Miracle-dz/UniFAR-FTUs huggingface dataset:
A real-time optimal energy-saving walking pattern generator based on gradient descent method and linear quadratic control

ABSTRACT Many recent approaches have successfully generated a stable walking pattern for biped robots, but discussions about its optimization are relatively few. In this paper, a Center of Gravity (COG) trajectory optimization method is proposed to minimize the cost function of joint torque, joint limit, and joint speed limit. The linear quadratic control-based inverted pendulum controller optimizes the COG trajectories in sagittal and lateral directions with the COG height trajectory. The COG height trajectory is optimized by finding the derivative of the cost function with respect to the COG height offline. Then the proposed walking pattern generator builds the COG height trajectory database of different walking steps for online connection of a walking pattern. The walking pattern generator is verified by experiments and simulations of different step cycles with our humanoid robot, NINO, and it can clearly reduce the required joint torque of the robot while walking. In addition, compared with the fixed COG height trajectory, the energy consumption is reduced by 14% from the experimental results. Thus, the method succeeds in generating a more energy-saving walking pattern. GRAPHICAL ABSTRACT
The Experience of Caregivers Living with Cancer Patients: A Systematic Review and Meta-Synthesis

The objectives of this meta-synthesis were to: (1) explore the experience of caregivers who were caring for cancer patients, including their perceptions and responses to the situation; and (2) describe the context and the phenomena relevant to the experience. Five databases were used: CINAHL, MEDLINE, Academic Search, Science Direct, and a Thai database known as the Thai Library Integrated System (ThaiLIS). Three sets of the context of the experience and the phenomena relevant to the experience were described. The contexts were (1) having a hard time dealing with emotional devastation; (2) knowing that the caregiving job was laborious; and (3) knowing that I was not alone. The phenomenon showed the progress of the caregivers’ thoughts and actions. A general phenomenon of the experience—balancing my emotion—applied to most of the caregivers; whereas, more specific phenomenon—keeping life as normal as possible and lifting life above the illness—were experienced by a lesser number of the caregivers. This review added a more thorough explanation of the issues involved in caregiving for cancer patients. A more comprehensive description of the experience of caregiving was described. The findings of this review can be used to guide clinical practice and policy formation in cancer patient care.
Neuromuscular adjustments of the knee extensors and plantar flexors following match-play tennis in the heat

Objectives This study tested the hypothesis that impairments in lower limb maximal strength and voluntary activation (VA) are exacerbated following match-play tennis in hot compared with cool conditions. Methods Torque and VA were evaluated during brief (5 s) and sustained (20 s) maximal voluntary isometric contractions of the knee extensors (KE) and plantar flexors (PF) in 12 male tennis players before (pre) and after (post, 24 h and 48 h) ∼115 min of play in hot (∼37°C) and cool (∼22°C) conditions. Results Rectal temperature was higher following play in hot than in cool (∼39.2 vs ∼38.5°C; p<0.05). Torque production decreased from prematch to postmatch during the brief and sustained contractions in hot (KE: ∼22%; PF: ∼13%) and cool (KE: ∼9%, PF: ∼7%) (p<0.05). KE strength losses in hot were greater than in cool (p<0.05) and persisted for 24 h (p<0.05). Postmatch brief and sustained KE VA was lower in hot than in cool (p<0.05), in which VA was maintained. PF VA was maintained throughout the protocol. Peak twitch torque and maximum rates of torque development and relaxation in the KE and PF were equally reduced postmatch relative to prematch in hot and cool conditions (p<0.05), and were restored near baseline within 24 h. Conclusions Neuromuscular system integrity of the lower limbs is compromised immediately following match-play tennis in hot and cool conditions due to the development of peripheral fatigue. The larger and persistent KE strength losses observed under heat stress are associated with greater levels of central fatigue especially during sustained contractions.
Compactness results in Symplectic Field Theory

This is one in a series of papers devoted to the foundations of Symplectic Field Theory sketched in (4). We prove compactness results for moduli spaces of holomorphic curves arising in Symplectic Field Theory. The theorems generalize Gromov's compactness theorem in (8) as well as compactness theorems in Floer homology theory, (6, 7), and in contact geometry, (9, 19).
SWATAC: A Sentiment Analyzer using One-Vs-Rest Logistic Regression

This paper describes SWATAC, a system built for SemEval-2015’s Task 10 Subtask B, namely the Message Polarity Classification Task. Given a tweet, the system classifies the sentiment as either positive, negative, or neutral. Several preprocessing tasks such as negation detection, spell checking, and tokenization are performed to enhance lexical information. The features are then augmented with external sentiment lexicons. Classification is done with Logistic Regression using a one-vsrest configuration. For the test runs, the system was trained using only the provided training tweets. The classifier was successful, with an F1 score of 58.43 on the official 2015 test data, and an F1 score of 66.64 on the Twitter 2014 progress data.
Making web annotations persistent over time

As Digital Libraries (DL) become more aligned with the web architecture, their functional components need to be fundamentally rethought in terms of URIs and HTTP. Annotation, a core scholarly activity enabled by many DL solutions, exhibits a clearly unacceptable characteristic when existing models are applied to the web: due to the representations of web resources changing over time, an annotation made about a web resource today may no longer be relevant to the representation that is served from that same resource tomorrow. We assume the existence of archived versions of resources, and combine the temporal features of the emerging Open Annotation data model with the capability offered by the Memento framework that allows seamless navigation from the URI of a resource to archived versions of that resource, and arrive at a solution that provides guarantees regarding the persistence of web annotations over time. More specifically, we provide theoretical solutions and proof-of-concept experimental evaluations for two problems: reconstructing an existing annotation so that the correct archived version is displayed for all resources involved in the annotation, and retrieving all annotations that involve a given archived version of a web resource.
A Reconfigurable Analog VLSI Neural Network Chip

1024 distributed-neuron synapses have been integrated in an active area of 6.1 mm × 3.3 mm using a 0.9 µm, double-metal, single-poly, n-well CMOS technology. The distributed-neuron synapses are arranged in blocks of 16, which we call '4 × 4 tiles'. Switch matrices are interleaved between each of these tiles to provide programmability of interconnections. With a small area overhead (15 %), the 1024 units of the network can be rearranged in various configurations. Some of the possible configurations are, a 12-32-12 network, a 16-12-12-16 network, two 12-32 networks etc. (the numbers separated by dashes indicate the number of units per layer, including the input layer). Weights are stored in analog form on MOS capacitors. The synaptic weights are usable to a resolution of 1 % of their full scale value. The limitation arises due to charge injection from the access switch and charge leakage. Other parameters like gain and shape of nonlinearity are also programmable.
A Hand Full of Numbers: A Role for Offloading in Arithmetics Learning?

Finger counting has been associated to arithmetic learning in children. We examined children with (n = 14) and without (n = 84) mathematics learning difficulties with ages between 8 and 11 years. Deficits in finger gnosia were found in association to mathematical difficulties. Finger gnosia was particularly relevant for the performance in word problems requiring active manipulation of small magnitudes in the range between 1 and 10. Moreover, the deficits in finger gnosia could not be attributed to a shortage in working memory capacity but rather to a specific inability to use fingers to transiently represent magnitudes, tagging to be counted objects, and reducing the cognitive load necessary to solve arithmetic problems. Since finger gnosia was more related to symbolic than to non-symbolic magnitude processing, finger-related representation of magnitude seems to be an important link for learning the mapping of analog onto discrete symbolic magnitudes.
Cooperative Heterogeneous Multi-Robot Systems

The emergence of the Internet of things and the widespread deployment of diverse computing systems have led to the formation of heterogeneous multi-agent systems (MAS) to complete a variety of tasks. Motivated to highlight the state of the art on existing MAS while identifying their limitations, remaining challenges, and possible future directions, we survey recent contributions to the field. We focus on robot agents and emphasize the challenges of MAS sub-fields including task decomposition, coalition formation, task allocation, perception, and multi-agent planning and control. While some components have seen more advancements than others, more research is required before effective autonomous MAS can be deployed in real smart city settings that are less restrictive than the assumed validation environments of MAS. Specifically, more autonomous end-to-end solutions need to be experimentally tested and developed while incorporating natural language ontology and dictionaries to automate complex task decomposition and leveraging big data advancements to improve perception algorithms for robotics.
Prognostic Value of Ki-67 in Breast Cancer Patients with Positive Axillary Lymph Nodes: A Retrospective Cohort Study

Introduction Ki-67 expression is a biomarker for proliferation. Its prognostic value is recognized in breast cancer (BC) patients with negative axillary nodes, but is less clear in BC patients with positive axillary lymph nodes. Methods We retrospectively reviewed the medical records of 1131 Chinese BC patients treated from January 2002 to June 2007 and 450 patients met the inclusion criteria: positive nodes, adjuvant therapy, and complete biomarker profile (estrogen receptor (ER), progesterone receptor (PR), HER2, p53, Ki-67). Univariate and multivariate regression analysis were used to correlate biomarkers and tumor characteristics with metastasis free survival (MFS) and overall survival (OS). Results Median follow-up time was 46 months (range 5–76 months). The Ki-67 expression was associated significantly with histological grade, ER, PR, HER2, and P53 status (P<0.05). Tumor stage, nodal stage, and ER status were independent prognostic factors for MFS. Ki-67 status was associated significantly with OS but not MFS. To determine whether the extent of LN involvement in the BC patients influenced the role of Ki-67 in survival rates, we compared these variables in patients with 1–3 positive lymph nodes (N1) to those of patients with ≥4 positive lymph nodes. Ki-67 status was an independent prognostic factor for MFS (Hazard Ratio, 3.27, P = 0.026) and overall survival (HR, 10.64, P = 0.007) in patients with 1–3 positive nodes (N1). Conclusions The possibility that Ki-67 expression together with clinical factors can improve prediction of the prognosis of BC patients with 1∼3 positive axillary lymph nodes warrants further studies.
RXTE observations of the low/hard state X‐ray outburst of the new X‐ray transient SWIFT J1753.5−0127

We present the results of the analysis of Rossi X-ray Timing Explorer (RXTE) observations of the new X-ray transient, SWIFT J1753.5-0127, during its outburst in 2005 July. The source was caught at the peak of the burst with a flux of 7.19e-09 erg s -1 cm -2 in the 3-25 keV energy range and observed until it decreased by about a factor of 10. The photon index of the power-law component, which is dominant during the entire outburst, decreases from ∼1.76 to 1.6. However, towards the end of the observations the photon index is found to increase, indicating a softening of the spectra. The presence of an ultrasoft thermal component, during the bright phases of the burst, is clear from the fits to the data. The temperature associated with this thermal component is 0.4 keV. We believe that this thermal component could be due to the presence of an accretion disc. Assuming a distance of 8.5 kpc, L x /L Edd ≃ 0.05 at the peak of the burst, for a black hole of mass 10 M ⊙ . The source is found to be locked in the low/hard state during the entire outburst and likely falls in the category of the X-ray transients that are observed in the low/hard state throughout the outburst. We discuss the physical scenario of the low/hard state outburst for this source.
Holography and entropy bounds in the plane wave matrix model

As a quantum theory of gravity, matrix theory should provide a realization of the holographic principle, in the sense that a holographic theory should contain one binary degree of freedom per Planck area. We present evidence that Bekenstein's entropy bound, which is related to area differences, is manifest in the plane wave matrix model. If holography is implemented in this way, we predict crossover behavior at strong coupling when the energy exceeds N{sup 2} in units of the mass scale.
Annotation: An Approach for Building Semantic Web Library

In this paper, we describe the semantic annotation process for developing a semantic web application to a university's library. Semantic annotation is the step that adds the effectiveness and reality to the semantic web application. It is annotating the documents published and distributed throughout the Web. The semantic annotation in this paper concerns about the research papers of the university's faculty. Semantic annotation is nothing but tagging the instances data of ontology already created with classes then map in to the related ontology classes. Here we are going to use two tools for building annotation library, these tools are: OntoMat and OntoStudio,.
An Integral-Type Multiple Lyapunov Functions Approach for Switched Nonlinear Systems

An integral-type multiple Lyapunov functions (MLFs) approach for switched nonlinear systems is set up for the first time, which gives a more general condition for analyzing the behavior of switched nonlinear systems since the Branicky's nonincreasing condition is no longer assumed and the generalized MLFs condition is a special case of the condition provided. Meanwhile, based on the integral-type MLFs approach, global stabilization for a class of switched nonlinear systems in p-normal form is achieved by constructing state-feedback controllers of subsystems and a proper switching law, where the solvability of the problem under study for individual subsystems is not assumed. Two examples are also provided to demonstrate the effectiveness of the proposed design method.
The Self-Explanation Principle in Multimedia Learning

Abstract Learning in multimedia environments is hard because it requires learners to actively comprehend and integrate information across diverse sources and modalities. Self-explanation is an effective learning strategy that helps learners develop deep understanding of complex phenomena and could be used to support learning from multimedia. Researchers have established the benefits of self-explaining across many domains for a range of ages and learning contexts (including multimedia situations). This research demonstrates that some learners are natural self-explainers and also indicates that learners can be trained to self-explain. However, even when trained, there remain large individual differences in effective self-explaining. Additional support, which may be afforded by multimedia environments, appears to be needed for engaging some learners in this activity. This chapter reviews related literature and explores the relationship between multimedia learning and self-explaining. Introduction Multimedia learning environments have the potential to substantially improve student learning compared to single media (Mayer & Moreno, 2002; Najjar, 1996). Controlled studies that compare multimedia (e.g, combinations of text and illustrations or narration and animation) with single media resources have found that students learn better from a combination of media, provided that the materials are well-designed (Goldman, 2003; Mayer, 1993; Mayer & Anderson, 1991; Mayer & Gallini, 1990; Mayer, Heiser, & Lonn, 2001).
Enhanced Compressive Downlink CSI Recovery for FDD Massive MIMO Systems Using Weighted Block ${\ell _1}$-Minimization

This paper proposes a new compressive sensing-based downlink channel state information (CSI) estimation scheme for frequency division duplexing (FDD) massive multiple-input multiple-output (MIMO) systems. The proposed scheme, which involves two-stage weighted block ℓ1-minimization, exploits the block sparse nature of the angular domain representation of the MIMO channel matrices and the existence of common scattering paths in the realistic propagation environment. In the first stage of the implemented scheme, a conventional block ℓ1-minimization program is solved to extract the information about the common/individual supports of the multiuser channel matrices. In the second stage, a weighted block ℓ1-minimization algorithm, the weighting coefficients of which are suitably chosen to exploit the acquired support information, is used to estimate the channel matrices. The analytic performance guarantees of the proposed scheme are specified based on the block restricted isometry property of the sensing matrix. Specifically, the upper bounds of the ℓ2-norm reconstruction error are derived using various assumptions regarding the weighting. The obtained analytical results enable a discussion of the selection of weighting coefficients to enhance the CSI estimation performance, and the determination of a sufficient condition under which the proposed scheme outperforms the unweighted naive solution. Computer simulations show that the proposed method achieves higher estimation accuracy as compared to an existing greedy-based algorithm.
Random Walk Model by Brendl , Markman , and Messner ( 2000 )

It is argued that a model of goal-independent spreading activation in a social or semantic knowledge structure is insufficient to explain implicit association effects in the IAT (Greenwald, McGhec, & Schwartz, 1998). An alternative account is proposed, which attributes IAT effects to differential costs for switching between task sets. Two experiments were conduced to test this account. In Experiment 1, specific task-set switching cost was a knction of TAT condition: switching between tasks was associated with significantly more cost in the incompatible IAT phase, In a second experiment the magnitude of the IAT effect was reduced when task-set reconfiguration was possible in advance of or simultaneously with the upcoming stimulus. The results are discussed with respect to recently suggested accounts of the effect.
The Cycad Genotoxin MAM Modulates Brain Cellular Pathways Involved in Neurodegenerative Disease and Cancer in a DNA Damage-Linked Manner

Methylazoxymethanol (MAM), the genotoxic metabolite of the cycad azoxyglucoside cycasin, induces genetic alterations in bacteria, yeast, plants, insects and mammalian cells, but adult nerve cells are thought to be unaffected. We show that the brains of adult C57BL6 wild-type mice treated with a single systemic dose of MAM acetate display DNA damage (O 6-methyldeoxyguanosine lesions, O 6-mG) that remains constant up to 7 days post-treatment. By contrast, MAM-treated mice lacking a functional gene encoding the DNA repair enzyme O 6-mG DNA methyltransferase (MGMT) showed elevated O 6-mG DNA damage starting at 48 hours post-treatment. The DNA damage was linked to changes in the expression of genes in cell-signaling pathways associated with cancer, human neurodegenerative disease, and neurodevelopmental disorders. These data are consistent with the established developmental neurotoxic and carcinogenic properties of MAM in rodents. They also support the hypothesis that early-life exposure to MAM-glucoside (cycasin) has an etiological association with a declining, prototypical neurodegenerative disease seen in Guam, Japan, and New Guinea populations that formerly used the neurotoxic cycad plant for food or medicine, or both. These findings suggest environmental genotoxins, specifically MAM, target common pathways involved in neurodegeneration and cancer, the outcome depending on whether the cell can divide (cancer) or not (neurodegeneration). Exposure to MAM-related environmental genotoxins may have relevance to the etiology of related tauopathies, notably, Alzheimer's disease.
A novel adaptive leakage suppression method for UHF RFID reader

In this paper, a novel adaptive leakage suppression method (LSM) for ultra-high frequency radio frequency identification reader is proposed. The leaking power is reflected instead of absorbed to avoid saturating baseband circuits. The principle and application of this LSM based on selected power reflection actively controlled by digital baseband are discussed. The RF front-end is fabricated in a 0.13um CMOS mix-signal process and verified in a RFID reader transceiver prototype, which is composed by an NI SDR platform. The on-chip module dissipates 31.5mW from a 3.3V supply. Experiment results show that more than 44% of leaking power is reflected and an 87dB leakage suppression is achieved at a maximum transmitting power of 32dBm.
Techniques for Bug-Code Linking

Diverse research groups have identified that analyzing the bugs-to-code fix links may generate many interesting theories. However, this kind of datasets are usually not easily available from the software development projects. Usually, the bug tracking and the related code fix activities are divided into separate processes and use separated repositories thus complicating the linking of the data. Numerous techniques have been developed but we still lack the empirical data collected with standard data collection procedures. In this paper we examine the effectiveness of the bug linking techniques. In particular we evaluate the proposed technique based on the regular expressions and compare its effectiveness with other known bug linking techniques. Our case study shows that the proposed technique is equally effective as some other already proposed techniques in eliminating the linking bias we identified some differences that may have influence on the linking precision. However, the technique is not addressing data quality issues that may be present in software repositories.