Miracle-dz/UniFAR-FTUs huggingface dataset:
Torque-control based compliant actuation of a quadruped robot

In the realm of legged locomotion, being compliant to external unperceived impacts is crucial when negotiating unstructured terrain. Impedance control is a useful framework to allow the robot to follow reference trajectories and, at the same time, handle external disturbances. To implement impedance control, high performance torque control in all joints is of great importance. In this paper, the torque control for the electric joints of the HyQ robot is described and its performance assessed. HyQ is a quadruped robot which has hybrid actuation: hydraulic and electric. This work complements our previous work, in which the torque control for the hydraulic joints was addressed. Subsequently, we describe the implementation of an impedance controller for the HyQ leg. Experimental results assess the tracking capability of a desired Cartesian force at the end-effector under the action of external disturbances. Another set of experiments involves the tracking and the shaping of different desired stiffness behaviors (stiffness ellipses) at the foot.
The routine use of Rh‐negative reagent red cells for the identification of anti‐D and the detection of non‐D red cell antibodies

BACKGROUND: Before 1987, fewer than 50 patients per year at the authors' laboratory had a positive antibody detection test due to antepartum Rhesus immunoprophylaxis. However, after 1987, a marked increase was observed in the number of patients who had received Rh immune globulin (RhIG) during pregnancy as part of routine antepartum Rh immunoprophylaxis. In anticipation that an increased use of RhIG during pregnancy would increase the number of patients in whom anti‐D was detected by this laboratory, a protocol was developed to abbreviate the process required to identify anti‐D. Although this protocol was adopted primarily to address an anticipated increase in antenatal RhIG usage in women, it was also applied to alloimmunized Rh‐negative males.
10 Gbps, 560 fJ/b TIA and modulator driver for optical networks-on-chip in CMOS 65nm

This work presents the front-end electronics of a 10 Gbps optical link for network-on-chip applications based on silicon photonic components. The Rx TIA does not require input DC current compensation and achieves a record gain-bandwidth/power FoM of 150 THzΩ/mW, resulting in 23 fJ/bit of consumption for 2.3 kΩ of transimpedance. The Tx modulator driver is able to drive a 70 fF resonant ring modulator with 2.4 Vpp swing achieving an efficiency of 537 fJ/bit.
Identification of a Critical Motif for the Human Immunodeficiency Virus Type 1 (HIV-1) gp41 Core Structure: Implications for Designing Novel Anti-HIV Fusion Inhibitors

ABSTRACT Human immunodeficiency virus type 1 (HIV-1) entry into the host cell involves a cascade of events and currently represents one of most attractive targets in the search for new antiviral drugs. The fusion-active gp41 core structure is a stable six-helix bundle (6-HB) folded by its trimeric N-terminal heptad repeat (NHR) and C-terminal heptad repeat (CHR). Peptides derived from the CHR region of HIV-1 gp41 are potent fusion inhibitors that target the NHR to block viral and cellular membrane fusion in a dominant negative fashion. However, all CHR peptides reported to date are derived primarily from residues 628 to 673 of gp41; little attention has been paid to the upstream sequence of the pocket binding domain (PBD) in the CHR. Here, we have identified a motif (621QIWNNMT627) located at the upstream region of the gp41 CHR, immediately adjacent to the PBD (628WMEWEREI635). Biophysical characterization demonstrated that this motif is critical for the stabilization of the gp41 6-HB core. The peptide CP621-652, containing the 621QIWNNMT627 motif, was able to interact with T21, a counterpart peptide derived from the NHR, to form a typical 6-HB structure with a high thermostability (thermal unfolding transition [Tm] value of 82°C). In contrast, the 6-HB formed by the peptides N36 and C34, which has been considered to be a core structure of the fusion-active gp41, had a Tm of 64°C. Different from T-20 (brand name Fuseon), which is the first and only HIV-1 fusion inhibitor approved for clinical use, CP621-652 could efficiently block 6-HB formation in a dose-dependent manner. Significantly, CP621-652 had potent inhibitory activity against HIV-1-mediated cell-cell fusion and infection, especially against T-20- and C34-resistant virus. Therefore, our works provide important information for understanding the core structure of the fusion-active gp41 and for designing novel anti-HIV peptides.
Differential Expression of Motivational Stimulus Properties by Dopamine in Nucleus Accumbens Shell versus Core and Prefrontal Cortex

The response of extracellular dopamine (DA) and its relationship to motivational valence (positive or negative) and novelty of motivational stimuli was investigated by brain microdialysis in the nucleus accumbens (NAc) shell and core and prefrontal cortex (PFCX) of rats. Stimuli were elicited by intraoral infusion of 20% sucrose, sucrose plus chocolate, quinine, and NaCl solutions, feeding of a palatable food (Fonzies), or smelling of a predator (red fox) urine. Sucrose elicited appetitive reactions and increased DA in the PFCX but not in the NAc shell. An unfamiliar appetitive taste such as that of sweet chocolate and Fonzies, increased DA in all three areas. Habituation of the stimulatory DA response to intraoral chocolate or to Fonzies feeding was observed in the NAc shell after a single pre-exposure to the same taste or food; no habituation was observed in the NAc core nor in the PFCX. Aversive taste stimuli (quinine, saturated NaCl solutions) rapidly increased DA in the PFCX and in the NAc core, and this response did not undergo one-trial habituation. In the NAc shell, instead, no effect (10 min exposure) or a delayed, transitory increase of DA (5 min exposure) sensitive to one-trial habituation was obtained in response to the aversive taste (quinine and saturated NaCl) or olfactory (red fox urine) stimuli. These observations indicate that DA responsiveness is an integrated function of the motivational valence and novelty of stimuli in the NAc shell and an expression of generic motivational value in the NAc core and PFCX.
Cancer immunotherapy using virally transduced dendritic cells: animal studies and human clinical trials

The immune system uses a process known as ‘immunosurveillance’ to help prevent the outgrowth of tumors. In cancer immunotherapy, a major goal is for immunity against tumor-associated antigens to be generated or strengthened in patients. To achieve this goal, several approaches have been tested, including the use of highly potent antigen-presenting cells called dendritic cells (DCs), which can activate T cells efficiently. Presentation of peptides derived from tumor antigens on the surface of DCs can stimulate strong antitumor immunity. Using recombinant viral vectors encoding tumor-associated antigens, DCs can be engineered efficiently to express sustained levels of tumor-antigen peptides. This review discusses the effectiveness of virally transduced DCs in treating tumors and generating antigen-specific T-cell responses. It covers mouse and nonhuman primate studies, preclinical in vitro human cell experiments and clinical trials.
Effect of 3 weeks treatment with yohimbine on salivary secretion in healthy volunteers and in depressed patients treated with tricyclic antidepressants.

The effect of yohimbine treatment (4 mg three times daily) for 3 weeks on salivary secretion was investigated. In healthy volunteers, acute administration of yohimbine increased salivary volume within 1 h to a similar extent before and at the end of the treatment period. In depressed patients treated with tricyclic antidepressants (and exhibiting a reduced salivary flow), yohimbine also acutely increased salivary volume. In contrast, the alpha 2-adrenoceptor antagonist failed to modify resting values measured in the morning (i.e. 10 and 14 h after the last administration in healthy volunteers and depressed patients respectively). This result indicates that alpha 2-adrenoceptor antagonists may have a potential therapeutic use in the treatment of dry mouth caused by tricyclic antidepressant drugs.
Recursive agent modeling with probabilistic velocity obstacles for mobile robot navigation among humans

An approach to motion planning among moving obstacles is presented, whereby obstacles are modeled as intelligent decision-making agents. The decision-making processes of the obstacles are assumed to be similar to that of the mobile robot. A probabilistic extension to the velocity obstacle approach is used as a means for navigation and modeling uncertainty about the moving obstacles' decisions.
Energy-Efficient Zero-Forcing Precoding Design for Small-Cell Networks

We consider small-cell networks with multiple-antenna transceivers and base stations (BSs) cooperating to jointly design linear precoders to maximize the network energy efficiency, subject to a sum power and per-antenna power constraints at individual BSs, as well as user-specific quality of service (QoS) requirements. Assuming zero-forcing precoding, we formulate the problem of interest as a concave-convex fractional program to which we proposed a centralized optimal solution based on the prevailing Dinkelbach algorithm. To facilitate distributed implementations, we transform the design problem into an equivalent convex program using Charnes-Cooper's transformation. Then, based on the framework of alternative direction method of multipliers (ADMM), we develop a decentralized algorithm, which is numerically shown to achieve fast convergence. Since BSs are generally power-hungry, it may be more energy-efficient if some BSs can be shut down, while still satisfying the QoS constraints. Toward this end, we investigate the problem of joint precoder design and BS selection, which is a mixed Boolean nonlinear program, and then provide an optimal solution by customizing the branch-and-bound method. For real-time applications, we propose a greedy algorithm which achieves near-optimal performance in polynomial time. Numerical results are provided to demonstrate the effectiveness of the proposed algorithms.
Reliability and validity of Yo-Yo tests in 9- to 16-year-old football players and matched non-sports active schoolboys

Abstract The purpose of this study was to examine the test–retest reliability and construct validity of three age-adapted Yo-Yo intermittent tests in football players aged 9–16 years (n = 70) and in age-matched non-sports active boys (n = 72). Within 7 days, each participant performed two repetitions of an age-related intensity-adapted Yo-Yo intermittent test, i.e. the Yo-Yo intermittent recovery level 1 children's test for 9- to 11-year-olds; the Yo-Yo intermittent endurance level 1 for 12- to 13-year-olds and the Yo-Yo intermittent endurance level 2 test for 14- to 16-year-olds. Peak heart rate (HRpeak) was determined for all tests. The distance covered in the tests was 57% (1098 ± 680 vs. 700 ± 272 m), 119% (2325 ± 778 vs. 1062 ± 285 m) and 238% (1743 ± 460 vs. 515 ± 113 m) higher (p ≤ .016), respectively for football-trained than for non-sports active boys aged 9–11, 12–13 and 14–16 years. The typical errors of measurement for Yo-Yo distance, expressed as a percentage of the coefficient of variation (confidence interval), were 11.1% (9.0–14.7%), 10.1% (8.1–13.7%) and 8.5% (6.7–11.7%) for football players aged 9–11, 12–13 and 14–16 years, respectively, with corresponding values of 9.3% (7.4–12.8%), 10.2% (8.1–14.0%) and 8.5% (6.8–11.3%) for non-sports active boys. Intraclass correlation coefficient values for test–retest were excellent in both groups (range: 0.844–0.981). Relative HRpeak did not differ significantly between the groups in test and retest. In conclusion, Yo-Yo intermittent test performances and HRpeak are reliable for 9- to 16-year-old footballers and non-sports active boys. Additionally, performances of the three Yo-Yo tests were seemingly better for football-trained than for non-sports active boys, providing evidence of construct validity.
Sensorless initial mover position detection of the planar switched reluctance motor using bootstrap circuit

This paper proposes a sensorless initial mover position detection method with bootstrap circuit for the planar switched reluctance motor (PSRM). The mechanical structure and mathematical model of the PSRM is first presented. The sensorless initial mover position detection method is then developed based on bootstrap circuit. For this method, the voltage and the peak time of voltage are measured by charging a bootstrap capacitor of each phase of the PSRM; the position range and the inductance are calculated theoretically according to the peak time; the initial position can be calculated theoretically in terms of the built inductance model and position range. Furthermore, simulation is carried out base on ANSYS Maxwell. Simulation results demonstrate that the relative error between the detected position and the real position is less than 3% with the proposed method; the effectiveness of the proposed method is verified.
A bidirectional snubber less soft-switched high frequency link DC/AC converter

This paper presents two novel modulation schemes for a bidirectional single phase inverter with a high frequency link. The topology with the proposed modulation scheme can be used for the grid integration of renewable energy sources like photovoltaic and fuel cell, energy storage system, hybrid and electrical vehicle, vehicle to grid (V2G) integration, uninterruptible power supply (UPS) system. The use of high frequency transformer results in reduction of cost with improved power density. The proposed modulation strategies of the converter achieve soft-switching for both direction of power flow. During DC to AC power flow, modulation is done in the DC side with zero voltage switching (ZVS) of the DC side switches and the AC side switches are line frequency switched. For AC to DC power flow, zero current switching (ZCS) of AC side switches and zero voltage switching (ZVS) of DC side switches are achieved. A detailed analysis of operation of the proposed converter is presented in the paper. Key simulation results are shown to demonstrate the effectiveness of the proposed topology.
In vitro adhesion of enterotoxigenic Escherichia coli to human intestinal epithelial cells from mucosal biopsies

An adhesion assay with isolated human enterocytes prepared from duodenal biopsies has been developed and tested by using human enterotoxigenic Escherichia coli expressing colonization factor antigens I and II (CFA/I and CFA/II) and type 1 fimbriae. Enterotoxigenic E. coli strains H10407 (CFA/I) and B2C (CFA/II) bound to duodenal enterocytes to a much greater extent (mean of 4.6 and 4.0 bacteria per brush border) than did strain H10407P, a CFA/I- mutant of H10407 (mean of 0.1 bacteria per brush border). Type 1 fimbriae also promoted adhesion of strain H10407P to duodenal enterocytes but attachment was to basolateral rather than brush border surfaces. CFA/I and CFA/II, on the other hand, promoted adhesion only to human enterocyte brush borders.
Children's affective responses, cognitive appraisals, and coping strategies in response to the negative affect of parents and peers.

Although research has linked difficulties in parent mood functioning to developmental problems in children, little work has examined why such a link occurs. Following current social-cognitive perspectives on children's cognitive appraisals to negative parent affect, it was hypothesized that children would show more intense affective responses, less confidence, and less active coping strategies in response to parent, as opposed to peer, negative affect. In the current study, young children (N = 39) were read experimental vignettes portraying peers and parents in either happy, sad, or angry emotional states. Children were then interviewed about their affective responses, cognitive appraisals, and coping strategies to each vignette. Beyond experiencing more negative affective responses to parent, compared to peer negative affect, children felt they could do little to help themselves when faced with paternal distress and frequently indicated they would engage in avoidant coping strategies (e.g., hiding) to make themselves feel better when confronted with parent sadness. This study has implications for more industrious future research, as well as intervention projects that involve assisting children who live in households marked by high levels of negative adult affect.
Women's emotions one week after receiving or being denied an abortion in the United States.

CONTEXT The notion that abortion causes poor mental health has gained traction, even though it is not supported by research. Few studies have comprehensively investigated women's postabortion emotions. METHODS Baseline data from a longitudinal study of women seeking abortion at 30 U.S. facilities between 2008 and 2010 were used to examine emotions among 843 women who received an abortion just prior to the facility's gestational age limit, were denied an abortion because they presented just beyond the gestational limit or obtained a first-trimester abortion. Multivariable analyses were used to compare women's emotions about their pregnancy and about their receipt or denial of abortion after one week, and to identify variables associated with experiencing primarily negative emotions postabortion. RESULTS Compared with women who obtained a near-limit abortion, those denied the abortion felt more regret and anger (scoring, on average, 0.4-0.5 points higher on a 0-4 scale), and less relief and happiness (scoring 1.4 and 0.3 points lower, respectively). Among women who had obtained the abortion, the greater the extent to which they had planned the pregnancy or had difficulty deciding to seek abortion, the more likely they were to feel primarily negative emotions (odds ratios, 1.2 and 2.5, respectively). Most (95%) women who had obtained the abortion felt it was the right decision, as did 89% of those who expressed regret. CONCLUSIONS Difficulty with the abortion decision and the degree to which the pregnancy had been planned were most important for women's postabortion emotional state. Experiencing negative emotions postabortion is different from believing that abortion was not the right decision.
A systematic review of phase‐II trials of thalidomide monotherapy in patients with relapsed or refractory multiple myeloma

The activity of thalidomide in relapsed or refractory multiple myeloma is widely accepted but not yet demonstrated in a randomised‐controlled trial. A systematic review of the published clinical trials of these patients could reduce the possible bias of single phase‐II studies. A systematic search identified 42 communications reporting on 1674 patients. Thirty‐two trials used an escalating dosing regimen and four a fixed dose regimen (one dose with 50 mg/d, three doses with 200 mg/d). The target dose in the dose escalating trials was 800 mg/d in 17 trials, 400–600 mg/d in 10 and 200 mg/d in one trial. The intention‐to‐treat population for efficacy was 1629 patients with a median age of 62 years. The complete and partial (>50% reduction in monoclonal protein) response rate was 29·4% (95%‐confidence interval, 27–32%). The rates for minor responses or stable disease were 13·8% (12–16%) and 11·0% (9–13%). Progressive disease was reported in 9·9% (8–11%). The median overall survival from all trials was reported at 14 months. Severe adverse events (grade III–IV) included somnolence 11%, constipation 16%, neuropathy 6%, rash 3%, thrombo‐embolism 3%, cardiac 2%. In conclusion, thalidomide monotherapy achieved complete and partial responses in 29·4% of patients with relapsed or refractory multiple myeloma.
From VFX project management to predictive forecasting

VFX production companies are currently challenged by the increasing complexity of visual effects shots combined with constant schedule demands. The ability to execute in an efficient and cost-effective manner requires extensive coordination between different sites, different departments, and different artists. This coordination demands data-intensive analysis of VFX workflows beyond standard project management practices and existing tools. In this paper, we propose a novel solution centered around a general evaluation data model and APIs that convert production data (job/scene/shot/schedule/task) to business intelligence insights enabling performance analytics and generation of data summarization for process controlling. These analytics provide an impact measuring framework for analyzing performance over time, with the introduction of new production technologies, and across separate jobs. Finally, we show how the historical production data can be used to create predictive analytics for the accurate forecasting of future VFX production process performance.
Prevalence, Comorbidities, and Risk of Perioperative Complications in Human Immunodeficiency Virus-Positive Patients Undergoing Cervical Spine Surgery

Study Design. Retrospective database analysis. Objective. To evaluate outcomes of human immunodeficiency virus (HIV) positive patients after cervical spine surgery. Summary of Background Data. Highly active antiretroviral medications have qualitatively altered the natural history of HIV, thus increasing the number of HIV-positive patients seeking treatment for chronic degenerative conditions. Minimal data exist on HIV patients undergoing degenerative cervical spine surgery. Methods. The Nationwide Inpatient Sample was examined from 2002 to 2011. Hospitalizations were identified using International Classification of Diseases Ninth Revision, Clinical Modification (ICD-9-CM) procedural codes for cervical spine surgery and diagnoses codes for degenerative conditions of the cervical spine, and HIV. Statistical analysis was conducted to evaluate associations between HIV status and perioperative complications. Results. A total of 1,602,129 patients underwent degenerative cervical spine surgery, of which 3700 patients (0.23%) had HIV. The prevalence of HIV increased over the study period from 0.19% to 0.33% (P < 0.001). Patients with HIV were younger (48.6 yrs vs. 53.4 yrs, P < 0.001) and more likely to be male (P < 0.001). HIV patients had significantly greater odds of having chronic pulmonary disease, liver disease, and drug abuse. Unadjusted analysis did not reveal increased rate of acute complications among HIV-positive patients compared with negative controls (3.8% vs. 3.7%, P = 0.62). Multivariate analysis did not identify HIV as a significant predictor of complication (odds ratio = 1.04, P = 0.84). HIV was associated with a 1.5 day increased length of stay AND 1.29 fold increase in median costs compared with controls ($14,551 vs. 18,846, P < 0.001). Conclusion. The prevalence of HIV patients undergoing degenerative cervical spine surgery is increasing. A diagnosis of HIV was not associated with an increased risk of perioperative complication among patients undergoing degenerative cervical spine surgery. Further clinical studies are needed to evaluate predictors of complications among HIV patients and long-term outcomes. Level of Evidence: 4