Miracle-dz/UniFAR-FTUs huggingface dataset:
Asymptotically stable walking for biped robots: analysis via systems with impulse effects

Biped robots form a subclass of legged or walking robots. The study of mechanical legged motion has been motivated by its potential use as a means of locomotion in rough terrain, as well as its potential benefits to prothesis development and testing. The paper concentrates on issues related to the automatic control of biped robots. More precisely, its primary goal is to contribute a means to prove asymptotically-stable walking in planar, underactuated biped robot models. Since normal walking can be viewed as a periodic solution of the robot model, the method of Poincare sections is the natural means to study asymptotic stability of a walking cycle. However, due to the complexity of the associated dynamic models, this approach has had limited success. The principal contribution of the present work is to show that the control strategy can be designed in a way that greatly simplifies the application of the method of Poincare to a class of biped models, and, in fact, to reduce the stability assessment problem to the calculation of a continuous map from a subinterval of R to itself. The mapping in question is directly computable from a simulation model. The stability analysis is based on a careful formulation of the robot model as a system with impulse effects and the extension of the method of Poincare sections to this class of models.
Inversion of seismic refraction and wide-angle reflection traveltimes for three-dimensional layered crustal structure

SUMMARY We present a method for the determination of crustal structure by simultaneous inversion of seismic refraction and wide-angle reflection traveltimes for 3-D interface geometry and layer velocity. Crustal structure is represented by layers in which velocity varies linearly with depth, separated by smooth interfaces with a cubic B-spline parametrization. Lateral variations in structure are therefore represented by variations in interface depth only. The model parametrization we have chosen means that ray paths consist of piecewise circular arc segments for which analytic expressions of trajectory and traveltime are calculated. The two-point problem of finding the first-arrival ray path and traveltime of a specified phase between a given source and receiver is solved using a shooting technique. A subspace inversion method is used to solve the inverse problem, which is formulated as a non-linear optimization problem in which we seek to minimize an objective function that consists of a data residual term and a regularization term. Before performing the inversion, each data pick must be assigned as a refraction or reflection from a particular layer or interface. Since our method represents structure in terms of interfaces, fewer parameters would generally be used in a reconstruction compared to an equivalent 3-D variable-velocity inversion. The method is well suited to wide-angle surveys that consist of many sources and relatively few receivers (or vice versa), such as marine shot lines used in conjunction with land-based receivers. Data coverage in this kind of survey is often sparse and, especially if near-offset ray paths are unavailable, highly variable. A 3-D synthetic test with an array consisting of eight sources lying within a three-sided square of 79 receivers is described. The test model consists of a three-interface structure that includes a layer pinch-out, and the synthetic data set comprises 987 refraction and 930 reflection travel times contaminated with 75 ms of data noise. Six iterations of an 18-D subspace method demonstrate that the method can produce an accurate reconstruction that satisfies the data from a 1-D starting model. We also find that estimates of a posteriori model covariance and resolution obtained from linear theory are useful in analysing solution reliability despite the non-linear nature of the problem. Application of the method to data collected as part of the 1995 TASGO project in Tasmania shows that the method can satisfy 1345 refraction and reflection traveltime picks with a geologically reasonable and robust 254-parameter three-interface model. The inversion results indicate that the Moho beneath NW Tasmania varies in depth from 27 km near the coast to 37 km near central Tasmania, with the major increase in depth occurring across the Arthur Lineament.
Highest Degree Likelihood Search Algorithm Using a State Transition Matrix for Complex Networks

Since complex network theory was first put forward, the search issue for networks has drawn increasing attention from multidisciplinary researchers, and has played an important role in network study. Many practical applications require search algorithms such as searching for the shortest relationship link in social networks, seeking web sites on the Internet, and finding specified files in data sets. The key issue for these tasks is how to achieve a fast search. However, traditional random-walk-based methods cannot solve this problem effectively. In order to fast travel, a novel search algorithm which employs a highest degree likelihood approach with k hunters looking for the target simultaneously is presented for different types of complex networks. A state transition matrix is applied to explain this proposed method. We compare the proposed algorithm with the methods of forerunner in the simulation, and the results show that our algorithm performs more effectively. Finally, some applications and future challenges are discussed.
Expert versus novice interrater reliability and criterion validity of the landing error scoring system.

CONTEXT A clinical assessment tool that would allow for efficient large-group screening is needed to identify individuals potentially at risk for anterior cruciate ligament (ACL) injury. OBJECTIVE To assess the criterion validity of a jump-landing assessment tool compared with 3-dimensional (3D) motion analysis and evaluate interrater reliability across an expert vs novice rater using the Landing Error Scoring System (LESS). DESIGN Validity protocol. SETTING Controlled, laboratory. PARTICIPANTS Nineteen female (age 19.58 +/- .84 y, height 1.67 +/- .05 m, mass 63.66 +/- 10.11 kg) college soccer athletes volunteered. MAIN OUTCOME MEASUREMENT Interrater reliability between expert rater (5 y LESS experience) vs novice rater (no LESS experience). LESS scores across 13 items and total score. 3D lower extremity kinematics were reduced to dichotomous values to match LESS items. INTERVENTIONS Participants performed drop-box landings from a 30-cm height with standard video-camera and 3D kinematic assessment. RESULTS Intrarater item reliability, assessed by kappa correlation, between novice and experienced LESS raters ranged from moderate to excellent (kappa = .459-.875). Overall LESS score, assessed by intraclass correlation coefficient, was excellent (ICC(2,1) = . 835, P < . 001). Statistically significant phi correlation (P < .05) was found between rater and 3D scores for knee-valgus range of motion; however, percent agreement between expert rater and 3D scores revealed excellent agreement (range of 84-100%) for ankle flexion at initial contact, knee-flexion range of motion, trunk flexion at maximum knee flexion, and foot position at initial contact for both external and internal rotation of tibia. Moderate agreement was found between rater and 3D scores for trunk flexion at initial contact, stance width less than shoulder width, knee valgus at initial contact, and knee-valgus range of motion. CONCLUSIONS Our findings support moderate to excellent validity and excellent expert vs novice interrater reliability of the LESS to accurately assess 3D kinematic motion patterns. Future research should evaluate the efficacy of the LESS to assess individuals at risk for ACL injury.
SM37, a skeletogenic gene of the sea urchin embryo linked to the SM50 gene

The genomic DNA region that contains the SM50 gene also included a second gene that appeared to encode another skeletogenic matrix protein. The two genes were linked at a distance of about 12 kb. Based on the molecular weight of the implied protein the gene was termed SM37. The SM37 protein included a long tandem sequence of short glycine‐rich repeats that was similar to the glycine‐rich repeats included in the SM50 protein and several other skeletal matrix proteins, although the sequence of SM37 repeat was distinct. The overall structure of the SM37 protein was similar to SM50 as well. However, SM37 was only about 30% identical in amino acid sequence to SM50, and coding region probes behaved as a single copy sequence under standard conditions. The SM37 gene included the same cis‐regulatory elements as the SM50 gene, although in a different order with respect to transcription. This gene was regulated coordinately with SM50 during development, and like SM50 was expressed exclusively in skeletogenic mesenchyme lineages.
Evidence On The Incremental Information-Content Of Additional Firm Disclosures Made Concurrently With Earnings

The purpose of this study is to assess the incremental information content of additional firm disclosures released concurrently with the announcement of annual earnings. More specifically, we examine the Dow Jones News Retrieval Service for all disclosures made by sample firms over a two-trading-day window commencing with the trading day on which a firm's annual earnings announcement appears. As described later in greater detail, these disclosures include components of earnings, dividend announcements, qualitative comments by officers, operating data such as order backlogs and capital spending, announcement of stock splits, and more. By incremental information content we mean information content beyond that contained in the announcement of earnings per se. We measure information content in the form of a statistically significant association between categorical and continuous disclosure
An investigation on piezoresistive behavior of carbon nanotube/polymer composites: II. Positive piezoresistive effect

Due to the diversity of carbon nanotubes (CNTs), polymers, and the preparation processes of the composites, CNT-filled polymeric composites present various piezoresistive properties. One puzzling issue is the concurrence of a negative piezoresistive effect and a positive piezoresistive effect in composites with different polymer matrixes. In this paper, we present a microscopic view of the nature of the positive piezoresistive effect and its dependence on the polymer matrix types based on the model in our previous study, in which the piezoresistive behavior was tailored by a parameter—the average junction gap variation (AJGV)—describing the statistical property of the CNT conductive network. The microscopic movement process of CNTs embedded in a polymer matrix was analyzed and then the Poisson’s ratio of the polymer matrix was determined as a key factor that is in charge of negative or positive piezoresistive properties. The obstacle effect of polymer chains on the movement of CNTs was also found to be responsible for the positive piezoresistive effect as it affects the AJGV in compressive strain. Based on numerical simulations of CNT network deformation with different Poisson’s ratios and minimum junction gaps caused by the obstacle effect, the positive piezoresistive effect was found resulted from the obstacle effect on CNT junction gap variations that exceeds the initial value of the AJGV caused by the CNT network deformation, and only occur under the precondition of the polymer matrixes with a large Poisson’s ratio close to 0.5. The conclusions were then verified experimentally using composites with two kinds of polymer matrixes with significantly different Poisson’s ratios.
Mothering work and emerging adult children.

BACKGROUND Mothering is a major occupational role for many women however the research to date tends to focus on the transition to parenthood and mothering young children. Missing from the literature is an exploration of mothering beyond the early years of a child's life. OBJECTIVE This qualitative research study uses grounded theory methods to explore the experience of mothering typically developing emerging adult children. METHODS In-depth semi structured interviews and a focus group were conducted with 14 women between the ages of 47-63 years old with at least one child who was between the ages of 18-29 years old (an emerging adult). All of the participants were living in the Midwestern United States. The goal of this study is to explore how mothering experience changes and evolves over time. RESULTS Findings presented here focus on the work of mothering emerging adult children and the themes include providing a listening ear, emotional and financial support, and worrying. CONCLUSIONS The findings illuminate a beginning understanding of the work involved with mothering children at this stage and add to Ruddick's theories on maternal practice.
Energy-efficient resource optimization in OFDMA-based dense femtocell networks

Femtocells have attracted growing attentions in academia, industry, and standardization forums in recent years. In this paper, we investigate a distributed radio resource allocation scheme to maximize the energy-efficiency in uplink OFDMA dense femtocell networks. We model the subchannel allocation and power control problem as a non-cooperation game. Due to the fact that joint subchannel allocation and power control problem is NP-hard, for decreasing the complexity, we decompose the resource allocation problem into two subproblems. A distributed subchannel allocation algorithm and an optimal power allocation algorithm are proposed to resolve the resource allocation problem. Simulation results show the proposed algorithm has better performance in terms of throughput and energy-efficiency.
Coordination of Bulk Energy Storages and Demand Response

The intermittent nature of wind generation will lead to greater demands for operational flexibility. Traditionally, reserves came 14 from conventional power plants provide the majority of additional required flexibility leading to higher efficiency losses due to 15 technical restrictions of such units. Recently, demand response programs and emerging utility-scale energy storages gained much 16 attention as other flexible options. Under this perspective, this paper proposes a robust optimization scheduling framework to 17 derive an optimal unit commitment decision in systems with high penetration of wind power incorporating demand response 18 programs as well as bulk energy storages in co-optimized energy and reserve markets. In this regard, an improved demand 19 response model is presented using the economic model of responsive loads based on customer’s behavior concept that gives 20 choice right opportunity to customers in order to participate in their desired demand response strategy. Moreover, bulk energy 21 storages are considered to be as active market participants. Computational results demonstrate how coordinated operation of 22 different type of demand response programs and bulk energy storages can help accommodate wind power uncertainty from the 23
The accuracy of pre-operative imaging in the management of hepatic cysts.

BACKGROUND Biliary cystic tumours (BCT) [biliary cystadenoma (BCA) and cystadenocarcinoma (BCAC)] warrant complete resection. Simple liver cysts (SLC) require fenestration when symptomatic. Distinguishing between BCT and atypical SLC with pre-operative imaging is not well studied. METHODS All patients undergoing surgery for a pre-operative suspected SLC or BCT between 1992 and 2014 were included. Peri-operative data were retrospectively reviewed. A blind radiological review of pre-operative imaging was performed. RESULTS Ninety-four patients underwent fenestration (n = 54) or complete excision (n = 40). Final pathology was SLC (n = 74), BCA (n = 15), BCAC (n = 2) and other primary malignancies (n = 3). A frozen section (FS) was performed in 36 patients, impacting management in 10 (27.8%) by avoiding (n = 1) or mandating a liver resection (n = 9). Frozen section results were always concordant with final pathology. Upon blind review, a solitary lesion, suspicious intracystic component, septation and biliary dilatation were associated with BCT (P < 0.05). Diagnostic sensitivity was high (87.5-100%) but specificity was poor (43.1-53.4%). The diagnostic value of imaging was most accurate when negative for BCT (negative predictive value: 92.5-100%). CONCLUSION Radiological assessment of hepatic cysts is relatively inaccurate as SLC frequently present with concerning features. In the absence of a strong suspicion of malignancy, fenestration and FS should be considered prior to a complete resection.
Seroprevalence rates of HPyV6, HPyV7, TSPyV, HPyV9, MWPyV and KIPyV polyomaviruses among the healthy blood donors

Human polyomaviruses HPyV6, HPyV7, TSPyV, HPyV9, MWPyV, and KIPyV have been discovered between 2007 and 2012. TSPyV causes a rare skin disease trichodysplasia spinulosa in immunocompromised patients, the role of remaining polyomaviruses in human pathology is not clear. In this study, we assessed the occurrence of serum antibodies against above polyomaviruses in healthy blood donors. Serum samples were examined by enzyme‐linked immunoassay (ELISA), using virus‐like particles (VLPs) based on the major VP1 capsid proteins of these viruses. Overall, serum antibodies against HPyV6, HPyV7, TSPyV, HPyV9, MWPyV, and KIPyV were found in 88.2%, 65.7%, 63.2%, 31.6%, 84.4%, and 58%, respectively, of this population. The seroprevalence generally increased with age, the highest rise we observed for HPyV9 and KIPyV specific antibodies. The levels of anti‐HPyV antibodies remained stable across the age‐groups, except for TSPyV and HPyV9, where we saw change with age. ELISAs based on VLP and GST‐VP1 gave comparable seroprevalence for HPyV6 antibodies (88.2% vs.85.3%) but not for HPyV7 antibodies (65.7% vs. 77.2%), suggesting some degree of crossreactivity between HPyV6 and HPyV7 VP1 proteins. In conclusion, these results provide evidence that human polyomaviruses HPyV6, HPyV7, TSPyV, HPyV9, MwPyV, and KIPyV circulate widely in the Czech population and their seroprevalence is comparable to other countries. J. Med. Virol. 88:1254–1261, 2016. © 2015 Wiley Periodicals, Inc.
Shank-rearfoot joint coupling in young adults with chronic ankle instability: a cross-correlation analysis.

AIM Chronic ankle instability (CAI) has been associated with changes in gait kinematics which may be associated with the continued instability in this population. Abnormalities in shank-rearfoot joint coupling during gait may be associated with CAI. Cross-correlation analysis provides an estimate of both synchronous and asynchronous coherency between shank and rearfoot motion during gait. The aim of this study was to identify the coupling relationship between transverse plane shank and frontal plane rearfoot motion throughout the entire gait cycle using cross-correlation analysis. METHODS Twenty-eight active adults (CAI, N.=15, control, N.=13) participated. Using a 12-camera motion analysis system and an instrumented treadmill, shank rotation and rearfoot inversion/eversion kinematics were collected during walking and jogging. Cross-correlation coefficients with lag times ranging from +15% to -15% were generated from subject means across three strides and compared between the healthy and CAI groups at each speed. RESULTS During walking, the CAI group demonstrated stronger cross-correlation coefficients than the control group from lag +10 to +15 (P<0.05). Likewise, during jogging, the CAI group exhibited stronger cross-correlation coefficients than the control group at lags +6 to +15 (P<0.05). CONCLUSION The CAI group demonstrated stronger asynchronous coupling relationships between shank rotation and rearfoot inversion-eversion than the control group during both walking and jogging. The more pronounced coupling behavior in the CAI group may indicate less functional variability in shank and rearfoot kinematics during gait due to a more constrained and less adaptable sensorimotor system.
A Decision Support Tool for Vehicle Infrastructure Integration: Understanding Information Effects and Advancing Data Fusion Algorithms for Traffic Management Applications

This research seeks to explore vehicle-to-vehicle information networks to understand the interplay between the information communicated and traffic conditions on the network. A longer-term goal is to develop a decision support tool for processing and storage of large amount of real-time (probe) data for advancing the state of the art in Vehicle Infrastructure Integration (VII). The fundamental concept in VII is that the (probe) vehicles serve as data collectors and anonymously transmit traffic information to transportation agencies to facilitate proactive strategies for traffic management and safety. The project develops new data fusion algorithms for travel time estimation and online stochastic routing which provides a clear representation of the benefit of information exchange between vehicles in VANETs. A Vehicular Ad Hoc Network (VANET) is composed of smart vehicles in which advanced wireless communication equipment are installed so that inter-vehicular communications are enabled. As a newly emerging paradigm of the Advanced Traveler Information Systems (ATIS), the VANET has received significant interest recently. There are many challenging research topics in this promising area, which can be grouped into two major categories. The first category includes the issues regarding the performance of the communication networks; for example, the network connectivity, the communication capacity, the broadcasting protocol, and so on. The second category comprises issues about traffic networks such as traffic data or information fusion, and online routing. This study focuses on building the information fusion framework to predict the short-term link travel time distribution with the real-time travel-time information provided by a VANET.
Development of Useful Biomaterial for Bone Tissue Engineering by Incorporating Nano-Copper-Zinc Alloy (nCuZn) in Chitosan/Gelatin/Nano-Hydroxyapatite (Ch/G/nHAp) Scaffold

Ceramic and metallic nanoparticles can improve the mechanical and biological properties of polymeric scaffolds for bone tissue engineering (BTE). In this work, nanohydroxyapatite (nHAp) and nano-copper-zinc alloy (nCuZn) were added to a chitosan/gelatin (Ch/G) scaffold in order to investigate the effects on morphological, physical, and biocompatibility properties. Scaffolds were fabricated by a freeze-drying technique using different pre-freezing temperatures. Microstructure and morphology were studied by scanning electron microscopy (SEM), glass transition (Tg) was studied using differential scanning calorimetry (DSC), cell growth was estimated by MTT assay, and biocompatibility was examined in vitro and in vivo by histochemistry analyses. Scaffolds and nanocomposite scaffolds presented interconnected pores, high porosity, and pore size appropriate for BTE. Tg of Ch/G scaffolds was diminished by nanoparticle inclusion. Mouse embryonic fibroblasts (MEFs) cells loaded in the Ch/G/nHAp/nCuZn nanocomposite scaffold showed suitable behavior, based on cell adhesion, cell growth, alkaline phosphatase (ALP) activity as a marker of osteogenic differentiation, and histological in vitro cross sections. In vivo subcutaneous implant showed granulation tissue formation and new tissue infiltration into the scaffold. The favorable microstructure, coupled with the ability to integrate nanoparticles into the scaffold by freeze-drying technique and the biocompatibility, indicates the potential of this new material for applications in BTE.