Miracle-dz/UniFAR-FTUs huggingface dataset:
A new eRobotics approach: Simulation of adaptable joint admittance control

Adaptable joint admittance in new generation robots will enhance safety, versatility and robustness in human-robot interaction. However, this objective remains a challenging one, partly because of the complex mechanical design requirements of adaptable admittance joints. In this work, we address adaptable joint admittance control from the perspective of simulation-driven engineering. We exploit the comprehensive, unique capabilities of eRobotics to shift adaptable joint admittance control into virtual reality. The main advantage is that the targeted joint dynamics are replicated with substantially less effort and at low costs. Moreover, it can be swiftly applied to a wide range of robot arms, therefore pushing back some of the inherent limitations of real hardware. The approach is well-suited to the understanding of compliance control, the familiarization with future compliant robots as well as training. Results of simulation conducted on a 7 DoF robot manipulator are provided to show the effectiveness of the approach.
System Introspection with Hardware Watchmachines

Unfortunately, current introspection mechanisms usually impose a high performance overhead or are difficult for programmers to use. For example, a 1000x slowdown using Valgrind for application debugging is not uncommon, and the lack of precise instruction counters has complicated research in deterministic multiprocessing [1, 7, 2]. However, with careful hardware support, introspection can be made both efficient and precise. One such example is the success of debug registers in x86 processors, which allow the system to efficiently monitor memory accesses, and trap to software precisely when a read or write occurs to a monitored address.
Imaging hNET Reporter Gene Expression with 124I-MIBG

The norepinephrine transporter (NET) has recently been suggested as a useful reporter gene. We have extended this effort by constructing an internal ribosomal entry site (IRES)-linked hNET-green fluorescent protein (GFP) hybrid reporter gene for both nuclear and optical imaging. Methods: A retroviral vector pQCXhNET-IRES-GFP was constructed and used to generate several reporter cell lines and xenografts. Transduced cells were sorted by fluorescence-activated cell sorting based on GFP expression and used for both in vitro and in vivo imaging studies. Results: The transduced reporter cells accumulated 123I- or 124I-labeled metaiodobenzylguanidine (MIBG) to high levels compared with the wild-type parent cell lines. Differences in MIBG accumulation between cell lines were primarily due to differences in influx (K1) rather than efflux (k2). The estimated MIBG distribution volumes (Vd) for transduced Jurkat, C6, and COS-7 cells were 572 ± 13, 754 ± 25, and 1,556 ± 38 mL/g, respectively. A correlation between radiotracer accumulation (K1) and GFP fluorescence intensity was also demonstrated. Sequential imaging studies of mice bearing pQCXhNET-IRES-GFP transduced and wild-type C6 xenografts demonstrated several advantages of 124I-MIBG small-animal PET compared with 123I-MIBG γ-camera/SPECT. This was primarily due to the longer half-life of 124I and to the retention and slow clearance (half-time, 63 ± 6 h) of MIBG from transduced xenografts compared with that from wild-type xenografts (half-time, 12 ± 1 h) and other organs (half-time, 2.6–21 h). Very high radioactivity ratios were observed at later imaging times; at 73 h after 124I-MIBG injection, the C6/hNET-IRES-GFP xenograft-to-muscle ratio was 293 ± 48 whereas the C6 xenograft-to-muscle ratio was 0.71 ± 0.19. Conclusion: These studies demonstrate the potential for a wider application of hNET reporter imaging and the future translation to patient studies using radiopharmaceuticals that are currently available for both SPECT and PET.
New bounds for lower envelopes in three dimensions, with applications to visibility in terrains

AbstractWe consider the problem of bounding the complexity of the lower envelope ofn surface patches in 3-space, all algebraic of constant maximum degree, and bounded by algebraic arcs of constant maximum degree, with the additional property that the interiors of any triple of these surfaces intersect in at most two points. We show that the number of vertices on the lower envelope ofn such surface patches is % MathType! MTEF! 2! 1! +-% feaafiart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXatLxBI9gBaerbd9wDYLwzYbItLDharqqtubsr% 4rNCHbGeaGqiVu0Je9sqqrpepC0xbbL8F4rqqrFfpeea0xe9vqFf0x% c9q8qqaqFn0dXdir-xcvk9pIe9q8qqaq-dir-f0-yqaqVe0xe9Fve9% Fve9qapdbaqaaeGaciGaaiaabeqaamaabaabaaGcbaGaam4taiaacI% cacaWGUbWaaWbaaSqabeaacaaIYaaaaOGaeyyXICTaaGOmamaaCaaa% leqabaGaam4yamaakaaabaGaciiBaiaac+gacaGGNbGaamOBaaadbe% aaaaGccaGGPaaaaa! 453A! $$O(n^2 \cdot 2^{c\sqrt {\log n} } )$$ , for some constantc depending on the shape and degree of the surface patches. We apply this result to obtain an upper bound on the combinatorial complexity of the “lower envelope” of the space of allrays in 3-space that lie above a given polyhedral terrainK withn edges. This envelope consists of all rays that touch the terrain (but otherwise lie above it). We show that the combinatorial complexity of this ray-envelope is % MathType! MTEF! 2! 1! +-% feaafiart1ev1aaatCvAUfeBSjuyZL2yd9gzLbvyNv2CaerbuLwBLn% hiov2DGi1BTfMBaeXatLxBI9gBaerbd9wDYLwzYbItLDharqqtubsr% 4rNCHbGeaGqiVu0Je9sqqrpepC0xbbL8F4rqqrFfpeea0xe9vqFf0x% c9q8qqaqFn0dXdir-xcvk9pIe9q8qqaq-dir-f0-yqaqVe0xe9Fve9% Fve9qapdbaqaaeGaciGaaiaabeqaamaabaabaaGcbaGaam4taiaacI% cacaWGUbWaaWbaaSqabeaacaaIZaaaaOGaeyyXICTaaGOmamaaCaaa% leqabaGaam4yamaakaaabaGaciiBaiaac+gacaGGNbGaamOBaaadbe% aaaaGccaGGPaaaaa! 453B! $$O(n^3 \cdot 2^{c\sqrt {\log n} } )$$ for some constantc; in particular, there are at most that many rays that pass above the terrain and touch it in four edges. This bound, combined with the analysis of de Berget al. [4], gives an upper bound (which is almost tight in the worst case) on the number of topologically different orthographic views of such a terrain.
Forecasting the Number of Changes in Eclipse Using Time Series Analysis

In order to predict the number of changes in the following months for the project Eclipse, we have applied a statistical (non-explanatory) model based on time series analysis. We have obtained the monthly number of changes in the CVS repository of Eclipse, using the CVSAnalY tool. The input to our model was the filtered series of the number of changes per month, and the output was the number of changes per month for the next three months. Then we aggregated the results of the three months to obtain the total number of changes in the given period in the challenge.
Concept and Management of Treatment Resistant Schizophrenia (TRS)

Treatment resistance in schizophrenia is a fairly common problem faced by psychiatrists worldwide. The concept and definition of Treatment Resistant Schizophrenia (TRS) is still far from satisfactory. Data suggests the presence of biological factors underlying TRS. Second generation antipsychotics are advocated for patients with TRS. However, till date, clozapine remains the treatment of choice. Evidence for other pharmacological measures and ECT is accumulating. Psychosocial interventions do form an integral component of management of TRS. It can be concluded that, with advances in sychopharmacology, TRS needs to be better researched and managed in the future.
Detection of target gases and optimal selection of SAW sensors for E-Nose applications

Detection of hazardous gases has several commercial and industrial applications. Surface Acoustic Wave(SAW) sensors can provide chemical signatures of gases. A set of SAW sensors in conjunction with a suitably trained pattern recognition engine can work as an Electronic Nose(E-Nose) for a set of gases. For the best performance, the sensors used in the nose must have optimal responses to all the target gases. We first present a method for target gas detection from the sensed data and subsequently describe two novel candidate algorithms used for selection of a subset of sensors from a given set of sensors for an electronic nose.
Holliday's engine mapping experiment revisited: a design problem with 2-level repeated measures data

Only a limited amount of work has been done on issues of optimum experimental design in hierarchically structured data, in spite of the importance of design efficiency. We illustrate these issues by a fresh analysis of Holliday's well-known engine mapping experiment. This experiment investigated the relation of automobile engine performance, as measured by engine torque vs. spark advance, to adjustable engine parameters or factors, viz. engine speed, load, and air/fuel ratio. We show how an optimum experiment can be designed. Our analysis suggests a general procedure of wide applicability.
Multitarget Detection and Estimation Based on Passive Multilateral TDOAs of Transient Signals

A modified deterministic annealing expectation maximization (MDAEM) algorithm has been proposed [D. Carevic, ldquoAutomatic estimation of multiple target positions and velocities using passive TDOA measurements of transients,rdquo IEEE Transactions on Signal Processing, vol. 55, no. 2, pp. 424-436, 2007] for the estimation of the motion parameters of multiple targets moving in cluttered three-dimensional (3D) underwater environments. In many situations, the number of targets in the measurements batch is not known, and the MDAEM algorithm is run for an inexact (guessed) number of the motion models, where, usually, the guessed number of models is larger than the true number of targets. This correspondence describes a detection procedure that determines which of the motion models estimated by the algorithm are related to the true targets in the measurements batch.
NONLINEAR DYNAMIC ABSORBER TO REDUCE VIBRATION IN HAND-HELD IMPACT MACHINES

Hand-held impact machines have been used since the early 20th century. Up to day still a little has been changed in their fundamental design. Despite them being robust and efficient,vibration, noise, dust and poor ergonomics cause a large number of injuries to the operators, especially in the stone industry. In this paper, vibration dynamics of a pneumatic hand-held impact machine (HHIM) equipped with a nonlinear tuned vibration absorber (NLTVA) is in focus. The considered HHIM has the same parameters as the existing conventional one with respect to piston weight, impact energy and operating frequency. The paper presents the mathematical and computational models of vibration dynamics of the HHIM with NLTVA as well as the experimental set-up developed for model validation. The advantage of using a nonlinear spring is shown and how the effective vibration reduction frequency of the NLTVA can be made to follow the excitation frequency and thereby in principal achieving the same conditions as is the case for tuned pendulum absorbers for torsional vibrations where the resonance frequency follows the engine order. Using the verified and validated computational model, the sensitivity analysis of vibration dynamics has been performed in a broad set of feasible operational scenarios with respect to structural parameters of the HHIM equipped with NLTVA. Sensitivity analysis results have formed the base for optimisation of the parameters of NLTVA. It was shown by simulations as well as it was proved by experiment that the vibration of the HHIM equipped with NLTVA can be reduced significantly in a broader range of operating frequencies compared to the vibration of the same machine equipped with linear tuned vibration absorber. The results obtained confirm the possibility to design a user friendly low vibration impact machine efficiently operating in a broad frequency range. Optimised NLTVA combined with vibration isolation has shown to significantly reduce the vibration on the operator.
The newsvendor problem with pricing: Extensions

Abstract The newsvendor problem with pricing decision provides an important vehicle for examining how operational problems interacts with marketing issues to influence decision-making at the firm level. This paper considers the newsvendor problem with pricing and its extensions. We try to answer two questions: (1) how to model the price-dependent stochastic demand and (2) how to derive the combined pricing and inventory solutions. We identify a class of demand functions which can result in well behaved profit functions. A demand function can be divided into two parts: the mean demand and random demand. If the part of mean demand has increasing price elasticity (IPE) and the part of random demand has generalized strict increasing failure rate (GSIFR), then the expected profit of the newsvendor is unimodal or quasi-concave. This appears generalizing the existent models in the literature.
Analysis and Design of Impulse-Commutated Zero-Current-Switching Single-Inductor Current-Fed Three-Phase Push–Pull Converter

Impulse commutation obtains zero current commutation of devices in a circuit with a short resonance impulse using a simple resonant tank. This concept has been studied, extended, and implemented for a three-phase push–pull current-fed single-inductor topology to achieve soft commutation and device voltage clamping solving the traditional issue of device turn-off voltage overshoot. The push–pull topology is attractive owing to single inductor, all common source devices connected to common supply ground, and reduced gate driving requirements. Detailed operation, analysis, and design of this topology have been reported with impulse commutation. With a small resonant tank and partial resonance, impulse commutation procures merits of voltage clamping, low circulating current, and load adaptive zero-current switching of the devices. Variable-frequency modulation regulates load voltage and maintains the impulse commutation with source voltage variation. Experimental results on a 1-kW proof-of-concept hardware prototype are demonstrated to observe the operation, performance, and verify the proposed concept and claims.
An interaction network monitor for

The contents of this work reeect the views of the authors who are responsible for the facts and accuracy of the data presented. Responsibility for the application of the material to speciic cases, however, lies with any user of the report and no responsibility in such cases will be attributed to the author or to the University of Canterbury. Abstract The interaction network has been proposed as a way of representing interactive processing in a distributed system, and an interaction network monitor for SunOS was developed in earlier work. This paper describes development of an interaction network monitor for Amoeba, the rst interaction network monitor for a distributed operating system. Case studies are used to show some of the types of information the monitor can capture, and to show that the monitor is a valuable tool for monitoring complex modern systems.
Enhancing global positioning by image recognition

Current commercial outdoor Mobile AR applications rely mostly on GPS antennas, digital compasses and accelerometers. Due to imprecise readings, the 2D placement of points of interest (POI) on the display can be uncorrelated with reality. We present a novel method to geo-locate a mobile device by rec- ognizing what is captured by its camera. A visual recognition algo- rithm in the cloud is used to identify geo-located reference images that match the camera’s view. Upon correct identification, fusion of sensor data from the mobile device and the server is used to es- tablish the most probable location. The corrected geo-location can then be used on the mobile device for further POI representation or as a better initialization step for further continuos tracking.
Cryptanalysis of a Generalized Ring Signature Scheme

The concept of ring signature was first introduced by Rivest et al. in 2001. In a ring signature, instead of revealing the actual identity of the message signer, it specifies a set of possible signers. The verifier can be convinced that the signature was indeed generated by one of the ring members; however, the verifier is unable to tell which member actually produced the signature. A convertible ring signature scheme allows the real signer to convert a ring signature into an ordinary signature by revealing secret information about the ring signature. Thus, the real signer can prove the ownership of a ring signature if necessary, and the the other members in the ring cannot prove the ownership of a ring signature. Based on the original ElGamal signature scheme, a generalized ring signature scheme was proposed for the first time in 2008. The proposed ring signature can achieve unconditional signer ambiguity and is secure against adaptive chosen-message attack in the random oracle model. By comparing to ring signatures based on RSA algorithm, the authors claimed that the proposed generalized ring signature scheme is convertible. It enables the actual message signer to prove to a verifier that only she is capable of generating the ring signature. Through cryptanalysis, we show that the convertibility of the generalized ring signature scheme cannot be satisfied. Everyone in the ring signature has the ability to claim that she generates the generalized ring signature.
Distinct properties of Ca2+–calmodulin binding to N- and C-terminal regulatory regions of the TRPV1 channel

Transient receptor potential (TRP) vanilloid 1 (TRPV1) is a molecular pain receptor belonging to the TRP superfamily of nonselective cation channels. As a polymodal receptor, TRPV1 responds to heat and a wide range of chemical stimuli. The influx of calcium after channel activation serves as a negative feedback mechanism leading to TRPV1 desensitization. The cellular calcium sensor calmodulin (CaM) likely participates in the desensitization of TRPV1. Two CaM-binding sites are identified in TRPV1: the N-terminal ankyrin repeat domain (ARD) and a short distal C-terminal (CT) segment. Here, we present the crystal structure of calcium-bound CaM (Ca2+–CaM) in complex with the TRPV1-CT segment, determined to 1.95-Å resolution. The two lobes of Ca2+–CaM wrap around a helical TRPV1-CT segment in an antiparallel orientation, and two hydrophobic anchors, W787 and L796, contact the C-lobe and N-lobe of Ca2+–CaM, respectively. This structure is similar to canonical Ca2+–CaM-peptide complexes, although TRPV1 contains no classical CaM recognition sequence motif. Using structural and mutational studies, we established the TRPV1 C terminus as a high affinity Ca2+–CaM-binding site in both the isolated TRPV1 C terminus and in full-length TRPV1. Although a ternary complex of CaM, TRPV1-ARD, and TRPV1-CT had previously been postulated, we found no biochemical evidence of such a complex. In electrophysiology studies, mutation of the Ca2+–CaM-binding site on TRPV1-ARD abolished desensitization in response to repeated application of capsaicin, whereas mutation of the Ca2+–CaM-binding site in TRPV1-CT led to a more subtle phenotype of slowed and reduced TRPV1 desensitization. In summary, our results show that the TRPV1-ARD is an important mediator of TRPV1 desensitization, whereas TRPV1-CT has higher affinity for CaM and is likely involved in separate regulatory mechanisms.
Humanoids can take Advantage of Crab-Walking Gaits

Recent advances in control of humanoid robots have resulted in bipedal gaits that are dynamically stable on moderately rough terrain but are still limited to a small range of slopes. Humanoid robots, like humans, can take advantage of quadruped gaits to greatly extend this range. Cleverly designed gaits can provide robustness to rough terrain without requiring extensive feedback. In this paper, we present a robust crab-walking framework that includes forward and backward crawling patterns, rotation patterns, and sit-down and recovery sequences. The latter are activated autonomously once the robot detects that it tipped over. The performance and robustness of each locomotion pattern are investigated over a wide range of slopes. Crab-walking is shown to be especially adept at crawling forward on steep downward slopes (up to -54°) and crawling backward on steep upward slopes (up to 18°). Finally, we demonstrate the framework's autonomous capabilities by crossing the rough terrain in DARPA's virtual robotics challenge.
Implant dose sensitivity of 0.1 /spl mu/m CMOS inverter delay

The simulation experiment is performed to characterize the impact of process level fluctuations on the circuit performance variation for the 0.1 /spl mu/m CMOS technology. The 0.1 /spl mu/m NMOS and PMOS transistors are optimized using four different ion implantation steps namely super steep retrograde channel (SSRC) implant, deep s/d implant, shallow s/d extension implant and halo implant. We demonstrate that the fluctuations in the nominal values of these implant doses result in the significant variation in DC (I/sub off/, I/sub on/, V/sub t/) and AC (C/sub gg/) parameters of the transistors. The DC and AC parameter variations of these devices in turn have their effect on the performance of the inverter circuit. In particular, the halo implant has the maximum impact resulting in /spl Delta/I/sub off/=122% (97.48%) and /spl Delta/I/sub on/=4.82% (5.29%) for NMOS (PMOS) transistor. The worst case delay variation is more than /spl plusmn/10% for a /spl plusmn/10% random variation in the implant dose parameters.
In Vivo Determination of Organellar pH Using a Universal Wavelength-Based Confocal Microscopy Approach

Many essential cellular processes are affected by transmembrane H+ gradients and intracellular pH (pHi). The research of such metabolic events calls for a non-invasive method to monitor pHi within individual subcellular compartments. We present a novel confocal microscopy approach for the determination of organellar pHi in living cells expressing pH-dependent ratiometric fluorescent proteins. Unlike conventional intensity-based fluorometry, our method relies on emission wavelength scans at single-organelle resolution to produce wavelength-based pH estimates both accurate and robust to low-signal artifacts. Analyses of Ato1p-pHluorin and Ato1p-mCherry yeast cells revealed previously unreported wavelength shifts in pHluorin emission which, together with ratiometric mCherry, allowed for high-precision quantification of actual physiological pH values and evidenced dynamic pHi changes throughout the different stages of yeast colony development. Additionally, comparative pH quantification of Ato1p-pHluorin and Met17p-pHluorin cells implied the existence of a significant pHi gradient between peripheral and internal cytoplasm of cells from colonies occurring in the ammonia-producing alkali developmental phase. Results represent a step forward in the study of pHi regulation and subcellular metabolic functions beyond the scope of this study.
Learning Classification taxonomies from a classification knowledge based system

Knowledge-based systems (KBS) are not necessarily based on well-defined ontologies. In particular it is possible to build KBS for classification problems, where there is little constraint on how classes are organised and a class is expressed by the expert as a free text conclusion to a rule. This paper investigates how relations between such 'classes' may be discovered from existing knowledge bases, then investigates how to construct a model of these classes (an ontology) based on user-selected patterns in the class relations. We have applied our approach to KBS built with Ripple Down Rules (RDR) [1] RDR is a knowledge acquisition and knowledge maintenance methodology, which allows KBS to be built very rapidly and simply, but does not require a strong ontology. Our experimental results are based on a large real-world medical RDR KBS. The motivation for our work is to allow an ontology in a KBS to 'emerge' during development, rather than requiring the ontology to be established prior to the development of the KBS.