bluuebunny/crossref_metadata_2025_split huggingface dataset:
Singularity Parametrization With a Novel Kinematic Decoupled Model for Non-Spherical Wrist Robots
Authors: Rodriguez-Guerra Diego , Sorrosal Gorka , Cabanes Itziar , Mancisidor Aitziber , Calleja Carlos 
Published: May 2023

AbstractMost of the current commercial collaborative robots present a non-spherical wrist, so they cannot utilize singularity handling techniques efficiently to avoid excessive safety stops while dynamically avoiding collisions. These robots usually require heavier algorithms due to their kinematics or online methods that shift the original singularities. Therefore, to enable more efficient computations on singularity handling and collision avoidance controllers, this paper proposes a novel method to characterize singular configurations of non-spherical wrist collaborative robots (6 and 7 degrees-of-freedom). This method is based on a new decoupled kinematic model that allows lighter kinematic computations and enables the joint-dependant characterization of the robot singularities to avoid shifting the singular configurations. Finally, the proposed kinematic model is particularized for a UR10e, where its kinematic behavior has been tested against two different literature models in simulation. In this manner, a novel singularity category (belonging to the internal singularities) is proposed, and a new closed set of characterized singular solutions is obtained.
Late-onset multiple acyl-CoA dehydrogenase deficiency: an insidious presentation
Authors: Rao Naini Nishita , Burns Kharis , Manolikos Catherine , Hodge Samantha 
Published: May 2023

Multiple acyl-CoA dehydrogenase deficiency (MADD) is a rare inborn error of metabolism that results in impairment of mitochondrial β-oxidation of fatty acids. It is inherited in an autosomal recessive manner and impairs electron transfer in the electron transport chain. The clinical manifestations of MADD are highly variable and include exercise intolerance, myopathy, cardiomyopathy, encephalopathy, coma and death. Early-onset MADD is often associated with a high mortality with significant number of patients presenting with severe metabolic acidosis, non-ketotic hypoglycaemia and/or hyperammonaemic presentations. While late-onset MADD is suggested to have a lower mortality, the severe encephalopathic presentations may well be under-reported as a diagnosis of MADD may not be considered.MADD is treatable with riboflavin and appropriate nutrition with a focus on prevention and early management of metabolic decompensation. The neonatal phenotype differs significantly from late-onset MADD, where diagnosis may be delayed due to heterogeneity in clinical features, atypical presentation and confounding comorbidities, together with lower awareness among physicians.This report describes a woman in her 30s who presented with acute-onset ataxia, confusion and hyperammonaemic encephalopathy requiring intubation. Subsequent biochemical investigation revealed a diagnosis of MADD. At present, there are no national guidelines in Australia for the management of MADD. This case highlights the investigation and treatment of late-onset MADD.
3 Cardiopulmonary, functional, cognitive and mental health outcomes post covid, across the range of severity of acute illness, in a physically active working age population: baseline findings from the MCOVID study
Authors: O’Sullivan Oliver , Holdsworth David A , Ladlow Peter , Barker-Davies Robert M , Chamley Rebecca , Houston Andrew , May Samantha , Dewson Dominic , Mills Daniel , Pierce Kayleigh , Mitchell James , Xie Cheng , Sellon Edward , Naylor Jon , Mulae Joseph , Cranley Mark , Talbot Nick P , Rider Oliver J , Nicol Edward D , Bennett Alexander N 
Published: May 2023

BackgroundThe medium-long impact of coronavirus disease 2019 (COVID-19) on active populations is yet to be fully understood, with potential individual and operational impact on military service personnel (SP). The M-COVID study was established to investigate cardiopulmonary, functional, cognitive, and mental health post-COVID-19 SP outcomes, across the spectrum of acute COVID-19 severity.MethodObservational four-cohort study; hospitalised, community-based illness with on-going symptoms (communitysymptomatic), community-based illness now recovered (community-recovered) and age, sex, job-role matched control. Participants underwent extensive clinical assessment involving cardiopulmonary imaging, submaximal and maximal exercise testing, pulmonary function, cognitive assessment, blood tests, electrocardiogram and questionnaires on mental health and physical function.Results113 participants (aged 39±9, 86% male) were recruited; Hospitalised (n=35), community-symptomatic (n=34), community-recovered (n=18) and control (n=26), 159±72 days following acute illness. Hospitalised and community-symptomatic groups were older (p=0.003), with a higher body mass index (p<0.001), and worse mental health (anxiety,p=0.011;depression,p<0.001;post-traumatic stress, p<0.001), fatigue (p<0.001), and quality of life scores (p=0.001), with a mean of 2±2 and 2±1 symptoms, respectively. Hospitalised and community-symptomatic participants also performed less well on sub-maximal (p<0.001) and maximal exercise testing, with hospitalised individuals displaying impaired ventilatory efficiency (p<0.001), less work at the anaerobic threshold and at peak (both p<0.001), and significantly reduced forced vital capacity (p=0.004). Clinically significant abnormal cardiopulmonary imaging findings were present in 6% of hospitalised participants, lower than those seen in other studies. Those who recovered from communitybased, mild-moderate COVID-19 had no significant differences from controls on any parameter.ConclusionsRecovered SP who suffered mild-moderate COVID-19 do not differ from an age, sex and job-role matched controls. This is reassuring for the vast majority of individuals who have had acute COVID-19 not requiring hospital management. Individuals who were hospitalised or continue to suffer symptoms may require a specific, comprehensive clinical and occupational assessment prior to a full return to duty.
Prevalence and impact of SARS-CoV-2 infection on maternal and infant health in African populations: protocol of a multicentre prospective cohort study (MA-CoV project)
Authors: Figueroa-Romero Antía , Mendes Anete , Mombo-Ngoma Ghyslain , Mischlinger Johannes , Esen Meral , Vogler Michael , Mazuze Maura , Mombo-Nzamba Lionel , Mbadinga Benjamin , Sanz Sergi , Ramharter Michael , Saute Francisco , Nhampossa Tacilta , Menendez Clara , González Raquel 
Published: May 2023

IntroductionPregnant women are currently considered a vulnerable population to SARS-CoV-2 infection, with increased risk of severe COVID-19, preterm birth and maternal mortality. There is, however, a paucity of data on the burden of maternal SARS-CoV-2 infection in sub-Saharan countries. The objective of this study is to determine the prevalence and health effects of maternal SARS-CoV-2 infection in selected sites from Gabon and Mozambique.Methods and analysisMA-CoV (MAternal CoVid) is an observational, multicentre prospective cohort study where 1000 pregnant women (500 per country) will be enrolled at the antenatal clinic visits. Participants will undergo monthly follow-up at each antenatal care visit, delivery and postpartum visit. The primary study outcome is the prevalence of SARS-CoV-2 infection during pregnancy. The clinical presentation of COVID-19 in pregnancy will also be characterised, and incidence of infection during pregnancy will be evaluated, as well as the risk factors of maternal and neonatal morbidity and mortality associated with SARS-CoV-2 infection and the risk of mother to child transmission of SARS-CoV-2. SARS-CoV-2 infection screening will be performed through PCR diagnosis.Ethics and disseminationThe protocol was reviewed and approved by theComité National d’Éthique pour la Recherche au Gabon,Comité Nacional de Bioética para Saúde de Moçambiqueand the Ethics Committee of the Hospital Clinic of Barcelona (Spain). Project results will be presented to all stakeholders and published in open access journals.Trial registration numberNCT05303168.
Prevalence of undiagnosed stage 3 chronic kidney disease in France, Germany, Italy, Japan and the USA: results from the multinational observational REVEAL-CKD study
Authors: Tangri Navdeep , Moriyama Toshiki , Schneider Markus P , Virgitti Jean Blaise , De Nicola Luca , Arnold Matthew , Barone Salvatore , Peach Emily , Wittbrodt Eric , Chen Hungta , Järbrink Krister , Kushner Pamela 
Published: May 2023

ObjectivesREVEAL-CKD aims to estimate the prevalence of, and factors associated with, undiagnosed stage 3 chronic kidney disease (CKD).DesignMultinational, observational study.SettingData from six country-specific electronic medical records and/or insurance claims databases from five countries (France, Germany, Italy, Japan and the USA [two databases]).ParticipantsEligible participants (≥18 years old) had ≥2 consecutive estimated glomerular filtration rate (eGFR) measurements (calculated from serum creatinine values, sex and age) taken from 2015 onwards that were indicative of stage 3 CKD (≥30 and <60 mL/min/1.73 m2). Undiagnosed cases lacked an International Classification of Diseases 9/10 diagnosis code for CKD (any stage) any time before, and up to 6 months after, the second qualifying eGFR measurement (study index).Main outcome measuresThe primary outcome was point prevalence of undiagnosed stage 3 CKD. Time to diagnosis was assessed using the Kaplan-Meier approach. Factors associated with lacking a CKD diagnosis and risk of diagnostic delay were assessed using logistic regression adjusted for baseline covariates.ResultsThe prevalence of undiagnosed stage 3 CKD was 95.5% (19 120/20 012 patients) in France, 84.3% (22 557/26 767) in Germany, 77.0% (50 547/65 676) in Italy, 92.1% (83 693/90 902) in Japan, 61.6% (13 845/22 470) in the US Explorys Linked Claims and Electronic Medical Records Data database and 64.3% (161 254/250 879) in the US TriNetX database. The prevalence of undiagnosed CKD increased with age. Factors associated with undiagnosed CKD were female sex (vs male, range of odds ratios across countries: 1.29–1.77), stage 3a CKD (vs 3b, 1.81–3.66), no medical history (vs a history) of diabetes (1.26–2.77) or hypertension (1.35–1.78).ConclusionsThere are substantial opportunities to improve stage 3 CKD diagnosis, particularly in female patients and older patients. The low diagnosis rates in patients with comorbidities that put them at risk of disease progression and complications require attention.Trial registrationNCT04847531.
Using home monitoring technology to study the effects of traumatic brain injury on older multimorbid adults: protocol for a feasibility study
Authors: Parkinson Megan E , Dani Melanie , Fertleman Michael , Soreq Eyal , Barnaghi Payam , Sharp David J , Li Lucia M 
Published: May 2023

IntroductionThe prevalence of traumatic brain injury (TBI) among older adults is increasing exponentially. The sequelae can be severe in older adults and interact with age-related conditions such as multimorbidity. Despite this, TBI research in older adults is sparse. Minder, an in-home monitoring system developed by the UK Dementia Research Institute Centre for Care Research and Technology, uses infrared sensors and a bed mat to passively collect sleep and activity data. Similar systems have been used to monitor the health of older adults living with dementia. We will assess the feasibility of using this system to study changes in the health status of older adults in the early period post-TBI.Methods and analysisThe study will recruit 15 inpatients (>60 years) with a moderate-severe TBI, who will have their daily activity and sleep patterns monitored using passive and wearable sensors over 6 months. Participants will report on their health during weekly calls, which will be used to validate sensor data. Physical, functional and cognitive assessments will be conducted across the duration of the study. Activity levels and sleep patterns derived from sensor data will be calculated and visualised using activity maps. Within-participant analysis will be performed to determine if participants are deviating from their own routines. We will apply machine learning approaches to activity and sleep data to assess whether the changes in these data can predict clinical events. Qualitative analysis of interviews conducted with participants, carers and clinical staff will assess acceptability and utility of the system.Ethics and disseminationEthical approval for this study has been granted by the London-Camberwell St Giles Research Ethics Committee (REC) (REC number: 17/LO/2066). Results will be submitted for publication in peer-reviewed journals, presented at conferences and inform the design of a larger trial assessing recovery after TBI.
Kulay Kalingka, a national cohort study of Aboriginal and Torres Strait Islander peoples’ cancer experiences: a study protocol
Authors: Wells Shavaun , Brinckley Makayla-May , Thurber Katherine Ann , Banks Emily , Whop Lisa J , Maddox Raglan , Lovett Raymond 
Published: May 2023

IntroductionAboriginal and Torres Strait Islander peoples are the First Peoples of Australia. Since settler colonisation, Aboriginal and Torres Strait Islander peoples have experienced disparities in health outcomes, including cancer, when compared with non-Indigenous Australians, including higher cancer incidence and mortality rates, and lower participation in cancer screening programmes. Data to monitor and improve outcomes are limited.Aims, method and analysisThe Kulay Kalingka Study will be a national cohort study aiming to understand Aboriginal and Torres Strait Islander people’s beliefs about cancer and experiences with cancer care and treatment, and to improve experiences and outcomes. It will be nested within the Mayi Kuwayu Study, a national community-controlled cohort study of Aboriginal and Torres Strait Islander people (n>11 000), with supplementary in-community recruitment.Mayi Kuwayu Study participants aged ≥18 years who consented to being recontacted, and a diversity of local community members will be invited to participate through completing a questionnaire relevant to their cancer status, aiming to recruit 2800 participants without prior doctor-diagnosed cancer and 700 with a cancer diagnosis.This community-driven data will enable monitoring and reporting of national trends over time and will guide national cancer control research, policy and clinical care, to improve outcomes for Aboriginal and Torres Strait Islander peoples.Ethics and disseminationThe Kulay Kalingka Study has ethics approval from Australian Institute of Aboriginal and Torres Strait Islander Studies (#EO324-20220414 and REC-0121) and the Australian National University (#2022/465). The Kulay Kalingka Study is being developed with Aboriginal and Torres Strait Islander communities, following the Maiam nayri Wingara Indigenous Data Sovereignty Collective principles. Meaningful, accessible and culturally adapted study findings will be disseminated to Aboriginal and Torres Strait Islander communities through activities including community workshops, reports and feedback sheets, and in other ways as determined by the community. We will also return data to participating communities.
Propensity-matched analysis of long-term clinical results after ostial circumflex revascularisation
Authors: Espejo-Paeres Carolina , Vedia Oscar , Wang Lin , Hennessey Breda , Mejía-Rentería Hernán , McInerney Angela , Nombela-Franco Luis , Nuñez-Gil Ivan Javier , Macaya-Ten Fernando , Salinas Pablo , Tirado Gabriela , Fernandez-Ortiz Antonio Ignacio , Gonzalo Nieves , Escaned Javier , Jimenez-Quevedo Pilar 
Published: May 2023

BackgroundPercutaneous coronary intervention (PCI) of the ostium of the left circumflex artery (LCx) is technically challenging. The aim of this study was to compare long-term clinical outcomes of ostial PCI located in the LCx versus the left anterior descending artery (LAD) in a propensity-matched population.MethodsConsecutive patients with a symptomatic isolated ‘de novo’ ostial lesion of the LCx or LAD treated with PCI were included. Patients with a stenosis of >40% in the left main (LM) were excluded. A propensity score matching was performed to compare both groups. The primary endpoint was target lesion revascularisation (TLR); other endpoints included target lesion failure and an analysis of the bifurcation angles.ResultsFrom 2004 to 2018, 287 consecutive patients with LAD (n=240) or LCx (n=47) ostial lesions treated with PCI were analysed. After the adjustment, 47 matched pairs were obtained. The mean age was 72±12 years and 82% were male. The LM–LAD angle was significantly wider than the LM–LCx angle (128°±23° vs 108°±24°, p=0.002). At a median follow-up of 5.5 (IQR 1.5–9.3) years, the rate of TLR was significantly higher in the LCx group (15% vs 2%); with an HR of 7.5, 95% CI 2.1 to 26.4, p<0.001. Interestingly, in the LCx group, TLR–LM occurred in 43% of the TLR cases; meanwhile, no TLR–LM involvement was found in the LAD group.ConclusionsIsolated ostial LCx PCI was associated with an increase in the rate of TLR compared with ostial LAD PCI at long-term follow-up. Larger studies evaluating the optimal percutaneous approach at this location are needed.
Ambient air pollution and maternal cardiovascular health in pregnancy
Authors: Decrue Fabienne , Townsend Rosemary , Miller Mark R , Newby David E , Reynolds Rebecca M 
Published: May 2023

In this review, we summarise the current epidemiological and experimental evidence on the association of ambient (outdoor) air pollution exposure and maternal cardiovascular health during pregnancy. This topic is of utmost clinical and public health importance as pregnant women represent a potentially susceptible group due to the delicate balance of the feto-placental circulation, rapid fetal development and tremendous physiological adaptations to the maternal cardiorespiratory system during pregnancy.Several meta-analyses including up to 4 245 170 participants provide robust evidence that air pollutants, including particulate matter, nitrogen oxides and others, have adverse effects on the development of hypertensive disorders of pregnancy, gestational diabetes mellitus and cardiovascular events during labour. Potential underlying biological mechanisms include oxidative stress with subsequent endothelial dysfunction and vascular inflammation, β-cell dysfunction and epigenetic changes. Endothelial dysfunction can lead to hypertension by impairing vasodilatation and promoting vasoconstriction. Air pollution and the consequent oxidative stress can additionally accelerate β-cell dysfunction, which in turn triggers insulin resistance leading to gestational diabetes mellitus. Epigenetic changes in placental and mitochondrial DNA following air pollution exposures can lead to altered gene expression and contribute to placental dysfunction and induction of hypertensive disorders of pregnancy.The maternal and fetal consequences of such cardiovascular and cardiometabolic disease during pregnancy can be serious and long lasting, including preterm birth, increased risk of type 2 diabetes mellitus or cardiovascular disease later in life. Acceleration of efforts to reduce air pollution is therefore urgently needed to realise the full health benefits for pregnant mothers and their children.
Torsion driving cosmic expansion
Authors: Kirsch Johannes , Vasak David , van de Venn Armin , Struckmeier Jürgen 
Published: May 2023

AbstractWe study a cosmological model based on the canonical Hamiltonian transformation theory. Using a linear-quadratic approach for the free gravitational De Donder–Weyl Hamiltonian$$H_\textrm{Gr}$$HGr, the model contains terms describing a deformation of an AdS spacetime and a fully anti-symmetric torsion in addition to Einstein’s theory. The resulting extension of the Einstein–Cartan theory depends on two initially unknown constants,$$\Omega _\textrm{g}$$Ωgand$$\Omega _\textrm{s}$$Ωs. Given an appropriate choice of these parameters resulting from the analysis of asymptotics, numerical calculations were performed with$$\Omega _\mathrm {\Lambda } = 0$$ΩΛ=0. Values from the Planck Collaboration (Aghanim in Cosmol Parameters641, 6, 2020) were used for all other required cosmological parameters. In this way, it is shown that torsion can explain phenomena commonly attributed to dark energy, and thus can replace Einstein’s cosmological constant.
Strategic Latency Reduction in Blockchain Peer-to-Peer Networks
Authors: Tang Weizhao , Kiffer Lucianna , Fanti Giulia , Juels Ari 
Published: May 2023

Most permissionless blockchain networks run on peer-to-peer (P2P) networks, which offer flexibility and decentralization at the expense of performance (e.g., network latency). Historically, this tradeoff has not been a bottleneck for most blockchains. However, an emerging host of blockchain-based applications (e.g., decentralized finance) are increasingly sensitive to latency; users who can reduce their network latency relative to other users can accrue (sometimes significant) financial gains.
In this work, we initiate the study of strategic latency reduction in blockchain P2P networks. We first define two classes of latency that are of interest in blockchain applications. We then show empirically that a strategic agent who controls only their local peering decisions can manipulate both types of latency, achieving 60% of the global latency gains provided by the centralized, paid service bloXroute, or, in targeted scenarios, comparable gains. Finally, we show that our results are not due to the poor design of existing P2P networks. Under a simple network model, we theoretically prove that an adversary can always manipulate the P2P network's latency to their advantage, provided the network experiences sufficient peer churn and transaction activity.
HiGRN: A Hierarchical Graph Recurrent Network for Global Sea Surface Temperature Prediction
Authors: Yang Hanchen , Li Wengen , Hou Siyun , Guan Jihong , Zhou Shuigeng 
Published: May 2023

Sea surface temperature (SST) is one critical parameter of global climate change, and accurate SST prediction is important to various applications, e.g., weather forecasting, fishing directions, and disaster warnings. The global ocean system is unified and complex, and the SST patterns in different oceanic regions are highly diverse and correlated. However, existing data-driven SST prediction methods mainly consider the local patterns within a certain oceanic region, e.g., El Nino region and the Black sea. It is challenging but necessary to model the global SST correlations rather than that in a specific region to enhance the prediction accuracy of SST. In this work, we proposed a new method called Hierarchical Graph Recurrent Network (HiGRN) to address the issue. First, to learn the dynamic and diverse local SST patterns of specific locations, we design an adaptive node embedding with self-learned parameters to learn various SST patterns. Then we develop a hierarchical cluster generator to aggregate the locations with similar patterns into regional clusters and utilize a graph convolution network to learn the spatial correlations among these clusters. Finally, we introduce a multi-level attention mechanism to fuse the local patterns and regional correlations, and the output is fed into a recurrent network to achieve SST predictions. Extensive experiments on two real-world datasets show that our method largely outperforms the state-of-the-art SST prediction methods. The source code is available at
https://github.com/Neoyanghc/HiGRN
.