. Other work is delineating whether control of genes for immune checkpoint receptors (e.g., PDCD1, CTLA4) and cytokine and TCR signaling regulators (e.g., CBLB, CISH, IL12, IL15) can increase the antitumor activity of therapeutic T cells. Clin Cancer Res; 22(7); 1559–64. ©2016 AACR.
Can Targeting Stroma Pave the Way to Enhanced Antitumor Immunity and Immunotherapy of Solid Tumors?
Authors: Puré Ellen , Lo Albert 
Published: April 2016

Abstract
Solid tumors are complex organ-like structures. The potential of normal neighboring cells to contribute to the initiation, progression, and metastasis of epithelial-derived carcinomas has long been appreciated. However, the role of host cells has proven complex. Through multiple local and systemic mechanisms, nontransformed host cells can promote transition from a tumor-resistant to tumor-permissive environment, drive neoplastic transformation of epithelial cells, promote tumor growth, progression, and metastasis, but also constrain tumorigenesis. This complexity reflects the spatially and temporally dynamic involvement of multiple cell types and processes, including the development and recruitment of inflammatory, immune, endothelial, and mesenchymal stromal cells, and the remodeling of extracellular matrix. Our mechanistic understanding, as well as our ability to translate advances in our understanding of these mechanisms for therapeutic benefit, is rapidly advancing. Further insights will depend on delineating pathways that mediate the communication networks between inflammatory and immune cells with tumor and mesenchymal stromal cells and extracellular matrix. Here, we discuss the diversity of mesenchymal stromal cell populations and how context can dictate either their promotion or constraint of tumorigenesis. We review evidence for plasticity that allows for reprograming of stromal cells and how tumor immunogenicity and desmoplasia influence the balance of immune-independent and immune-dependent regulation of tumor growth. The pivotal roles of matrix and mesenchymal stromal cells in modulating inflammation, antitumor immunity, and the efficacy of immune-based therapies are discussed. These concepts have emerged from data obtained from tumors of multiple organs, but we focus mostly on studies of pancreatic ductal adenocarcinomas. Cancer Immunol Res; 4(4); 269–78. ©2016 AACR.
De-Risking Immunotherapy: Report of a Consensus Workshop of the Cancer Immunotherapy Consortium of the Cancer Research Institute
Authors: Mellman Ira , Hubbard-Lucey Vanessa M. , Tontonoz Matthew J. , Kalos Michael D. , Chen Daniel S. , Allison James P. , Drake Charles G. , Levitsky Hy , Lonberg Nils , van der Burg Sjoerd H. , Fearon Douglas T. , Wherry E. John , Lowy Israel , Vonderheide Robert H. , Hwu Patrick 
Published: April 2016

Abstract
With the recent FDA approvals of pembrolizumab and nivolumab, and a host of additional immunomodulatory agents entering clinical development each year, the field of cancer immunotherapy is changing rapidly. Strategies that can assist researchers in choosing the most promising drugs and drug combinations to move forward through clinical development are badly needed in order to reduce the likelihood of late-stage clinical trial failures. On October 5, 2014, the Cancer Immunotherapy Consortium of the Cancer Research Institute, a collaborative think tank composed of stakeholders from academia, industry, regulatory agencies, and patient interest groups, met to discuss strategies for de-risking immunotherapy development, with a focus on integrating preclinical and clinical studies, and conducting smarter early-phase trials, particularly for combination therapies. Several recommendations were made, including making better use of clinical data to inform preclinical research, obtaining adequate tissues for biomarker studies, and choosing appropriate clinical trial endpoints to identify promising drug candidates and combinations in nonrandomized early-phase trials. Cancer Immunol Res; 4(4); 279–88. ©2016 AACR.
Impaired Cholesterol Efflux Capacity of High-Density Lipoprotein Isolated From Interstitial Fluid in Type 2 Diabetes Mellitus—Brief Report
Authors: Apro Johanna , Tietge Uwe J.F. , Dikkers Arne , Parini Paolo , Angelin Bo , Rudling Mats 
Published: April 2016

Objective—
Patients with type 2 diabetes mellitus (T2D) have an increased risk of cardiovascular disease, the mechanism of which is incompletely understood. Their high-density lipoprotein (HDL) particles in plasma have been reported to have impaired cholesterol efflux capacity. However, the efflux capacity of HDL from interstitial fluid (IF), the starting point for reverse cholesterol transport, has not been studied. We here investigated the cholesterol efflux capacity of HDL from IF and plasma from T2D patients and healthy controls.

Approach and Results—
HDL was isolated from IF and peripheral plasma from 35 T2D patients and 35 age- and sex-matched healthy controls. Cholesterol efflux to HDL was determined in vitro, normalized for HDL cholesterol, using cholesterol-loaded macrophages. Efflux capacity of plasma HDL was 10% lower in T2D patients than in healthy controls, in line with previous observations. This difference was much more pronounced for HDL from IF, where efflux capacity was reduced by 28% in T2D. Somewhat surprisingly, the efflux capacity of HDL from IF was lower than that of plasma HDL, by 15% and 32% in controls and T2D patients, respectively.

Conclusion—
These data demonstrate that (1) HDL from IF has a lower cholesterol efflux capacity than plasma HDL and (2) the efflux capacity of HDL from IF is severely impaired in T2D when compared with controls. Because IF comprises the compartment where reverse cholesterol transport is initiated, the marked reduction in cholesterol efflux capacity of IF-HDL from T2D patients may play an important role for their increased risk to develop atherosclerosis.
Barriers to Adoption of Mineralocorticoid Receptor Antagonists in Patients With Heart Failure: A Mixed‐Methods Study
Authors: Dev Sandesh , Hoffman Trisha K. , Kavalieratos Dio , Heidenreich Paul , Wu Wen‐Chih , Schwenke Dawn C. , Tracy Sarah J. 
Published: April 2016

Background

Mineralocorticoid receptor antagonists (
MRA
s) are the most underutilized pharmacotherapy for heart failure. Minimal data are available on the barriers to
MRA
adoption from the perspective of prescribing clinicians.

Methods and Results

A mixed‐methods study consisting of a survey (n=50), focus groups (n=39), interviews (n=6) with clinicians at a single
US
Department of Veterans Affairs medical center served to ascertain barriers to optimal use of
MRA
s. Participants were drawn from 6 groups: cardiology providers, cardiology fellows, hospitalists, clinical pharmacists, internal medicine residents, and primary care providers. Qualitative data were iteratively coded with qualitative data analysis software. The survey response rate was 17.3%. Overall, 51% of survey respondents were unfamiliar with eplerenone, and 6% were unfamiliar with spironolactone. In addition, 30% of respondents reported that they would order a laboratory test >2 weeks after a new
MRA
prescription, although that is beyond the guideline recommendation. Most providers correctly identified New York Heart Association class 3 and 4 patients as
MRA
eligible, but only 42% identified class 2 patients as
MRA
eligible. Through analysis of focus groups, we identified 8 barriers to
MRA
use in 3 categories: patient‐based barriers (concerns about polypharmacy and comorbidities, adverse effects, perceived patient nonadherence), provider‐based barriers (unclear roles and responsibilities, coordination and transitions of care, lack of experience or familiarity with
MRA
s), and system‐based barriers (system overload and provider time constraints, lack of systematic follow‐up procedures).

Conclusions

Eight primary barriers to
MRA
adoption at the provider, patient, and health system levels were identified from the prescriber perspective. These barriers can inform the creation of multilevel interventions that will be required to close the gap in
MRA
adoption.
Clinical Outcome of Anticoagulant Treatment in Head or Neck Infection–Associated Cerebral Venous Thrombosis
Authors: Zuurbier Susanna M. , Coutinho Jonathan M. , Stam Jan , Canhão Patricia , Barinagarrementeria Fernando , Bousser Marie-Germaine , Ferro José M. ,   ISCVT Investigators
Published: April 2016

Background and Purpose—
Local infections of the head or neck are a cause of cerebral venous thrombosis. Treatment of infectious cerebral venous thrombosis with heparin is controversial. We examined whether this treatment was associated with intracranial hemorrhagic complications and poor clinical outcome.

Methods—
We retrieved data from a prospective cohort study of 624 cerebral venous thrombosis patients. We compared patients with and without an infection of the head or neck and anticoagulated versus not anticoagulated. We examined death or dependency and new intracerebral hemorrhages.

Results—

Six hundred four of 624 patients were eligible for the study. Fifty-seven patients had an infection of the head or neck (9.4%). Comparing data between infection and noninfection patients, the frequency of therapeutic doses of heparin was similar in both groups (82.5% versus 83.7%). New intracerebral hemorrhages were more common in patients with an infection (12.3% versus 5.3%;
P
=0.04), but death or dependency did not differ between patients with and without an infection (15.8% versus 13.7%). In patients with an infection of the head or neck, there was no significant difference in the frequency of new intracerebral hemorrhages and poor outcome between patients who did or did not receive therapeutic doses of heparin.

Conclusions—
New intracerebral hemorrhages were more frequent in patients with an infection. The use of therapeutic doses of heparin did not seem to influence the risk of new intracranial hemorrhages or poor clinical outcome, but the number of patients who did not receive anticoagulation was too small to draw firm conclusions about safety of heparin in adults with cerebral venous thrombosis and an infection of the head or neck.
Silent Brain Infarction in Patients With Asymptomatic Carotid Artery Atherosclerotic Disease
Authors: Baradaran Hediyeh , Gialdini Gino , Mtui Edward , Askin Gulce , Kamel Hooman , Gupta Ajay 
Published: April 2016

Background and Purpose—
The relationship between carotid atherosclerosis and ipsilateral silent brain infarction (SBI) is unclear. We tested the hypothesis that extracranial internal carotid artery (ICA) stenosis is associated with a greater prevalence of SBI in the cerebral hemisphere ipsilateral to ICA disease compared with the unaffected, contralateral side.

Methods—

We identified patients with unilateral extracranial ICA stenosis ≥50% on angiography by standard imaging criteria. We included patients with recent brain magnetic resonance imaging who had no previous history of stroke or transient ischemic attack. Blinded readers ascertained the presence of anterior circulation SBIs. SBI was defined as either a cavitary lacunar infarction in the white or deep gray matter or cortical infarction defined by T2 hyperintense signal in cortical gray matter. The Wilcoxon signed-rank test was used to compare SBI in the cerebral hemispheres and Cohen
κ
to assess inter-rater reliability of SBI evaluation.

Results—

Among 104 patients, we found a higher prevalence of SBIs ipsilateral to ICA disease (33%) compared with the contralateral side (20.8%;
P
=0.0067). There was no significant difference in the prevalence of lacunar SBIs (including both white and deep gray matter) between hemispheres (
P
=0.109), but there was a significantly higher prevalence of cortical SBIs occurring downstream from ICA disease (
P
=0.0045). High inter-rater reliability was observed (
κ
=0.818).

Conclusions—
Patients with asymptomatic ICA disease demonstrate a higher prevalence of SBI downstream from their ICA atherosclerotic disease compared with the contralateral side but only of the cortical and not lacunar SBI subtype.