Miracle-dz/UniFAR-FTUs huggingface dataset:
Regulation with on-line gravity compensation for robots with elastic joints

In this paper a PD control with on-line gravity compensation is proposed for robot manipulators with elastic joints. The work extends the existing PD control with constant gravity compensation, where only the gravity torque needed at the desired configuration is used throughout motion. The control law requires measuring only position and velocity on the motor side of the elastic joints, and the on-line compensation scheme estimates the actual gravity torque using a biased measure of the motor position. It is proved via a Lyapunov argument that the control law globally stabilizes the desired robot configuration. Experimental results on an 8-d.o. f. robot manipulator with elastic joints show that this control scheme improves the transient behavior with respect to a PD controller with constant gravity compensation. In addition, it can be usefully applied in combination with a point-to-point interpolating trajectory leading to a reduction of final steady-state errors due to static friction and/or uncertainty in the gravity compensation.
Local Affine Multidimensional Projection

Multidimensional projection techniques have experienced many improvements lately, mainly regarding computational times and accuracy. However, existing methods do not yet provide flexible enough mechanisms for visualization-oriented fully interactive applications. This work presents a new multidimensional projection technique designed to be more flexible and versatile than other methods. This novel approach, called Local Affine Multidimensional Projection (LAMP), relies on orthogonal mapping theory to build accurate local transformations that can be dynamically modified according to user knowledge. The accuracy, flexibility and computational efficiency of LAMP is confirmed by a comprehensive set of comparisons. LAMP's versatility is exploited in an application which seeks to correlate data that, in principle, has no connection as well as in visual exploration of textual documents.
Crossing the Undecidability Border with Extensions of Propositional Neighborhood Logic over Natural Numbers

Propositional Neighborhood Logic (PNL) is an interval temporal logic featuring two modalities corresponding to the relations of right and left neighborhood between two intervals on a linear order (in terms of Allen's relations, meets and met by). Recently, it has been shown that PNL interpreted over several classes of linear orders, including natural numbers, is decid- able (NEXPTIME-complete) and that some of its natural extensions preserve decidability. Most notably, this is the case with PNL over natural numbers extended with a limited form of metric constraints and with the future fragment of PNL extended with modal operators corresponding to Allen's relations begins, begun by, and before. This paper aims at demonstrating that PNL and its metric version MPNL, interpreted over natural numbers, are indeed very close to the border with undecidability, and even relatively weak extensions of them become undecidable. In particular, we show that (i) the addition of binders on integer variables ranging over interval lengths makes the resulting hybrid extension of MPNL undecidable, and (ii) a very weak first-order extension of the future fragment of PNL, obtained by replacing proposition letters by a restricted subclass of first-order formulae where only one variable is allowed, is undecidable (in contrast with the decidability of similar first-order extensions of point-based temporal logics).
A simple method for inference on an overall effect in meta‐analysis

The random effects approach in meta‐analysis due to DerSimonian and Laird is well established and used pervasively. It has been established by Brockwell and Gordon that this method, when used for confidence intervals, leads to coverage probabilities lower than the nominal value. A number of alternatives have been proposed, but these either have the defect of iterative and complicated calculation, or deficient coverage. In this paper we propose a new approach, which is simple to use, and has coverage probabilities better than the alternatives, based on extensive simulation. We call this approach the ‘quantile approximation’ method. Copyright © 2007 John Wiley & Sons, Ltd.
Carrier frequency estimation for transmissions with antenna diversity

This paper deals with carrier frequency estimation for transmissions with antenna diversity. Joint maximum likelihood estimates (MLE) of channel and frequency offset are derived and periodic space-time training sequences that can simplify the implementation of the ML frequency estimate, while minimizing the mean square error (MSE) of the estimate are designed. Statistical analysis indicates that the MLE is unbiased and almost achieves the Cramer-Rao bound (CRB). Simulation shows that MLE with optimal training sequences is preferable to one with arbitrary training sequences in mobile communications.
Agile Deployment: Lean Service Management and Deployment Strategies for the SaaS Enterprise

The Software as a Service (SaaS) delivery model has recently become an acceptable business model for software delivery. However, the attractiveness of SaaS to customers, with their low upfront costs and seamless delivery, changes the game in ways that challenge traditional software development methodologies. As customers begin to treat software as an on demand utility, expectations of high uptime, predictable quality, strong security and privacy, and lower total costs become at least as critical as time-honored feature functionality requirements. The efficiency and accuracy of delivery can make or break a business. As demands upon the service increase and change, the resilience and transparent scalability of the operational architecture becomes as important as that of the software running within it. This paper explores how these new challenges parallel modern demands within manufacturing, and how many key Lean manufacturing techniques might be applicable within this emerging field.
The Contributions of the Economics of Information to Twentieth Century Economics

In the field of economics, perhaps the most important break with the past—one that leaves open huge areas for future work—lies in the economics of information. It is now recognized that information is imperfect, obtaining information can be costly, there are important asymmetries of information, and the extent of information asymmetries is affected by actions of firms and individuals. This recognition deeply affects the understanding of wisdom inherited from the past, such as the fundamental welfare theorem and some of the basic characterization of a market economy, and provides explanations of economic and social phenomena that otherwise would be hard to understand.
Transglutaminase 2 Expression Is Increased as a Function of Malignancy Grade and Negatively Regulates Cell Growth in Meningioma

Most meningiomas are benign, but some clinical-aggressive tumors exhibit brain invasion and cannot be resected without significant complications. To identify molecular markers for these clinically-aggressive meningiomas, we performed microarray analyses on 24 primary cultures from 21 meningiomas and 3 arachnoid membranes. Using this approach, increased transglutaminase 2 (TGM2) expression was observed, which was subsequently validated in an independent set of 82 meningiomas by immunohistochemistry. Importantly, the TGM2 expression level was associated with increasing WHO malignancy grade as well as meningioma recurrence. Inhibition of TGM2 function by siRNA or cystamine induced meningioma cell death, which was associated with reduced AKT phosphorylation and caspase-3 activation. Collectively, these findings suggest that TGM2 expression increases as a function of malignancy grade and tumor recurrence and that inhibition of TGM2 reduces meningioma cell growth.
Comparison of forced oscillation with the conventional method for histamine bronchoprovocation testing in horses.

OBJECTIVE To compare response of horses to histamine bronchoprovocation (HBP), using total respiratory resistance (Rrs) measured by forced oscillatory mechanics (FOM) with dynamic compliance (Cdyn) and pulmonary resistance (RL) measured by the esophageal balloon method. ANIMALS 10 horses with various degrees of airway reactivity. PROCEDURE The 2 methods for measuring airway responses to HBP were performed on separate days. Endpoints compared were increase of 150 or 200% of baseline Rrs (PC150Rrs, PC200Rrs) and to 150% of baseline RL (PC150RL) or decrease to 65% of baseline Cdyn (PC65Cdyn). Frequency dependence of respiratory mechanics, using FOM, was evaluated, using the slope of Rrs over 1 to 3 Hz and the ratios of Rrs at 1 Hz to Rrs at 2 and 3 Hz (Rrs1Hz/Rrs2Hz, Rrs1Hz/Rrs3Hz) and of Rrs at 2 Hz to Rrs at 3 Hz (Rrs2Hz/Rrs3Hz). Effect of histamine on frequency dependence was assessed. RESULTS Correlation with PC65Cdyn was high for PC150Rrs (rs = 0.93) and PC200Rrs (rs = 0.96). Correlation between PC65Cdyn and PC150RL was weakly positive (rs = 0.61). The slope of Rrs over 1 to 3 Hz changed significantly between baseline (-0.07+/-0.09 cm H2O/L/s/Hz) and final histamine dose (-0.28+/-0.10 cm H2O/L/s/Hz). The Rrs1Hz/Rrs3Hz and Rrs2Hz/Rrs3Hz differed significantly (P < 0.05 between baseline [1.27+/-0.36 and 0.96+/-0.11, respectively] and final histamine dose [1.62+/-0.37 and 1.09+/-0.14, respectively]). CONCLUSIONS Correlation between histamine-induced changes in respiratory mechanics, as measured by FOM and the pneumotachograph-esophageal balloon method, was good. The FOM results indicated frequency dependence of respiratory mechanics during HBP. CLINICAL RELEVANCE A noninvasive method of measuring airway reactivity will facilitate routine evaluation of horses with suspected small airway disease and may be suitable for field studies.
Addressing access barriers to services for mothers at risk for perinatal mood disorders: A social work perspective

ABSTRACT This article identifies variables at the micro/individual, mezzo/partner/spouse and family, and macro/health care–system levels that inhibit mothers at risk for perinatal mood disorders from accessing health and mental health care services. Specific recommendations are made for conducting thorough biopsychosocial assessments that address the mothers’ micro-, mezzo-, and macro-level contexts. Finally, the authors provide suggestions for how to intervene at the various levels to remove access barriers for mothers living with perinatal mood disorders as well as their families.
Long-chain alkenone-inferred temperatures from the last deglaciation to the early Holocene recorded by annually laminated sediments of the maar lake Sihailongwan, northeastern China

Abrupt temperature changes during the last deglaciation are well recognized in Greenland ice cores and in deep-sea sediment records. On the continent of monsoonal Asia, however, only a few terrestrial temperature reconstructions extend to the Younger Dryas (YD). This hampers the understanding of how the Asian monsoon system responded to large-scale boundary changes in ice-sheet dynamics and reorganizations of atmospheric–oceanic circulation between the last deglaciation and the Holocene. Here, we report an alkenone-inferred temperature record from varved sediments of the maar lake Sihailongwan, northeastern China. Alkenone provides temperatures that represent the water temperature during the growing season when the lake is ice-free. Annually laminated sediments provide a reliable time control. Reconstructed temperatures reveal a distinctive pattern of variations during the last deglaciation: a temperature increase of 6°C at the onset of the Bølling–Allerød, two cold intervals (during the Older Dryas and the intra-Allerød cold period), a relatively minor temperature decrease of 1–3°C during the YD, and a rapid temperature increase of 4–5°C at the early Holocene. The reconstructed temperature records from Lake Sihailongwan and adjacent regions indicate that summer (or growing season) temperature changes were smaller than is evident in Greenland ice core records that are weighted toward winter.
Impaired Cognitive Function and Altered Hippocampal Synapse Morphology in Mice Lacking Lrrtm1, a Gene Associated with Schizophrenia

Recent genetic linkage analysis has shown that LRRTM1 (Leucine rich repeat transmembrane neuronal 1) is associated with schizophrenia. Here, we characterized Lrrtm1 knockout mice behaviorally and morphologically. Systematic behavioral analysis revealed reduced locomotor activity in the early dark phase, altered behavioral responses to novel environments (open-field box, light-dark box, elevated plus maze, and hole board), avoidance of approach to large inanimate objects, social discrimination deficit, and spatial memory deficit. Upon administration of the NMDA receptor antagonist MK-801, Lrrtm1 knockout mice showed both locomotive activities in the open-field box and responses to the inanimate object that were distinct from those of wild-type mice, suggesting that altered glutamatergic transmission underlay the behavioral abnormalities. Furthermore, administration of a selective serotonin reuptake inhibitor (fluoxetine) rescued the abnormality in the elevated plus maze. Morphologically, the brains of Lrrtm1 knockout mice showed reduction in total hippocampus size and reduced synaptic density. The hippocampal synapses were characterized by elongated spines and diffusely distributed synaptic vesicles, indicating the role of Lrrtm1 in maintaining synaptic integrity. Although the pharmacobehavioral phenotype was not entirely characteristic of those of schizophrenia model animals, the impaired cognitive function may warrant the further study of LRRTM1 in relevance to schizophrenia.
Multicast-Based Testing and Thermal-Aware Test Scheduling for 3D ICs with a Stacked Network-on-Chip

A 3D stacked network-on-chip (NOC) promises the integration of a large number of cores in a many-core system-on-chip (SOC). The NOC can be used to test the embedded cores in such SOCs, whereby the added cost of dedicated test-access hardware can be avoided. However, a potential problem associated with 3D NOC-based test access is the emergence of hotspots due to stacking and the high toggle rates associated with structural test patterns used for manufacturing test. High temperatures and hotspots can lead to the failure of good parts, resulting in yield loss. We describe a unicast-based multicast approach and a thermal-driven test scheduling method to avoid hotspots, whereby the full NOC bandwidth is used to deliver test packets. Test delivery is carried out using a new unicast-based multicast scheme. Experimental results highlight the effectiveness of the proposed method in reducing test time under thermal constraints.
Lithospheric Extension on Venus: how to form narrow rifts

Title of Thesis: LITHOSPHERIC EXTENSION ON VENUS: HOW TO FORM NARROW RIFTS Alexis Ann Martone, Master of Science 2017 Thesis Directed By: Professor Laurent G. J. Montési, Department of Geology The Venusian rifts of Devana and Ganis Chasmata have been noted for their similar morphology to some rifts on Earth (i.e., the East African rift system). These are narrow rifts that are associated with localized deformation. This thesis aims to explore the link between lithospheric structure and rift style using a force analysis model, following previous work by Buck (1991), in order to determine under what conditions narrow rifts are predicted for Venus conditions. Results for two cases, one using a constant lithospheric thermal conductivity and another using a depth dependent thermal conductivity, are initially determined; Devana and Ganis Chasmata are predicted to be wide rifts rather than narrow rifts. Lithospheric weakening mechanisms (rheological weakening and diking) are implemented to determine their effect on localizing deformation and, thus, forming narrow rifts. Diking did not produce any effect on forming narrow rifts. Rheological weakening, likely due to a combination of melt and a transition to grain size sensitive creep, appears necessary to produce narrow rifts. LITHOSPHERIC EXTENSION ON VENUS: HOW TO FORM NARROW RIFTS
Unrealistic Optimism: East and West?

Following Weinstein’s (1980) pioneering work many studies established that people have an optimistic bias concerning future life events. At first, the bulk of research was conducted using populations in North America and Northern Europe, the optimistic bias was thought of as universal, and little attention was paid to cultural context. However, construing unrealistic optimism as a form of self-enhancement, some researchers noted that it was far less common in East Asian cultures. The current study extends enquiry to a different non-Western culture. Two hundred and eighty seven middle aged and middle income participants (200 in India, 87 in England) rated 11 positive and 11 negative events in terms of the chances of each event occurring in “their own life,” and the chances of each event occurring in the lives of “people like them. ” Comparative optimism was shown for bad events, with Indian participants showing higher levels of optimism than English participants. The position regarding comparative optimism for good events was more complex. In India those of higher socioeconomic status (SES) were optimistic, while those of lower SES were on average pessimistic. Overall, English participants showed neither optimism nor pessimism for good events. The results, whose clinical relevance is discussed, suggest that the expression of unrealistic optimism is shaped by an interplay of culture and socioeconomic circumstance.
Mathematical Resilience: an Application and Exploration of Motivational Constructs Related to Resilience in the Study of Mathematics

The Open University's repository of research publications and other research outputs Measuring mathematical resilience: an application of the construct of resilience to the study of mathematics. (2013). Measuring mathematical resilience: an application of the construct of resilience to the study of mathematics. Copyright and Moral Rights for the articles on this site are retained by the individual authors and/or other copyright owners. For more information on Open Research Online's data policy on reuse of materials please consult the policies page. Abstract Motivation, attitudes towards mathematics, and resilience theories are synthesized to
EFFECTS OF LIVER FIBROSIS ON VERAPAMIL PHARMACOKINETICS IN RATS

1 Liver fibrosis is the compensatory state of cirrhosis. In the long asymptomatic period, it is imperative to select a proper dosing regimen for drugs that are applicable to hepatic fibrosis owing to altered pharmacokinetics and bioavailability. The present study was designed to observe the changes in verapamil pharmacokinetics in rats with early liver fibrosis with respect to alterations in cytochrome P450 3A (CYP3A) and P‐glycoprotein (P‐gp). 2 A rat liver fibrosis model was successfully established using several inducers, including a high‐fat diet, alcohol and carbon tetrachloride. After rats received a single intravenous or oral dose of verapamil (5 mg/kg), the plasma concentrations of verapamil were determined at scheduled time‐points using HPLC. The activity of hepatic and small intestinal microsomal erythromycin N‐demethylase (a marker for CYP3A) and the expression of small intestinal cyp3a and multidrug resistance (mdr) mRNA were compared between normal rats and rats with liver fibrosis. 3 The results showed that when verapamil was administered intravenously, the area under the curve (AUC), elimination half‐life () and mean residence time (MRT) increased significantly, whereas clearance (Cl) decreased, in rats with liver fibrosis compared with normal rats. After oral administration of verapamil, the AUC, and maximum concentration (Cmax) increased, Cl decreased and the absorption half‐life () and time to peak concentration (Tmax) were unchanged compared with normal rats. The oral bioavailability of verapamil was 32.9% in normal rats and 34.4% in rats with liver fibrosis. Furthermore, decreased CYP3A activity in the liver was accompanied by upregulated cyp3a9/18 and unchanged mdr mRNA in the small intestine compared with normal rats. Expression of cyp3a9/18 and mdr mRNA in the intestine was significantly inhibited by verapamil. 4 The results suggest that the lowered Cl and increased AUC of verapamil after intravenous and oral administration in rats with liver fibrosis were due to downregulation of CYP3A in the liver. The absorption rate of verapamil in rats with liver fibrosis was unchanged because mdr was unchanged and cyp3a was inhibited in the intestine by verapamil itself. There was no notable difference in oral bioavailability between normal rats and rats with liver fibrosis.
Comparing the Effect of Preoperative Administration of Melatonin and Passiflora incarnata on Postoperative Cognitive Disorders in Adult Patients Undergoing Elective Surgery

Background Anxiety is a preoperative complication, which most patients encounter. The use of a premedication to reduce preoperative anxiety with minimal cognitive impairment is crucial. Objectives This study was conducted to compare the sedative effect of preoperative melatonin and Passiflora incarnata in patients undergoing elective surgery regarding their potential for postoperative cognitive disorders. Methods In this clinical trial, 52 patients American society of anesthesiologists grade (ASA) I and II of both genders were selected to receive either Passiflora incarnata (1000 mg nature made) (n = 26) or melatonin (6 mg) (n = 26) as premedication one hour before surgery. Post-operative pain was evaluated using the visual analogue scale (VAS). Patient’s anxiety and cognitive dysfunction was evaluated with the Ramsey score and the digital symbol substitution test (DSST), respectively. All tests were carried out and evaluated at arrival in the operating room, before induction and before discharge from the post anesthesia care unit (PACU). Results There were no statistically differences between groups in VAS (P > 0.05). However, the mean score of pain was higher in the melatonin group compared to the Pssiflora incarnata group when discharged from the PACU (27.63 vs. 25.37). The anxiety scores were statistically significant in both drugs (P = 0.001), however higher sedation scores was caused by premedication with melatonin (P = 0.003 vs. 0.008). Regarding the DSST, there was a significant difference between the two groups one hour before the surgery (P = 0.04) and at the time of discharge from the PACU (P = 0.007). When evaluating each group, the Passiflora incarnata group revealed a significant difference (P = 0.003). Conclusions Our findings show that premedication with Passiflora incarnata reduces anxiety as well as Melatonin. However, Melatonin causes less cognitive impairment compared to Passiflora incarnata.
Peroxidasin-like protein: a novel peroxidase homologue in the human heart.

AIMS Peroxidases serve diverse biological functions including well-characterized activities in host defence and hormone biosynthesis. More recently, peroxidasin (PXDN) was found to be involved in collagen IV cross-linking in the extracellular matrix (ECM). The aim of this study was to characterize the expression and function of peroxidasin-like protein (PXDNL), a previously unknown peroxidase homologue. METHODS AND RESULTS We cloned the PXDNL cDNA from the human heart and identified its expression pattern by northern blot, in situ hybridization, and immunohistochemistry. PXDNL is expressed exclusively in the heart and it has evolved to lose its peroxidase activity. The protein is produced by cardiomyocytes and localizes to cell-cell junctions. We also demonstrate that PXDNL can form a complex with PXDN and antagonizes its peroxidase activity. Furthermore, we show an increased expression of PXDNL in the failing myocardium. CONCLUSION PXDNL is a unique component of the heart with a recently evolved inactivation of peroxidase function. The elevation of PXDNL levels in the failing heart may contribute to ECM dysregulation due to its antagonism of PXDN function.