Miracle-dz/UniFAR-FTUs huggingface dataset:
Haptic display of dynamic systems subject to holonomic constraints

This paper presents a framework that enables an operator to haptically and visually interact with a simulated dynamic environment subject to virtual holonomic constraints. The framework combines a geometric constraint solver with a constrained dynamics simulation engine that controls an admittance-type haptic display. This system takes on relevant issues in the context of assisted teleoperated tasks, from providing an intuitive interface for creating and combining virtual constraints, to haptically displaying rigid motion constraints in simulated environments subject to desired inertial dynamics. Two experiments carried out using the Cobotic Hand Controller haptic display are presented.
Quantitative fluorescence in situ hybridization of Bifidobacterium spp. with genus-specific 16S rRNA-targeted probes and its application in fecal samples

Three 16S rRNA hybridization probes were developed and tested for genus-specific detection of Bifidobacterium species in the human fecal flora. Variable regions V2, V4, and V8 of the 16S rRNA contained sequences unique to this genus and proved applicable as target sites for oligodeoxynucleotide probes. Determination of the genus specificity of the oligonucleotides was performed by whole-cell hybridization with fluorescein isothiocyanate-labelled probes. To this end, cells were fixed on glass slides, hybridized with the probes, and monitored by videomicroscopy. In combination with image analysis, this allowed quantification of the fluorescence per cell and objective evaluation of hybridization experiments. One of the probes developed was used to determine the population of Bifidobacterium spp. in human fecal samples. A comparison was made with results obtained by cultural methods for enumeration. Since both methods gave similar population estimates, it was concluded that all bifidobacteria in feces were culturable. However, since the total culturable counts were only a fraction of the total microscopic counts, the contribution of bifidobacteria to the total intestinal microflora was overestimated by almost 10-fold when cultural methods were used as the sole method for enumeration.
Research and Evaluation Needs for Distance Education: A Delphi Study.

Distance education established its roots as a form of instruction at least 150 years ago as correspondence study (Holmberg, 1986). With the advancements in telecommunications technologies, distance learning programs rapidly expanded so distance education is now defined as "the acquisition of knowledge and skills through mediated information and instruction, encompassing all technologies and other forms of learning at a distance" (United States Distance Learning Association,1998).
Effect of data aggregation in M2M networks

Machine-to-Machine (M2M) communication technologies provide capabilities for devices to communicate with each other through wired and wireless systems. Applying data aggregation is an efficient way to reduce energy consumption of M2M network. We devise an analytical model to compute the transmission delay and energy efficiency in data aggregation. Then we develop an extensive simulation to validate our proposed analytical model. Numerical results show that an increment of buffering time results in a significant decrement in energy consumption. Our study provides guidelines to set up the buffering time for data aggregation in M2M networks.
Cooperative data reduction in wireless sensor network

Due to the limited power constraint in sensors, dynamic scheduling with data quality management is strongly preferred in long lifetime monitoring applications. But typical techniques treat data management as an isolated process on only selected individual nodes, e.g. the centroid node. In this paper, we propose and evaluate an aggressive data reduction algorithm based on error inference within sensor segments. The architecture integrates three parallel dynamic error control mechanisms to optimize the trade-off between energy saving and data validity. We demonstrate that not only substantial energy savings can be achieved but also that an error bound specified by the application can be guaranteed. Moreover, we have investigate the system performance by using the realistic historical soil temperature data as an experimental context. The experimental results demonstrate that the system error meets the specified error tolerance and produces up to a 50 percent of the energy savings compared to several sensing schemes.
A centralized multiple access scheme for data gathering in Satellite-Routed Sensor System (SRSS)

Satellite-Routed Sensor System (SRSS) has attracted attentions as a next generation sensor network system to realize data gathering from a large scale sensors deployment. In this system, a large number of sensor terminals send sensed data to the monitoring stations which are located in the different area via a satellite. With the help of satellite, it is possible to collect data from sensor terminals that are located in an area that has no physical infrastructure. Thus, SRSS is expected to provide many services such as real-time traffic control system and disaster detection systems by utilizing gathered data from large area. However, an efficient access control method is required to accommodate a large number of sensor terminals trying to transmit their sensed data to the satellite. Therefore, this paper proposes a novel data gathering method that can efficiently allocate bandwidth to the sensor terminals in need to transmit their sensed data. Additionally, an optimization to improve the efficiency of our proposed method is provided with mathematical expressions. The effectiveness of our proposal is evaluated through numerical results.
Consensus in Noncooperative Dynamic Games: A Multiretailer Inventory Application

We focus on Nash equilibria and Pareto optimal Nash equilibria for a finite horizon noncooperative dynamic game with a special structure of the stage cost. We study the existence of these solutions by proving that the game is a potential game. For the single-stage version of the game, we characterize the aforementioned solutions and derive a consensus protocol that makes the players converge to the unique Pareto optimal Nash equilibrium. Such an equilibrium guarantees the interests of the players and is also social optimal in the set of Nash equilibria. For the multistage version of the game, we present an algorithm that converges to Nash equilibria, unfortunately, not necessarily Pareto optimal. The algorithm returns a sequence of joint decisions, each one obtained from the previous one by an unilateral improvement on the part of a single player. We also specialize the game to a multiretailer inventory system.
Stimulus Simplification and Object Representation: A Modeling Study

Abstract : Tsunoda et al. [20] recently studied the nature of object representation in monkey inferotemporal cortex using a combination of optical imaging and extracellular recordings. In particular, they examined IT neuron responses to complex natural objects and simplified versions thereof. In that study, in 42% of the cases, optical imaging revealed a decrease in the number of activation patches in IT as stimuli were simplified . However, in 58% of the cases, simplification of the stimuli actually led to the appearance of additional activation patches in IT. Based on these results, the authors propose a scheme in which an object is represented by combinations of active and inactive columns coding for individual features. We examine the patterns of activation caused by the same stimuli as used by Tsunoda et al. [20] in our model of object recognition in cortex [12]. We find that object-tuned units can show a pattern of appearance and disappearance of features identical to the experiment. Thus, the data of Tsunoda et al. appear to be in quantitative agreement with a simple object-based representation in which an object's identity is coded by its similarities to reference objects [2, 15]. Moreover, the agreement of simulations and experiment suggests that the simplification procedure used in [20] is not necessarily an accurate method to determine neuronal tuning.
Global Microarray Analysis of Carbohydrate Use in Alkaliphilic Hemicellulolytic Bacterium Bacillus sp. N16-5

The alkaliphilic hemicellulolytic bacterium Bacillus sp. N16-5 has a broad substrate spectrum and exhibits the capacity to utilize complex carbohydrates such as galactomannan, xylan, and pectin. In the monosaccharide mixture, sequential utilization by Bacillus sp. N16-5 was observed. Glucose appeared to be its preferential monosaccharide, followed by fructose, mannose, arabinose, xylose, and galactose. Global transcription profiles of the strain were determined separately for growth on six monosaccharides (glucose, fructose, mannose, galactose, arabinose, and xylose) and four polysaccharides (galactomannan, xylan, pectin, and sodium carboxymethylcellulose) using one-color microarrays. Numerous genes potentially related to polysaccharide degradation, sugar transport, and monosaccharide metabolism were found to respond to a specific substrate. Putative gene clusters for different carbohydrates were identified according to transcriptional patterns and genome annotation. Identification and analysis of these gene clusters contributed to pathway reconstruction for carbohydrate utilization in Bacillus sp. N16-5. Several genes encoding putative sugar transporters were highly expressed during growth on specific sugars, suggesting their functional roles. Two phosphoenolpyruvate-dependent phosphotransferase systems were identified as candidate transporters for mannose and fructose, and a major facilitator superfamily transporter was identified as a candidate transporter for arabinose and xylose. Five carbohydrate uptake transporter 1 family ATP-binding cassette transporters were predicted to participate in the uptake of hemicellulose and pectin degradation products. Collectively, microarray data improved the pathway reconstruction involved in carbohydrate utilization of Bacillus sp. N16-5 and revealed that the organism precisely regulates gene transcription in response to fluctuations in energy resources.
Race to the Top: evaluation of a novel performance-based financing initiative to promote healthcare delivery in rural Rwanda

Background Performance-based financing (PBF) has demonstrated a range of successes and failures in improving health outcomes across low- and middle-income countries. Evidence indicates that the success of PBF depends, in large part, on the model selected, in relation to a variety of contextual factors. Objective Partners In Health∣Inshuti Mu Buzima aimed to evaluate health outcomes associated with a novel capacity-building model of PBF at health centers throughout Kirehe district, Rwanda. Design Thirteen health centers in Kirehe district, which provide healthcare to a population of over 300,000 people, agreed to participate in a PBF initiative scheme that integrated data feedback, quality improvement coaching, peer-to-peer learning, and district-level priority setting. Health centers’ progress toward collectively agreed upon site-specific health targets was assessed every 6 months for 18 months. Incentives were awarded only when health centers met goals on all three priorities health centers had collectively agreed upon: 90% coverage of community-based health insurance, 70% contraceptive prevalence rate, and zero acute severe malnutrition cases. Improvement across all four time points and facilities was measured using mixed-effects linear regression. Findings At 6-month follow-up, 4 of 13 health centers had met 1 target. At 12-month follow-up, 7 centers had met 1 target, and by 18-month follow-up, 6 centers had met 2 targets and 2 centers had met all 3. Average health center performance had improved significantly across the district for all three targets: mean insurance coverage increased from 68% at baseline to 93% (p<0.001); mean number of acute malnutrition cases in the previous 6 months declined from 24 to 5 per facility (p<0.001); and contraceptive prevalence increased from 42 to 59% (p<0.001). A number of innovative improvement initiatives were identified. Conclusion The combining of PBF, district engagement/support, and peer-to-peer learning resulted in significant improvements despite resource constraints and is now being considered as a model for scale-up in other districts of Rwanda.
Control of transcription of gal repressor and isorepressor genes in Escherichia coli

Two regulatory proteins, Gal repressor and isorepressor, control the expression of the gal and mgl operons in Escherichia coli. The transcription start sites for galR and galS, the genes for the repressor and isorepressor, were determined by primer extension of in vivo transcripts. Study of the promoter-lacZ gene fusions introduced into the chromosome indicated that galS expression was elevated in cells in which the normal galS gene was interrupted, but not in cells in which the galR gene was deleted. When both genes were disrupted, galS expression was further elevated. Expression from the galS promoter was stimulated by the addition of D-fucose, repressed by glucose, and dependent on cyclic AMP receptor protein (CRP). Expression of a similar gene fusion of the galR promoter to lacZ was unregulated. Both galR and galS genes contain two potential operator sites (OE and OI) and a CRP-binding site. The arrangement of OE, OI, and the CRP-binding site in the galS gene is analogous to the arrangement in the gal and mgl promoters, but the arrangement in galR is atypical. The increased concentration of the isorepressor when inducer is present may facilitate early shutoff of the isorepressor-regulated genes of the gal regulon when inducer (substrate) concentration falls.
Photo-identification comparison of humpback whale (Megaptera novaeangliae) flukes from Antarctic Area IV with Western and Eastern Australian fluke catalogues

Photo-identification of humpback whales (Megaptera novaeangliae) and comparison between regional fluke catalogues is revealing a matrix of low-level migratory interchange between Eastern Australia (E1 breeding grounds) and the Oceania (E2) breeding grounds, within and between Oceania breeding grounds (E2, E3, F1 and F2) and linkages between Antarctic Area V feeding areas (130E-170W) and the Eastern Australia (E1 breeding grounds). Only one previous photo-identification match has been reported of a humpback whale between the Western Australia (D) breeding grounds and the Antarctic Area IV feeding areas (70E-130E). Western Australia (D) and Eastern Australia (E1) humpback whale breeding grounds are considered to be largely geographically and genetically separate with very low levels of migratory interchange. Ventral underside flukes of 35 individual humpback whales were photographed in the Antarctic Area IV feeding areas (70E 130E), from 2 to 9 January 2008 between 62 47'S and 64 14'S latitude; 112 57'E and 80 00'E longitude. Comparisons of the Greenpeace Antarctic Area IV fluke catalogue (n=35) individuals with existing reconciled fluke catalogues from Western Australia (n=1777) individuals and, Eastern Australia (n=1965) individuals, yielded no photoidentification matches. An analysis of the frequencies of whales seen and not seen in Antarctica and Australia relative to the frequencies expected to have been seen and not seen, based on the estimated population sizes and the sizes of the catalogues, was used to inform a discussion of the implications of the failure to find any matches between the catalogues. Twenty-three of the thirty-five individual humpback whales were photographed close to the western border of Area IV (70E-130E) and the eastern border of Antarctic Area III (0E 70E) and may be from the Eastern African (C) breeding grounds. A comparison of the Greenpeace Antarctic Area IV Catalogue (n=35) with existing African humpback fluke catalogues, and any other existing Australian and/or Antarctic catalogues, is likely to provide further data on the migratory destination of these humpbacks and add to our limited knowledge of the extent of population intermingling within the Antarctic Area III, IV and V feeding areas.
The effects of cloud moisture on Restions, Ericas and Proteas in the Cape Floristic region

Recent studies on the interception and utilization of occult precipitation (fog, cloud-borne mist and dew) have revealed that the direct wetting of foliage provides a water subsidy to plants of various ecosystem types. In this study, we investigate the presence of foliar uptake, and the effects of misting on the plant water potential of species representing diverse functional types, namely ericoids, proteoids and restioids in Fynbos species occurring within the Cape Fold mist belt. In this study, foliar uptake after 180-min submergence in distilled water was demonstrated by five of the seven species investigated. These species included all the restioids and ericoids investigated in this study. By contrast, the proteoids L. conocarpodendron and L. laureolum were found to show no significant amount of foliar uptake or increased leaf water content(%). There was an increase in the average, normalized leaf water content in individuals subjected to misting treatments in both proteoids, L. laureolum and L. conocarpodendron. Similarly, there was also an overall increase in plant water status, as shown by the increased water potential in individuals that were subjected to the misting treatment. It was found that control individuals showed a decrease in plant water potential (i.e. lost water) during the day, as can be expected when soil water is not replenished. All species showed significant stomatal conductance, during both night and day. Results indicate that misting events have a significant effect on the overall plant water status in all functional types and the presence of foliar uptake in both ericoids and restioids; thus indicating that cloud events may have an important effect on the vulnerability of these species to drought, under the precepts of global climate change.
Undergraduates’ attitudes to text messaging language use and intrusions of textisms into formal writing

Students’ increasing use of text messaging language has prompted concern that textisms (e.g., 2 for to, dont for don’t, ☺) will intrude into their formal written work. Eighty-six Australian and 150 Canadian undergraduates were asked to rate the appropriateness of textism use in various situations. Students distinguished between the appropriateness of using textisms in different writing modalities and to different recipients, rating textism use as inappropriate in formal exams and assignments, but appropriate in text messages, online chat and emails with friends and siblings. In a second study, we checked the examination papers of a separate sample of 153 Australian undergraduates for the presence of textisms. Only a negligible number were found. We conclude that, overall, university students recognise the different requirements of different recipients and modalities when considering textism use and that students are able to avoid textism use in exams despite media reports to the contrary.
The Capacity of Mel Frequency Cepstral Coefficients for Speech Recognition

Speech recognition is of an important contribution in promoting new technologies in human computer interaction. Today, there is a growing need to employ speech technology in daily life and business activities. However, speech recognition is a challenging task that requires different stages before obtaining the desired output. Among automatic speech recognition (ASR) components is the feature extraction process, which parameterizes the speech signal to produce the corresponding feature vectors. Feature extraction process aims at approximating the linguistic content that is conveyed by the input speech signal. In speech processing field, there are several methods to extract speech features, however, Mel Frequency Cepstral Coefficients (MFCC) is the popular technique. It has been long observed that the MFCC is dominantly used in the well-known recognizers such as the Carnegie Mellon University (CMU) Sphinx and the Markov Model Toolkit (HTK). Hence, this paper focuses on the MFCC method as the standard choice to identify the different speech segments in order to obtain the language phonemes for further training and decoding steps. Due to MFCC good performance, the previous studies show that the MFCC dominates the Arabic ASR research. In this paper, we demonstrate MFCC as well as the intermediate steps that are performed to get these coefficients using the HTK toolkit. Keywords—Speech recognition, acoustic features, Mel Frequency Cepstral Coefficients.
System co-design and data management for flash devices

Flash devices are emerging as a replacement for disks. How does this evolution impact the design of data management systems? While flash devices have been available for years, this question is still open. In this tutorial, we share two views on the development of data management systems for flash devices. The first view considers that flash devices introduce so much complexity that it is necessary to reconsider the strictly layered approach between storage system, operating system and data management system. The second view considers that data management systems should recognize the complexity of flash devices and leverage the characteristics of different classes of devices for different usage patterns. Throughout the tutorial, we will cover the data management stack: from the fundamentals of flash technology, through storage for database systems and the manipulation of flash-resident data, to query processing.
Origin and Evolution of TRIM Proteins: New Insights from the Complete TRIM Repertoire of Zebrafish and Pufferfish

Tripartite motif proteins (TRIM) constitute a large family of proteins containing a RING-Bbox-Coiled Coil motif followed by different C-terminal domains. Involved in ubiquitination, TRIM proteins participate in many cellular processes including antiviral immunity. The TRIM family is ancient and has been greatly diversified in vertebrates and especially in fish. We analyzed the complete sets of trim genes of the large zebrafish genome and of the compact pufferfish genome. Both contain three large multigene subsets - adding the hsl5/trim35-like genes (hltr) to the ftr and the btr that we previously described - all containing a B30.2 domain that evolved under positive selection. These subsets are conserved among teleosts. By contrast, most human trim genes of the other classes have only one or two orthologues in fish. Loss or gain of C-terminal exons generated proteins with different domain organizations; either by the deletion of the ancestral domain or, remarkably, by the acquisition of a new C-terminal domain. Our survey of fish trim genes in fish identifies subsets with different evolutionary dynamics. trims encoding RBCC-B30.2 proteins show the same evolutionary trends in fish and tetrapods: they evolve fast, often under positive selection, and they duplicate to create multigenic families. We could identify new combinations of domains, which epitomize how new trim classes appear by domain insertion or exon shuffling. Notably, we found that a cyclophilin-A domain replaces the B30.2 domain of a zebrafish fintrim gene, as reported in the macaque and owl monkey antiretroviral TRIM5α. Finally, trim genes encoding RBCC-B30.2 proteins are preferentially located in the vicinity of MHC or MHC gene paralogues, which suggests that such trim genes may have been part of the ancestral MHC.