gebhart/patrepeval huggingface dataset:
Learning Variable Impedance Control via Inverse Reinforcement Learning for Force-Related Tasks (2021)

Many manipulation tasks require robots to interact with unknown environments. In such applications, the ability to adapt the impedance according to different task phases and environment constraints is crucial for safety and performance. Although many approaches based on deep reinforcement learning (RL) and learning from demonstration (LfD) have been proposed to obtain variable impedance skills on contact-rich manipulation tasks, these skills are typically task-specific and could be sensitive to changes in task settings. This letter proposes an inverse reinforcement learning (IRL) based approach to recover both the variable impedance policy and reward function from expert demonstrations. We explore different action space of the reward functions to achieve a more general representation of expert variable impedance skills. Experiments on two variable impedance tasks (Peg-in-Hole and Cup-on-Plate) were conducted in both simulations and on a real FANUC LR Mate 200iD/7 L industrial robot. The comparison results with behavior cloning and force-based IRL proved that the learned reward function in the gain action space has better transferability than in the force space. Experiment videos are available at <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://msc.berkeley.edu/research/impedance-irl.html</uri> .
Abstract 157: Assessing Physician Knowledge Regarding Indications for a Primary Prevention Implantable Defibrillator and Potential Barriers for Referral (2017)

Background: Primary prevention implantable cardioverter defibrillators (ICD) are under-utilized despite multiple clinical trials that demonstrated reduced mortality and cost-effectiveness in patients at risk for sudden cardiac death. Our objectives were to determine physician knowledge about primary prevention ICD guidelines and to identify potential barriers impacting referral rates. Methods: The Cardiovascular Arrhythmia and Stroke Working Group from Alberta, Canada developed a web- based survey as part of a quality assurance initiative to aid in the design of a complex device care pathway. The survey consisted of five case scenarios regarding primary prevention ICD guidelines and a list of potential barriers for ICD referral. Through expert consensus, case scenarios were developed based on current device guidelines. The survey was administered to physicians encountering patients eligible for ICD therapy, including General Internists and Cardiologists with Alberta Medical Association membership and Cardiology residents. Results: The survey was completed by 109 of 799 (response rate =14%). Of those, 55% were General Internists, 32% were Cardiologists and 13% were Cardiology residents. The majority of physicians were male (62%) and practicing at a University Hospital (66%). Overall, 34% of participants answered all case scenarios correctly. A correct answer on all five case scenarios was demonstrated by 62.5% of Cardiologists, 61.5% of Cardiology residents and 16% of General Internists (p&lt;0.0001). Figure 1 demonstrates significant differences regarding perceived barriers for ICD referral among physician groups (p&lt;0.0001). There were also significant differences among physician age groups (p&lt;0.0001), with younger physicians reporting more barriers. The most common barriers among all physician groups were cost- effectiveness (55%), concerns regarding knowledge of ICD guidelines (47%) and the risk of inappropriate shocks (41%). Conclusion: Knowledge of indications for a primary prevention ICD is poor and a recognized barrier among physicians who may refer patients for device therapy. Adequate knowledge translation of ICD guidelines is crucial in order to improve ICD utilization.
Yeast 2.0—connecting the dots in the construction of the world's first functional synthetic eukaryotic genome (2018)

Historians of the future may well describe 2018 as the year that the world's first functional synthetic eukaryotic genome became a reality. Without the benefit of hindsight, it might be hard to completely grasp the long-term significance of a breakthrough moment in the history of science like this. The role of synthetic biology in the imminent birth of a budding Saccharomyces cerevisiae yeast cell carrying 16 man-made chromosomes causes the world of science to teeter on the threshold of a future-defining scientific frontier. The genome-engineering tools and technologies currently being developed to produce the ultimate yeast genome will irreversibly connect the dots between our improved understanding of the fundamentals of a complex cell containing its DNA in a specialised nucleus and the application of bioengineered eukaryotes designed for advanced biomanufacturing of beneficial products. By joining up the dots between the findings and learnings from the international Synthetic Yeast Genome project (known as the Yeast 2.0 or Sc2.0 project) and concurrent advancements in biodesign tools and smart data-intensive technologies, a future world powered by a thriving bioeconomy seems realistic. This global project demonstrates how a collaborative network of dot connectors-driven by a tinkerer's indomitable curiosity to understand how things work inside a eukaryotic cell-are using cutting-edge biodesign concepts and synthetic biology tools to advance science and to positively frame human futures (i.e. improved quality of life) in a planetary context (i.e. a sustainable environment). Explorations such as this have a rich history of resulting in unexpected discoveries and unanticipated applications for the benefit of people and planet. However, we must learn from past explorations into controversial futuristic sciences and ensure that researchers at the forefront of an emerging science such as synthetic biology remain connected to all stakeholders' concerns about the biosafety, bioethics and regulatory aspects of their pioneering work. This article presents a shared vision of constructing a synthetic eukaryotic genome in a safe model organism by using novel concepts and advanced technologies. This multidisciplinary and collaborative project is conducted under a sound governance structure that does not only respect the scientific achievements and lessons from the past, but that is also focussed on leading the present and helping to secure a brighter future for all.
4203 Re-engineering the Approach to Extremely Preterm Breech Deliveries with Student Led Team Science (2020)

OBJECTIVES/GOALS: Vaginal delivery is typically avoided in extremely preterm breech fetuses due to the concern for head entrapment by the cervix. Development of a device to prevent head entrapment would be best addressed by a multidisciplinary approach incorporating engineering principles with clinical obstetrics. METHODS/STUDY POPULATION: Construction of a collaborative multidisciplinary team to address the clinical challenge of preventing head entrapment was initiated through a unique course at the Massachusetts Institute of Technology (Course 2.75, Medical Device Design). The course would provide a structured means by which students (senior undergraduate and graduate students in Mechanical Engineering) would be paired with a clinical advisor and faculty in their department. Weekly team meetings were scheduled to review the clinical context pertinent to the problem and review engineering principles needed to develop a solution. The course also provided a small monetary budget ($4K) for the students to purchase supplies. RESULTS/ANTICIPATED RESULTS: During the semester long course, several iterations of a prototype were designed. Each subsequent rendition was evaluated from both an engineering and manufacturing perspective, as well as clinical appropriateness. The weekly meetings allowed for rapid re-design and assured that all necessary parameters were considered by the entire team. Students also had access to lab facilities and additional mentorship that allowed for supplementary input beyond that generated by core team members. These interactions, along with those of their classmates working on other projects, provided a strong base for exploring subsequent device development. DISCUSSION/SIGNIFICANCE OF IMPACT: Successful medical device development requires a collaborative process and students can be ideal members of these teams as they reside in an environment that is conducive to exploration and novel idea generation. Course-based student led team science platforms can provide an excellent foundation for solving uniquely challenging medical problems.
Age is Associated with Upgrading at Confirmatory Biopsy among Men with Prostate Cancer Treated with Active Surveillance (2015)

Our findings suggest that older age is associated with an increased risk of misclassification on diagnostic biopsy. Older men who are interested in active surveillance should be counseled about the risks and benefits of confirmatory biopsy.
Stable Synthetic Bacteriochlorins: Potent Light-Activated Anti-Cancer Drugs (2015)

Photodynamic therapy (PDT) uses non-toxic dyes called photosensitizers (PS) to absorb light of visible or near-infrared wavelengths at non-thermal power densities that (in the presence of oxygen) combine together to produce reactive oxygen species (ROS). The main ROS formed are singlet oxygen and hydroxyl radicals that can both have cytotoxic effects. PDT has two separate mechanisms of specificity due to specific accumulation in the tumor coupled with spatially confined illumination. The first-generation PS were porphyrins, but due to the need for long-wavelength activation to improve tissue penetration, second- generation chlorins (far red) and bacteriochlorins (BC) (near infrared [NIR]) have been investigated. This review covers quantitative structure-function relationship with charge and lipophilicity, the effect the central metal atom has on determining the photochemical mechanism, the effect that electron withdrawing di-cyano groups have on preventing photobleaching, the improvement in activity found when micellar nanocarriers are employed, and the relative superiority of mono-substitution over symmetrical di- substitution. Finally, the necessity for long-wavelength (730 nm) activation is underlined by looking at PDT of pigmented melanoma in vitro and in a mouse model of melanoma.
ChemInform Abstract: Synthesis of 3‐Methoxy‐quinoxalin‐2‐ones from Methyl Trimethoxyacetate and Phenylenediamines. (2010)

Abstract ChemInform is a weekly Abstracting Service, delivering concise information at a glance that was extracted from about 100 leading journals. To access a ChemInform Abstract of an article which was published elsewhere, please select a “Full Text” option. The original article is trackable via the “References” option.
Vortex fluidic enabling and significantly boosting light intensity of graphene oxide with aggregation induced emission luminogen (2020)

We have discovered a novel and cost-effective approach to produce GO/aggregation-induced emission demonstrating high fluorescent performance.
New understanding of the statistics of random telegraph noise in Si nanowire transistors - the role of quantum confinement and non-stationary effects (2011)

In this paper, the random telegraph noise (RTN) statistics in silicon nanowire transistors (SNWTs) are comprehensively studied. The capture/emission time constants and probabilities are found to be strongly impacted by the quantum confinement in SNWTs, which cannot be fully explained by classical RTN theory. A full quantum RTN model for SNWTs is proposed for fundamental understanding of the experiments. The characteristics of non-stationary RTN in SNWTs under high-field biases are studied for the first time, based on the developed statistical trap-response (STR) characterization method. The trap capture probability is found to be much different from that of the quasi-stationary RTN, leading to large errors in circuit aging prediction if using traditional RTN distributions. These new understandings are critical for robust SNWT circuit design against RTN.
Allergen-Immuntherapie in der aktuellen COVID-19-Pandemie – ein Positionspapier von ARIA, EAACI, AeDA und DGAKI (2020)

International audience
High-speed positioning method for servomotor considering friction load torque (2006)

When the position error becomes small, in a conventional positioning system, its motor cannot obtain sufficient deceleration torque. Hence, the position response becomes slow. There is another positioning system that is to design the position reference using a trapezoidal speed reference. When the load torque and the final goal position are known, this positioning system has a fine response. However, if the load torque and the final goal vary, its position response cannot have the desired response. In order to overcome these problems, this paper proposes a new high-speed positioning system of AC servomotor considering both an unknown friction torque and a windup phenomenon. The proposed system always uses the maximum acceleration, deceleration torque and the maximum speed. © 2006 Wiley Periodicals, Inc. Electr Eng Jpn, 157(4): 66– 74, 2006; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/eej.20173
Planning conditional shortest paths through an unknown environment: a framed-quadtree approach (2002)

A conditional shortest path is a collision-free path of shortest distance based on known information on an obstacle-scattered environment at a given time. This paper investigates the problem of finding a conditional L/sub 2/ shortest path through an unknown environment in which path planning is implemented "on the fly" as new obstacle information becomes available through external sensors. We propose a novel cell decomposition approach which calculates an L/sub 2/ distance transform through the use of a circular path-planning wave. The proposed method is based on a new data structure, called the framed-quadtree, which combines together the accuracy of grid-based path planning techniques with the efficiency of quadtree-based techniques, hence having the advantages of both. The heart of this method is a linear time algorithm for computing dynamic Voronoi diagrams.
Cytotoxicity of IL6-PE40 and derivatives on tumor cells expressing a range of interleukin 6 receptor levels. (1990)

The chimeric toxin IL6-PE40, which is composed of interleukin 6 (IL6) fused to a mutant form of Pseudomonas exotoxin (PE) devoid of its native cell recognition domain, can kill myeloma and hepatoma cells which express high levels of IL6 receptors. To enhance the usefulness of IL6-PE40 on potential target cells, we have attempted to develop more potent IL6-PE derivatives. We have developed nine new IL6-PE derivatives and assessed their cytotoxicity on human myeloma cells. Two of these new forms, IL6-domain II-PE40 and IL6-PE664Glu were more toxic to myeloma cells bearing IL6 receptors than was IL6-PE40. These two chimeric toxins were compared with IL6-PE40 for cytotoxicity toward a variety of tumor cell lines. We found that most tumor cell lines which are sensitive to IL6-PE40 are more sensitive to IL6-domain II-PE40 and IL6-PE664Glu. Cells with as few as 200-600 IL6 receptors/cell could be killed. The specificity of these chimeric toxins was shown through competition with recombinant IL6. Toxicity studies in mice demonstrated that the two new molecules had an LD50 of 10-20 micrograms/mouse. This compares to an IL6-PE40 LD50 of 20 micrograms/mouse. The new IL6-toxins could be detected in the serum up to 8 h after intraperitoneal administration with a peak at 1 h. These data suggest that IL6-domain II-PE40 and IL6-PE664Glu may be more useful than IL6-PE40 in killing IL6 receptor-bearing tumor cells in animals.
Picosecond optically reconfigurable filters exploiting full free spectral range tuning of single ring and Vernier effect resonators supporting data. (2015)

Data used in figures: We demonstrate that phase shifts larger than 2pi can be induced by all-optical tuning in silicon waveguides of a few micrometers in length. By generating high concentrations of free carriers in the silicon employing absorption of ultrashort, ultraviolet laser pulses, the refractive index of silicon can be drastically reduced. As a result, the resonance wavelength of optical resonators can be freely tuned over the full free spectral range. This allows for active integrated optic devices that can be switched ultrafastly into any desired state by all-optical means.
Efficacy of Adalimumab for the Treatment of TNF-Antagonist-Naïve Patients with Crohnʼs Disease (2008)

Purpose: Adalimumab (ADA) is approved in the U.S. for use in the treatment of moderate to severe Crohn's disease (CD) in adults. The CHARM trial was a 56-week, Phase III, randomized controlled trial that assessed ADA in maintaining clinical remission in patients (pts) with moderate to severe CD. Methods: We sought to evaluate the impact of ADA maintenance therapy on clinical efficacy for TNF-antagonist-naïve pts in the CHARM trial. Pts received open-label induction therapy of 80 mg ADA at baseline (Week 0) and 40 mg at Week 2. At Week 4, pts were stratified by responder status and randomized to 40 mg ADA every other week (eow), 40 mg ADA weekly, or placebo. All TNF-antagonist-naïve pts were included in the analysis regardless of Week 4 response status. Efficacy outcomes included remission (CDAI < 150), CR-70 (a decrease of 70 points in CDAI from the baseline), and CR-100 (a decrease of 100 points in CDAI from the baseline), which were compared by chi-square analysis. ANCOVA was used to control for baseline score and Week-4 responder status, and was used to compare the differences in change of IBDQ score from baseline at Week 26 and Week 56 between the ADA and placebo groups. Nonresponder imputation was used when CDAI scores were missing or pts moved out of the double-blind treatment arm. Results: The percentage of pts in remission was significantly greater for the ADA 40-mg eow and 40-mg weekly groups vs. placebo at Weeks 26 and 56. At these same time points, clinical response rates were also significantly greater for the ADA groups vs. placebo (Table). ADA maintenance therapy also demonstrated a significant benefit in IBDQ total score compared with placebo at all points after the induction period (P < 0.05).Table: Clinical Remission and Response in TNF-Antagonist-Naïve Patients Receiving Adalimumab
Estimation of Weight and Lipid Composition in Preimplantation Embryos from Jersey and Beef Breeds of Cattle (2014)

Cryopreservation is the main functional means for storage of excess embryos produced from artificial reproductive technologies; the process assumes embryos chemical nature is highly conserved across embryos of the same species. However, in practice there appears to be a high degree of variability in embryo tolerance to cryopreservation, suggesting potential differences in embryo chemistry. The objective of the current study was to develop reproducible means of estimating relative embryos weight and associating those weights to lipid content. Relative embryo weights of frozen/thawed in-vivo Jersey and Crossbred beef breed embryos were determined using a modified specific gravity chamber. Embryo weights were then correlated with lipid content. Results suggest that beef cattle embryos are 20% - 27% heavier than Jersey embryos (P
Internalization and acidification of insulin by activated human lymphocytes (1984)

The binding and internalization of fluorescein isothiocyanate-conjugated insulin by nonactivated and phytohemagglutinin-activated circulating human lymphocytes was measured by flow cytometry. In confirmation of previous results, negligible binding or internalization was observed for unstimulated cells, while activated lymphocytes showed significant insulin binding. The majority of this insulin was demonstrated to be internalized via receptor-mediated endocytosis and acidified within 60 min after addition of insulin. Dual-fluorescence flow cytometry, using antibodies specific for human T cell subsets, was used to show that the expression of insulin binding sites occurs for at least some cells from both the helper/inducer and cytotoxic/suppressor T cell subsets. Insulin internalization is not an artifact of in vitro stimulation, since more than 90% of the unstimulated lymphocytes from a patient with a helper T cell leukemia are positive for insulin internalization. The usefulness of flow cytometric analysis for measuring lymphocyte activation in unstimulated populations and the therapeutic potential of the reported findings for control of lymphocyte proliferation are discussed.
Determination of Effective Surface Area for the Chemical Reaction of Fine Particulate Materials (1989)

Abstract A concept of effective surface area was defined as a geometrical controlling factor for a chemical reaction involving powdery materials. It is not uniquely determined for the specific material but depends on the sort of chemical reaction as well as the state of agglomeration. Case studies were given for dissolution or decomposition reaction for MgO, Mg(OH) 2 and Pb(CO) 3 with and without preliminary mechanical activation and granulation. The effective surface area for dissolution is mostly the external surface of the agglomerates, although the internal surface plays a role to some extent, depending on the compactness of the agglomerates.
Fibronectin expression on the platelet surface occurs in concert with secretion (1981)

Thrombin stimulation of human platelets causes increased cellular adhesiveness for other platelets (aggregation) and surfaces and increased surface expression of platelet fibronectin antigen. Aggregation occurs concurrently with secretion. In these studies, the threshold thrombin dose for surface expression of fibronectin, as measured by binding of F(ab')2 antifibronectin, was similar to that for serotonin secretion. Moreover, both processes occurred at similar rates, and inhibition of secretion was associated with inhibition of antifibronectin binding. Thus a hypothesis is proposed in which adhesive proteins within platelet granules become expressed on the platelet surface as a direct consequence of the secretory process. This cluster of adhesive proteins may then contribute to increased cellular adhesiveness.
Phenyl piperidine-based orally active peptidomimetic agonists for somatostatin receptor subtype-2 (2006)

Selective human somatostatin subtype-2 (hsst2) receptor agonists have received considerable attention recently since they may offer benefit in treating diabetes [1]. Specifically, sst2 activation inhibits growth hormone (GH) and glucagon release without much effect on the release of insulin. Cyclic peptide 1 and small molecule 2 [1] represent selective ligands for hsst2. In this paper we disclose orally active phenyl piperidine-based small molecule agonists which possess high selectivity towards hsst2.
Spatial simulation of nonlinear instability in plane channel flow (2002)

A direct numerical simulation was performed to investigate the effect of focal wall suction/blowing on the transition in a plane channel flow. The nonlinear Navier-Stokes equations were solved in a spatially-evolving channel flow. A Tollmien-Schlichting wave was superimposed on the laminar channel flow at the inflow. At the outflow, the buffer domain technique was applied to suppress the reflection of outgoing waves. The influence of the local suction/blowing on the linear and nonlinear instabilities of the flow was examined. The nonlinear effects of the initial T-S wave amplitude on the subcritical channel flow were scrutinized.