Miracle-dz/UniFAR-FTUs huggingface dataset:
An adaptive niching genetic algorithm approach for generating multiple solutions of serial manipulator inverse kinematics with applications to modular robots

SUMMARY Inverse kinematics (IK) is a nonlinear problem that may have multiple solutions. A modified genetic algorithm (GA) for solving the IK of a serial robotic manipulator is presented. The algorithm is capable of finding multiple solutions of the IK through niching methods. Despite the fact that the number and position of solutions in the search space depends on the position and orientation of the end-effector as well as the kinematic configuration (KC) of the robot, the number of GA parameters that must be set by a user are limited to a minimum through the use of an adaptive niching method. The only requirement of the algorithm is the forward kinematics (FK) equations which can be easily obtained from the Denavit–Hartenberg link parameters and joint variables of the robot. For identifying and processing the outputs of the proposed GA, a modified filtering and clustering phase is also added to the algorithm. For the postprocessing stage, a numerical IK solver is used to achieve convergence to the desired accuracy. The algorithm is validated on three KCs of a modular and reconfigurable robot (MRR).
Psychological Problems Derived from Mastectomy: A Qualitative Study

Advances in treatment of breast cancer have not avoided using mastectomy in all cases, and when this happens, we are dealing with a woman who is suffering from psychological problems. In order to study this issue we have carried out a research with the collaboration of The Andalusian Association of Women with Mastectomies (AMAMA) in Seville, which provided us with a sample of 46 mastectomized women. The objective of this study is to analyze in depth the psychological reaction of women to mastectomy through its different stages from diagnosis to surgical treatment. We chose a cualitative method so as to explore the subjective components of psicologycal respons. As a result, we found in studied women: (a) The “fracture” of the “corporal imaginary” related to the disappearance of a valuable organ, linked to the feeling of loss of personal attractiveness, low self-esteem and avoidance of social relationships. (b) The problem with “femininity” has been linked to the issue of “desirability”, something innate in the “feminine position”. (c) Many of them keep in mind the idea of mutilation, as a “hole” which is impossible to integrate. (d) Finally, we demonstrate how certain features of personality made them especially vulnerable to the explained phenomena.
Photometric Observations of an SU UMa-type Dwarf Nova, VW Coronae Borealis, during Outbursts (Special Issue: Resent Results from VSNET)

We report on photometric observations of an SU UMa-type dwarf nova, VW CrB, during two superoutbursts in 2001 and 2003 and a normal outburst in 2003. Superhumps with a period of 0.07287(1)d were observed during the 2003 superoutburst. The change rate of the superhump period was positive. During a normal outburst, there is some hint of modulation up to a 0.2-mag amplitude. However, no periodicity was found. The recurrence cycles of the normal outburst and the superoutburst, and the distance were estimated to be ≥ 50d, 270 ∼ 500d, and 690 +230 −170 pc, respectively. These recurrence cycles are the usual values for an SU UMa-type dwarf nova having this superhump period. The superhump period of VW CrB was the longest among those of SU UMa stars with positive derivatives of the superhump period. The coverage of our observations was, however, not sufficient, and the variation of the PSH change rate of VW CrB is still unknown. A superhump regrowth and a brightening were seen near the end of the plateau phase. Measuring the deviation of the start timings of the brightening and the superhump regrowth (> 2d ays
Framework for cloud computing adoption: A road map for Smes to cloud migration

Small and Medium size Enterprises (SME) are considered as a backbone of many developing and developed economies of the world; they are the driving force to any major economy across the globe. Through Cloud Computing firms outsource their entire information technology (IT) process while concentrating more on their core business. It allows businesses to cut down heavy cost incurred over IT infrastructure without losing focus on customer needs. However, Cloud industry to an extent has struggled to grow among SMEs due to the reluctance and concerns expressed by them. Throughout the course of this study several interviews were conducted and the literature was reviewed to understand how cloud providers offer services and what challenges SMEs are facing. The study identified issues like cloud knowledge, interoperability, security and contractual concerns to be hindering SMEs adoption of cloud services. From the interviews common practices followed by cloud vendors and what concerns SMEs have were identified as a basis for a cloud framework which will bridge gaps between cloud vendors and SMEs. A stepwise framework for cloud adoption is formulated which identifies and provides recommendation to four most predominant challenges which are hurting cloud industry and taking SMEs away from cloud computing, as well as guide SMEs aiding in successful cloud adoption. Moreover, this framework streamlines the cloud adoption process for SMEs by removing ambiguity in regards to fundamentals associated with their organisation and cloud adoption process.
Characterization of Putative Cholesterol Recognition/Interaction Amino Acid Consensus-Like Motif of Campylobacter jejuni Cytolethal Distending Toxin C

Cytolethal distending toxin (CDT) produced by Campylobacter jejuni comprises a heterotrimeric complex formed by CdtA, CdtB, and CdtC. Among these toxin subunits, CdtA and CdtC function as essential proteins that mediate toxin binding to cytoplasmic membranes followed by delivery of CdtB into the nucleus. The binding of CdtA/CdtC to the cell surface is mediated by cholesterol, a major component in lipid rafts. Although the putative cholesterol recognition/interaction amino acid consensus (CRAC) domain of CDT has been reported from several bacterial pathogens, the protein regions contributing to CDT binding to cholesterol in C. jejuni remain unclear. Here, we selected a potential CRAC-like region present in the CdtC from C. jejuni for analysis. Molecular modeling showed that the predicted functional domain had the shape of a hydrophobic groove, facilitating cholesterol localization to this domain. Mutation of a tyrosine residue in the CRAC-like region decreased direct binding of CdtC to cholesterol rather than toxin intermolecular interactions and led to impaired CDT intoxication. These results provide a molecular link between C. jejuni CdtC and membrane-lipid rafts through the CRAC-like region, which contributes to toxin recognition and interaction with cholesterol.
6th Ieee International Conference on Robot & Human Interactive Communication Living with Robots: Investigating the Habituation Effect in Participants' Preferences during a Longitudinal Human-robot Interaction Study

This paper presents and discusses a longitudinal study which investigated habituation effects between humans and robots over a period of five weeks. Participants' preferences for the robot's approach distance with respect to its approach direction and appearance were investigated in a variety of domestic scenarios. These human-robot interaction (HRI) scenarios were also designed to explore the notions of autonomy and control. The results of this study show that participants' preferences change over time as the participants habituate to the robot. This trend was significant in terms of the robot's appearance and approach direction. Also, it seems to indicate that participants who are accustomed to the robot prefer to be more 'in control' of the situation-in that they appreciated reduced robot autonomy in case of unexpected events.
Using Binomial Decision Trees to Solve Real-Option Valuation Problems

Traditional decision analysis methods can provide an intuitive approach to valuing projects with managerial flexibility or real options. The discrete-time approach to real-option valuation has typically been implemented in the finance literature using a binomial lattice framework. Instead, we use a binomial decision tree with risk-neutral probabilities to approximate the uncertainty associated with the changes in the value of a project over time. Both methods are based on the same principles, but we use dynamic programming to solve the binomial decision tree, thereby providing a computationally intensive but simpler and more intuitive solution. This approach also provides greater flexibility in the modeling of problems, including the ability to include multiple underlying uncertainties and concurrent options with complex payoff characteristics.
Behavioral Development and Construct Validity: The Principle of Aggregation

Many important variables in behavioral development are presumed to be unrelated because of repeated failures to obtain substantial correlations. In this article, we explore the possibility that such null findings have often been due to failures to aggregate. The principle of aggregation states that the sum of a set of multiple measurements is a more stable and representative estimator than any single measurement. This greater representation occurs because there is inevitably some error associated with measurement. By combining numerous exemplars, such errors of measurement are averaged out, leaving a clearer view of underlying relationships. We illustrate the usefulness of this principle in 12 major areas of developmental research in which the issue of negligible correlations figures prominently: (a) the validity of judges' ratings, (b) the cross-situational consistency of moral character and personality, (c) the longitudinal stability of personality, (d) the coherence of stages of cognitive development, (e) metacognition, (f) the attitude—behavior relationship, (g) the personality—behavior relationship, (h) the role-taking/altruism relationship, (i) the moral-judgment/altruism relationship, (j) the legitimacy of the construct of attachment, (k) the existence of sex differences, and (1) the assessment of emotionality in animals. In a final section, we also discuss the implications of the principle of aggregation for conducting experimental research.
Isolating neural components of threat bias in pediatric anxiety.

BACKGROUND Attention biases toward threat are often detected in individuals with anxiety disorders. Threat biases can be measured experimentally through dot-probe paradigms, in which individuals detect a probe following a stimulus pair including a threat. On these tasks, individuals with anxiety tend to detect probes that occur in a location previously occupied by a threat (i.e., congruent) faster than when opposite threats (i.e., incongruent). In pediatric anxiety disorders, dot-probe paradigms detect abnormal attention biases toward threat and abnormal ventrolateral prefrontal cortex (vlPFC) function. However, it remains unclear if this aberrant vlPFC activation occurs while subjects process threats (e.g., angry faces) or, alternatively, while they process and respond to probes. This magnetoencephalography (MEG) study was designed to answer this question. METHODS Adolescents with either generalized anxiety disorder (GAD, n = 17) or no psychiatric diagnosis (n = 25) performed a dot-probe task involving angry and neutral faces while MEG data were collected. Synthetic Aperture Magnetometry (SAM) beamformer technique was used to determine whether there were group differences in power ratios while subjects processed threats (i.e., angry vs. neutral faces) or when subjects responded to incongruent versus. congruent probes. RESULTS Group differences in vlPFC activation during the response period emerged with a 1-30 Hz frequency band. No group differences in vlPFC activation were detected in response to angry-face cues. CONCLUSIONS In the dot-probe task, anxiety-related perturbations in vlPFC activation reflect abnormal attention control when responding to behaviorally relevant probes, but not to angry faces. Given that motor responses to these probes are used to calculate threat bias, this study provides insight into the pathophysiology reflected in this commonly used marker of anxiety. In addition, this finding may inform the development of novel anxiety-disorder treatments targeting the vlPFC to enhance attention control to task-relevant demands.
Metabolic gene profile in early human fetal heart development.

The primitive cardiac tube starts beating 6-8 weeks post fertilization in the developing embryo. In order to describe normal cardiac development during late first and early second trimester in human fetuses this study used microarray and pathways analysis and created a corresponding 'normal' database. Fourteen fetal hearts from human fetuses between 10 and 18 weeks of gestational age (GA) were prospectively collected at the time of elective termination of pregnancy. RNA from recovered tissues was used for transcriptome analysis with Affymetrix 1.0 ST microarray chip. From the amassed data we investigated differences in cardiac development within the 10-18 GA period dividing the sample by GA in three groups: 10-12 (H1), 13-15 (H2) and 16-18 (H3) weeks. A fold change of 2 or above adjusted for a false discovery rate of 5% was used as initial cutoff to determine differential gene expression for individual genes. Test for enrichment to identify functional groups was carried out using the Gene Ontology (GO) and the Kyoto Encyclopedia of Genes and Genomes (KEGG). Array analysis correctly identified the cardiac specific genes, and transcripts reported to be differentially expressed were confirmed by qRT-PCR. Single transcript and Ontology analysis showed first trimester heart expression of myosin-related genes to be up-regulated >5-fold compared with second trimester heart. In contrast the second trimester hearts showed further gestation-related increases in many genes involved in energy production and cardiac remodeling. In conclusion, fetal heart development during the first trimester was dominated by heart-specific genes coding for myocardial development and differentiation. During the second trimester, transcripts related to energy generation and cardiomyocyte communication for contractile coordination/proliferation were more dominant. Transcripts related to fatty acid metabolism can be seen as early as 10 weeks and clearly increase as the heart matures. Retinol receptor and gamma-aminobutyric acid (GABA) receptor transcripts were detected, and have not been described previously in human fetal heart during this period. For the first time global gene expression of heart has been described in human samples to create a database of normal development to understand and compare with known abnormal fetal heart development.
Integrable and superintegrable systems with spin in three-dimensional Euclidean space

A systematic search for superintegrable quantum Hamiltonians describing the interaction between two particles with spins 0 and is performed. We restrict to integrals of motion that are first-order (matrix) polynomials in the components of linear momentum. Several such systems are found and for one nontrivial example we show how superintegrability leads to exact solvability: we obtain exact (nonperturbative) bound-state energy formulas and exact expressions for the wave functions in terms of products of Laguerre and Jacobi polynomials.
Approximation algorithms for general one‐warehouse multi‐retailer systems

Logistical planning problems are complicated in practice because planners have to deal with the challenges of demand planning and supply replenishment, while taking into account the issues of (i) inventory perishability and storage charges, (ii) management of backlog and/or lost sales, and (iii) cost saving opportunities due to economies of scale in order replenishment and transportation. It is therefore not surprising that many logistical planning problems are computationally difficult, and finding a good solution to these problems necessitates the development of many ad hoc algorithmic procedures to address various features of the planning problems.
Behind the Scenes at the Wto: The Real World of International Trade Negotiations/Lessons of Cancun

* Introduction: Cancun and its aftermath - 'multilateralism' without good will * 1. The devil you know - an introduction to the WTO * 2. The battleground - the key issues in Doha * 3. Settling the stage - the pre-Doha mini-ministerial meetings * 4. A controlled bedlam - the Doha Ministerial 2001 * 5. Looking back in anger - post-Doha reflections Appendix: The Like-Minded Group proposal * 6. The gentle art of persuasion - arm-twisting and pay-offs * 7. Miek Moore and the WTO Secretariat - wolves in sheep's clothing * 8. After Doha - business as usual * 9. The Doha development agenda - 'everything but development' * 10. Conclusion * Bibliography * Index
Predicting smart metering acceptance by residential consumers: An Indonesian perspective

In Indonesia, the uses of Machine to Machine (M2M) solutions continue to grow in various sectors of industry which were supported by the increasing of mobile technology usage. The number of electricity customers in Indonesia especially residential customers was 92.81% and became the highest compared to other customer groups. Since the market potential of residential customers group was quite high, the implementation of Smart Metering services provided a good business opportunity for the Telco companies in Indonesia. In order to increase the acceptance of Smart Metering, it is important to identify the key factors influenced behavior intention of residential customers to start using Smart Metering. This study predicted the key factors influenced the behavior intention of prospective users toward Smart Metering by using a Modified Unified Theory of Acceptance and Use of Technology 2 (UTAUT2) model. The result revealed that there were six factors in Modified UTAUT2 which significantly influenced the behavior intention of customers toward Smart Metering, namely Price Value, Performance Expectancy, Perceived Security and Risk, Effort Expectancy, Social Influence, and Facilitating Condition. Since the most influential factor was the Price Value, so the provider should be able to make Smart Metering delivers a service that enable customers to monitor electricity consumption in real time, provides notifications or alerts on the status of electricity consumption, deliver the service in accordance with the service level guarantee, and always have up to date feature in order to make the residential customers do not mind spending a reasonable cost for using the Smart Metering.
Innovation in American Government: Challenges, Opportunities, and Dilemmas

Innovation does happen--even in government! Despite all the news about government scandals and failures, public officials are innovative. This book analyzes numerous examples of ingenious problem solving--in education in California, in the Department of Juvenile Justice in New York City, in government operations in Minnesota, in human service programs across the country. All organizations, both public and private, need innovation, but making innovation work in government is a greater challenge than doing so in business. This book identifies a number of dilemmas that complicate the process of innovating in American government. For example, there is the " trust dilemma" Innovation may be necessary to establish public faith in the ability of government agencies to perform, but before the public grants agencies a license to be truly innovative, it needs to be convinced that these same agencies have the ability to perform. The contributors to this book analyze a number of issues raised by the task of innovation, including: Who is responsible for innovating? How can innovative individuals and teams be held accountable? What kinds of organizational arrangements beget the most innovation? How can innovation be fostered in agencies devoted to routinization? How should innovative ideas be disseminated? And what exactly is an " innovation" anyway? The contributors gathered data for this book from winners and finalists in the Ford Foundation's Innovations Awards program, as well as from other innovators and innovations. In addition to the editors, the contributors are Babak J. Armajani, Michael Barzelay, W. Lance Bennett, Paul Berman, Richard F. Elmore, Robert M. Entman, Lee S.Friedman, Thomas N. Gilmore, Olivia Golden, James Krantz, Laurence E. Lynn Jr., Mark H. Moore, Beryl Nelson, Ellen Schall, Malcolm Sparrow, William Spelman, Deborah A. Stone, and Marc D. Zegans.
Molecular mechanisms that control expression of the B lymphocyte antigen receptor complex

The B cell receptor for antigen (BCR) is a complex of membrane immunoglobulin (mIg) and at least two other proteins, Ig alpha (mb-1) and Ig beta (B29). This complex promotes surface expression of the BCR and acts to transduce an activation signal. We have used a system of mu heavy chain constructs transfected into murine B cell lines to probe structure-function relationships in the BCR complex. One mutant mu chain, in which two polar transmembrane residues (Tyr587, Ser588) are replaced with valine, fails to associate with Ig alpha and Ig beta and is incapable of transducing signals as a result of mIg cross-linking. This mutant is expressed on the surface at high levels when transfected into a plasmacytoma line that lacks Ig alpha, whereas wild-type mu is retained in this cell line in the endoplasmic reticulum. Pulse-chase and immunoprecipitation analyses indicate that the mutant is more rapidly released from calnexin than the wild-type mu. Further, transfection of Ig alpha into this Ig alpha-negative cell line allows release of the mu chain from calnexin and surface expression of the BCR. These results identify the transmembrane residues of mu heavy chain that control binding to calnexin and Ig alpha, and suggest that calnexin-dependent intracellular retention is an important control mechanism for expression of the BCR complex.
Nitrogen-corrected True Metabolizable Energy and Amino Acid Digestibility of Chinese Corn Distillers Dried Grains with Solubles in Adult Cecectomized Roosters

This study was conducted to evaluate chemical composition, nitrogen-corrected true metabolizable energy (TMEn) and true amino acids digestibility of corn distillers dried grains with solubles (DDGS) produced in China. Twenty five sources of corn DDGS was collected from 8 provinces of China. A precision-fed rooster assay was used to determine TMEn and amino acids digestibility with 35 adult cecectomized roosters, in which each DDGS sample was tube fed (30 g). The average content of ash, crude protein, total amino acid, ether extract, crude fiber and neutral detergent fiber were 4.81, 27.91, 22.51, 15.22, 6.35 and 37.58%, respectively. TMEn of DDGS ranged from 1,779 to 3,071 kcal/kg and averaged 2,517 kcal/kg. Coefficient of variation for non-amino acid crude protein, ether extract, crude fiber and TMEn were 55.0, 15.7, 15.9 and 17.1%, respectively. The average true amino acid digestibility was 77.32%. Stepwise regression analysis obtained the following equation: TMEn, kcal/kg = −2,995.6+0.88×gross energy+49.63×a* (BIC = 248.8; RMSE = 190.8; p<0.01). Removing gross energy from the model obtained the following equation: TMEn, kcal/kg = 57.88×ether extracts+87.62×a* (BIC = 254.3, RMSE = 223.5; p<0.01). No correlation was found between color scores and lysine true digestibility (p>0.05). These results suggest that corn DDGS produced in China has a large variation in chemical composition, and gross energy and a* value can be used to generate TMEn predict equation.