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Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any
BACKGROUND: The administration of endocrine therapy for 5 years substantially reduces recurrence rates during and after treatment in women with early-stage, estrogen-receptor (ER)-positive breast cancer. Extending such therapy beyond 5 years offers further protection but has additional side effects. Obtaining data on the absolute risk of subsequent distant recurrence if therapy stops at 5 years co
The need for autonomous robot systems in both the service and the industrial domain is larger than ever. In the latter, the transition to small batches or even “batch size 1” in production created a need for robot control system architectures that can provide the required flexibility. Such architectures must not only have a sufficient knowledge integration framework. It must also support autonomou
Purpose Radiotherapy reduces the absolute risk of breast cancer mortality by a few percentage points in suitable women but can cause a second cancer or heart disease decades later. We estimated the absolute long-term risks of modern breast cancer radiotherapy. Methods First, a systematic literature review was performed of lung and heart doses in breast cancer regimens published during 2010 to 2015
Observational studies consistently disclose brain imaging-derived phenotypes (IDPs) as critical markers for early diagnosis of both brain disorders and cardiovascular diseases. However, it remains unclear about the shared genetic landscape between brain IDPs and the risk of brain disorders and cardiovascular diseases, restricting the applications of potential diagnostic techniques through brain ID
There has been a substantial rise in coronavirus disease 2019 (COVID-19) cases after adjusting the dynamic zero-COVID policy in China. We conducted a survey to investigate the self-perceived symptom profile and its association with vaccination status during this outbreak. There were 552 individuals in this survey. The infected individuals displayed various symptoms associated with different factor
BackgroundThe epidemiological association between type 2 diabetes and cataract has been well established. However, it remains unclear whether the two diseases share a genetic basis, and if so, whether this reflects a putative causal relationship.MethodsWe used East Asian population-based genome-wide association studies (GWAS) summary statistics of type 2 diabetes (Ncase = 36 614, Ncontrol = 155 15
Observational studies have revealed phenotypic associations between type 2 diabetes (T2D) and many biomarkers. However, causality between these conditions in East Asians is unclear. We leveraged genome-wide association study (GWAS) summary statistics on T2D (n = 77,418 cases; n = 356,122 controls) from the Asian Genetic Epidemiology Network (sample recruited during 2001-2011) and GWAS summary stat
It is a common strategy to predict oncogenes by differential analysis between somatic mutations and background mutations. Most previous methods only utilize mutations in the cancer population to model its background mutation, which have an obvious bias. A recent method, DiffMut, improves this issue by conducting differential mutational analysis with both mutations in the cancer population and the
Denna artikel förmedlar några iakttagelser från den allmänna avtalsrätten. Det handlar om tillämpningen på senare tid av den ständigt aktuella 36 § i lagen (1915:218) om avtal och andra rättshandlingar på förmögenhetsrättens område (avtalslagen alternativt AvtL) i kommersiella avtalsrelationer. Mina iakttagelser leder till slutsatsen att den starka restriktivitet i tillämpningen som förarbetena ti
Type 2 diabetes (T2D) is a critical risk factor for peripheral artery disease (PAD). However, the sex differences in genetic basis, causality, and underlying mechanisms of the two diseases are still unclear. Using sex-stratified and ethnic-based GWAS summary, we explored the genetic correlation and causal relationship between T2D and PAD in both ethnicities and sexes by linkage disequilibrium scor
CONTEXT: A healthy lifestyle is the cornerstone of management in nonalcoholic fatty liver disease (NAFLD). However, the associations between dietary macronutrient composition and different aspects of NAFLD pathology are unclear and dietary recommendations for NAFLD are lacking.OBJECTIVE: This work aimed to evaluate the associations of dietary macronutrient composition with hepatic steatosis, hepat
Currently, the clinical factors affecting immune responses to influenza vaccines have not been systematically explored. The mechanism of low responsiveness to influenza vaccination (LRIV) is complicated and not thoroughly elucidated. Thus, we integrate our in-house genome-wide association studies (GWAS) analysis result of LRIV (N = 111, Ncase [Low Responders] = 34, Ncontrol [Responders] = 77) with
Coronary Atherosclerotic Heart Disease (CAHD) is one kind of severe heart disease that is the dominating cause of death from non-communicable diseases worldwide. CAHD can be early detected through pre-symptomatic health check-ups, and the electrocardiogram (ECG) is common for non-invasive health check diagnoses. Traditionally, ECG signals are utilized to extract clinical features that are then inp
Observational studies have revealed that Coronary Atherosclerotic Heart Disease (CAHD) is associated with abnormal electrocardiogram (ECG) traits. However, it remains unclear whether there are genetic correlations between ECG and CAHD. Here, we explored genetic correlations and putative causal relationships between CAHD and ECG by performing Mendelian randomization (MR) and Polygenic risk score (P
BACKGROUND: Observational studies have revealed that type 2 diabetes (T2D) is associated with an increased risk of peripheral artery disease (PAD). However, whether the two diseases share a genetic basis and whether the relationship is causal remain unclear. It is also unclear as to whether these relationships differ between ethnic groups.METHODS: By leveraging large-scale genome-wide association
RESEARCH QUESTION: Is air pollution related to IVF outcomes in a heavily polluted city in China?DESIGN: A retrospective cohort study of 8628 fresh, autologous IVF cycles was conducted for the first time at the Reproductive Medicine Center of The Third Affiliated Hospital of Zhengzhou University between May 2014 and December 2018 (oocyte retrieval date). The exposure was divided into four periods (
The annual epidemics of seasonal influenza is partly attributed to the continued virus evolution. It is challenging to evaluate the effect of influenza virus mutations on evading population immunity. In this study, we introduce a novel statistical and computational approach to measure the dynamic molecular determinants underlying epidemics using effective mutations (EMs), and account for the time
