Miracle-dz/UniFAR-FTUs huggingface dataset:
Experiments in contact control

This article describes the implementation, experimentation, and application of contact control schemes for a 7-DOF Robotics Research arm. The contact forces and torques are measured in the sensor frame by the 6-axis force/torque sensor mounted at the wrist, are compensated for gravity, and then are transformed to the tool frame in which the contact task is defined and executed. The contact control schemes are implemented on the existing robot Cartesian position control system at 400Hz, do not require force rate information, and are extremely simple and computationally fast. Three types of contact control schemes are presented : compliance control, force control, and dual-mode control. In the compliance control scheme, the contact force is fed back through a lag-plus-feedforward compliance controller so that the end-effector behaves like a spring with adjustable stiffness ; thus the contact force can be controlled by the reference position command. In the force control scheme, a force setpoint is used as the command input and a proportional-plus-integral force controller is employed to ensure that the contact force tracks the force setpoint accurately. In the dual-mode control scheme, the end-effector approaches and impacts the reaction surface in compliance mode, and the control scheme is then switched automatically to force mode after the initial contact has been established. Experimental results are presented to demonstrate contact with hard and soft surfaces under the three proposed control schemes. The article is concluded with the application of the proposed schemes to perform a contact-based eddy-current inspection task. In this task, the robot first approaches the inspection surface in compliance control until it feels that it has touched the surface, and then automatically levels the end-effector on the surface. The robot control system then transitions to force control and applies the desired force on the surface while executing a scanning motion. At the completion of the inspection task, the robot first relaxes the applied force and then retracts from the surface.
Characterization of effects of mean arterial blood pressure induced by cocaine and cocaine methiodide on BOLD signals in rat brain

A total of 45 male Sprague‐Dawley rats were employed to determine whether cocaine or cocaine methiodide (CM) administration can induce a significant increase in mean arterial blood pressure (MABP) in rats, and whether such an increase in MABP can produce a global increase in blood oxygenation level‐dependent (BOLD) contrast in the rat brain detectable by functional magnetic resonance imaging (fMRI). Cocaine methiodide is a quaternary derivative of cocaine that shares the same cardiovascular effects of cocaine, but does not penetrate the blood‐brain barrier (BBB). Experimental results demonstrated that both CM (with doses of 2.5 and 7.5 mg/kg) and cocaine (with doses of 1.25 and 5.0 mg/kg) can induce a significant MABP change (30–80%). It was found that CM can only produce scattered, weak, and transient BOLD signals in a few voxels of the rat brain, and that these MABP‐induced BOLD signals are not dose‐dependent. In contrast, the administration of cocaine induced dose‐dependent biphasic BOLD signals that were consistent with pharmacologically‐induced cerebral vascular constriction and neuronal activity in the mesolimbic systems of the rat brain. The potential confounding factor of the MABP changes had little effect on the interpretation of drug‐induced BOLD signal changes. These results confirm that the BOLD‐weighted fMRI method can be extended to map drug‐induced neuronal activity. Magn Reson Med 49:264–270, 2003. © 2003 Wiley‐Liss, Inc.
Cholesterol depletion disrupts lipid rafts and modulates the activity of multiple signaling pathways in T lymphocytes

Lipid rafts are specialized plasma membrane microdomains, in which glycosphingolipids and cholesterol are major structural components. In T lymphocytes, several signaling proteins are associated with lipid rafts including the protein tyrosine kinase LCK and the adapter protein LAT. To investigate their importance in T cell signaling, lipid rafts were disrupted by depleting cholesterol with methyl‐β‐cyclodextrin (MβCD). This transiently induced tyrosine phosphorylation of multiple proteins, including the ZAP‐70 tyrosine kinase, its associated T cell antigen receptor ζ chain, LAT and phospholipase Cγ1. Tyrosine phosphorylation was dependent on expression of LCK in lipid rafts. Depletion of cholesterol also resulted in activation of the Ras‐ERK pathway. This was largely dependent on phorbol ester‐sensitive protein kinase C (PKC) and the PKC‐θ isoform translocated to the plasma membrane following MβCD treatment. MβCD did not stimulate intracellular Ca2+ fluxes; however, consistent with its ability to stimulate Ras, MβCD synergized with a Ca2+ ionophore to induce formation of the transcription factor NF‐AT. These data indicate a crucial role for cholesterol in the regulation of signaling pathways in T cells, which is likely to reflect its importance in the formation of plasma membrane lipid rafts.
Development of efficient hybrid finite element modelling for simulation of ultrasonic Non-Destructive Evaluation

The measurement and numerical modelling of ultrasonic wave scattering is essential for detecting complex defects in safety critical components for engineering structures across a range of industries. Fast and accurate numerical modelling to simulate candidate set ups for Non-Destructive Evaluation ( NDE) is attractive as it both improves confidence in the inspection results and reduces the cost of experimental qualification. As the scope of applications broaden and the modelling complexities increase, simulations become more computationally intensive. However, such demand can be reduced by using different kinds of modelling for d ifferent features and combining them in a hybrid method. For example, analytical methods ar e efficient for modelling propagation through the volume of the material, whereas the Finite Element (FE) method is a better solution for modelling discrete complex details such as the local scattering from an irregularly shaped real defect. The authors have developed this concept into a generic hybrid method, in which separate small local domains containing the distinct features, for example, the source, defect and receiver can be modelled by separate, appropriately chosen, local models (e.g. FE), while the propagation through the volume between the m is modelled analytically. Despite the computational gains achieved by using the hybrid method, the FE model of the region around the defect can still be very demanding of computer resources, especially for simulations in 3D. The authors have been investigating approaches to improve the efficiency of the FE modelling for ultrasonic NDE, for example: more efficient sound-absorbing elements around the FE domain, regular mesh generation and GPU-driven FE calculations. The wave propagation simulations from the hybrid method, with additional development to incorporate the results of these investigations, show similar accuracy but req uire less computational power than previously. Furthermore, the hybrid model has been developed, within the SIMPOSIUM project, to link with the CIVA software for NDE. The CIVA simulation software manages the overall model and the wave propagation in the component, while the hybrid model brings in FE simulation for the def ect. In this case the FE simulation can be done using a commercially available package that has the quality approval and familiarity needed for industrial users. This paper will present the development of the hybrid metho d and demonstrate its application. The research leading to these results has received funding from the European Community’s Seventh Framework Program (FP7/2007-2013) under Grant Agreement No. 285549: SIMPOSIUM project.
Isolation of Escherichia coli serotype O157:H7 and other Shiga-like-toxin-producing E. coli from dairy cattle

We examined 1,266 fecal specimens from healthy cattle during the investigations of two sporadic cases of hemolytic uremic syndrome associated with raw milk consumption and an outbreak of gastroenteritis and hemolytic uremic syndrome caused by Escherichia coli serotype O157:H7. We collected specimens from heifers, calves, and adult cows on 22 farms, in a stockyard, and in a packing house. We also collected 3 raw hamburger specimens from a restaurant and 23 raw milk samples from two farms. All specimens were examined for E. coli O157:H7 by using sorbitol-MacConkey agar, H immobilization, O157 agglutination, and tissue culture cytotoxicity. E. coli O157:H7 was isolated from 16 heifers or calves and 1 adult cow on 22 farms, 1 stockyard calf, 2 beef specimens, and 1 raw milk sample. Selected fecal specimens were also examined for the presence of other Shiga-like-toxin-producing E. coli (SLTEC) by testing polymyxin B extracts of colony sweeps and then testing individual colonies for toxin production. SLTEC other than O157 was isolated from 8 of 10 farms investigated and from the stockyard; 8% of adult cows and 19% of heifers and calves were positive for SLTEC. Several animals were positive for SLTEC by colony sweep only. This investigation demonstrates that dairy cattle are a reservoir of E. coli O157:H7 and other SLTEC.
An Optimal Transition Path for Controlling Greenhouse Gases

Designing efficient policies to slow global warming requires an approach that combines economic tools with relations from the natural sciences. The dynamic integrated climate-economy (DICE) model presented here, an intertemporal general-equilibrium model of economic growth and climate change, can be used to investigate alternative approaches to slowing climate change. Evaluation of five policies suggests that a modest carbon tax would be an efficient approach to slow global warming, whereas rigid emissions- or climate-stabilization approaches would impose significant net economic costs.
An Exploratory Study of Self-Consciousness and Emotion-Regulation Strategies in Health Care Workers

The goal of this study was to assess relations between public self-consciousness, private self-consciousness (self-reflectiveness and internal state awareness), and two emotion-regulation strategies: cognitive reappraisal and expressive suppression. 59 employees of a public hospital completed a survey. Public self-consciousness was not associated with either emotion-regulation strategy, while both dimensions of private self-consciousness were related to the strategies. While self-reflectiveness was correlated with expressive suppression, internal states awareness was associated with cognitive reappraisal.
Bulletproofs : Efficient Range Proofs for Confidential Transactions

We propose Bulletproofs, a new non-interactive zero-knowledge proof protocol with very short proofs and without a trusted setup; the proof size is only logarithmic in the witness size. Bulletproofs are especially well suited for efficient range proofs on committed values: they enable proving that a committed value is in a range using only 2 log2pnq ` 9 group and field elements, where n is the bit length of the range. Proof generation and verification times are linear in n. Bulletproofs greatly improve on the linear (in n) sized range proofs currently used to implement Confidential Transactions (CT) in Bitcoin and other cryptocurrencies. Moreover, Bulletproofs supports aggregation of range proofs, so that a party can prove that m commitments lie within a given range by providing only an additive Oplogpmqq group elements over the length of a single proof. To aggregate proofs from multiple parties, we enable the parties to generate a single proof without revealing their inputs to each other via a simple multi-party computation (MPC) protocol for constructing Bulletproofs. This MPC protocol uses either a constant number of rounds and linear communication, or a logarithmic number of rounds and logarithmic communication. Bulletproofs build on the techniques of Bootle et al. (EUROCRYPT 2016). Beyond range proofs, Bulletproofs provide short zero-knowledge proofs for general arithmetic circuits while only relying on the discrete logarithm assumption and without requiring a trusted setup. We discuss many applications that would benefit from Bulletproofs, primarily in the ∗buenz@cs.stanford. edu †jonathan.bootle. 14@ucl.ac. uk ‡dabo@cs.stanford. edu §apoelstra@blockstream.io ¶pieter@blockstream.com ‖greg@xiph.org
The competing values framework: Implications for strategic leadership, change and learning in public organizations

Purpose The purpose of this paper is to explore how the competing values framework (CVF) could be used by public service leaders to analyze and better understand public sector leadership challenges, thereby improving their ability in leading across borders and generations. Design/methodology/approach This paper applies the CVF, originally developed for understanding leadership in the private sector and shows how it can be adapted for analyzing and developing skill in addressing different leadership challenges in public sector contexts, including setting out specific learning exercises. Findings The paper has four parts. The first provides an overview of the origins, logic, and evolution of the CVF. The second part shows how the CVF is relevant and useful for assessing management and leadership values in the public sector. The third part identifies specific leadership challenges and learning exercises for public sector leaders at different stages of development. The final part concludes by reflecting on the CVF and similar frameworks, and where future research might go. Research limitations/implications Because of the chosen research approach, propositions within the paper should be tentatively applied. Practical implications This paper provides guidance for the better understanding of complex leadership challenges within the public sector through the use of the CVF. Social implications The social implications of the paper could include the more widespread use of the CVF within the public sector as a tool to lead more effectively. Originality/value This paper adapts and extends an analytical tool that has been of high value in the private sector so that it can be used in the public sector.
Wing shape variations in an invasive moth are related to sexual dimorphism and altitude

Abstract Wing morphology has great importance in a wide variety of aspects of an insect's life. Here, we use a geometric morphometric approach to test the hypothesis that variation, in insect wing morphology patterns, occurs between sexes and along altitudinal gradients for invasive species, despite their recent association to this environment. We explored the variation in wing morphology between 12 invasive populations of the invasive potato pest, Tecia solanivora, at low and high altitude in the central highlands of Ecuador. After characterizing sexual dimorphism in wing shape, we investigated if moths at higher elevations differ in wing morphology from populations at lower altitudes. Results indicate wing shape and size differences between sexes and between altitudinal ranges. Females showed larger, wider wings than males, while high altitude moths showed larger, narrow-shaped wings by comparison to low-altitude moths. GLM analyses confirmed altitude was the only significant determinant of this gradient. Our study confirms a sexual dimorphism in size and wing shape for the potato moth. It also confirms and extends predictions of morphological changes with altitude to an invasive species, suggesting that wing morphology variation is an adapted response contributing to invasion success of the potato moth in mountainous landscapes. Ours is one of the first studies on the morphology of invasive insects and represents a valuable contribution to the study of insect invasions because it both offers empirical support to previous genetic studies on T. solanivora as well as proving broader insight into the mechanisms behind morphological evolution of a recently introduced pest.
Comparison between the Prebolus T1 Measurement and the Fixed T1 Value in Dynamic Contrast-Enhanced MR Imaging for the Differentiation of True Progression from Pseudoprogression in Glioblastoma Treated with Concurrent Radiation Therapy and Temozolomide Chemotherapy

BACKGROUND AND PURPOSE: Glioblastoma is the most common primary brain malignancy and differentiation of true progression from pseudoprogression is clinically important. Our purpose was to compare the diagnostic performance of dynamic contrast-enhanced pharmacokinetic parameters using the fixed T1 and measured T1 on differentiating true from pseudoprogression of glioblastoma after chemoradiation with temozolomide. MATERIALS AND METHODS: This retrospective study included 37 patients with histopathologically confirmed glioblastoma with new enhancing lesions after temozolomide chemoradiation defined as true progression (n = 15) or pseudoprogression (n = 22). Dynamic contrast-enhanced pharmacokinetic parameters, including the volume transfer constant, the rate transfer constant, the blood plasma volume per unit volume, and the extravascular extracellular space per unit volume, were calculated by using both the fixed T1 of 1000 ms and measured T1 by using the multiple flip-angle method. Intra- and interobserver reproducibility was assessed by using the intraclass correlation coefficient. Dynamic contrast-enhanced pharmacokinetic parameters were compared between the 2 groups by using univariate and multivariate analysis. The diagnostic performance was evaluated by receiver operating characteristic analysis and leave-one-out cross validation. RESULTS: The intraclass correlation coefficients of all the parameters from both T1 values were fair to excellent (0.689–0.999). The volume transfer constant and rate transfer constant from the fixed T1 were significantly higher in patients with true progression (P = .048 and .010, respectively). Multivariate analysis revealed that the rate transfer constant from the fixed T1 was the only independent variable (OR, 1.77 × 105) and showed substantial diagnostic power on receiver operating characteristic analysis (area under the curve, 0.752; P = .002). The sensitivity and specificity on leave-one-out cross validation were 73.3% (11/15) and 59.1% (13/20), respectively. CONCLUSIONS: The dynamic contrast-enhanced parameter of rate transfer constant from the fixed T1 acted as a preferable marker to differentiate true progression from pseudoprogression.
Data Quality Guided Incentive Mechanism Design for Crowdsensing

In crowdsensing, appropriate rewards are always expected to compensate the participants for their consumptions of physical resources and involvements of manual efforts. While continuous low quality sensing data could do harm to the availability and preciseness of crowdsensing based services, few existing incentive mechanisms have ever addressed the issue of data quality. The design of quality based incentive mechanism is motivated by its potential to avoid inefficient sensing and unnecessary rewards. In this paper, we incorporate the consideration of data quality into the design of incentive mechanism for crowdsensing, and propose to pay the participants as how well they do, to motivate the rational participants to efficiently perform crowdsensing tasks. This mechanism estimates the quality of sensing data, and offers each participant a reward based on her effective contribution. We also implement the mechanism and evaluate its improvement in terms of quality of service and profit of service provider. The evaluation results show that our mechanism achieves superior performance when compared to general data collection model and uniform pricing scheme.
The MSP1 Gene Is Necessary to Restrict the Number of Cells Entering into Male and Female Sporogenesis and to Initiate Anther Wall Formation in Rice Article, publication date, and citation information can be found at www.plantcell.org/cgi/doi/10.1105/tpc.012401.

The function of the novel gene MSP1 (MULTIPLE SPOROCYTE), which controls early sporogenic development, was elucidated by characterizing a retrotransposon-tagged mutation of rice. The MSP1 gene encoded a Leu-rich repeat receptor–like protein kinase. The msp1 mutation gave rise to an excessive number of both male and female sporocytes. In addition, the formation of anther wall layers was disordered and the tapetum layer was lost completely. Although the mutation never affected homologous chromosome pairing and chiasma maintenance, the development of pollen mother cells was arrested at various stages of meiotic prophase I, which resulted in complete male sterility. Meanwhile, plural megaspore mother cells in a mutant ovule generated several megaspores, underwent gametogenesis, and produced germinable seeds when fertilized with wild-type pollen despite disorganized female gametophytes. In situ expression of MSP1 was detected in surrounding cells of male and female sporocytes and some flower tissues, but never in the sporocytes themselves. These results suggest that the MSP1 product plays crucial roles in restricting the number of cells entering into male and female sporogenesis and in initiating anther wall formation in rice.
Proteomic analyses of early response of unicellular eukaryotic microorganism Tetrahymena thermophila exposed to TiO2 particles

Abstract Key biological functions involved in cell survival have been studied to understand the difference between the impact of exposure to TiO2 nanoparticles (TiO2-NPs) and their bulk counterparts (bulk-TiO2). By selecting a unicellular eukaryotic model organism and applying proteomic analysis an overview of the possible impact of exposure could be obtained. In this study, we investigated the early response of unicellular eukaryotic protozoan Tetrahymena thermophila exposed to TiO2-NPs or bulk-TiO2 particles at subtoxic concentrations for this organism. The proteomic analysis based on 2DE + nLC-ESI-MS/MS revealed 930 distinct protein spots, among which 77 were differentially expressed and 18 were unambiguously identified. We identified alterations in metabolic pathways, including lipid and fatty acid metabolism, purine metabolism and energetic metabolism, as well as salt stress and protein degradation. This proteomic study is consistent with our previous findings, where the early response of T. thermophila to subtoxic concentrations of TiO2 particles included alterations in lipid and fatty acid metabolism and ion regulation. The response to the lowest TiO2-NPs concentration differed significantly from the response to higher TiO2-NPs concentration and both bulk-TiO2 concentrations. Alterations on the physiological landscape were significant after exposure to both nano- and bulk-TiO2; however, no toxic effects were evidenced even at very high exposure concentrations. This study confirms the relevance of the alteration of the lipid profile and lipid metabolism in understanding the early impact of TiO2-NPs in eukaryotic cells, for example, phagocytosing cells like macrophages and ciliated cells in the respiratory epithelium.