Miracle-dz/UniFAR-FTUs huggingface dataset:
Posture and Vibration Control Based on Virtual Suspension Model for Multi-Legged Walking Robot

Until now, studies on suspension control by using frequency response analysis that have been reported are almost for motorcar, but not for multi-legged walking robot. However, because of the disturbances, such as the various frequency properties of terrain, the collision and the slip between foot of robot and ground, the dynamic changes of the supported weight by each leg and the centre of gravity of robot with the change of the walking pattern, tiny vibration of robot's body occur when robot walks, especially on rough terrain. This tiny vibration can become unstable big vibration when the above disturbances to the posture of robot exist, which will influence normal walk and work of robot. Recently there are some studies about the posture control of multi-legged walking robot (Shin-Min Song & Keneth J.Waldron, 1989); (Kan Yoneda, et al, 1994); (Qingjiu Huang, et al, 2000); (Qingjiu Huang & Kenzo Nonami, 2002); (Qingjiu Huang, et al, 2003), but no any study on the tiny vibration control of robot's body. Moreover, only posture control can not effectively decrease the tiny vibration of body when robot walks, especially on rough terrain. Therefore, it is necessary to study suspension and its control algorithm to decrease the tiny vibration of body for multilegged walking robot. In this chapter, we treat a six-legged walking robot as a study example of the multi-legged walking robot, and introduce the newest study on a control for the posture and vibration of the robot using suspension mechanism to realize the better stability and the better adaptability of its walking for unknown rough terrain. On the other hand, until now most reported studies on suspension control are performed on the basis of real suspension model with spring and damper (Nurkan Yagiz, et al, 2000); (Makoto Yokoyama, et al, 2001). However, for large scale multi-DOF system, such as multilegged walking robots, it is difficult to equip lots of springs and dampers to the robot. Therefore, in this chapter, we introduce a new control method for the posture and vibration of the six-legged walking robot (Qingjiu Huang, et al, 2007), which is based on not a real suspension model but a virtual suspension model consisting of virtual spring and damper. And then considering the nonlinear disturbances and trade-off problem in the design of suspension, a robust control using sliding mode control based on the constructed virtual suspension model for the posture and vibration of the six-legged walking robot is proposed and introduced. O pe n A cc es s D at ab as e w w w . ite ch on lin e. co m
A Study on the Cloud Simulation with a Network Topology Generator

— CloudSim is a useful tool to simulate the cloud environment. It shows the service availability, the power consumption, and the network traffic of services on the cloud environment. Moreover, it supports to calculate a network communication delay through a network topology data easily. CloudSim allows inputting a file of topology data, but it does not provide any generating process. Thus, it needs the file of topology data generated from some other tools. The BRITE is typical network topology generator. Also, it supports various type of topology generating algorithms. If CloudSim can include the BRITE, network simulation for clouds is easier than existing version. This paper shows the potential of connection between BRITE and CloudSim. Also, it proposes the direction to link between them.
Pharmacogenetic considerations for late life depression therapy

Introduction: Geriatric depression is a heterogeneous disorder with a complex genetic background. Current first-line treatment of depression is associated with a lower therapeutic outcome in aged depressed patients, when compared to younger subjects. Research which has explored this inadequate response has highlighted several factors which have come into play with the pharmacogenetics of antidepressants in the elderly being a particular area of interest. Areas covered: The authors perform a critical review of the English language articles from PubMed using search terms such as late-life/geriatric depression, antidepressants, pharmacogenetics, pharmacogenomics, pharmacokinetic, genetic, genotype, remission, therapy, treatment and polymorphism. Expert opinion: The emerging clinical and pharmacogenetic data are slowly unveiling the importance of the genome – age interaction in antidepressant response. This data introduces a critical new parameter in personalized medicine. A profound analysis of the age factor in the pharmacogenetics of antidepressant response is imperative, in order to elucidate the clinical significance of these findings and thereby improve patient treatment in the elderly.
Structural and optical characterization of single nanoparticles and single molecule SERS

Although plasmonic nanoparticles are widely utilized in spectroscopy and sensing applications, a quantitative structure-function relationship is lacking. In this proceeding, we discuss measurements of single noble metal nanoparticles using localized surface plasmon resonance (LSPR) spectroscopy, surface-enhanced Raman spectroscopy (SERS), and transmission electron microscopy (TEM) to elucidate structure-function relationships. A recently developed LSPR imaging spectroscopy instrument with an extremely fast camera enables measurement of diffusion constants for individual silver nanoprisms dispersed in water-paving the way for plasmonic particles as dynamic labels in biological systems. Correlated studies involving two or all three of these techniques relate optical properties of the same nanoparticle to its structure. Lastly, single-molecule surface-enhanced Raman spectroscopy of Rhodamine 6G is explored on lithographically fabricated plasmonic structures.
The Programmable Cloud Network: Delay Measurement Application

To keep place with these advances and demands, cloud service providers are developing a growing range of cloud-based services, including infrastructure as a service (IaaS), platform as a service (PaaS), Software as a service (SaaS) and others. In this article we will be talking about Network as a Service (NaaS). We build a prototype of a Software-Defined Networking (SDN) application based on NaaS paradigm. This application proactively detects issues related to delay and eventually reroute monitored path over another path, which allow providing real time automatic traffic engineering.
VISIR: Visual and Semantic Image Label Refinement

The social media explosion has populated the Internet with a wealth of images. There are two existing paradigms for image retrieval: 1)content-based image retrieval (BIR), which has traditionally used visual features for similarity search (e.g., SIFT features), and 2) tag-based image retrieval (TBIR), which has relied on user tagging (e.g., Flickr tags). CBIR now gains semantic expressiveness by advances in deep-learning-based detection of visual labels. TBIR benefits from query-and-click logs to automatically infer more informative labels. However, learning-based tagging still yields noisy labels and is restricted to concrete objects, missing out on generalizations and abstractions. Click-based tagging is limited to terms that appear in the textual context of an image or in queries that lead to a click. This paper addresses the above limitations by semantically refining and expanding the labels suggested by learning-based object detection. We consider the semantic coherence between the labels for different objects, leverage lexical and commonsense knowledge, and cast the label assignment into a constrained optimization problem solved by an integer linear program. Experiments show that our method, called VISIR, improves the quality of the state-of-the-art visual labeling tools like LSDA and YOLO.
SIMULATION OF A CENTRALIZED REPUTATION SYSTEM FOR VANETS

A new network paradigm Ad HoC has been widely studied and developed; these are the vehicular ad hoc networks (VANETs Vehicular Ad hoc Networks). Assuming that cars are increasingly "smart", the VANETs emerged with the proposal to provide communication among vehicles of highways. This communication aims to ensure greater security for members involved in transit. Seeking to ensure this security it is necessary that the data exchanged among vehicles are reliable. One of the techniques discussed in this proposal is the use of reputation systems. In this technique, the confidence in the vehicles is based on votes from its neighbors. In other words, the more vehicles have positive reviews, the more reliable they are and vice versa. In this work, the proposal was to model and simulate a centralized reputation system, where a central unit is responsible for managing reputations. With this centralized system, the reputations of vehicles that have been evaluated are stored indefinitely and can be accessed anytime and anywhere. With the implementation and simulation, we were able to demonstrate that a vehicle, after being evaluated, has its reputation available at any time and place, preventing this malicious vehicle to succeed in later attacks.
Change in Children's Externalizing and Internalizing Behavior Problems: The Role of Defense Mechanisms

Abstract This study investigates the relation of defense mechanism to children’s externalizing and internalizing behavior problems, as assessed from mothers’ report at age 9 and 12 years, based on archival data. The defense mechanisms of denial, projection, and identification were assessed from Thematic Apperception Test stories told by the children at age 9 years, using the Defense Mechanism Manual (Cramer, The development of defense mechanisms: Theory, research and assessment. New York: Springer-Verlag, 1991a; Protecting the self: Defense mechanisms in action. New York: Guilford Press, 2006). The results showed that the use of identification predicted a decrease in externalizing behaviors between age 9 and 12 years. In contrast, change in internalizing behaviors was not predicted by defense use, but the use of projection was related to fewer internalizing behaviors at both ages. These findings are consistent with the idea that behavioral intervention stressing self-regulation can be effective in reducing externalizing problems, but internalizing problems require an intervention that is sensitive to the underlying behavioral inhibition in these children.
Impact of single anaerobic exercise on delayed activation of endothelial xanthine oxidase in men and women

ABSTRACT Objectives: The aim of the study was to evaluate the activity of xanthine oxidase (XO) in the blood of men and women during the first hour following a single anaerobic exercise (AN-EX), and after 24 hours of recovery, and to determine whether the changes in XO activity in the blood after AN-EX are dependent on anaerobic performance. Methods: Ten men and ten women performed a single AN-EX. Blood was collected before and five times after completion of the AN-EX. The activity of XO was determined. Results: In both groups, a significant (P < 0.05) increase in blood XO activity was found only 24 hours after the AN-EX. The increased activity of XO in men was significantly lower than in women (P < 0.05). Negative correlations were found between the increase in XO activity in the blood plasma 24 hours after the AN-EX and anaerobic power, the total work performed during the AN-EX and the power decrease. Discussion: In the first hour after the single AN-EX, XO activity in the blood of women and men did not change, but after 24 hours of recovery, it was significantly higher compared to baseline levels in both sexes. Single AN-EX causes a smaller increase in XO activity in people with higher anaerobic performance.
Wideband OFDM pulse burst and its capabilities for the Doppler processing in radar

The use of multicarrier (MC) signals could support a new generation of radar that would provide simultaneously RF agility and Doppler processing. Easy to generate in digital signal processing (DSP), the well-known orthogonal frequency division multiplexing (OFDM), originally a communication waveform, is a first choice candidate. Its flexible structure makes both radar concepts of continuous and pulse burst waveforms, compatible. In this paper, the focus is on the pulse burst. The novelty of the paper is to investigate capabilities for Doppler processing of the OFDM pulse burst in both narrowband and wideband cases. Since the waveformpsilas bandwidth-time (BT) product is high, the analysis starts with the narrowband approximation (very low speeds) and rapidly moves on to the true wideband version (higher speeds) of the Doppler effect, in an elementary scenario with a single point target.
PERMORY: an LD-exploiting permutation test algorithm for powerful genome-wide association testing

MOTIVATION In genome-wide association studies (GWAS) examining hundreds of thousands of genetic markers, the potentially high number of false positive findings requires statistical correction for multiple testing. Permutation tests are considered the gold standard for multiple testing correction in GWAS, because they simultaneously provide unbiased type I error control and high power. At the same time, they demand heavy computational effort, especially with large-scale datasets of modern GWAS. In recent years, the computational problem has been circumvented by using approximations to permutation tests, which, however, may be biased. RESULTS We have tackled the original computational problem of permutation testing in GWAS and herein present a permutation test algorithm one or more orders of magnitude faster than existing implementations, which enables efficient permutation testing on a genome-wide scale. Our algorithm does not rely on any kind of approximation and hence produces unbiased results identical to a standard permutation test. A noteworthy feature of our algorithm is a particularly effective performance when analyzing high-density marker sets. AVAILABILITY Freely available on the web at http://www.permory. org.
Sociology in the Context of Social Psychiatry

As part of its concern with the environmental causes of disease, medical research tries to comprehend the nature of social processes and their implications for human health: an endeavour calling for sociological concepts and methods (Susser et al, 1985). Medical needs are mirrored within sociology, which has never been confined to study of the workings of society, but has always concerned itself also with their impact on individuals and on public health. The importance of cooperation between the two disciplines is thus indisputable. Nevertheless, interprofessional relationships have never been easy, and Pflanz's dictum, that “the history of the relationship between sociology and medicine is … mainly a history of unsuccessful encounters” (Pflanz, 1976), remains substantially true today. The difficulties have been ascribed to interdisciplinary tensions of the kind that arise when a relatively young academic profession seeks to assert its autonomy in a relationship with an older-established and more powerful one. Martin (1976), stressing the dangers that can result from mutually false expectations, invoked the analogy of a marriage in which:
Colour based semantic image segmentation and classification for unmanned ground operations

To aid an automatic taxiing system for unmanned aircraft, this paper presents a colour based method for semantic segmentation and image classification in an aerodrome environment with the intention to use the classification output to aid navigation and collision avoidance. Based on previous work, this machine vision system uses semantic segmentation to interpret the scene. Following an initial superpixel based segmentation procedure, a colour based Bayesian Network classifier is trained and used to semantically classify each segmented cluster. HSV colourspace is adopted as it is close to the way of human vision perception of the world, and each channel shows significant differentiation between classes. Luminance is used to identify surface lines on the taxiway, which is then fused with colour classification to give improved classification results. The classification performance of the proposed colour based classifier is tested in a real aerodrome, which demonstrates that the proposed method outperforms a previously developed texture only based method.
Parental Chromosome-specific Chromatin Conformation in the Imprinted U2af1-rs1 Gene in the Mouse*

The imprinted U2af1-rs1 gene on mouse chromosome 11 is expressed exclusively from the paternal allele. We found that U2af1-rs1 resides in a chromosomal domain that displays marked differences in chromatin conformation and DNA methylation between the parental chromosomes. Chromatin conformation was assayed in brain and liver, in fetuses, and in embryonic stem cells by sensitivity to nucleases in nuclei. In all these tissues, the unmethylated paternal chromosome is sensitive to DNase-I andMspI and has two DNase-I hypersensitive sites in the 5′-untranslated region. In brain and in differentiated stem cells, which display high levels of U2af1-rs1 expression, a paternal DNase-I hypersensitive site is also readily apparent in the promoter region. On the maternal chromosome, in contrast, the entireU2af1-rs1 gene and its promoter are highly resistant to DNase-I and MspI in all tissues analyzed and are fully methylated. No differential MNase sensitivity was detected in this imprinted domain. The parental chromosome-specific DNA methylation and chromatin conformation were also present in parthenogenetic and androgenetic cells and in tissues from animals maternally or paternally disomic for chromosome 11. This demonstrates that these parental chromosome-specific epigenotypes are independently established and maintained and provides no evidence for interallelictrans-sensing and counting mechanisms inU2af1-rs1.
Incorporating Business Impact into Service Offers - A Procedure to Select Cost-Optimal Service Contracts

In this work we address an IT service customer’s challenge of selecting the cost-optimal service among different offers by external providers. We model the customer’s optimization problem by considering the potential negative monetary impact of different combinations of sequential service incidents on a customer business process – reflected via “business cost”. First, we describe which information a customer typically bases service level agreement decisions upon and analyze which additional information is needed to take a well-founded decision. Second, we define a set of constructs that supports customers and providers when selecting or defining service offers, which address the required service criticality. Third, we develop a procedure enabling customers to solve their optimization problem – given different service offers by risk-neutral providers – using a procurement auction. Introducing this approach, we suggest that customers and providers collaborate to define “business cost measures”, which allow providers to better tailor service offers to customers’ business requirements.
Association of SUMO4 M55V polymorphism with susceptibility to autoimmune and inflammatory diseases: a meta‐analysis

The purpose of this study was to generate large‐scale evidence on whether SUMO4 M55V polymorphism is associated with autoimmune and inflammatory diseases using a meta‐analysis. We surveyed studies on the association of SUMO4 M55V polymorphism with autoimmune and inflammatory diseases in PubMed. Meta‐analysis was performed for genotypes AG versus AA, GG versus AA, GG versus AA + AG, AG + GG versus AA and G allele versus A allele in a fixed/random effect model. We identified 16 studies (11 407 cases and 10 679 controls) using PubMed search. When all groups were pooled, we detected the association of SUMO4 M55V polymorphism with autoimmune and inflammatory diseases (G versus A: OR = 1.11, 95%CI = 1.03–1.19, P = 0.005; AG + GG versus AA: OR = 1.17, 95%CI = 1.06–1.28, P = 0.001; GG versus AA + AG: OR = 1.07, 95%CI = 0.94–1.21, P = 0.29; GG versus AA: OR = 1.15, 95%CI = 1.00–1.34, P = 0.06; AG versus AA: OR = 1.15, 95%CI = 1.08–1.23, P < 0.0001). In subgroup analyses, we detected the association of SUMO4 M55V polymorphism with autoimmune and inflammatory diseases in Asian population (G versus A: OR = 1.18, 95%CI = 1.08–1.28, P = 0.0001; AG + GG versus AA: OR = 1.30, 95%CI = 1.16–1.45, P < 0.00001; GG versus AA + AG: OR = 1.04, 95%CI = 0.78–1.37, P = 0.80; GG versus AA: OR = 1.20, 95%CI = 0.99–1.45, P = 0.07; AG versus AA: OR = 1.32, 95%CI = 1.18–1.49, P < 0.00001). But the association was not found in Caucasian population. Meanwhile, an association of SUMO4 M55V polymorphism with autoimmune diabetes was found (G versus A: OR = 1.18, 95%CI = 1.08–1.30, P = 0.0005; AG + GG versus AA: OR = 1.22, 95%CI = 1.13–1.32, P < 0.00001; GG versus AA + AG: OR = 1.15, 95%CI = 0.96–1.38, P = 0.13; GG versus AA: OR = 1.32, 95%CI = 1.08–1.60, P = 0.006; AG versus AA: OR = 1.23, 95%CI = 1.13–1.33, P < 0.00001). This meta‐analysis demonstrates the association of SUMO4 M55V polymorphism with autoimmune and inflammatory diseases, especially in Asian population.
Thin Layer approach to increase reliability in ad hoc network

Reliability support in a tactical area network is crucial since critical information is exchanged to achieve military missions. However, it is extremely challenging due to mobility, unstable channel condition, and possible jamming attack from an adversary. To increase reliability, we propose a new software layer, called Thin Layer, that controls diversity schemes located at various network layers, e.g., multipath routing at Network layer, packet retransmission at MAC layer, multichannel transmission at Physical layer, etc. Since network structure modification is not required, Thin Layer can be applied to the off-the-shelf 802.11 system as well as tactical communication technology, e.g., Join Tactical Radio System. We validate Thin Layer performance in disruptive network environments via simulation study.
Ensembling Variable Selectors by Stability Selection for the Cox Model

As an effective tool to build interpretive models, variable selection plays an increasingly important role in high-dimensional data analysis. It has been proven that ensemble learning can significantly improve selection accuracy, alleviate the instability of traditional selection methods, and reduce false discovery rate (FDR). Therefore, variable selection ensembles (VSEs) have gained much interest in recent years. Stability selection [1], a VSE technique based on subsampling in combination with a base algorithm like lasso, is an effective method to control FDR and to improve selection accuracy in linear regression models. In this paper, we apply it to handle variable selection problems in a Cox model. Some simulated data with various censoring rates are used to study the influence of one parameter Amin in stability selection to its performance. In the meantime, stability selection is compared with other variable selection approaches. The experimental results demonstrate its good performance.