Foundations of the Pupper Quadruped Robot with Preliminary Work on an End Effector

Quadruped robots serve as bio-inspired systems that present design and control challenges. This Independent Study explored the basics of building, controlling, and simulating a quadruped robot and was an effort in collaboration with Hands-On Robotics. Following the Hands-on Robotics and Stanford Robotics Independent Study online curriculum, we assembled a Pupper quadruped robot. This report also discusses preliminary work designing and building a robotic arm end effector

Alleviating poverty in Hong Kong : the evolution of policy decisions and instruments

published_or_final_versionPolitics and Public AdministrationMasterMaster of Public Administratio

Lutzomyia umbratilis, the Main Vector of Leishmania guyanensis, Represents a Novel Species Complex?

BACKGROUND: Lutzomyia umbratilis is an important Leishmania guyanensis vector in South America. Previous studies have suggested differences in the vector competence between L. umbratilis populations situated on opposite banks of the Amazonas and Negro Rivers in the central Amazonian Brazil region, likely indicating a species complex. However, few studies have been performed on these populations and the taxonomic status of L. umbratilis remains unclear. METHODOLOGY/PRINCIPAL FINDINGS: Phylogeographic structure was estimated for six L. umbratilis samples from the central Amazonian region in Brazil by analyzing mtDNA using 1181 bp of the COI gene to assess whether the populations on opposite banks of these rivers consist of incipient or distinct species. The genetic diversity was fairly high and the results revealed two distinct clades ( = lineages) with 1% sequence divergence. Clade I consisted of four samples from the left bank of the Amazonas and Negro Rivers, whereas clade II comprised two samples from the right bank of Negro River. No haplotypes were shared between samples of two clades. Samples within clades exhibited low to moderate genetic differentiation (F(ST) = -0.0390-0.1841), whereas samples between clades exhibited very high differentiation (F(ST) = 0.7100-0.8497) and fixed differences. These lineages have diverged approximately 0.22 Mya in the middle Pleistocene. Demographic expansion was detected for the lineages I and II approximately 30,448 and 15,859 years ago, respectively, in the late Pleistocene. CONCLUSIONS/SIGNIFICANCE: The two genetic lineages may represent an advanced speciation stage suggestive of incipient or distinct species within L. umbratilis. These findings suggest that the Amazonas and Negro Rivers may be acting as effective barriers, thus preventing gene flow between populations on opposite sides. Such findings have important implications for epidemiological studies, especially those related to vector competence and anthropophily, and for vector control strategies. In addition, L. umbratilis represents an interesting example in speciation studies

International Consensus Statement on Rhinology and Allergy: Rhinosinusitis

Background: The 5 years since the publication of the first International Consensus Statement on Allergy and Rhinology: Rhinosinusitis (ICAR‐RS) has witnessed foundational progress in our understanding and treatment of rhinologic disease. These advances are reflected within the more than 40 new topics covered within the ICAR‐RS‐2021 as well as updates to the original 140 topics. This executive summary consolidates the evidence‐based findings of the document. Methods: ICAR‐RS presents over 180 topics in the forms of evidence‐based reviews with recommendations (EBRRs), evidence‐based reviews, and literature reviews. The highest grade structured recommendations of the EBRR sections are summarized in this executive summary. Results: ICAR‐RS‐2021 covers 22 topics regarding the medical management of RS, which are grade A/B and are presented in the executive summary. Additionally, 4 topics regarding the surgical management of RS are grade A/B and are presented in the executive summary. Finally, a comprehensive evidence‐based management algorithm is provided. Conclusion: This ICAR‐RS‐2021 executive summary provides a compilation of the evidence‐based recommendations for medical and surgical treatment of the most common forms of RS

IPOs in Singapore: An empirical study.

69 p.The issue about the underpricing phenomenon of initial public offers (IPOs) has received wide attention in the finance literature around the world. It is a well-established fact that investors are able to earn large positive returns in the first few days of trading of the new issues. This is generally the finding of many authors who have conducted studies in the local context. Findings elsewhere are also similar.ACCOUNTANC

The concepts of family doctor and factors affecting choice of family doctors among Hong Kong people

Objectives To identify concepts including misconceptions among the community members regarding family doctors, and determine factors affecting decisions on which doctor to consult in different clinical scenarios. Design Household telephone survey conducted between 4 and 13 September 2006. Setting Hong Kong community. Participants Cantonese-speaking Hong Kong residents aged 18 years or more were targeted. Randomly selected participants were asked to complete a questionnaire, which was designed based on a literature search and subsequent focus group discussions. Results Among the 1811 households with eligible subjects to survey, 1204 completed the questionnaire (response rate, 67%). More than 85% considered a family doctor to be the frst doctor they wanted to see even if it was inconvenient. "Clearly knowing my physical conditions", "fast-acting and effective treatment", and "doctor with friendly and sincere attitude" were the three most important factors infuencing the choice of a family doctor. When affected by fu-like symptoms, 65% would go to a private clinic, 20% to a general out-patient clinic, 6% to a designated clinic with staff approved by their respective medical insurance/medical beneft scheme, and 5% to a private hospital outpatient clinic. Among the latter two groups, 65% consulted the same doctor every time when they felt sick. More than 50% of those willing to have regular follow-up by a family doctor for hypertension and diabetes paid more than HK$300 per month. Approximately 64% might consider having regular follow-up at a general out-patient clinic by a nurse specialist. Conclusion Hong Kong inhabitants already have their own ideas regarding how to care for their own health, and what kind of family doctors they prefer. This survey should help both doctors and health care policy makers to realign their current thinking, and thus provide a platform for the development of a primary care model unique to Hong Kong.link_to_subscribed_fulltex

Pedology, fertility, and biology of central amazonian dark earths

A great challenge for the world's scientific community has been to find alternatives for the best use, management and conservation of the Amazonian tropical rainforest. The unbalance between increasing populations and the demand for food shows the urgency for looking for new alternatives that region, avoiding excessive degradation of natural ecosystems. In this respect, scientists in all countries in the tropics are working to understand the functioning of the rainforest and come up with alternatives to use and manage this natural resource, applying the best technology not only from an economic perspective, but principally from social and ecological perspectives. The replacement of the nutrients exported by crops is normally solved by inputs of chemical and organic fertilizers, in proportions that can vary with natural soil fertility and the nature and volume of the crops. Hence, problems like erosion, leaching, and compactation can only be solved by conservation practices utilized by farmers that change as function of land topography, precipitation, crop type, cover crop, or farming land use system, depending on the technology level of the community. Small farmers living in Manacapuru, Iranduba, Presidente Figueiredo, and Rio Preto da Eva, in Amazonas, Brazil, work on Amazonian Dark Earth (ADE) sites, cultivating vegetables and perennial crops like oranges, coconuts, cupuaçu, and others. Their land use systems include monocultures, two species mixes, and agrofor-estry systems. In general, the small farmers report that ADE is very fertile and they never need to apply chemical and organic fertilizers to get high productivity. On the other hand, studies have shown that ADE presents some nutrient limitations to plant production. Some small farmers are using large amounts of chemical and organic fertilizers and even liming unnecessarily. This intensive exploitation and the excessive use of nutrients is causing chemical degradation (Falcão et al. 2003) and even physical degradation of ADE (Teixeira and Martins 2003). © Springer Science + Business Media B.V. 2009