Miracle-dz/UniFAR-FTUs huggingface dataset:
Collision-Free Path Planning for Articulated Robots

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is built by a set of robot joint angles derived from robot inverse kinematics. The joint space, that is made of the joint angle set, forms a Configuration space (Cspcce). Obstacles in the robot workcell are also transformed into the Cobstacles using slice projection method. Actually the Cobstacles means the configurations of the robot causing collision with obstacles. Secondly, a connected graph, a kind of roadmap, is constructed by the free configurations in the Cspace, where the free configurations are randomly sampled from a free Cspace immune from the collision. Thirdly, robot paths are optimally determinant in the connected graph. A path searching algorithm based on is employed in determining the paths. Finally, the whole procedures for the CFPP method are shown for a proper articulated robot as an illustrative example.
Development of real-time PCR and loop-mediated isothermal amplification (LAMP) assays for the differential detection of digital dermatitis associated treponemes

Bovine digital dermatitis (DD) is a severe infectious cause of lameness in cattle worldwide, with important economic and welfare consequences. There are three treponeme phylogroups (T. pedis, T. phagedenis, and T. medium) that are implicated in playing an important causative role in DD. This study was conducted to develop real-time PCR and loop-mediated isothermal amplification (LAMP) assays for the detection and differentiation of the three treponeme phylogroups associated with DD. The real-time PCR treponeme phylogroup assays targeted the 16S-23S rDNA intergenic space (ITS) for T. pedis and T. phagedenis, and the flagellin gene (flaB2) for T. medium. The 3 treponeme phylogroup LAMP assays targeted the flagellin gene (flaB2) and the 16S rRNA was targeted for the Treponeme ssp. LAMP assay. The real-time PCR and LAMP assays correctly detected the target sequence of all control strains examined, and no cross-reactions were observed, representing 100% specificity. The limit of detection for each of the three treponeme phylogroup real-time PCR and LAMP assays was ≤ 70 fg/μl. The detection limit for the Treponema spp. LAMP assay ranged from 7–690 fg/μl depending on phylogroup. Treponemes were isolated from 40 DD lesion biopsies using an immunomagnetic separation culture method. The treponeme isolation samples were then subjected to the real-time PCR and LAMP assays for analysis. The treponeme phylogroup real-time PCR and LAMP assay results had 100% agreement, matching on all isolation samples. These results indicate that the developed assays are a sensitive and specific test for the detection and differentiation of the three main treponeme phylogroups implicated in DD.
Extended passive velocity field control with variable velocity fields for a kneed biped

In this paper, two aspects for task specification and control of biped walking robot, i.e. (i) realization of safe control against human beings and the outside environment by utilizing a passive velocity field controller (PVFC), and (ii) energy-effective gait design based on virtual passive dynamic walking, are studied and a new control method is derived based on them. In our previous work, we have given a method which satisfied the required properties and examined the validity by numerical simulations. In the method a single trajectory is realized; however, the walking behavior should be modified and adapted by its energy level and initial conditions. Based on the observations, we introduce multi-pattern walking using the virtual passive gait to realize more natural walking motion. The virtual passive gait is shown to require less control input than other methods which can generate a limit cycle automatically without any gait design, and we combine the virtual passive walk with PVFC to change its walking speed easily and effectively.
Enhancing Criterion-Related Validity Through Bottom-Up Contextualization of Personality Inventories: The Construction of an Ecological Conscientiousness Scale for Ph.D. Candidates

In this article the concept of “ecological personality scales” is introduced. These are contextualized inventories with a high ecological validity. They are developed in a bottom-up or qualitative way and combine a relatively high trait specificity with a relatively high situational specificity. An ecological Conscientiousness or time management scale for Ph.D. candidates was developed. It significantly predicted Ph.D. performance criteria and showed incremental validity beyond Big Five (Study 1) and narrow trait and frame-of-reference scales (Study 2). These findings suggest that an ecological approach may contribute to further improving the criterion validity of personality measures.
Mininet as Software Defined Networking Testing Platform

Mininet is an emulator for deploying large networks on the limited resources of a simple single Computer or Virtual Machine. Mininet has been created for enabling research in Software Defined Networking (SDN) and OpenFlow. Mininet emulator allows running unmodified code interactively on virtual hardware on a simple PC. It provides convenience and realism at very low cost. The alternative to Mininet is hardware test beds which are fast, accurate but very expensive and shared. The other option is to use simulator which is very cheap but sometimes slow and require code modification. Mininet offers ease of use, performance accuracy and scalability.
Understanding the Role of Experience in Younger and Older Adults' Interactions with a Novel Technology

Successful performance with novel technologies may be enhanced if prior knowledge can be used to guide the interaction. However, knowledge alone may be insufficient to minimize age-related differences in technology interactions. The goal of the present study was to examine age-related differences in the use of a novel everyday technology, the Flip video camcorder, when experience with comparable technologies was controlled. Younger adults and older adults with a similar level of general technology experience were video recorded as they completed three tasks while thinking aloud. Comparisons of self-reported prior experience with technologies comparable to the Flip indicated similar, significant levels of experience. In spite of similar experience, younger adults performed significantly faster than older adults on two of the three tasks. Younger adults were also more likely to perform optimally on these tasks. In contrast, older adults were more likely to only partially complete two of the three tasks. Older adults were also more likely to report higher cognitive workload and lower satisfaction with their performance. These findings suggest that designers need detailed assessments of users' knowledge of comparable technologies and proposed design features to mitigate performance differences in a diverse user population.
Chimpanzee Vocal Signaling Points to a Multimodal Origin of Human Language

The evolutionary origin of human language and its neurobiological foundations has long been the object of intense scientific debate. Although a number of theories have been proposed, one particularly contentious model suggests that human language evolved from a manual gestural communication system in a common ape-human ancestor. Consistent with a gestural origins theory are data indicating that chimpanzees intentionally and referentially communicate via manual gestures, and the production of manual gestures, in conjunction with vocalizations, activates the chimpanzee Broca’s area homologue – a region in the human brain that is critical for the planning and execution of language. However, it is not known if this activity observed in the chimpanzee Broca’s area is the result of the chimpanzees producing manual communicative gestures, communicative sounds, or both. This information is critical for evaluating the theory that human language evolved from a strictly manual gestural system. To this end, we used positron emission tomography (PET) to examine the neural metabolic activity in the chimpanzee brain. We collected PET data in 4 subjects, all of whom produced manual communicative gestures. However, 2 of these subjects also produced so-called attention-getting vocalizations directed towards a human experimenter. Interestingly, only the two subjects that produced these attention-getting sounds showed greater mean metabolic activity in the Broca’s area homologue as compared to a baseline scan. The two subjects that did not produce attention-getting sounds did not. These data contradict an exclusive “gestural origins” theory for they suggest that it is vocal signaling that selectively activates the Broca’s area homologue in chimpanzees. In other words, the activity observed in the Broca’s area homologue reflects the production of vocal signals by the chimpanzees, suggesting thast this critical human language region was involved in vocal signaling in the common ancestor of both modern humans and chimpanzees.
An Event-related Potential Study on the Interaction between Lighting Level and Stimulus Spatial Location

Due to heterogeneous photoreceptor distribution, spatial location of stimulation is crucial to study visual brain activity in different light environments. This unexplored issue was studied through occipital event-related potentials (ERPs) recorded from 40 participants in response to discrete visual stimuli presented at different locations and in two environmental light conditions, low mesopic (L, 0.03 lux) and high mesopic (H, 6.5 lux), characterized by a differential photoreceptor activity balance: rod > cone and rod < cone, respectively. Stimuli, which were exactly the same in L and H, consisted of squares presented at fixation, at the vertical periphery (above or below fixation) or at the horizontal periphery (left or right). Analyses showed that occipital ERPs presented important L vs. H differences in the 100 to 450 ms window, which were significantly modulated by spatial location of stimulation: differences were greater in response to peripheral stimuli than to stimuli presented at fixation. Moreover, in the former case, significance of L vs. H differences was even stronger in response to stimuli presented at the horizontal than at the vertical periphery. These low vs. high mesopic differences may be explained by photoreceptor activation and their retinal distribution, and confirm that ERPs discriminate between rod– and cone-originated visual processing.
and Infected Mouse Heart − B 3 Viral Myocarditis : Identification of Five Differentially Expressed Genes in Coxsackievirus

Differences in host susceptibility to viral myocarditis caused by a given strain of coxsackievirus B3 (CVB3) are known to be largely related to host genetic factors. Little is known, however, about the key genes that encode determinants (mediators) of myocarditis development or the nature of injury. To identify these genes and further understand the molecular mechanisms of the disease process, we have used a murine model and the differential display technique to fingerprint mRNAs from CVB3-infected mouse hearts. Total RNA was extracted from hearts of 4and 10-week-old A/J(H-2) mice at day 4 after CVB3 infection, and mRNAs were detected by reverse transcriptase– polymerase chain reaction and subsequently analyzed on polyacrylamide DNA sequencing gels. The differentially displayed bands were confirmed by Northern hybridization using the bands as cDNA probes. Twenty-eight upregulated or downregulated bands were selected from the sequencing gels; among these, 2 upregulated and 3 downregulated cDNA fragments were confirmed by Northern hybridization. DNA sequence analysis and GenBank searching have determined that 4 of the 5 candidate genes are homologous to genes encoding Mus musculus inducible GTPase, mouse mitochondrial hydrophobic peptide (a subunit of NADH dehydrogenase), mouse b-globin, and Homo sapiens cAMP-regulated response element binding protein (CREB) binding protein (CBP), respectively. The remaining candidate gene matches an unpublished cDNA clone, M musculus Nip21 mRNA (GenBank accession number, AF035207), which is homologous to human Nip2, a Bcl-2 binding protein. Our data suggest preliminarily that both structural and nonstructural genes are involved in myocarditis development. For the structural gene, b-globin, we further confirmed its downregulation at the protein level by measuring the mean cell volume of red blood cells and found it was marginally reduced in the CVB3-infected group (P,0.06), with no change in hemoglobin concentration. Cardiac myoglobin concentration was also measured and found to be decreased (P,0.005), with a parallel decrease in total soluble protein in the CVB3-infected mouse myocardium (P,0.01). We also noted that the ratio of myoglobin to total protein was not significantly changed; this may be due to the downregulation of additional genes in the host heart, a number being observed on the differential display gels. The significant downregulation of b-globin major gene expression in the heart may be relevant to impaired cardiac function in both the early and late postinfection period. The other identified nonstructural genes are known to be involved in regulation of gene expression, signal transduction pathways, and apoptotic cell death. The altered expression of structural and nonstructural genes may play important roles in the mediation of myocarditis development and perhaps other pathological processes in the heart. (Circ Res. 1999;84:704-712.)
EXPLORING FATHERHOOD: MASCULINITY AND INTERSUBJECTIVITY IN THE RESEARCH PROCESS

Exploring issues of fatherhood with men raises important questions about how identities are produced in the research process, and particularly about the part played by gender when both researcher and ‘researched’ are men. The article draws on the author's recent research with British fathers and makes extensive use of an individual case study, to suggest ways in which defensive and intersubjective processes interact in the production of one man's narrative of fatherhood and in the process of interpretation and analysis. The article's conclusions have implications both for researching masculinity and for working with men.
Work–Life Balance Among Community College Faculty Members: Generational and Life Course Theory Lenses

Generational and life course theory lenses were placed upon one finding of a large-scale qualitative interview-based study focused on if and how community college faculty members construct work–life balance. Twenty-eight interviews with faculty members at a midwestern community college were conducted. Differences regarding to work-life balance approaches between Baby Boomer (n = 15) and Generation X (n = 13) faculty and as mediated by position within the life course are elucidated. We termed this finding tides of life, which is comprised of three subfindings: roles, tenure, and gender performance. Practical implications of this finding are put forward. Better understanding of the nuanced ways in which community college faculty construct work–life balance can inform policy decisions that impact faculty work. Moreover, better understanding of faculty life in a general sense is critical as community college leaders craft policies and refine practices related to faculty employment contracts, work environments, support mechanisms, professional development, and mentoring.
Performing backpacking: Constructing "authenticity" every step of the way

Backpacking is a subculture of tourism often populated by young adults looking for a "rite of passage" between childhood and adulthood. Using performance as a method of inquiry, this essay explores this practice by tracing the author's participation in and observation of backpacking in Europe in the summers of 2000 and 2001. Scholarship on tourism seems particularly invested in issues of authenticity, and current research argues that authenticity is a social construction that varies in meaning with each tourist. Based on a performance studies perspective, this essay argues that authenticity is not only a social construction but a performed achievement where each backpacker pieces together his or her own unique "rite of passage. " Themes analyzed include the scripts, costumes, and props of backpacking; escaping the "tourist bubble;" the tourist gaze; post-tourism, and reminiscing as critical tourism.
Clarifying the butter Boletes : a new genus , Butyriboletus , is established to accommodate Boletus sect . Appendiculati , and six new species are described

The butter boletes (Boletus s.l. sect. Appendiculati) are an economically important group of ectomycorrhizal fungi whose basidiocarps have a yellow tube layer that often bruises blue, yellow reticulate stipe, mild flavor and firm yellow-tinged flesh that may or may not turn blue when exposed. Morphological characters and molecular data (ITS and LSU) place this group in a separate phylogenetic clade from Boletus sensu stricto. Here we establish a new genus, Butyriboletus, to accommodate 14 species of butter boletes that range from Asia to Europe, north Africa and North America. We recombine eight previously described butter bolete species and we describe six new species: four from western USA (Bu. persolidus, Bu. primiregius, Bu. autumnigius, Bu. querciregius) and two from Yunnan, China (Bu. yicibus, Bu. sanicibus).
Theoretical Study of Spin-Torque Oscillator with Perpendicularly Magnetized Free Layer

The magnetization dynamics of spin torque oscillator (STO) consisting of a perpendicularly magnetized free layer and an in-plane magnetized pinned layer was studied by solving the Landau-Lifshitz-Gilbert equation. We derived the analytical formula of the relation between the current and the oscillation frequency of the STO by analyzing the energy balance between the work done by the spin torque and the energy dissipation due to the damping. We also found that the field-like torque breaks the energy balance and changes the oscillation frequency.
Functional magnetic resonance imaging and multiple sclerosis

There is increasing evidence that the severity of the clinical manifestations of multiple sclerosis (MS) does not result simply from the extent of tissue destruction, rather it represents a complex balance between tissue damage, tissue repair and cortical reorganization. Functional magnetic resonance imaging provides information regarding the extent and nature of brain plasticity following MS-related structural injury, with the potential to limit the clinical manifestations of the disease. An altered recruitment of regions devoted normally to the performance of a given task and/or the recruitment of additional areas that are not typically activated by healthy people for performing that given task have been described in patients with MS, independent of their clinical phenotype, when investigating visual, cognitive and motor systems. These functional changes have been related not only to the extent and severity of brain damage within and outside T2-visible lesions and to the involvement of specific brain st.
Comparison of subcutaneous versus intravenous administration of rituximab as maintenance treatment for follicular lymphoma: results from a two-stage, phase IB study.

PURPOSE This two-stage phase IB study investigated the pharmacokinetics and safety of subcutaneous (SC) versus intravenous (IV) administration of rituximab as maintenance therapy in follicular lymphoma. PATIENTS AND METHODS In stage 1 (dose finding), 124 patients who responded to rituximab induction were randomly assigned to SC rituximab (375 mg/m2, 625 mg/m2, or an additional group at 800 mg/m2) or IV rituximab (375 mg/m2). The objective was to determine an SC dose that would yield a rituximab serum trough concentration (Ctrough) in the same range as that of IV rituximab. In stage 2, 154 additional patients were randomly assigned (1:1) to SC rituximab (1,400 mg) or IV rituximab (375 mg/m2) given at 2- or 3-month intervals. The objective was to demonstrate noninferior rituximab Ctrough of SC rituximab relative to IV rituximab 375 mg/m2. RESULTS Stage 1 data predicted that a fixed dose of 1,400 mg SC rituximab would result in a serum Ctrough in the range of that of IV rituximab. Noninferiority (ie, meeting the prespecified 90% CI lower limit of 0.8) was then confirmed in stage 2, with geometric mean Ctrough SC:Ctrough IV ratios for the 2- and 3-month regimens of 1.24 (90% CI, 1.02 to 1.51) and 1.12 (90% CI, 0.86 to 1.45), respectively. Overall safety profiles were similar between formulations (in stage 2, 79% of patients experienced one or more adverse events in each group). Local administration-related reactions (mainly mild to moderate) occurred more frequently after SC administration. CONCLUSION The fixed dose of 1,400 mg SC rituximab predicted by using stage 1 results was confirmed to have noninferior Ctrough levels relative to IV rituximab 375 mg/m2 dosing during maintenance, with a comparable safety profile. Additional investigation will be required to determine whether the SC route of administration for rituximab provides equivalent efficacy compared with that of IV administration.
The role of procurement biopsies in acceptance decisions for kidneys retrieved for transplant.

BACKGROUND AND OBJECTIVES There is a shortage of kidneys for transplant, and many patients on the deceased donor kidney transplant waiting list would likely benefit from kidneys that are currently being discarded. In the United States, the most common reason given for discarding kidneys retrieved for transplant is procurement biopsy results. This study aimed to compare biopsy results from discarded kidneys with discard attributed to biopsy findings, with biopsy results from comparable kidneys that were successfully transplanted. DESIGN, SETTING, PARTICIPANTS, & MEASUREMENTS In this retrospective, observational, case-control study, biopsy reports were examined from 83 kidneys discarded in 2010 due to biopsy findings (cases), 83 contralateral transplanted kidneys from the same donor (contralateral controls), and 83 deceased donors randomly matched to cases by donor risk profile (randomly matched controls). A second procurement biopsy was obtained in 64 of 332 kidneys (19.3%). RESULTS The quality of biopsy reports was low, with amounts of tubular atrophy, interstitial inflammation, arteriolar hyalinosis, and acute tubular necrosis often not indicated; 69% were wedge biopsies and 94% used frozen tissue. The correlation between first and second procurement biopsies was poor; only 25% of the variability (R(2)) in glomerulosclerosis was explained by biopsies being from the same kidney. The percentages of glomerulosclerosis overlapped substantially between cases, contralateral controls, and randomly matched controls: 17.1%±15.3%, 9.0%±6.6%, and 5.0%±5.9%, respectively. Of all biopsy findings, only glomerulosclerosis>20% was independently correlated with discard (cases versus contralateral controls; odds ratio, 15.09; 95% confidence interval, 2.47 to 92.41; P=0.003), suggesting that only this biopsy result was used in acceptance decisions. One-year graft survival was 79.5% and 90.7% in contralateral and randomly matched controls, respectively, versus 91.6% among all deceased donor transplants in the Scientific Registry of Transplant Recipients. CONCLUSIONS Routine use of biopsies could lead to unnecessary kidney discards.
An Efficient Secure Scan Design for an SoC Embedding AES Core

This poster presents an efficient secure scan design based on a fake key to protect a secret key from scan-based side channel attack. This technique targeted for an SoC embedding an Advanced Encryption Standard (AES) core can be adopted without requiring any modification to the functional body of the IP core, thus overheads for area, timing, and power are negligible while preserving the compatibility with the IEEE1149.1 standard.