Miracle-dz/UniFAR-FTUs huggingface dataset:
Controlling humanoid robots with human motion data: Experimental validation

Motion capture is a good source of data for programming humanoid robots because it contains the natural styles and synergies of human behaviors. However, it is difficult to directly use captured motion data because the kinematics and dynamics of humanoid robots differ significantly from those of humans. In our previous work, we developed a controller that allows a robot to maintain balance while tracking a given reference motion that does not include contact state changes. The controller consists of a balance controller based on a simplified robot model and a tracking controller that performs local joint feedback and an optimization process to obtain the joint torques to simultaneously realize balancing and tracking. In this paper, we improve the controller to address the issues related to root position/orientation estimation, model uncertainties, and the difference between expected and actual contact forces. We implement the controller on a full-body, force-controlled humanoid robot. Experimental results demonstrate that the controller can successfully make the robot track captured human motion sequences.
WLAN mobile robot localization with sensor fusion

In this paper a method for estimation of position and motion of a mobile robot in an indoor environment is introduced. The proposed method uses WLAN signal strength to estimate the global position of a mobile robot in an office building. Thus signal strengths of the received access points are stored in the radio map in calibration phase. In localization phase the stored values are compared with actually measured once. Therefore a fingerprinting algorithm, that was introduced before, is used. The improvement of the presented work is the multi sensor fusion using Kalman filter, which enhances the accuracy of fingerprinting algorithms and tracking of the robot. For this reason odometric and gyroscope sensors of the robot are fused with estimated position of the fingerprinting algorithm. The paper presents the experimental results of measurements in an office building.
Analysis of EOG signals using wavelet transform for detecting eye blinks

Eye ball movements are vital signs in some of the neurological disorders and it can be tracked by acquiring electrooculogram (EOG) signals. EOG is an obtrusive, inexpensive and non-invasive means of recording eye ball movements. The source for EOG signal is cornea-retinal potential (CRP) and is generated due to the movements of eye balls within the conductive environment of the skull. While recording the EOG signal, it will be contaminated by electromyography (EMG) signal. As the EOG is a non stationary signal, the multi resolution analysis using wavelet decomposition offers the best solution to denoise the EOG signal. In this paper, the author proposed a new wavelet based method to detect eye ball moments from signal conditioned EOG. Comparative wavelet analysis is performed by considering different statistical measures. Test results reveal that the Symlet based method provides better efficacy in eliminating noise from EOG signals.
A Markov model containing state-conditioned second-order non-stationarity: application to speech recognition

Abstract In this paper we report our development of a new class of hidden Markov models (HMMs) with each state characterized by a time series model which is non-stationary up to the second order. A close-form solution for the model parameter estimation is obtained based on the EM algorithm and on the matrix-calculus implementation technique. In the first set of evaluation experiments, we adopt the residual square sum, over states and over time frames within state bounds, as a quantitative measure for goodness of fit between the model and the speech data. It is observed that inclusion of state-conditioned second-order non-stationarity, implemented by use of time-varying regression coefficients, has substantially greater effects on reducing data-fitting error than increase of the regression terms while maintaining the coefficients of each term constant. In the second set, isolated-word recognition experiments, it is found that use of mix of first-order and second-order non-stationarities consistently produces higher recognition accuracy than the conventional, stationary-state HMMs.
Divergence and convergence of thalamocortical projections to premotor and supplementary motor cortex: a multiple tracing study in the macaque monkey

The premotor cortex of macaque monkeys is currently subdivided into at least six different subareas on the basis of structural, hodological and physiological criteria. To determine the degree of divergence/convergence of thalamocortical projections to mesial [supplementary motor area (SMA)‐proper and pre‐SMA] and lateral (PMd‐c, PMd‐r, PMv‐c and PMv‐r) premotor (PM) subareas, quantitative analyses were performed on the distribution of retrograde labelling after multiple tracer injections in the same animal. The results demonstrate that all PM and SMA subareas receive common inputs from several thalamic nuclei, but the relative contribution of these nuclei to thalamocortical projections differs. The largest difference occurs between subareas of SMA, with much greater contribution from the mediodorsal (MD) and area X, and a smaller contribution from the ventral lateral anterior (VLa) and ventral part of the ventral lateral posterior (VLpv) to pre‐SMA than to SMA‐proper. In PM, differences between subareas are less pronounced; in particular, all receive a significant contribution from MD, the ventral anterior (VApc) and area X. However, there are clear gradients, such as increasing projections from MD to rostral, from VLa and VLpv to caudal, and from dorsal VLp (VLpd) to dorsal premotor subareas. Intralaminar nuclei provide widespread projections to all premotor subareas. The degree of overlap between thalamocortical projections varies among different PM and SMA subareas and different sectors of the thalamus. These variations, which correspond to different origin and topography of thalamocortical projections, are discussed in relation to functional organizations at thalamic and cortical levels.
An Examination of Everyday Talk in Stepfamily Systems

This study explored frequencies of everyday talk in stepfamilies and the extent to which such frequencies of talk differed according to family relationship type. Participants included a parent, stepparent, and stepchild from 114 stepfamilies. Across relationship types, stepfamily members reported catching up, joking around, and recapping the day's events most frequently and interrogating family members least frequently. Significant differences in frequencies of everyday talk across different relational dyads emerged for all three members of the stepfamily system. However, relatively few differences emerged in stepchildren's reported frequencies of everyday talk with their stepparents and their nonresidential parents.
Multiconfigurational time-dependent Hartree method to describe particle loss due to absorbing boundary conditions

Absorbing boundary conditions in the form of a complex absorbing potential are routinely introduced in the Schr\"odinger equation to limit the computational domain or to study reactive scattering events using the multi-configurational time-dependent Hartree method (MCTDH). However, it is known that a pure wave-function description does not allow the modeling and propagation of the remnants of a system of which some parts are removed by the absorbing boundary. It was recently shown [S. Selst{\o} and S. Kvaal, J. Phys. B: At. Mol. Opt. Phys. {\bfseries 43} (2010), 065004] that a master equation of Lindblad form was necessary for such a description. We formulate a multiconfigurational time-dependent Hartree method for this master equation, usable for any quantum system composed of any mixture of species. The formulation is a strict generalization of pure-state propagation using standard MCTDH. We demonstrate the formulation with a numerical experiment.
Xtable : a tabular editor and formatter

XTABLE is a prototype interactive tabular editor and formatter for the design of high-quality tables and for the exploration of tabular data from different viewpoints. It abstracts the multidimensional logical structure of a table and provides a mechanism to map an abstract table into different two-dimensional presentations. We present XTABLE from four aspects: abstract model, presentational model, system structure, and user interface. We also discuss the merits and limitations of XTABLE.
Development and Host Compatibility of Plasmids for Two Important Ruminant Pathogens, Mycoplasma bovis and Mycoplasma agalactiae

Mycoplasma bovis is a cause of pneumonia, mastitis, arthritis and otitis media in cattle throughout the world. However, despite its clinical significance, there is a paucity of tools to genetically manipulate it, impeding our capacity to further explore the molecular basis of its virulence. To address this limitation, we developed a series of homologous and heterologous replicable plasmids from M. bovis and M. agalactiae. The shortest replicable oriC plasmid based on the region downstream of dnaA in M. bovis was 247 bp and contained two DnaA boxes, while oriC plasmids based on the region downstream of dnaA in M. agalactiae strains 5632 and PG2 were 219 bp and 217 bp in length, respectively, and contained only a single DnaA box. The efficiency of transformation in M. bovis and M. agalactiae was inversely correlated with the size of the oriC region in the construct, and, in general, homologous oriC plasmids had a higher transformation efficiency than heterologous oriC plasmids. The larger pWholeoriC45 and pMM21-7 plasmids integrated into the genomic oriC region of M. bovis, while the smaller oriC plasmids remained extrachromosomal for up to 20 serial passages in selective media. Although specific gene disruptions were not be achieved in M. bovis in this study, the oriC plasmids developed here could still be useful as tools in complementation studies and for expression of exogenous genes in both M. bovis and M. agalactiae.
Memory Economy for Electronic Control Units : Compression of Conventional Look-up Tables

The operation of modern technical systems is often controlled by electronic units. In the automotive sector lattice-like look-up tables are a common representation of non-linear multi-dimensional parameter functions of actuators. Regardless of the strongly restricted memory capacity of automotive electronic control units, manufacturers need to introduce additional functionalities to meet the new specifications. With an increasing number of adjustable actuators the number of parameters and thus the memory requirement within the control unit grows enormously. This work introduces a method based on evolutionary and classical optimization algorithms which reduces the memory requirement for 2-dimensional look-up tables. Key-Words: Automotive Electronic Control Unit, Memory Capacity, Look-up Table, nonlinear Optimization, Genetic Algorithm, Evolution Strategy.
The Use of Acceleration to Code for Animal Behaviours; A Case Study in Free-Ranging Eurasian Beavers Castor fiber

Recent technological innovations have led to the development of miniature, accelerometer-containing electronic loggers which can be attached to free-living animals. Accelerometers provide information on both body posture and dynamism which can be used as descriptors to define behaviour. We deployed tri-axial accelerometer loggers on 12 free-ranging Eurasian beavers Castor fiber in the county of Telemark, Norway, and on four captive beavers (two Eurasian beavers and two North American beavers C. canadensis) to corroborate acceleration signals with observed behaviours. By using random forests for classifying behavioural patterns of beavers from accelerometry data, we were able to distinguish seven behaviours; standing, walking, swimming, feeding, grooming, diving and sleeping. We show how to apply the use of acceleration to determine behaviour, and emphasise the ease with which this non-invasive method can be implemented. Furthermore, we discuss the strengths and weaknesses of this, and the implementation of accelerometry on animals, illustrating limitations, suggestions and solutions. Ultimately, this approach may also serve as a template facilitating studies on other animals with similar locomotor modes and deliver new insights into hitherto unknown aspects of behavioural ecology.
Measuring shoulder internal rotation range of motion: a comparison of 3 techniques.

OBJECTIVE To compare the reliability of shoulder internal rotation (IR) range of motion (ROM) measured using 3 different methods: standard technique, manual scapular stabilization technique, and visual inspection technique. DESIGN Prospective study. SETTING Clinic-based sports medicine center. PARTICIPANTS Convenience sample of 56 unimpaired high-school athlete volunteers. INTERVENTIONS Not applicable. MAIN OUTCOME MEASURES Shoulder IR ROM was measured by using a digital inclinometer with each of the 3 techniques. All measurements were performed independently by 2 groups of examiners and repeated to determine intra- and interrater reliabilities. RESULTS IR ROM measurements obtained with the scapula stabilized or by visual inspection were significantly less than when measured with the standard technique (P=.001). Intrarater reliability was good or excellent for all 3 methods (intraclass correlation coefficients=.63-.71), was similar for the scapular stabilization and visual inspection techniques, and was superior to that previously reported for similar measurements. In general, interrater reliability was lower than intrarater reliability for all measurements. CONCLUSION Because the visual inspection and scapular stabilized techniques control for accessory scapulothoracic motion, these techniques may represent more valid measures of glenohumeral motion than the standard technique. Both the visual inspection and scapular stabilized techniques exhibited equally acceptable reliability for clinical use. However, because the visual inspection technique may be applied by a single examiner, we recommend its use to measure shoulder IR ROM in the clinical setting.
Role of the kinetochore/cell cycle checkpoint protein ZW10 in interphase cytoplasmic dynein function

Zeste white 10 (ZW10) is a mitotic checkpoint protein and the anchor for cytoplasmic dynein at mitotic kinetochores, though it is expressed throughout the cell cycle. We find that ZW10 localizes to pericentriolar membranous structures during interphase and cosediments with Golgi membranes. Dominant-negative ZW10, anti-ZW10 antibody, and ZW10 RNA interference (RNAi) caused Golgi dispersal. ZW10 RNAi also dispersed endosomes and lysosomes. Live imaging of Golgi, endosomal, and lysosomal markers after reduced ZW10 expression showed a specific decrease in the frequency of minus end–directed movements. Golgi membrane–associated dynein was markedly decreased, suggesting a role for ZW10 in dynein cargo binding during interphase. We also find ZW10 enriched at the leading edge of migrating fibroblasts, suggesting that ZW10 serves as a general regulator of dynein function throughout the cell cycle.
Three-Dimensional Rotating Wall Vessel-Derived Cell Culture Models for Studying Virus-Host Interactions

The key to better understanding complex virus-host interactions is the utilization of robust three-dimensional (3D) human cell cultures that effectively recapitulate native tissue architecture and model the microenvironment. A lack of physiologically-relevant animal models for many viruses has limited the elucidation of factors that influence viral pathogenesis and of complex host immune mechanisms. Conventional monolayer cell cultures may support viral infection, but are unable to form the tissue structures and complex microenvironments that mimic host physiology and, therefore, limiting their translational utility. The rotating wall vessel (RWV) bioreactor was designed by the National Aeronautics and Space Administration (NASA) to model microgravity and was later found to more accurately reproduce features of human tissue in vivo. Cells grown in RWV bioreactors develop in a low fluid-shear environment, which enables cells to form complex 3D tissue-like aggregates. A wide variety of human tissues (from neuronal to vaginal tissue) have been grown in RWV bioreactors and have been shown to support productive viral infection and physiological meaningful host responses. The in vivo-like characteristics and cellular features of the human 3D RWV-derived aggregates make them ideal model systems to effectively recapitulate pathophysiology and host responses necessary to conduct rigorous basic science, preclinical and translational studies.
Guillain-Barré Syndrome, Greater Paris Area

We studied 263 cases of Guillain-Barré syndrome from 1996 to 2001, 40% of which were associated with a known causative agent, mainly Campylobacter jejuni (22%) or cytomegalovirus (15%). The cases with no known agent (60%) peaked in winter, and half were preceded by respiratory infection, influenzalike syndrome, or gastrointestinal illness.
Polymer-Silica nanoparticles composite films as protective coatings for stone-based monuments

The decrease of surface energy of mineral substrates similar to those used in many stone monuments of cultural heritage by the application of protective polymer coatings along with the simultaneous increase of their surface roughness can increase their ability to repel water substantially. In this work, the effect of artificially induced roughness on the water repellency of mineral substrates coated with protective polymer films was investigated. Natural marble samples or home made calcium carbonate blocks were tried as the mineral substrates. The roughness increase was achieved by mineral chemical etching or by creation of nanoscale binary composition film on the substrate surface. PMMA and PFPE were the polymers used, while different-sized silica nanoparticles were employed for the production of the nanocomposite films. Examination of the coated and uncoated surfaces with profilometry and AFM and measurements of water contact angles reveal a pronounced effect of the surface roughness on water repellency. Especially in the case of nanocomposite coatings, the surfaces become super-hydrophobic. This result indicates that the nanoscale binary composition film scheme, which is characterized by its simplicity and low cost, is a suitable candidate for the water protection of stone-based monuments on large scale.
Online methods for network endpoint localization

Online techniques are presented for estimating the source and destination of a suspect transmission through a network based on the activation pattern of sensors placed on network components. A hierarchical Bayesian model is used to relate routing, tracking, and topological parameters. A controlled Markovian routing model is used in conjunction with a recursive EM algorithm to derive adaptive routing and tracking parameter estimates. Previously developed semidefinite programming methods are used to account for any prior topological information through Monte Carlo estimates of the topology parameters. Convergence of the routing and tracking parameter estimates is proven and it is shown that their asymptotic estimates are fixed points of an exact EM algorithm. Approximate methods based on permutation clustering are presented to reduce the complexity of sums that arise in the estimator formulas. A multiarmed bandit approach to the design problem of online probe scheduling is also presented. Finally, the effectiveness of the new methods is illustrated through a variety of tracking simulations inspired by real world scenarios and involving real Internet data. Speedy performance and good accuracy are observed.
GNMID14: A Collection of 110 Million Global Music Identification Matches

A new dataset is presented composed of music identification matches from Gracenote, a leading global music metadata company. Matches from January 1, 2014 to December 31, 2014 have been curated and made available as a public dataset called Gracenote Music Identification 2014, or GNMID14, at the following address: https://developer.gracenote. com/mid2014. This collection is the first significant music identification dataset and one of the largest music related datasets available containing more than 110M matches in 224 countries for 3M unique tracks, and 509K unique artists. It features geotemporal information (i.e. country and match date), genre and mood metadata. In this paper, we characterize the dataset and demonstrate its utility for Information Retrieval (IR) research.
Adaptive assistance for BCI: a locked-in syndrome end-user case study

Introduction: Performance variation is one of the main challenges that BCIs are confronted with, when being used over extended periods of time. Several methods have been proposed to find correlates of performance variation for sensorimotor rhythms EEG-based BCIs [1]. However, they typically focus on assessing performance variations within the same day or session, and do not use this information online. This issue is even more critical for end users, as they usually achieve a limited level of performance [2]. Previously, we proposed that some issues resulting from performance variation could be overcome by providing adaptive assistance based on the users’ needs. Therefore, we suggested a method for providing online adaptive assistance (i.e., modulating the timeout to deliver the intended command) based on an estimation of the user’s performance (i.e., the command delivery time, CDT, for a single trial) [3]. We previously reported results on able-bodied subjects (N=9). Here, we test the approach with an end-user with locked-in syndrome.
Neonatal transport practices in Ibadan, Nigeria

Introduction Neonatal transport involves moving sick neonates in optimal conditions to ensure good outcomes. It is well organized in most developed countries but receives little attention in developing countries where the highest burden of neonatal mortality exists and a large number of newborns require referrals daily for better medical care. This study sought to evaluate the modes of transport, pre- and intra-transport care of neonates referred to the University College Hospital (UCH), Ibadan, Nigeria. Methods The methods of transporting 401 neonates presenting to the children’s emergency room of the hospital were evaluated as well as the care the babies received during transport. Categorical variables were compared using the Chi square test while continuous variables were compared by the student t-test. Results About a third presented in the first 12hours and 85% in the first week of life, all from within 80km radius. There were 67.1% term, 31.4% preterm and 1.5% post-term neonates, all without prior communication. The modes of transport included private vehicles (43.9%), commercial vehicles (40.6%), motorcycles (9.0%), ambulance (4.0%) and on foot (2.5%). Only 3 (0.7%) were transported in incubators and none in KMC position. Only 42.0% had referral letters and 7.0% were accompanied by medical personnel. Materials available during transport included Ambubags (3.7%), oxygen (3.5%) and some drugs (3.5%). Events during transport were apnoea, 4.7%, vomiting 1.0%, reduced activity 16.2% and seizures 13.7%. 19 (4.7%) neonates were dead on arrival. Pre-transport care included resuscitation (18.2%), intravenous fluid/feeding (24.4%) and supplemental oxygen (14.0%). Conclusion Neonatal transport practices in Ibadan, Nigeria are abysmal with associated high mortality.