Miracle-dz/UniFAR-FTUs huggingface dataset:
Ego-Noise Suppression for Robots Based on Semi-Blind Infinite Non-Negative Matrix Factorization

This paper addresses ego-motion noise suppres- sion for a robot. Many methods use motion information such as position, velocity and acceleration of each joint to infer ego-motion noise. However, such inference is not reliable since motion information and ego-motion noise are not at all times correlated. We propose a new framework for ego-motion noise suppression based on single channel processing without using any explicit motion information. In the proposed framework, ego-motion noise features are estimated in advance from an ego-motion noise input with Infinite Non-negative Matrix Fac- torization (INMF) which is a non-parametric Bayesian model. After that, the proposed Semi-Blind INMF(SB-INMF) is applied to an input signal consisting of both the target and ego- motion noise signals. The ego-motion noise features which are obtained with INMF are used as input to the SB-INMF and treated as the fixed features to extract the target signal. Finally, the target signal is extracted using newly-estimated features with SB-INMF. The proposed framework was applied to ego-motion noise suppression on two types of humanoid robots. Experimental results showed that ego-motion noise was suppressed well compared to a conventional template-based ego- motion noise suppression method using motion information, and thus it worked properly on a robot which does not have an interface to provide the robot's motion information. Index Terms— robot audition, ego-noise suppression, non- parametric Bayesian
Is Captain Kirk a natural blonde? Do X-ray crystallographers dream of electron clouds? Comparing model-based inferences in science with fiction

Scientific models and fiction have one noticeable feature in common. Their representational relation to the physical world is ambiguous. It is often not obvious whether certain elements in a model represent something in the world or are an artifact of a model’s internal structure. Fiction, too, can mimic our world to varying degrees, as fictional worlds sometimes contain historical characters or events, such as Henry VIII orr the Stonewall Riots. When we use scientific models, however, expectations of how our inferences address the world differ from interpretations of fiction. We consider scientific models to be representations that are true about something in the world. By contrast, we regard fictions as being important records of human culture, but not as true of anything in particular. Wherein is this difference grounded, and how is it justified? The increasing dependency of scientific research on mediated forms of observation and depiction makes this q question central to philosophical interest about the characteristics of scientific representation. Laboratory conditions are hardly representative of many natural phenomena that we aim to investigate through them. That is true no matter whether we talk about the development and use of model organisms (Ankeny and Leonelli, 2011), set-ups in sensory measurement (Barwich and Chang, 2015), or studies of protein synthesis (Rheinberger, 1997). From this perspective, a large part of the philosophical debate has engaged with the deep dependency of scientific inquiry on indirect modeling practices. If modern science builds on a necessarily mediated approach, how must we understand its claim of giving us access to (the fundamentals of) reality? In reply to this question, some philosophers have started comparing scientific representations with fiction to understand their potentially common basis as cognitive strategies (Suárez, 2009). Consider the case of idealizations or abstractions. These strategies provide us with scenarios of events or the behavior of entities in particular circumstances. In many cases, such as ideal gases or frictionless planes, these scenarios are not realized or realizable in the actual world. Is there something that distinguishes these scenarios from fictionalizations? 4 Is Captain Kirk a natural blonde? Do X-ray crystallographers dream of electron clouds? Comparing model-based inferences in science with fiction
Transcriptome of Proteus mirabilis in the Murine Urinary Tract: Virulence and Nitrogen Assimilation Gene Expression

ABSTRACT The enteric bacterium Proteus mirabilis is a common cause of complicated urinary tract infections. In this study, microarrays were used to analyze P. mirabilis gene expression in vivo from experimentally infected mice. Urine was collected at 1, 3, and 7 days postinfection, and RNA was isolated from bacteria in the urine for transcriptional analysis. Across nine microarrays, 471 genes were upregulated and 82 were downregulated in vivo compared to in vitro broth culture. Genes upregulated in vivo encoded mannose-resistant Proteus-like (MR/P) fimbriae, urease, iron uptake systems, amino acid and peptide transporters, pyruvate metabolism enzymes, and a portion of the tricarboxylic acid (TCA) cycle enzymes. Flagella were downregulated. Ammonia assimilation gene glnA (glutamine synthetase) was repressed in vivo, while gdhA (glutamate dehydrogenase) was upregulated in vivo. Contrary to our expectations, ammonia availability due to urease activity in P. mirabilis did not drive this gene expression. A gdhA mutant was growth deficient in minimal medium with citrate as the sole carbon source, and loss of gdhA resulted in a significant fitness defect in the mouse model of urinary tract infection. Unlike Escherichia coli, which represses gdhA and upregulates glnA in vivo and cannot utilize citrate, the data suggest that P. mirabilis uses glutamate dehydrogenase to monitor carbon-nitrogen balance, and this ability contributes to the pathogenic potential of P. mirabilis in the urinary tract.
240 GHz RF-MEMS switch in a 0.13 μm SiGe BiCMOS Technology

This paper presents an RF-MEMS switch fabricated in a 0.13 μm SiGe BiCMOS process technology for 240 GHz applications. The fabricated RF-MEMS switch provides a high capacitance Con/Coff ratio of 8.78 and beyond state of the art RF performances, 0.44 dB of insertion loss and 24.6 dB of isolation at 240 GHz. The return loss is better than 9.6 dB over the J-band (220–325 GHz). To the best of the authors' knowledge, the results achieved in this study are the lowest insertion loss and the highest isolation of a Single-Pole Single-Throw (SPST) switch reported at 240 GHz.
Quantification of Extinction Risk: IUCN's System for Classifying Threatened Species

Abstract: The International Union for Conservation of Nature (IUCN) Red List of Threatened Species was increasingly used during the 1980s to assess the conservation status of species for policy and planning purposes. This use stimulated the development of a new set of quantitative criteria for listing species in the categories of threat: critically endangered, endangered, and vulnerable. These criteria, which were intended to be applicable to all species except microorganisms, were part of a broader system for classifying threatened species and were fully implemented by IUCN in 2000. The system and the criteria have been widely used by conservation practitioners and scientists and now underpin one indicator being used to assess the Convention on Biological Diversity 2010 biodiversity target. We describe the process and the technical background to the IUCN Red List system. The criteria refer to fundamental biological processes underlying population decline and extinction. But given major differences between species, the threatening processes affecting them, and the paucity of knowledge relating to most species, the IUCN system had to be both broad and flexible to be applicable to the majority of described species. The system was designed to measure the symptoms of extinction risk, and uses 5 independent criteria relating to aspects of population loss and decline of range size. A species is assigned to a threat category if it meets the quantitative threshold for at least one criterion. The criteria and the accompanying rules and guidelines used by IUCN are intended to increase the consistency, transparency, and validity of its categorization system, but it necessitates some compromises that affect the applicability of the system and the species lists that result. In particular, choices were made over the assessment of uncertainty, poorly known species, depleted species, population decline, restricted ranges, and rarity; all of these affect the way red lists should be viewed and used. Processes related to priority setting and the development of national red lists need to take account of some assumptions in the formulation of the criteria.
Inhibiting proteasomes in human HepG2 and LNCaP cells increases endogenous androgen receptor levels.

Treating HepG2 cells with MG132 for 4 h to inhibit proteasomal activity increased androgen receptor immunoreactivity in two major bands with molecular weights of 102 and 110 kDa by 77% each (P < 0. 05). MG132 treatment also increased the overall level of polyubiquitinated proteins between 66 and 220 kDa by 140% (P < 0.05). Antiubiquitin immunoreactivity comigrating with the androgen receptor bands was also increased by MG132 treatment. Two other proteasome inhibitors, lactacystin and epoxomycin, caused similar increases in the androgen receptor in HepG2 cells. Proteosome-inhibition studies conducted in LNCaP cells also showed that the two major androgen receptor bands with molecular weights of 102 and 110 kDa were increased by 85 and 115%, respectively (P < 0. 05 for both) by MG132 treatment. Overall levels of polyubiquitinated proteins with molecular weights between 66 and 220 kDa increased 365%. Ubiquitin immunoreactivity comigrating with the androgen receptor bands was also significantly increased. Thus inhibiting proteasomes in two human androgen-responsive cell lines increases endogenous androgen receptor levels as well as androgen receptor-associated ubiquitin-modified immunoreactivity. The regulation of steady-state levels of endogenous androgen receptor by proteasomal degradation could be involved in its rapid turnover in the absence of ligand and would provide a mechanism for limiting androgen responses. A PEST sequence similar to one in the vitamin D receptor is present in the hinge region of all known mammalian androgen receptors, suggesting that it may function in proteasome-mediated androgen receptor turnover.
Dynamic control of multiple coordinated redundant robots

An approach to the control of multiple coordinated redundant robots working in an environment with obstacles is developed in which the extended task space technique is presented for establishing the dynamic equations of the coordinated redundant robots using the redundant degrees of freedom. This approach can be used to control the motion of an object while avoiding obstacles. Three subsystem error equations are generated: a position error subsystem, an internal force error subsystem, and a constraint error subsystem. The adaptive law is derived to estimate the unknown parameters of the coordinated redundant robots and the object in terms of the three error subsystem equations. >
Contemporary hybrid speciation in sculpins (Cottus spp.)

Natural hybridization between closely related taxa is frequent in many organismal groups, yet it has long been perceived as a force preventing diversification and speciation, especially so in animals. In recent years, growing evidence in favour of hybridization facilitating adaptive divergence has accumulated ( Mallet 2007 ; Mavárez & Linares 2008 ; Nolte & Tautz 2010 ). Homoploid hybrid speciation (the formation of hybrid lineages without changes in chromosome number) occurs when distinct species come into contact, hybridize, and at least in part of their range, produce hybrid swarms. If the hybrid genotypes can then colonize areas of the adaptive landscape inaccessible to ancestral species, they may eventually form new distinct lineages, reproductively isolated from their ancestors. Invasive sculpins (Cottus sp.) are one of a few good examples of homoploid hybrid speciation in animals. In this issue, Stemshorn et al. (2011) identified three distinct hybrid lineages, which have emerged out of a secondary contact situation of Cottus rhenanus and Cottus perifretum. Hybrids have recently invaded large river habitats unsuitable to ancestral species. Through the use of genetic mapping, the authors established that contrary to expectations, chromosomal rearrangements were not apparent in the hybrid lineages. In addition, different population genetic models were tested and the results suggest that contemporary gene flow from ancestral species represents an important component of the system. As such, recent and ongoing hybridization appears to be promoting the appearance of phenotypes adapted to novel environments. The examination of partially isolated lineages such as invasive hybrid sculpins should permit to identify early adaptive genetic changes before they become confounded by differences arising once speciation is complete.
Preschool executive control and sleep problems in early adolescence

ABSTRACT Objective: Although numerous studies have documented the effects of sleep loss on executive control (EC) and related abilities, research examining the impact of early EC on subsequent sleep problems is lacking. Therefore, the current study reports on a longitudinal investigation of EC in preschool as a predictor of sleep–wake problems and daytime sleepiness in early adolescence. Participants: The participants were 141 children (48.6% female) recruited from the community for a longitudinal study spanning preschool through early adolescence, with an oversampling for high sociodemographic risk (34.1% based on eligibility for public medical insurance, free or reduced lunch status, or family income-to-needs below the federal poverty line). Methods: Participants completed a battery of developmentally appropriate tasks assessing major aspects of EC (working memory, inhibitory control, flexible shifting) during a laboratory visit at age 4 years, 6 months. Participants also completed a follow-up session in early adolescence (between ages 11 years and 13.5 years; mean age = 11.82 years, SD = .62 years), during which they completed self-report measures of sleep–wake problems and daytime sleepiness. Results: Structural equation modeling results indicate that preschool EC (represented by a single latent construct) significantly negatively predicted both sleep–wake problems and daytime sleepiness in early adolescence, with poorer EC predicting greater subsequent sleep problems. Conclusions: Poorer EC abilities during the critical period of preschool may be a risk factor for later sleep problems in adolescence. Given that EC appears to be modifiable, early interventions to promote EC development may help prevent subsequent sleep problems and promote long-term health trajectories.
Dual Role of the Jak1 FERM and Kinase Domains in Cytokine Receptor Binding and in Stimulation-Dependent Jak Activation1

Jak1 is a tyrosine kinase that noncovalently forms tight complexes with a variety of cytokine receptors and is critically involved in signal transduction via cytokines. Jaks are predicted to have a 4.1, ezrin, radixin, moesin (FERM) domain at their N terminus. FERM domains are composed of three structurally unrelated subdomains (F1, F2, and F3) which are in close contact to one another and form the clover-shaped FERM domain. We generated a model structure of the Jak1 FERM domain, based on solved FERM structures and the alignments with other FERM domains. To destabilize different subdomains and to uncover their exact function, we mutated specific hydrophobic residues conserved in FERM domains and involved in hydrophobic core interactions. In this study, we show that the structural integrity of the F2 subdomain of the FERM domain of Jak1 is necessary to bind the IFN-γRα. By mutagenesis of hydrophobic residues in the hydrophobic core between the three FERM subdomains, we find that the structural context of the FERM domain is necessary for the inhibition of Jak1 phosphorylation. Thus, FERM domain mutations can have repercussions on Jak1 function. Interestingly, a mutation in the kinase domain (Jak1-K907E), known to abolish the catalytic activity, also leads to an impaired binding to the IFN-γRα when this mutant is expressed at endogenous levels in U4C cells. Our data show that the structural integrity of both the FERM domain and of the kinase domain is essential for both receptor binding and catalytic function/autoinhibition.
Time-Aware Dynamic Binary Instrumentation

The complexity of modern software systems has been rapidly increasing. Program debugging and testing are essential to ensure the correctness of such systems. Program analysis is critical for understanding system’s behavior and analyzing performance. Many program analysis tools use instrumentation to extract required information at run time. Instrumentation naturally alters a program’s timing properties and causes perturbation to the program under analysis. Soft real-time systems must fulfill timing constraints. Missing deadlines in a soft real-time system causes performance degradation. Thus, timesensitive systems require specialized program analysis tools. Time-aware instrumentation preserves the logical correctness of a program and respects its timing constraints. Current approaches for time-aware instrumentation rely on static source-code instrumentation techniques. While these approaches are sound and effective, the need for running worst-case execution time (WCET) analysis preand post-instrumentation reduces the applicability to only hard real-time systems where WCET analysis is common. They become impractical beyond microcontroller code for instrumenting large programs along with all their library dependencies. In this thesis, we introduce theory, method, and tools for time-aware dynamic instrumentation realized in DIME tool. DIME is a time-aware dynamic binary instrumentation framework that adds an adjustable bound on the timing overhead to the program under analysis. DIME also attempts to increase instrumentation coverage by ignoring redundant tracing information. We study parameter tuning of DIME to minimize runtime overhead and maximize instrumentation coverage. Finally, we propose a method and a tool to instrument software systems with quality of service (QoS) requirements. In this case, DIME collects QoS feedback from the system under analysis to respect user-defined performance constraints. As a tool for instrumenting soft real-time applications, DIME is practical, scalable, and supports multi-threaded applications. We present several case studies of DIME instrumenting large and complex applications such as web servers, media players, control applications, and database management systems. DIME limits the instrumentation overhead of dynamic instrumentation while achieving a high instrumentation coverage.
Applying a Layered Framework to Disaster Recovery

Building highly available information technology (IT) infrastructures has become critical to many corporations’ survival. However, the disaster recovery (DR) industry lacks a common enterprise framework to capitalize on the value that DR provides corporations due in part to inadequate conceptual frameworks for DR that can facilitate the alignment of corporate efforts toward corporate resiliency. To address this problem, we propose a new conceptualization for the DR of enterprise architecture. This conceptual framework comprises DR layers that describe the nature of DR and its related components from a functional and technical point of view. We discuss the benefits of these DR layers to DR teams and compare our approach to traditional thinking. Further, we present a case study, its findings, and their implications for DR. As a result, we demonstrate how our layered framework of enterprise architecture provides a unified understanding of the DR practice, which one can then use to support decision making and corporate alignment of the DR practice and its associated technology.
The influences of intrinsic motivation on execution of social behaviour within the theory of planned behaviour

The present study examined the utility of two forms of measurement of intrinsic motivation in increasing the predictive validity of the theory of planned behaviour. Self-report questionnaires were administered to school pupils (n ¼ 174), University students (n ¼ 129) and adults (n ¼ 157). The data were analysed using confirmatory factor analysis and regression analysis. Confirmatory analysis supported discriminant validity between Forms A and B measures of intrinsic motivation. In addition, hierarchical regression analysis demonstrated that Form B measure of intrinsic motivation increased effectiveness of the theory of planned behaviour in predicting intentions and social behaviour. Further, the regression analysis showed that age and past behaviour did not reduce the effects observed for intrinsic motivation. It is recommended that intrinsic motivation could increase the predictive utility of the theory of planned behaviour. Copyright # 2006 John Wiley & Sons, Ltd.
Dufour and Soret Effects on the Thermosolutal Instability of Rivlin– Ericksen Elastico–Viscous Fluid in Porous Medium

Dufour and Soret effects on the convection in a horizontal layer of Rivlin-Ericksen elastico- viscous fluid in porous medium are considered. For the porous medium, the Darcy model is used. A linear stability analysis based upon normal mode analysis is employed to find a solution of the fluid layer confined between two free boundaries. The onset criterion for stationary and oscillatory convection has been derived analytically, and graphs have been plotted, giving various numerical values to various parameters, to depict the stability characteristics. The effects of the Dufour parameter, Soret parameter, solutal Rayleigh number, and Lewis number on stationary convection have been investigated.
Vers une description et une modélisation des entrées des modèles de coût mathématiques pour l'optimisation des entrepôts de données

Les entrepots de donnees (ED) sont devenus une technologie mature. L'accentuation des demandes d'analyse est motivee par l'evolution technologique, Les nouveaux paradigmes de programmation et L'ingenierie Dirigee par les Modeles (! DM). Avant d'utiliser ces progres technologiques, l'entrepot de donnees doit etre construit et prepare pour sa bonne exploitation.La phase de construction a vu l'utilisation massive des efforts de description et de meta-modelisation afin de faciliter la definition des correspondances entre les schemas locaux des sources de donnees et le schema de l'ED et de reduire l'heterogeneite entre les sources. La phase d'exploitation et sa tâche physique, en particulier n'ont pas eu la meme utilisation des solutions de description et de meta-modelisation, bien qu'elle est consideree comme un tunnel de toutes les phases de cycle de vie de conception d,un ED. Durant cette phase; des modeles de cout mathematiques sont utilises pour quantifier la qualite des solutions proposees. Le developpement de ces derniers necessite des efforts de collection et d'analyse des parametres pertinents.Pour bien simuler le fonctionnement d'un ED, toutes les dimensions d'un SGBD doivent etre integrees. Dans cette these, nous proposons de decrire en detail ces dimensions avec des mecanismes de meta-modelisation. Vu la similarite et la hierarchisation gui existent entre les supports de stockage, nous avons developpe une ontologie de domaine dediee aux supports de stockage.Elle permet d'expliciter leurs proprietes. Les similarites entre ces supports nous a motive a hybrider le cache memoire avec les memoires flashs pour augmenter sa capacite afin de stocker un nombre important de resultats intermediaires partages par plusieurs requetes decisionnelles. La reutilisation de ces resultats permet d'augmenter la performance du SGBD. Nos contributions sont validees a l'aide des experimentations en utilisant nos modeles de cout theoriques et le SGBD Oracle.