Miracle-dz/UniFAR-FTUs huggingface dataset:
Resolving manipulator redundancy under inequality constraints

Due to hardware limitations, physical constraints such as joint rate bounds, joint angle limits, and joint torque constraints always exist. In this paper, these constraints are considered in the general formulation of the redundant inverse kinematic problem. To take these physical constraints into account, the computationally efficient compact quadratic programming (QP) method is formed to resolve the constrained kinematic redundancy problem. In addition, the compact-inverse QP method is also formulated to remedy the inescapable singularity problem with inequality constraints. Two examples are given to demonstrate the generality and superiority of these two methods: to eliminate the drift phenomenon caused by self motion and to remedy saturation-type nonlinearity problems. >
Understanding Events Relationally and Temporally Related: Context Assessment Strategies for a Smart Home (Invited Paper)

This paper elaborates on context assessment strategies for smart homes and, in a broader perspective, for context-aware cognitive systems. The proposed framework, which is inspired by a cognitive theory called functionalism, is aimed at integrating ontology and logic approaches to context modeling. Two are the assumptions underlying the model: (i) the availability of an ontology (i.e., a "context-role" representation of what exists in a given domain); (ii) a simple inference schema (i.e., subsumption between concepts). The context model is formally defined adopting a structural approach, which describes contexts and situations as recursive structures grounded with respect to the ontology. Examples are presented to discuss the proposed model.
Filamentation femtoseconde dans les milieux transparents passifs et amplificateurs, et étude de la filamentation comme source de radiation secondaire.

Ce travail de these peut etre divise en deux parties. Dans la premiere partie on presente une etude de la filamentation d'impulsions laser femtoseconde dans les milieux Kerr transparents passifs et amplificateurs; les resultats principaux de cette partie sont les suivants: mise en place d'une nouvelle technique (P-scan) pour l'etude des differents regimes de propagation non lineaire d'une impulsion femtoseconde dans les gaz (chapitre III), et mise en evidence de la possibilite d'augmenter l'energie et la puissance transportees par un seul filament, bien au dessus du seuil d'apparition de multi-filaments (chapitres IV et V). Dans la deuxieme partie, on etudie le plasma genere par filamentation en tant que source de radiation electromagnetique secondaire, dans les bandes Ter! ahertz et Radiofrequences. L'etude du filament comme source de radiation Terahertz est decrit dans les chapitres VI, VII et VIII ; elle a amene a la decouverte d'un nouveau mecanisme d'emission radiale en presence d'un champ electrique statique longitudinal le long de l'axe du filament. Nous avons aussi decouvert un nouveau mecanisme d'emission Terahertz en l'absence de champ applique; cette fois la radiation est emise vers l'avant dans un cone ferme autour de l'axe de propagation du filament. Le mecanisme d'emission, modelise en collaboration avec le Prof. Tikhonchuk de l'Universite de Bordeaux 1, s'est revele etre en tres bon accord avec les observations experimentales. Enfin, nous avons mis en evidence la possibilite de transformer un canal de plasma produit par la! ser en une antenne dipolaire, qui peut emettre des radiof! req uences. Ce sujet est decrit dans le chapitre IX.
Virtual colonoscopy accepted as primary colon cancer screening test.

raphy, a colonoscopy was performed without the physician’s having knowledge of the CT colonography results. Colonoscopy results and the examination of the tissue removed during the procedure were used as the reference standard. A positive result for CT colonography was defi ned as a lesion of 5 mm or larger that was seen with both procedures and corroborated with a biopsy. The trial showed that the accuracy of CT colonography was similar to that of conventional colonoscopy. Ninety percent of the polyps seen by colonoscopy that were 10 mm or larger — the ones most likely to develop into cancer — were also detected with CT colonography. Intermediate-sized polyps, ranging from 6 – 9 mm, were detected by CT colonography with a sensitivity of 90% for 9-mm polyps, 87% for 8-mm polyps, 84% for 7-mm polyps, and 78% for 6-mm polyps. The procedure for CT colonography takes about 10 – 15 minutes. As the patient is lying down, a scanner takes a series of x-rays of the entire colon and rectum that are assembled by a computer into a 3-D image and reviewed by a radiologist. Unlike the conventional colonoscopy, in
Quantum cryptography and secret-key distillation

1. Introduction 2. Classical cryptography 3. Information theory 4. Quantum information theory 5. Cryptosystems based on quantum key distribution 6. General results on secret-key distillation 7. Privacy amplification using hash functions 8. Reconciliation 9. Non-binary reconciliation 10. The BB84 protocol 11. Protocols with continuous variables 12. Security analysis of quantum key distribution Appendix 1. Symbols and abbreviations.
Commissioning of the Lower Hybrid Current Drive System on Alcator C-Mod

A lower hybrid current drive (LHCD) system has been developed for current profile control of advanced tokamak experiments on Alcator C-Mod. LHCD along with Ion Cyclotron Radio Frequency (ICRF) heating will be used to develop regimes with high confinement, high betan and high bootstrap fraction and extend them to quasi-steady-state conditions. This paper will describe the commissioning and initial operation of the LHCD system that includes a 50 kV, 208 A pulsed-power supply, twelve 250 kW Klystron transmitters, a 96 waveguide launcher and required control, protection and data acquisition systems
Managing the Realization of Business Benefits from IT Investments

With their information technology (IT) investments, most organizations focus on implementing the technology rather than on realizing the expected business benefits. Consequently, benefits are not forthcoming, despite a project's technical success. Drawing on more than 10 years of research studying how organizations can improve the return on their IT investments, we present an approach for identifying, planning, and managing the delivery of benefits. Our benefits management approach begins with IT professionals and business managers together answering seven questions about a potential IT investment. These questions aim to uncover three important aspects of the investment: the ends (the target performance improvements), the ways (the ways the business must work differently), and the means (the enabling IT capabilities). With these answers, the team can build a cause-effect network--called the Benefits Dependency Network (BDN)--which shows how each of the improvements can be achieved by a combination of business changes and new IT capabilities. It also makes clear who needs to become accountable for making the specific changes and delivering the benefits. The completed network provides the basis for developing both a robust business case for the investment and a viable change management plan to deliver the benefits. The results are better investment decisions and benefits-driven implementation plans, both of which lead to realizing more benefits from IT investments.
Phylogenetic Analysis of Hemoplasma Species: an International Study

ABSTRACT Nearly complete 16S rRNA gene sequences for feline and canine hemoplasma isolates from Europe, Australia, Africa, and Asia showed almost 100% identity to those previously reported for United States isolates. Partial sequences of the RNA subunit of the RNase P gene were also determined, and RNase P-based phylogenetic analysis showed that the hemoplasmas are most closely related to the members of the Mycoplasma pneumoniae group.
Evidências Empíricas de Modelos de Estimação do Custo do Capital Próprio

RESUMO: Este artigo investiga se existem diferencas estatisticamente significantes entre os valores estimados para o custo de capital proprio de empresas brasileiras atraves de 4 modelos e suas variantes: Gordon, CAPM, APM e Ohlson-Juettner. Para isso, foi utilizada uma amostra em cross-section de 34 empresas que fizeram parte do Ibovespa em 29/12/2005. Os resultados encontrados nao permitem dizer que a escolha do modelo e indiferente com relacao ao resultado da estimacao do custo de capital proprio, com isso, a hipotese metodologica foi rejeitada. Com relacao aos modelos, os baseados em projecoes de lucros e dividendos, notadamente os modelos OJ e de Gordon, resultam em valores medios equivalentes entre si e fora os que mais se igualaram em relacao aos outros. Finalmente, e importante comentar a superioridade teorica do modelo OJ, dado que este e desenvolvido com um menor numero de premissas e de maneira analitica, com relacao ao modelo de Gordon e ao modelo de Gordon & Gordon.
Evolution of submicron organic aerosol in polluted air exported from Tokyo

Ground‐based measurements of aerosols and trace gases were conducted at an urban site in Tokyo (Komaba) and a site 50 km to the north (Kisai) during July–August 2004. An Aerodyne aerosol mass spectrometer (AMS) was deployed at each measurement site to investigate the chemical evolution of submicron organic aerosol (OA) in polluted air. The mass concentrations of OA at the Kisai site were systematically higher than those at the Komaba site and were correlated with ozone under southerly conditions. The rate of increase of OA at the Kisai site is investigated using the photochemical age derived from the ratio of alkyl nitrates to their parent hydrocarbons. The OA concentrations in processed air (age of 8–16 h) were 4–5 times larger than those in fresh emissions (age ∼ 0), suggesting that the OA concentrations can be significantly enhanced within ∼0.5 days under conditions of high photochemical activity.
T Unsteady Aerodynamics of Multiple Airfoils in Configuration

A potential flow model is used to study the unsteady flow past two airfoils in configuration, each of which is suddenly set into motion. The airfoil bound vortices are modeled using lumped vortex elements and the wake behind the airfoil is modeled by discrete vortices. This consists of solving a steady state flow problem at each time-step where unsteadiness is incorporated through the “zero normal flow on a solid surface” boundary condition at every time instant. Additionally, along with the “zero normal flow on a solid surface” boundary condition Kelvin’s condition is used to compute the strength of the latest wake vortex shed from the trailing edge of the airfoil. Location of the wake vortices is updated at each time-step to get the wake shape at each time instant. Results are presented to show the effect of airfoil-airfoil interaction and airfoil-wake interaction on the aerodynamic characteristics of each airfoil. Keywords—Aerodynamics, Airfoils, Configuration, Unsteady.
Inhibition of Autophagy Increases Proliferation Inhibition and Apoptosis Induced by the PI3K/mTOR Inhibitor NVP-BEZ235 in Breast Cancer Cells.

BACKGROUND The phosphoinositide 3 kinase (PI3K)/AKT/mammalian target of the rapamycin (mTOR) pathway is a complicated intracellular pathway which leads to cell growth and tumor proliferation and plays a significant role in breast cancer. Multiple compounds targeting this pathway are being evaluated in clinical trials. NVP-BEZ235, a novel and orally available dual PI3K/mTOR inhibitor, showed great antitumor effect and provided a therapy strategy in breast cancer. METHODS In this study, we detect the effect of NVP-BEZ235 on cell viability, apoptosis, and autophagy in a breast cancer cell line. We also test the effect of NVP-BEZ235 on the expression of PI3K/AKT/mTOR pathway proteins p-AKT, p-mTOR, and p-70S6K. RESULTS The results showed that the PI3K/AKT/mTOR proteins p-AKT, p-mTOR, and p-70S6K were obviously suppressed by NVP-BEZ235. NVP-BEZ235 inhibited cell proliferation and induced apoptosis and autophagy in breast cancer cells. In combination with autophagy inhibitors or autophagy gene knockdown, enhanced growth inhibition and apoptosis was induced by NVP-BEZ235 in MCF-7 cells. CONCLUSIONS This study provides a novel treatment strategy that PI3K/AKT/mTOR pathway inhibitors in combination with autophagy inhibitors lead to further apoptosis in breast cancer cells.
Therapy guided by gastric impedance spectroscopy in a septic shock model in pigs

The disruption of the gastric mucosa plays a key role in the evolution of shock and it is the "motor of multiple organ failure"; in this sense, no clinically useful method to directly monitor the level of mucosal ischemic injury is available yet to guide appropriate therapy for the critically ill. An experimental model was developed in order to demonstrate that resuscitation therapy by gastric impedance spectroscopy, using a minimally invasive gastric catheter, is feasible and therefore, to establish its potential as a practical future clinical monitoring tool for the critically ill. A septic shock model in pigs was developed, which reproduces the hemodynamic conditions of the critically ill patient. Intervention therapies were designed in order to promote changes in hemodynamic response as well as in splanchnic perfusion, conventionally guided and by impedance spectroscopy. At the end of experiments, survival in each intervention therapy was compared and the outcome was better in the therapy group guided by gastric electric impedance spectroscopy.
AUTOMATIC CLUSTERING OF MICROARRAY DATA USING ART 2 NEURAL NETWORK

The Microarray technology has offered an overall view on the activity levels of numerous genes simultaneously. A typical Microarray dataset is characterized by a large number of genes; which is usually high with respect to the number of experiments. Due to the huge number of genes and the intricacy of biological data, clustering represents a gainful exploratory technique for analyzing Microarray data. The aim of clustering is to allocate objects to the adequate groups or clusters. On one hand, the objects belonging to the same cluster are more identical to each others. On the other hand, objects from dissimilar clusters are as unalike as possible. In the present work, the major goal is to extract automatically the number of clusters in the lung cancer Microarray dataset. In fact, a clustering technique based on Adaptive Resonance Theory is used; without any prior information about the number or the form of the clusters behind the processed data. The chosen form of Adaptive Resonance Theory architectures is ART2, which quickly self-organizes categories of pattern recognition in response to arbitrary presented sequences of both analog or binary input patterns [1]. The proposed approach was simulated on raw data and reduced data, using the PCA technique. The efficiency of the applied method was evaluated by measuring the performance of the classifiers against lung cancer Microarray data.
Mental Contrasting With Implementation Intentions (MCII) Improves Physical Activity and Weight Loss Among Stroke Survivors Over One Year

Objective: Stroke is the most common cause of physical impairment, and having already had a stroke dramatically increases the risk of having another one. Although greater physical activity lowers rates of stroke recurrence, patients often fail to act in line with this recommendation. The present intervention tested whether teaching the self-regulation strategy of mental contrasting (MC) with implementation intentions (II; MCII) improves stroke patients’ physical activity and weight loss over 1 year compared with 2 information-only, control interventions. Research Method: Participants were 183 stroke survivors who were capable of adhering to physical activity recommendations (age: M = 57 years; body mass index (BMI): M = 30). Patients were randomized to 3 conditions: unstructured information (n = 61), structured information (n = 62), and structured information plus MCII (n = 60). Patients’ physical activity was assessed 50 weeks after they had left the rehabilitation hospital using the Baecke Inventory (Baecke, Burema, & Frijters, 1982), and by diaries provided at 2 consecutive weekends after 0, 10, 20, 30, 40, and 50 weeks. Diaries were also used to assess weight change. Results: MCII participants were more physically active after the 50 weeks (Baecke Inventory: 2.74 vs. 2.59, p < .05; diary: 62.45 vs. 54.11, p = .03) and lost more weight (2.15 kg, p = .02) compared with participants in the control conditions. Conclusions: Teaching the MCII self-regulation strategy enhanced long-term physical activity in stroke patients relative to health information on its own. MCII thus qualifies as an effective intervention technique to improve secondary stroke prevention.
Prise de son distante par système multimicrophone. Application à la communication parlée en environnement bruyant

Dans notre societe de plus en plus mobile, nous constatons que les systemes de communication mains libres sont devenus une norme, que ce soit pour les interactions homme-machine ou homme-homme. Cependant, il est diﬃcile de garantir la qualite du signal de parole lors d'une prise de son distante car les microphones captent en plus du signal desire le bruit de fond, la reverberation, le signal d'echo et les autres sources de parole concurrentes. Les antennes acoustiques associees aux techniques de formation de voies sont une solution eﬃcace et aujourd'hui technologiquement realisable. Grâce a leur directivite, elles ameliorent le rapport signal sur bruit de meme que, en exploitant la correlation spatiale du champ sonore, elles permettent de reduire la reverberation, l'echo et le bruit. Les antennes acoustiques jouent un role croissant dans la telephonie mains libres, la reconnaissance de locuteur, les systemes a commande vocale, l'aide aux malentendants ou la surveillance audio. Dans cette these, pour s'adapter aux environnements variants dans le temps, aux non-stationnarites des signaux et aux eventuels mouvements du locuteur, nous considerons les antennes adaptatives de type GSC (Generalized Sidelobe Canceller) pour leur implementation avantageuse. Cependant, l'un des defauts majeurs de cette antenne, couramment utilisee, reside dans la fuite du signal utile dans l'etage d'estimation du bruit provoquant de fortes degradations voire l'auto-annulation de ce signal en sortie. Pour resoudre ce probleme, nous proposons de mettre a proﬁt la structure recursive speciﬁquement dediee a la gestion de la diaphonie dans la technique d'annulation adaptative de bruit bicapteur, nommee CTRANC (Crosstalk-Resistant Adaptive Noise Canceller). Ainsi, avant de proposer une extension de cette methode au cas du GSC et donc de deﬁnir une nouvelle architecture recursive pour celui-ci, nous donnons dans un premier temps une analyse complete du CTRANC et proposons de nouveaux algorithmes adaptatifs dans le domaine frequentiel. Par ailleurs, notre etude fournit egalement de nouveaux resultats sur les proprietes de convergence et l'existence d'un point d'equilibre pour le CTRANC. Enﬁn, des resultats experimentaux confortent l'analyse et montrent l'eﬃcacite des solutions proposees pour la suppression du signal de fuite et l'amelioration des performances.
Digital game-based learning once removed: Teaching teachers

In the spring of 2005, the author designed and taught a graduate-level course on digital game-based learning primarily for teachers. Teachers cannot be expected to embrace digital games as a tool for learning unless they have a sound understanding of the potential as well as the limitations, and are confident in their ability to use games effectively to enhance learning. The course was designed as an introduction to digital games and gaming for instruction and learning. In it, students explored the theories, the possibilities, considerations and constraints related to the design of instructional games, and the use of learning and commercial entertainment games in classroom and out-of-class settings. The design of the course, along with the rationales, will be outlined and participant reaction will be profiled. Suggestions for future course designs are described, as well as key elements crucial for teacher preparation. Ultimately, the success of digital games as a medium for learning depends to a large extent on the abilities of new and practicing teachers to take full advantage of this medium.
Novel method of Euclidean distance calculation for bilateral filtering based on CMOS sensor noise profiles

Bilateral filtering is an effective technique for reducing image noise while preserving edge content. The filter kernel is constructed based on two criteria of neighboring pixels, namely photometric resemblance and geometric proximity. The Euclidean distance is used as a metric for the photometric portion of the kernel in the classic definition of the filter. We illustrate in this paper a simplified method for calculating the Euclidean distance metric which reduces the computational complexity of the filter. Furthermore, we generalize the idea of bilateral filtering by linking the filter processing parameters to the noise profile of a CMOS image sensor and present a simple method for tuning the performance of the filter.
Complement factor B and the alternative pathway of complement activation in bovine milk

The contribution of the alternative pathway of complement activation to the capacity of normal milk to deposit C3 fragments on bacteria was tested by attempting to block C3 deposition with antibodies to the alternative pathway component factor B (fB). Factor B was purified and antibodies of the IgY class, which does not activate mammalian complement, were obtained from the egg yolk of immunized laying hens. These antibodies specifically inhibited the deposition of C3. This inhibition and the absence of deposition of C4 demonstrated that C3 deposition in normal milk resulted from the activation of the alternative pathway. Antibodies raised in rabbit were used to develop an ELISA for measuring fB concentrations in milk. The mean concentration of fB was 2·06 μg/ml (±0·18, SEM), 0·57% of the mean value found in serum (360 μg/ml). This proportion was comparable to that of serum albumin (0·63% of serum value) but less than the proportion of C3 in milk (2·71%). Nevertheless, fB was apparently not a limiting factor for the functioning of the alternative pathway, since addition of purified fB to normal milk did not improve C3 deposition. In serum, mild heat-treatment (56 °C for 3 min or 50 °C for 45 min) blocked the alternative pathway and destroyed fB, as shown by loss of antigenicity in ELISA. In milk, mild heat-treatment did not abrogate C3 deposition, and fB was protected, retaining its functionality and antigenicity. Heating at 56 °C for at least 45 min was necessary to completely inhibit C3 deposition in normal milk.
Current concepts in the metabolic responses to injury, infection and starvation

The disruption of homoeostatic regulatory mechanisms by injury is well recognized. Survival depends upon a coordinated response by cardiovascular, renal, haematological, respiratory, neural and endocrine systems designed to provide continuing oxygen and nutrients to the cells of vital organs (Moore, This review is concerned with the biochemical and endocrine adaptation which occurs during the recovery period after injury to provide, in addition to the foregoing, materials for cellular and wound repair, materials for synthesis of immune and other proteins, and the necessary precursors for the long-term supply of metabolic energy. Starvation and infection, and their influence on the post-injury state are also considered.