Miracle-dz/UniFAR-FTUs huggingface dataset:
Optimal Reaching and Balancing for Humanoid Robots

This paper presents methods for the generation of optimal reaching and balancing movements in humanoid robots. Arm reaching movements are parametrized as a linear combination of basis elements, which are extracted via a principal component analysis of human motion capture data. Human- like reaching movements are then generated by determining the minimum torque motion from this parametrized class of arm movements. The optimal balancing problem, in which the goal is to execute a desired movement without losing balance, is framed as second-order cone programming (SOCP) problem; it is also shown that many existing optimization-based balancing strategies reduce to special cases of this more general formulation. Simulation results with a humanoid model are presented for both reaching and balancing movements.
Comparison of Two Frameworks for Measuring the Stability of Gene-Selection Techniques on Noisy Class-Imbalanced Data

A common challenge encountered with feature (gene) selection is the instability of selected genes, which is defined as the degree of agreement between its outputs to differently-perturbed versions of the same input data. Very little work considers the impact of noise and sampling (e.g., preprocessing techniques used to cope with class imbalance, such as undersampling and oversampling) on the stability of gene selection techniques. In this study we compare two frameworks for evaluating this stability: "sampled-noisy vs. clean" and "sampled-noisy vs. sampled-noisy. " Both frameworks involve noise injection followed by sampling, they differ in that the first compares the features selected from the perturbed (due to noise injection followed by sampling) datasets with the features selected from the original (clean) dataset, while the second performs a pairwise comparisons among the results from the perturbed datasets. Intuitively, the first framework should have more consistent results, since it is only randomizing one half of the comparison rather than both halves. The primary goal of this paper is to discover whether despite this, these two frameworks show similar patterns and conclusions. This is tested using four groups of cancer gene datasets. We employ ten feature rankers from three different families, apply three sampling techniques, and generate artificial class noise to better simulate real-world datasets. The results show that Mutual Information, Signal-To-Noise, and Deviance show the best stability across the two frameworks, while Gain Ratio shows the worst stability on average. The results also show that two frameworks have the same stability pattern, i.e., the rankers that perform well (or poorly) in the first framework perform as well (or as poorly) in the second. This means that the second framework, which is less computationally intensive (due to not performing feature selection on the clean data), can be used without requiring the first framework.
The First Estimates of Marbled Cat Pardofelis marmorata Population Density from Bornean Primary and Selectively Logged Forest

The marbled cat Pardofelis marmorata is a poorly known wild cat that has a broad distribution across much of the Indomalayan ecorealm. This felid is thought to exist at low population densities throughout its range, yet no estimates of its abundance exist, hampering assessment of its conservation status. To investigate the distribution and abundance of marbled cats we conducted intensive, felid-focused camera trap surveys of eight forest areas and two oil palm plantations in Sabah, Malaysian Borneo. Study sites were broadly representative of the range of habitat types and the gradient of anthropogenic disturbance and fragmentation present in contemporary Sabah. We recorded marbled cats from all forest study areas apart from a small, relatively isolated forest patch, although photographic detection frequency varied greatly between areas. No marbled cats were recorded within the plantations, but a single individual was recorded walking along the forest/plantation boundary. We collected sufficient numbers of marbled cat photographic captures at three study areas to permit density estimation based on spatially explicit capture-recapture analyses. Estimates of population density from the primary, lowland Danum Valley Conservation Area and primary upland, Tawau Hills Park, were 19.57 (SD: 8.36) and 7.10 (SD: 1.90) individuals per 100 km2, respectively, and the selectively logged, lowland Tabin Wildlife Reserve yielded an estimated density of 10.45 (SD: 3.38) individuals per 100 km2. The low detection frequencies recorded in our other survey sites and from published studies elsewhere in its range, and the absence of previous density estimates for this felid suggest that our density estimates may be from the higher end of their abundance spectrum. We provide recommendations for future marbled cat survey approaches.
Tumor-Associated Glycans and Immune Surveillance

Changes in cell surface glycosylation are a hallmark of the transition from normal to inflamed and neoplastic tissue. Tumor-associated carbohydrate antigens (TACAs) challenge our understanding of immune tolerance, while functioning as immune targets that bridge innate immune surveillance and adaptive antitumor immunity in clinical applications. T-cells, being a part of the adaptive immune response, are the most popular component of the immune system considered for targeting tumor cells. However, for TACAs, T-cells take a back seat to antibodies and natural killer cells as first-line innate defense mechanisms. Here, we briefly highlight the rationale associated with the relative importance of the immune surveillance machinery that might be applicable for developing therapeutics.
The Value of Religion in Prison

In recent years, religious programming for inmates is being applauded by some as the latest answer to recidivism. Policy makers and correctional officials alike are among the supporters of these programs that go well beyond conventional prison ministry. The emphasis in promoting the expansion of religion-based programs indeed lies in the claim that faith in a higher power prevents relapse into criminal activity better than secular strategies. Whether this claim can be consistently validated remains unclear. Moreover, the sustained focus on religion's utility in preventing future criminal conduct diminishes religion's immediate value to the inmate during the term of incarceration. With this latter function in mind, this article reports findings from qualitative inquiries conducted in several prisons nationwide. Designed to reveal the meaning of religion to inmates, the study calls attention to the role of religion in preventing devaluation and fostering survival.
A Precise Eye-Gaze Detection and Tracking System

This paper describes a real-time contact-free eye-gaze tracking system that bases its accuracy in a very precise estimation of the pupil centre. The eye camera follows the head movements maintaining the pupil centred in the image. When a tracking error is produced, the image from a camera with a wider field of view is used to locate the eye and quickly recover the tracking process. Four infrared light sources, synchronised with the shutter of the eye camera, are used to produce corneal glints. Its special shape has been exploited to allow the optimisation of the image processing algorithms developed for this system. Special care has been taken in limiting the illumination power and working way below the dangerous levels. After a calibration procedure, the line of gaze is determined by using the pupil-glint vector. The glints are validated using the iris outline with the purpose of avoiding the glint distortion due to the changes in the curvature on the ocular globe. The proposed algorithms determine the pupil centre with sub-pixel resolution, minimising the measurement error in the pupil-glint vector.
A study of heterogeneity in recommendations for a social music service

We present a preliminarily study on the influence of different sources of information in Web 2.0 systems on recommendation. Aiming to identify which are the sources of information (ratings, tags, social contacts, etc.) most valuable for recommendation, we evaluate a number of content-based, collaborative filtering and social recommenders on a heterogeneous dataset obtained from Last.fm. Moreover, aiming to investigate whether and how fusion of such information sources can benefit individual recommendation approaches, we propose various metrics to measure coverage, overlap, diversity and novelty between different sets of recommendations. The obtained results show that, in Last.fm, social tagging and explicit social networking information provide effective and heterogeneous item recommendations. Moreover, they give first insights on the feasibility of exploiting the above non performance recommendation characteristics by hybrid approaches.
Vanilloid receptor like 1 (VRL1) immunoreactivity in mammalian retina: Colocalization with somatostatin and purinergic P2X1 receptors

The distribution of vanilloid receptor like1 immunoreactivity (VRL1‐IR) in the retinas of rat, cat, and monkey was studied by single‐ and double‐labeling immunocytochemistry. The patterns were similar for all three species in that VRL1‐IR was most prominent in the inner plexiform layer, with scattered compact projections to the outer plexiform layer (OPL). VRL1‐immunoreactive cell bodies were present throughout the rat retina, represented by amacrine cells in the inner nuclear layer and ganglion cell layer (GCL). In cat and monkey retinas, VRL1‐immunoreactive cell bodies were restricted to the GCL in the inferior retina. Occasional cell bodies were associated with retinal blood vessels, but their identity as pericytes, glia, or neurons is uncertain. All VRL1‐immunoreactive cells and processes colocalized with somatostatin and purinergic P2X1 receptor‐IR but not with tyrosine hydroxylase‐IR. VRL1‐immunoreactive processes in the OPL did not label with antisera against synaptic vesicle 2 (SV2), suggesting that they were dendritic and did not derive from interplexiform cells. However, VRL1‐immunoreactive processes in the far periphery toward the pars plana labeled for SV2, suggesting that these processes were presynaptic. The VRL1‐immunoreactive cell bodies in the monkey GCL were not calbindin‐immunoreactive, demonstrating that they were not displaced H2 horizontal cells. The VRL1‐immunoreactive cells in cat and monkey could represent biplexiform and/or associational ganglion cells that receive input in the OPL throughout the retina and direct output to the far periphery. The presence of P2X1 receptors and vanilloid receptor like 1 protein on somatostatin‐containing neurons in mammalian retina adds to the growing complexity regarding the chemical control of retinal function that is likely to include the microcirculation. J. Comp. Neurol. 474:407–418, 2004. © 2004 Wiley‐Liss, Inc.
GCSE physical education and the embodiment of gender

Research within the area of the sociology of physical education (PE) recognises that it is a subject which reinforces dominant ideologies about gender. The gendered nature of PE appears to continue into General Certificate of Secondary Education (GCSE) examinable PE, as the proportion of boys being examined in GCSE PE compared to girls is nearly 2:1. Given the recent drive and initiatives such as the Girl Active scheme, run jointly by Norwich Union and the Youth Sport Trust to get girls active, GCSE PE may have a role to play increasing girls' involvement in physical activity and healthy lifestyles. This paper seeks to explore, through qualitative focus group interviews with Year 10 girls, how girls' experiences of PE and GCSE PE are gendered. The findings of this paper suggest that GCSE PE does little to breakdown existing gender relations of PE and often reinforces ideas about the gendered body.
Acoustic echo cancellation in the presence of distorting loudspeakers

Acoustic echo cancellation is usually needed in hands-free telephone systems or in video conference applications. Conventional acoustic echo cancellers (AECs) basically rely on the assumption of a linear echo path. Their performance is then limited in the presence of nonlinearities, like those typically generated in low-quality loudspeakers. The presence of nonlinearities require the adoption of nonlinear AECs. Truncated Volterra filters are usually applied to nonlinear echo cancellation, but the improvements obtained with respect to linear adaptive filters do not justify a computational load of at least O(N2) (like in the case of second-order Volterra filters) and simpler approaches are necessary. In this paper the effect of loudspeaker nonlinearities is first investigated. Then a convenient new nonlinear architecture based on spline adaptive functions with computational cost of O(N) is proposed as an effective alternative to computationally more expensive approaches.
Antibiotic acyldepsipeptides activate ClpP peptidase to degrade the cell division protein FtsZ

The worldwide spread of antibiotic-resistant bacteria has lent urgency to the search for antibiotics with new modes of action that are devoid of preexisting cross-resistances. We previously described a unique class of acyldepsipeptides (ADEPs) that exerts prominent antibacterial activity against Gram-positive pathogens including streptococci, enterococci, as well as multidrug-resistant Staphylococcus aureus. Here, we report that ADEP prevents cell division in Gram-positive bacteria and induces strong filamentation of rod-shaped Bacillus subtilis and swelling of coccoid S. aureus and Streptococcus pneumoniae. It emerged that ADEP treatment inhibits septum formation at the stage of Z-ring assembly, and that central cell division proteins delocalize from midcell positions. Using in vivo and in vitro studies, we show that the inhibition of Z-ring formation is a consequence of the proteolytic degradation of the essential cell division protein FtsZ. ADEP switches the bacterial ClpP peptidase from a regulated to an uncontrolled protease, and it turned out that FtsZ is particularly prone to degradation by the ADEP–ClpP complex. By preventing cell division, ADEP inhibits a vital cellular process of bacteria that is not targeted by any therapeutically applied antibiotic so far. Their unique multifaceted mechanism of action and antibacterial potency makes them promising lead structures for future antibiotic development.
Protecting router cache privacy in named data networking

With users' explosively increasing needs for online data, current IP-based or host-based Internet architecture is becoming insufficient and outdated gradually. Named Data Networking (NDN) is considered as a candidate of next-generation Internet architectures. In NDN, an addressable content name, rather than an IP address, is used to publish, request, deliver and manage the content. In addition, NDN employs router caches to replicate and store passing packets, so that previously requested contents can be delivered very quickly. Although router caching can improve network throughput significantly, it also introduces a few serious privacy problems. In this paper, we focus on studying snooping attack, in which a snooper can learn about other users' preferences and breach their privacy by measuring the time difference between responses. To address this problem, we utilize the signatures of abnormal events to detect abnormal user behaviors, and build a credit score for each user according to his behaviors. When the credit score of a user drops below a predefined threshold, this user is considered as a snooper. Then, we deliberately add a response delay to the snooper so that he can be isolated from normal users. The performance analysis shows that our scheme can efficiently protect router caching privacy against snooping attack, with keeping high network performance.
BK virus nephropathy in the native kidneys of a pediatric heart transplant recipient

Sahney S, Yorgin P, Zuppan C, Cutler D, Kambham N, Chinnock R. BK virus nephropathy in the native kidneys of a pediatric heart transplant recipient. Pediatr Transplantation 2010:14:E11–E15. © 2009 Wiley Periodicals, Inc.
Robust Downlink Beamforming for Multiuser MISO SWIPT Systems ⋆

In this paper, we studies robust downlink beamforming for a multiuser multiple-input single-output (MISO) simultaneous wireless information and power transfer (SWIPT) system when only imperfect knowledge of the channel state information (CSI) is available at the transmitter. Specifically, we exploit two different models to describe CSI errors: a) deterministic bounded and b) stochastic random. For the deterministic bounded error model, the worst-case based robust beamforming is designed to minimize the total transmit power while guaranteeing the signal-to-interference-and-noise ratio constraints at information receivers and energy harvesting constraints at the energy receivers. The optimization problem of interest is non-convex and hard to solve. With the aid of S-procedure and semidefinite relax (SDR) techniques, we finally transform the considered non-convex problem into a semidefinite program (SDP) problem, which is convex and can be solved efficiently by using standard interior-point methods. On the other hand, considering the stochastic random CSI errors and following the chance constrained approach, we modify our design objective to minimize the total transmit power subject to probabilistic quality of service constraints of each receivers. The aforementioned probabilistic constraints have no closed-form expression and are non-convex in general. We turn this non-convex optimization problem into a SDP problem by utilizing the Bernstein-type inequality together with SDR. Finally, numerical results are provided to corroborate the robustness and effectiveness of the proposed methods.
Endothelial Nitric Oxide Synthase Gene Polymorphisms Predict Susceptibility to Aneurysmal Subarachnoid Hemorrhage and Cerebral Vasospasm

Rupture of an intracranial aneurysm (subarachnoid hemorrhage) is a potentially devastating condition frequently complicated by delayed cerebral ischemia from sustained contraction of intracranial arteries (cerebral vasospasm). There is mounting evidence linking the formation of intracranial aneurysms and the pathogenesis of post-subarachnoid hemorrhage vasospasm to aberrant bioavailability and action of the vasodilator molecule nitric oxide generated by isoforms of nitric oxide synthase. In humans, the gene encoding the endothelial isoform of nitric oxide synthase (eNOS) is known to be polymorphic, with certain polymorphisms associated with increased cardiovascular disease susceptibility. In this prospective clinical study involving 141 participants, we used gene microarray technology to demonstrate that the eNOS gene intron-4 27-base pair variable number tandem repeat polymorphism (eNOS 27 VNTR) predicts susceptibility to intracranial aneurysm rupture, while the eNOS gene promoter T-786C single nucleotide polymorphism (eNOS T-786C SNP) predicts susceptibility to post-subarachnoid hemorrhage vasospasm. We believe that genetic information such as this, which can be obtained expeditiously at the time of diagnosis, may be used as a helpful adjunct to other clinical information aimed at predicting and favorably modifying the clinical course of persons with intracranial aneurysms.
Towards an Integrated Development Environment for Context-Aware User Interfaces

The emergence of mobile computing devices brings along the fact that users interact with computers in various environments. The user interface of a mobile system can be affected by environmental context. Several approaches succeed in providing architectures and frameworks to support the building and reuse of software components considering context information. Taking into ac- count context information in designing the interaction of a system, however, has not yet been extensively investigated. In this paper we will discuss an Integrated Development Environment, DynaMo-AID, we are developing to support the de- sign, prototyping, evaluation and deployment of context-aware interactive sys- tems.
RODA-in: A generic tool for the mass creation of submission information packages

RODA-in is an offline tool designed to easily create thousands of SIPs with gigabytes of data in an easy to use way. This is possible by using aggregation rules, which map files and folders to SIPs, and metadata association rules, which add metadata to the created SIPs. The basic workflow can be defined in a sequence of easy steps where the user starts by selecting the folders to be archived and then chooses which patterns will be used to transform the data in SIPs. As an optional step, it's possible to edit the generated SIPs to either enrich them or fix exceptions to the rule. Lastly, it's possible to export to two different formats: BagIt and E-ARK SIP. In this paper we present and discuss all the decisions and ideas taken to implement RODA-in like which workflow should be used, what aggregation and metadata association options are currently implemented, how the metadata templating system works and which other features can be used to enrich the SIPs.
Potassium Abundances in Red Giants of Mildly to Very Metal-Poor Globular Clusters

A non-LTE analysis of K I resonance lines at 7664.91 and 7698.97 u A was carried out for 15 red giants belonging to three globular clusters of different metallicity (M 4, M 13, and M 15) along with two reference early-K giants (� Boo and ˛ Boo), in order to check whether the K abundances are uniform within a cluster, and to investigate the behavior of the [K=Fe] ratio at the relevant metallicity range of � 2.5 . [Fe=H] . � 1. We confirmed that [K=H] (as well as [Fe=H]) is almost homogeneous within each cluster to a precision of . 0.1 dex, though dubiously large deviations are exceptionally seen for two peculiar stars showing signs of considerably increased turbulence in the upper atmosphere. The resulting [K=Fe] ratios are mildly supersolar by a few tenths of dex for three clusters, tending to gradually increase from � 0.1–0.2 at [Fe=H] �� 1t o� +0.3 at [Fe=H] �� 2.5. This result connects reasonably well with the [K=Fe] trend of disk stars (� 1. [Fe=H]) and that of extremely metal-poor stars (� 4. [Fe=H]. � 2.5). That is, [K=Fe] appears to continue a gradual increase from [Fe=H] � 0 toward a lower metallicity regime down to [Fe=H] �� 3, where a broad maximum of [K=Fe] � +0.3–0.4 is attained, possibly followed by a slight downturn at [Fe=H] . � 3.
Six-Degree-of-Freedom Haptic Rendering Using Incremental and Localized Computations

We present a novel six-degree-of-freedom haptic rendering algorithm using incremental and localized contact computations. It uses an incremental approach for contact and force computations and takes advantage of spatial and temporal coherence between successive frames. As part of a preprocess, we decompose the surface of each polyhedron into convex pieces and construct bounding volume hierarchies to perform fast proximity queries. Once the objects have intersected, we compute the penetration depth (PD) in the neighborhood of the contact between each pair of decomposed convex pieces using a new incremental algorithm. Moreover, we cluster different contacts based on their spatial proximity to speed up the force computation. We have implemented this algorithm and applied it to complex contact scenarios consisting of multiple contacts. We demonstrate its effectiveness on electronic prototyping of complex mechanical structures and virtual exploration of a digestive system.