Miracle-dz/UniFAR-FTUs huggingface dataset:
Multiobjective Optimization for Stiffness and Position Control in a Soft Robot Arm Module

The central concept of this letter is to develop an assistive manipulator that can automate the bathing task for elderly citizens. We propose to exploit principles of soft robotic technologies to design and control a compliant system to ensure safe human–robot interaction, a primary requirement for the task. The overall system is intended to be modular with a proximal segment that provides structural integrity to overcome gravitational challenges and a distal segment to perform the main bathing activities. The focus of this letter is on the design and control of the latter module. The design comprises of alternating tendons and pneumatics in a radial arrangement, which enables elongation, contraction, and omnidirectional bending. Additionally, a synergetic coactivation of cables and tendons in a given configuration allows for stiffness modulation, which is necessary to facilitate washing and scrubbing. The novelty of the work is twofold: 1) Three base cases of antagonistic actuation are identified that enable stiffness variation. Each category is then experimentally characterized by the application of an external force that imposes a linear displacement at the tip in both axial and lateral directions. 2) The development of a novel algorithm based on cooperative multiagent reinforcement learning that simultaneously optimizes stiffness and position. The results highlight the effectiveness of the design and control to contribute toward the development of the assistive device.
Let-7 expression defines two differentiation stages of cancer

The early phases of carcinogenesis resemble embryonic development, often involving the reexpression of embryonic mesenchymal genes. The NCI60 panel of human tumor cell lines can genetically be subdivided into two superclusters (SCs) that correspond to CD95 Type I and II cells. SC1 cells are characterized by a mesenchymal and SC2 cells by an epithelial gene signature, suggesting that SC1 cells represent less differentiated, advanced stages of cancer. miRNAs are small 20- to 22-nucleotide-long noncoding RNAs that inhibit gene expression at the posttranscriptional level. By performing miRNA expression analysis on 10 Type I and 10 Type II cells, we have determined that SC1 cells express low and SC2 cells high levels of the miRNA let-7, respectively, suggesting that let-7 is a marker for less advanced cancers. Expression of the let-7 target high-mobility group A2 (HMGA2), an early embryonic gene, but not of classical epithelial or mesenchymal markers such as E-cadherin or vimentin, inversely correlated with let-7 expression in SC1 and SC2 cells. Using ovarian cancer as a model, we demonstrate that expression of let-7 and HMGA2 is a better predictor of prognosis than classical markers such as E-cadherin, vimentin, and Snail. These data identify loss of let-7 expression as a marker for less differentiated cancer.
Analysis and detection of hard-to-detect full open defects in FinFET based SRAM cells

FinFET technology is used in leading high-performance/power-efficient electronic products. This technology has proven its efficiency after 22nm technology nodes. However, FinFET technology has new manufacturing and design complexities. Thus, it is required to study the behavior of defects in FunFET-based SRAM memories, and developing new test strategies for those defects that are not covered by conventional test strategies based on CMOS fault modeling. This paper is oriented to open-gate defects hard-to-detect that are unique to FinFET based SRAM memory cells. The open-gate defect affects only one of the parallel fins of the driver transistors of the memory cell. The behavior of these defects is studied for the hold, read and write operations using realistic defect models. By using a shorter write time test, the detection of these defects is investigated. The effectiveness of the shorter write time test method at nominal parameters and under process variations is evaluated. The detection probability of these defects can be further enhanced using a higher power supply voltage.
ELECTROPHORETIC KARYOTYPES OF TORULOPSIS GLABRATA 2167

Chromosome-sized DNA molecules of clinical isolates of Torulopsis glabrata were resolved by a pulsed-field electrophoretic method, contour-clamped homogeneous electric fields. With the conditions established in this study, 8 to 12 bands (ranging from 445 to 3,000 kilobases) were observed. There were differences in the intensities and migrations of bands, consistent with T. glabrata being either haploid or diploid. A total of 22 distinctive electrophoretic patterns were noted among single isolates of T. glabrata recovered from 33 patients. When strains were delineated by an electrophoretic pattern, individuals usually harbored only one strain.
A Decision Model of Taxi Driver Based on Qualitative Analysis

How should taxi drivers make decisions to maximize profits? This is a matter of concern. Profit efficiency of taxi drivers is evaluated based on the method of qualitative analysis in this paper. Taking profit, cost and time as the relevant factors of decision making, the mathematical model of profit efficiency is established, and the profit efficiency is calculated when the taxi driver chooses two different schemes. The preferable scheme is recommended to the driver. The real data were collected and plugged into the model to verify the reasonability of the model. Correlation analysis in SPSS was used to calculate partial correlation coefficient to measure the model's dependency on relevant factors. The results show that the model in the paper is effective and can be used to instruct the taxi driver to make decisions.
Adaptive control of free-floating space robots in Cartesian coordinates

An adaptive control scheme is proposed for the end-effector trajectory tracking control of free-floating space robots. In order to cope with the nonlinear parameterization problem of the dynamic model of the free-floating space robot system, the system is modeled as an extended robot which is composed of a pseudo-arm representing the base motions and a real robot arm. An on-line estimation of the unknown parameters along with a computed-torque controller is used to track the desired trajectory. The proposed control scheme does not require measurement of the accelerations of the base and the real robot arm. A two-link planar space robot system is simulated to illustrate the validity and effectiveness of the proposed control scheme.
Modeling and simulation of a loader and unloader manipulator

Industrial production workshops in all fields are becoming more and more robotized. Flexible workshops have several types of robots, namely mobile robots that move products from one machine to another, flexible cells are loaded and unloaded by robot manipulators. In this work we will discuss the design of a serial robot with six degrees of freedom. Three degrees of freedom to position the effector and three others to guide the wrist. In this context the manipulator arm must load and unload a CNC milling machine ‘TORMACH PCNC 440’ which is installed in our lab. The dimensions of the robot are adapted to the size of the machine, these organs are sized by another research team. In what follows we will discuss the different models allowing us the control of the manipulator. We start with the geometric model, the kinematic model and the static model. The goal is to enslave the arm in position and velocity. Several simulations have been carried out to validate this part of our study. Homogeneous transformation and modified DENAVIT-HARTENBURG (DH) parameters are adopted in this approach.
Efficient Video Fire Detection Exploiting Motion-Flicker-Based Dynamic Features and Deep Static Features

Since fire is one of the most serious types of accidents that can occur, there is always a need for improvement in fire detection capabilities. Convolutional neural networks (CNNs) have been used for a variety of high-performance computer vision tasks. The use of CNNs to extract deep static features of fire has greatly improved the accuracy of fire detection. However, the implementation of CNNs in the real world is limited by their high computational cost. In addition, fire detection methods based on the classification of images alone using CNNs cannot account for the dynamic features of fire. Therefore, in this paper, a method that exploits both motion-flicker-based dynamic features and deep static features is proposed for video fire detection. First, dynamic features are extracted by analyzing the differences in motion and flicker features between fire and other objects in videos. Second, an adaptive lightweight convolutional neural network (AL-CNN) is proposed to extract the deep static features of fire. Finally, the dynamic and static features of fire are combined to establish a video fire detection method with improved operational efficiency in terms of accuracy and run time. To prove the validity of our method, its accuracy and run time are evaluated on three test datasets, and the results reveal that our method exhibits better performance than state-of-the-art methods. Moreover, our method is shown to be feasible in complex video scenarios and for devices with resource constraints.
Development of tasty marinating kit for tenderization and preservation of beef chuck

Chuck is the biggest and one of the tougher cut of beef carcass. By improving the tenderness of chuck meat it can have a higher value to the consumer. The study was conducted to know the efficacy of tasty kit (containing 1.2 M sodium chloride, 0.25 M sodium bicarbonate and 0.1% ascorbic acid) as a meat preservation and tenderization technique during freezing. Beef chucks from four native bulls were collected from a local market and divided into two groups- one was treated with tasty kit and the other kept as control. Both the treated and untreated meats were well packed and kept in freezer at -20°C for a month. Compared to the untreated group, higher moisture content was found in treated raw and cooked meat (p<0.05). Significantly lower protein content (p<0.05) in treated cooked meat may be resulted from the solubilization of myofibrillar protein by salt and bicarbonate. Treated meat had a higher water-holding capacity (p<0.05), lower drip loss (p<0.05) and lower cook loss (p<0.01). During a sensory test, panellists gave significantly higher values for general appearance (p<0.01), flavour (p<0.05), colour (p<0.05), tenderness (p<0.01), juiciness (p<0.01) saltiness (p<0.01) and overall acceptability (p<0.01). It is suggested that tough chuck meat may be successfully tenderized with the salt-bicarbonate marinating technique before freezing. DOI: 10.3329/bvet.v26i1. 4628 Bangl. vet . 2009. Vol. 26, No. 1, 23-30
Tetrahydracurcumin‐related allergic contact dermatitis

A 53-year-old woman presented with a 12-month history of intermittent episodes of facial and eyelid swelling associated with a red, scaly, itchy rash that lasted for 2 weeks on each occasion. She had no previous dermatological problems, and her facial skin care regimen was limited to washing with water and application of Avon age block cream (Avon Cosmetics Limited, Northampton, UK). Patch testing to the European Standard Series and her own products was performed and showed a positive reaction to the Avon age block cream (as is) at 48 and 96 hrs. 26 individual ingredients of the product were subsequently supplied by Avon Cosmetics Limited for further patch testing with a resulting positive reaction to the compound tetrahydracurcumin (1% pet.). All other ingredients were negative on patch test. 10 controls were subsequently tested with the tetrahydracurcumin compound and found to be negative. The patient was advised to discontinue use of the cream and has since had no further reactions. Information regarding avoidance of other products containing the tetrahydracurcumin compound and its three sub-ingredients has been provided.
Plasma-to-red cell ratio and mechanism of injury in massively transfused combat casualties.

STUDY DESIGN A retrospective review of 930 combat casualties from March 2003 to September 2009 who received a massive transfusion. Mechanism was categorized as explosion (EXPL) (712), gunshot wound (GSW) (190), and blunt trauma (28). Cohorts were also categorized by fresh frozen plasma (FFP) to red blood cell (RBC) ratio: low, ≤1:1.5 and high, >1:1.5. Patient characteristics and in-hospital mortality rates were compared among groups. Propensity matching was used to control for confounding variables. RESULTS Cohorts were similar in demographics, admission vital signs, and laboratory values. Median injury severity score was higher in EXPL compared to GSW. High FFP:RBC ratio was associated with improved survival compared to low ratio in the EXPL group (p < 0.01). The GSW group had similar survival in the high and low FFP:RBC ratio groups (p = 0.06). After propensity matching, a high FFP:RBC ratio was associated with improved survival compared to low ratio in both the EXPL (p < 0.01) and GSW groups (p = 0.05). CONCLUSIONS High FFP:RBC ratios are associated with improved survival in combat casualties regardless of injury mechanism.
Intrusion Detection System Using Self Organizing Map Algorithms

With the rapid expansion of computer usage and computer network the security of the computer system has became very important. Every day new kind of attacks are being faced by industries. Many methods have been proposed for the development of intrusion detection system using artificial intelligence technique. In this paper we will have a look at an algorithm based on neural networks that are suitable for Intrusion Detection Systems (IDS). The name of this algorithm is "Self Organizing Maps" (SOM). So far, many different methods have been used to build a detector that Wide variety of different ways in the covers. Among the methods used to detect attacks in intrusion detection is done, In this paper we investigate the Self-Organizing Map method.
Peak Flow Rate in Relation to Age, Sex and Anthropometric Measurements

Abnormal peak flow rates have been observed in obstructive airway disease. During the past decade, a number of instruments and several methods have been devised for evaluation of the extent of bronchial obstruction, either by direct measurement of airway resistance or by indirect measurement of velocity of air flow and intrathoracic pressure. A simple and useful device is the Wright peak flow meter [19]. This uncomplicated apparatus can be used for rapid and accurate bedside determinations of peak expiratory flow rate (PFR). Measurement of peak flow rate by this instrument is as easily made as measurement of blood pressure by the sphygmomanometer. The simplicity of measurement of peak flow rate offered by the Wright peak flow meter is particularly advantageous for use in children. Satisfactory readings can be obtained even in very young children [S]. Clinical spirometry for recording a forced expired volume (FEV,), maximal voluntary ventilation (MVV), maximal expiratory flow rate (MEFR) and maximal midexpiratory flow (MMF) are ordinary methods for estimating the airway ob-
Colcemid and the mitotic cycle

The precise segregation of replicated chromosomes to daughter cells during mitosis depends on the formation of a bipolar spindle composed primarily of microtubules (MTs). Since MTs are highly dynamic structures whose spatial organization is critical for proper spindle function, physical and chemical agents that interfere with MT behavior invariably disrupt mitosis. Perhaps the most notable of these agents is colchicine, derived from plants of the genus Colchicum, which has long been known to be a potent inhibitor of cell division through its effects on spindle MT assembly (reviewed by Eigsti and Dustin, 1955; Dustin, 1978; Sluder, 1991). Over the years the action of colchicine, and the closely related but less-toxic compound demecolcine (Colcemid), has been mostly elucidated and other drugs (e.g. podophyllotoxin, steganacin, vinblastine, Nocodazole) have been discovered that interfere similarly with mitosis through their action on MTs (e.g. see Eigsti and Dustin, 1955; Deysson, 1968; Mareel and DeMets, 1984). The functional basis of how colchicine and Colcemid disrupt the spindle is now well understood (e.g. see Taylor, 1965; Wilson et al., 1976; Dustin, 1978; Mareel and DeMets, 1984). However, much of our knowledge of how mitosis proceeds in the presence of these drugs (C-mitosis; Levan, 1938) is based on cytological examinations of fixed cells conducted prior to 1955 (summarized by Eigsti and Dustin, 1955; Dustin, 1978). Although these pioneering studies provided fundamental data regarding the effects of colchicine/Colcemid on spindle formation in plants and animals, and established much of the terminology still used to characterize the process of C-mitosis, few addressed the ultimate fate of C-mitotics in animal tissues. Moreover, those that did failed to reach a consensus concerning the extent that colchicine/Colcemid permanently blocks cells in mitosis, or whether these drugs inhibit the disjunction (i.e. anaphasic separation) of replicated chromosomes. Both of these issues are germane to, and have been impacted by, recent and important findings on the control mechanisms by which the cell monitors progress through, and ultimately exits, mitosis (e.g. see Hartwell and Weinert, 1989; Murray and Kirschner, 1989). The aim of this commentary is to oultine the process of C-mitosis in plant and animal cells with an emphasis on new data that provide possible explanations for why various cell types behave differently during mitosis in the presence of drugs that disrupt MT function. Although our focus is on colchicine/Colcemid, many of the conclusions may be applicable to similar drugs that disrupt mitosis through their action on MTs.
MicroRNA-19a promotes nasopharyngeal carcinoma by targeting transforming growth factor β receptor 2

MicroRNA (miR), a class of small non-coding RNA, function as key regulators in gene expression through directly binding to the 3′ untranslated region of their target mRNA, which further leads to translational repression or mRNA degradation. miR-19a, a member of miR-17-92 cluster, has an oncogenic role in a variety of malignant tumors. However, the exact role of miR-19a in nasopharyngeal carcinoma (NPC) has not previously been studied. The present study aimed to investigate the function and mechanism of miR-19a in regulating the viability and invasion of NPC cells. Reverse transcription-quantitative polymerase chain reaction (RT-qPCR) data indicated that the expression levels of miR-17-92 cluster members (miR-17, miR-18a, miR-19a and miR-20a) were frequently increased in NPC tissues compared to the normal tissues. It was also demonstrated that miR-19a was significantly upregulated in NPC C666-1 cells compared to NP69 cells (P<0.01). Knockdown of miR-19a led to a significant decrease in the viability and invasion of NPC C666-1 cells (P<0.01), and induced increased protein expression levels of transforming growth factor β receptor 2 (TGFβR2), which was further identified as a direct target gene of miR-19a by using a luciferase reporter assay. Overexpression of TGFβR2 also suppressed the viability and invasion of C666-1 cells, similar to the effects of miR-19a inhibition. Furthermore, knockdown of TGFβR2 reversed the suppressive effects of miR-19a inhibition on C666-1 cell viability and invasion, suggesting that the role of miR-19a in mediating cell viability and invasion is through directly targeting TGFβR2 in NPC cells. In addition, RT-qPCR data demonstrated that the mRNA expression level of TGFβR2 was markedly reduced in NPC tissues and C666-1 cells. In summary, the present study demonstrated an oncogenic role of miR-19a in NPC via mediation of TGFβR2. Therefore, miR-19a may be a potential therapeutic target for NPC.
Disruption of Mks1 localization to the mother centriole causes cilia defects and developmental malformations in Meckel-Gruber syndrome

SUMMARY Meckel-Gruber syndrome (MKS) is a recessive disorder resulting in multiple birth defects that are associated with mutations affecting ciliogenesis. We recovered a mouse mutant with a mutation in the Mks1 gene (Mks1del64-323) that caused a 260-amino-acid deletion spanning nine amino acids in the B9 domain, a protein motif with unknown function conserved in two other basal body proteins. We showed that, in wild-type cells, Mks1 was localized to the mother centriole from which the cilium was generated. However, in mutant Mks1del64-323 cells, Mks1 was not localized to the centriole, even though it maintained a punctate distribution. Resembling MKS patients, Mks1 mutants had craniofacial defects, polydactyly, congenital heart defects, polycystic kidneys and randomized left-right patterning. These defects reflected disturbance of functions subserved by motile and non-motile cilia. In the kidney, glomerular and tubule cysts were observed along with short cilia, and cilia were reduced in number to a near-complete loss. Underlying the left-right patterning defects were fewer and shorter nodal cilia, and analysis with fluorescent beads showed no directional flow at the embryonic node. In the cochlea, the stereocilia were mal-patterned, with the kinocilia being abnormally positioned. Together, these defects suggested disruption of planar cell polarity, which is known to regulate node, kidney and cochlea development. In addition, we also showed that Shh signaling was disrupted. Thus, in the neural tube, the floor plate was not specified posteriorly even as expression of the Shh mediator Gli2 increased. By contrast, the Shh signaling domain was expanded in the anterior neural tube and anterior limb bud, consistent with reduced Gli3-repressor (Gli3R) function. The latter probably accounted for the preaxial digit duplication exhibited by the Mks1del64-323 mutants. Overall, these findings indicate that centriole localization of Mks1 is required for ciliogenesis of motile and non-motile cilia, but not for centriole assembly. On the basis of these results, we hypothesize a role for the B9 domain in mother centriole targeting, a possibility that warrants further future investigations.
Test of independence for cooperative spectrum sensing with uncalibrated receivers

In cooperative spectrum sensing networks the sensing nodes are often assumed to have the same noise power level. However, the different secondary users (SUs) could experience different temperatures, have receiver chains with different characteristics or even with a completely different architecture. Therefore, it is unlikely that they experience exactly the same noise power. In this paper we study the problem of cooperative spectrum sensing in cognitive radio (CR) networks, focusing on the case where the receivers experience different levels of noise power (uncalibrated receivers). We propose the independence test and compare it with the popular sphericity test. The independence test is in fact the generalized likelihood ratio (GLR) when the SUs are uncalibrated. We address in particular the threshold setting problem under a Neyman-Pearson framework. In order to reduce the complexity of the analysis, we approximate the test metrics as beta distributed random variables (r.v.s), by using a moment-matching approach. We provide simple and analytically tractable expressions for the computation of the probability of false alarm and for setting the decision threshold. Numerical simulations show that these approximated forms match very well the empirical distributions, allowing a very precise estimation of the probability of false alarm. In cooperative spectrum sensing with uncalibrated receivers the independence test is shown to be robust to strong imbalances of the noise power level.