Miracle-dz/UniFAR-FTUs huggingface dataset:
Safety-optimizing method of human-care robot design and control

We propose a safety-optimizing method for safety strategies of human-care robots using our danger evaluation method. First, various safety evaluation methods are discussed, and an optimizing method of safety design is proposed. Second, we make a comparative study of two general safety control methods, and then a method of optimizing robot control is proposed. These proposed methods enable us to optimally distribute cost among several safety strategies, and to derive suitable approaching motion of a multi-link manipulator to a human. The validity and effectiveness of these methods are demonstrated by numerical analysis. As a result, the design and control to increase safety are successfully obtained.
Large Scale Analysis of Small Repeats via Mining of the Human Genome

Small repetitive sequences, called tandem repeats,are abundant throughout the human genome,both in coding and in non-coding regions. Their role is still mostlyunknown, but at least 20 of those repetitive sequences have been related to neurodegenerative disorders. The mutational process that isthe basis of these disorders is not yet fully understood. Comprehendingthe origin, function and possible usefulness of the tandemrepeats, will require analysis of huge data from various sources.In this paper we attempt such a large scale analysis of short repeats.We describe and discuss the steps that are needed to be taken to performlarge scale genomic analysis. We define tandem repeats and comparethe results of repeat localization with genome annotations. We show that the degree of repetitiveness is different for the humanchromosomes. Chromosome 19 and 17 have more repeats per mega base pair than any of the other chromosomes, the Y chromosome has the least. We also demonstrate that some repeat motifs are much more common than others. Mono- and dinucleotide repeats are the most abundant, with A and AAC the mostcommon motifs, while CG is hardly present within the genome. Repeats with unit length three are underrepresented on the genome and repeats with unit length 9 are extremely rare.
Colombia’s racial crucible: Y chromosome evidence from six admixed communities in the Department of Bolivar

Abstract Objectives: To determine the African, European and Native-American paternal contributions in genetic samples from the Department of Bolivar (Colombia) with the aims of establishing (1) possible population substructures, and (2) the proportion of biological African heritage in admixed populations of European, Amerindian, and African descent. Methods: Y-SNPs were typed in samples from six communities, including Palenque (renowned for its African linguistic and cultural heritage). Results: Findings reveal a high diversity of Y-haplogroups. With the exception of Palenque, the sum of European male lineages uniformly exceeded 57%. In Palenque, African lineages accounted for 57.7% of its chromosomes, with European male lineages constituting a mere 38.5%. In Pinillos, a significant proportion (23.8%) of the chromosomes belongs to the Native American haplogroup Q1a3a*-M3. Genetic differentiation analyses reveal significant divergences in most pairwise comparisons among the Bolivar municipalities, and the same holds between Bolivar and other South American populations. Conclusions: Heterogeneous patterns of admixture reveal a genetic substructure within the Department of Bolivar. On the paternal side, five out of the six communities studied exhibit a predominantly European gene pool. The exception is Palenque, where European input (38%) is more significant than we had expected.
Development of Adenoviral Delivery Systems to Target Hepatic Stellate Cells In Vivo

Hepatic stellate cells (HSCs) are known as initiator cells that induce liver fibrosis upon intoxication or other noxes. Deactivation of this ongoing remodeling process of liver parenchyma into fibrotic tissue induced by HSCs is an interesting goal to be achieved by targeted genetic modification of HSCs. The most widely applied approach in gene therapy is the utilization of specifically targeted vectors based on Adenovirus (Ad) serotype 5. To narrow down the otherwise ubiquitous tropism of parental Ad, two modifications are required: a) ablating the native tropism and b) redirecting the vector particles towards a specific entity solely present on the cells of interest. Therefore, we designed a peptide of the nerve growth factor (NGFp) with specific affinity for the p75 neurotrophin receptor (p75NTR) present on HSCs. Coupling of this NGFp to vector particles was done either via chemical conjugation using bifunctional polyethylene glycol (PEG) or, alternatively, by molecular bridging with a fusion protein specific for viral fiber knob and p75NTR. Both Ad vectors transmit the gene for the green fluorescent protein (GFP). GFP expression was monitored in vitro on primary murine HSCs as well as after systemic administration in mice with healthy and fibrotic livers using intravital fluorescence microscopy. Coupling of NGFp to Ad via S11 and/or PEGylation resulted in markedly reduced liver tropism and an enhanced adenoviral-mediated gene transfer to HSCs. Transduction efficiency of both specific Ads was uniformly higher in fibrotic livers, whereas Ad.GFP-S11-NGFp transduce activated HSCs better than Ad.GFP-PEG-NGFp. These experiments contribute to the development of a targeted gene transfer system to specifically deliver antifibrotic compounds into activated HSCs by systemically applied adenoviral vector modified with NGFp.
Applicative functors and fully transparent higher-order modules

we present a variety of the Standard ML module system where parameterized abstract types (i.e. functors returning generative types) map provably equal arguments to compatible abstract types, instead of generating distinct types at each applications as in Standard ML. This extension solves the full transparency problem (how to give syntactic signatures for higher-order functors that express exactly their propagation of type equations), and also provides better support for non-closed code fragments.
Statistical Machine Translation for Twitter

We consider the problem of translating short messages (Tweets) using Europarl as a starting-point. After highlighting some of the domain differences between Europarl and Twitter, we show that for German-English translation, we can improve performance from a baseline BLEU score of 25.58 to 53.45. By far and away the single most important improvement is passing-through unknown words (which are mainly URLs). Enforcing the length constraint upon translated output turnsout to be relatively simple. Since our Twitter translation involves little reordering, we conclude that the biggest challenge is lexical: dealing with unknown words, spelling mistakes, creative orthography and Twitter-idioms.
Gene Expression: Sizing It All Up

Genomic architecture appears to be a largely unexplored component of gene expression. That architecture can be related to chromatin domains, transposable element neighborhoods, epigenetic modifications of the genome, and more. Although surely not the end of the story, we are learning that when it comes to gene expression, size is also important. We have been surprised to find that certain patterns of expression, tissue specific versus constitutive, or high expression versus low expression, are often associated with physical attributes of the gene and genome. Multiple studies have shown an inverse relationship between gene expression patterns and various physical parameters of the genome such as intron size, exon size, intron number, and size of intergenic regions. An increase in expression level and breadth often correlates with a decrease in the size of physical attributes of the gene. Three models have been proposed to explain these relationships. Contradictory results were found in several organisms when expression level and expression breadth were analyzed independently. However, when both factors were combined in a single study a novel relationship was revealed. At low levels of expression, an increase in expression breadth correlated with an increase in genic, intergenic, and intragenic sizes. Contrastingly, at high levels of expression, an increase in expression breadth inversely correlated with the size of the gene. In this article we explore the several hypotheses regarding genome physical parameters and gene expression.
Learning symmetric k-juntas in time n o ( k ) ∗

We give an algorithm for learning symmetric k-juntas (boolean functions of n boolean variables which depend only on an unknown set of k of these variables) in the PAC model under the uniform distribution, which runs in time n log . Our bound is obtained by proving the following result: Every symmetric boolean function on k variables, except for the parity and the constant functions, has a non-zero Fourier coefficient of order at least 1 and at most O(k / log k). This improves the previously best known bound of 3k / 31 [11], and provides the first n time algorithm for learning symmetric juntas.
Comparative Study on Dimensionality Reduction in Large-Scale Image Retrieval

Dimensionality reduction plays a significant role for the performance of large-scale image retrieval. In this paper, various dimensionality reduction methods are compared to validate their own performance in image retrieval. For this purpose, first, the Scale Invariant Feature Transform (SIFT) features and HSV (Hue, Saturation, Value) histogram are extracted as image features. Second, the Principal Component Analysis (PCA), Fisher Linear Discriminant Analysis (FLDA), Local Fisher Discriminant Analysis (LFDA), Isometric Mapping (ISOMAP), Locally Linear Embedding (LLE), and Locality Preserving Projections (LPP) are respectively applied to reduce the dimensions of SIFT feature descriptors and color information, which can be used to generate vocabulary trees. Finally, through setting the match weights of vocabulary trees, large-scale image retrieval scheme is implemented. By comparing multiple sets of experimental data from several platforms, it can be concluded that dimensionality reduction method of LLE and LPP can effectively reduce the computational cost of image features, and maintain the high retrieval performance as well.
Modelling the wear process in composite liner bearings

This paper presents a numerical method for modelling wear in spherical composite liner bearings. These are bearings that have two rings with spherical surfaces to form a ball joint. The concave spherical surface of the outer ring is lined with a thin composite liner material which is a made of a woven fabric impregnated with a thermoset resin. Two fibre types are used in the fabric, a structural fibre and a solid lubricant fibre. The liner is made up of two fabric layers impregnated with resin that are bonded together between heated pressure plates. The surface layer has a high proportion of the solid lubricant fibre in its weave whilst the backing layer has a predominance of structural fibres with fewer lubricant fibres. These bearings are used extensively in reciprocating motion applications in the aerospace industry.
A really temporal logic

A real-time temporal logic for the specification of reactive systems is introduced. The novel feature of the logic, TPTL, is the adoption of temporal operators as quantifiers over time variables; every modality binds a variable to the time(s) it refers to. TPTL is demonstrated to be both a natural specification language and a suitable formalism for verification and synthesis. A tableau-based decision procedure and model-checking algorithm for TPTL are presented. Several generalizations of TPTL are shown to be highly undecidable. <<ETX>>
Agent-based Simulation: An Application to the New Electricity Trading Arrangements of England and Wales

--This paper presents a large-scale application of multi-agent, evolutionary modelling to the proposed new electricity trading arrangements (NETA) in the UK. This is a detailed, plant-by-plant model with an active specification of the demand side of the market. NETA involves a bilateral forwards market followed by a balancing mechanism
Endoscopic Endonasal Surgery for Recurrent Pituitary Tumors: Technical Challenges to the Surgical Approach

Abstract Objective To review our experience in a series of patients who underwent revision endoscopic pituitary surgery. Methods Retrospective chart review. Results A total of 27 patients were included in the study. Of the 21 patients who required nasoseptal flap reconstruction, a left-sided nasoseptal flap was successfully used in 13 patients. Gross total or near-total resection of tumor was achieved in 74.1%. Cavernous sinus invasion and presentation with residual disease were identified as factors limiting extent of resection (p = 0.002 and 0.009, respectively). A statistically significant difference (p = 0.027) was noted between mean largest tumor dimension in patients with gross total resection and those with near-total or subtotal resection. Complications occurred in 22% and included postoperative temporary diabetes insipidus (n = 2), postoperative hypotension (n = 2), new anterior pituitary insufficiency (n = 1), and right-sided abducens palsy (n = 1). Conclusions Revision endoscopic pituitary surgery is advantageous but technically challenging. Cavernous sinus invasion and presentation with residual disease were significant factors limiting extent of resection. Suprasellar extension was not a factor limiting extent of resection and may prove to be an advantage over microscopic speculum-based approaches. Because of the right-sided scarring from prior surgery, a left-sided nasoseptal flap is reliable and advantageous.
The Role of Motivation, Glucose and Self-Control in the Antisaccade Task

Research shows that self-control is resource limited and there is a gradual weakening in consecutive self-control task performance akin to muscle fatigue. A body of evidence suggests that the resource is glucose and consuming glucose reduces this effect. This study examined the effect of glucose on performance in the antisaccade task - which requires self-control through generating a voluntary eye movement away from a target - following self-control exertion in the Stroop task. The effects of motivation and individual differences in self-control were also explored. In a double-blind design, 67 young healthy adults received a 25g glucose or inert placebo drink. Glucose did not enhance antisaccade performance following self-control exertion in the Stroop task. Motivation however, predicted performance on the antisaccade task; more specifically high motivation ameliorated performance decrements observed after initial self-control exertion. In addition, individuals with high levels of self-control performed better on certain aspects of the antisaccade task after administration of a glucose drink. The results of this study suggest that the antisaccade task might be a powerful paradigm, which could be used as a more objective measure of self-control. Moreover, the results indicate that level of motivation and individual differences in self-control should be taken into account when investigating deficiencies in self-control following prior exertion.
Job creators, job creation, and the tax code

This paper considers the role of the tax code in determining income dispersion and vacancy creation. A "span-of-control" model is embedded into a search and matching environment. A cut to the tax on profits in isolation improves job creation and reduces before-tax income inequality. The impact of a budget-balancing increase in the wage tax depends on the bargaining power of firms. When it is high, firms pick up the lion’s share of the tax burden. The tax acts like a barrier to entry: it benefits large firms at the expense of marginal ones. Net effects are an increase in unemployment and before-tax income dispersion. Low firm bargaining power means workers pick up more of the tax burden. It acts like a subsidy to entrepreneurship reinforcing the impact of the profit tax reduction. Taxes on the returns to capital leave everyone worse off. “Tax hikes destroy jobs —especially an increase on the magnitude set for January 1st. ”John Boehner’s address to Peter G. Peterson Foundation 2012 Fiscal Summit.
On Overview of the Andrew File System

Andrew is a distributed computing environment being developed in a joint project by Carnegie Mellon University and IBM. One of the major components of Andrew is a distributed file system. The goal of the Andrew File System is to support growth up to at least 7000 workstations (one for each student, faculty member, and staff at Carnegie Mellon) while providing users, application programs, and system administrators with the amenities of a shared file system. This overview describes the environment, design, and features of the file system, and ends with a summary of how it "feels" to end users and to system administrators. The Information Technology Center was started in 1982. It grew out of a task force report on the future of computing at Carnegie Mellon, which recommended that the University move to a distributed computing system based on powerful personal workstations and a networked "integrated computing-environment" to tie them together. Overall project goals included advancement of the state of the art in distributed computing, establishing a new model of computer usage, and providing sufficient accessibility and functional richness to become an integral part of users' lives. The integrated computing environment was to allow local control of resources but to permit easy and widespread access to all existing and future computational and informational facilities on campus. Network and file system objectives thought to be necessary to achieve these general goals included high availability, ease of expansion and of incorporation of new technologies, and good performance even during peak periods, with graceful response to overload. As the project developed, five focal areas emerged: the workstation hardware and operating system, the network, the file system, the user interface, and the message system. This overview deals with the file system, with some passing references to the workstation hardware and the network. It was generally agreed from the beginning that a high-function workstation should be used rather than a more economical but less functional tool such as a personal computer. The most important feature was a million pixel bit-mapped display; other characteristics (such as a 1 million instruction per second processor and a million bytes of main memory) were selected in proportion to the display's needs. The decision to use UNIX,t (specifically 4.2BSD) as an operating system was made early in the project, based its availability, the desire to use standard tools wherever possible, and the presence in 4.2BSD of desirable features such as …
Strato: A Retargetable Framework for Low-Level Inlined-Reference Monitors

Low-level Inlined Reference Monitors (IRM) such as control-flow integrity and software-based fault isolation can foil numerous software attacks. Conventionally, those IRMs are implemented through binary rewriting or transformation on equivalent low-level programs that are tightly coupled with a specific Instruction Set Architecture (ISA). Resulting implementations have poor retargetability to different ISAs. This paper introduces an IRM-implementation framework at a compiler intermediate-representation (IR) level. The IR-level framework enables easy retargetability to different ISAs, but raises the challenge of how to preserve security at the low level, as the compiler backend might invalidate the assumptions at the IR level. We propose a constraint language to encode the assumptions and check whether they still hold after the backend transformations and optimizations. Furthermore, an independent verifier is implemented to validate the security of low-level code. We have implemented the framework inside LLVM to enforce the policy of control-flow integrity and data sandboxing for both reads and writes. Experimental results demonstrate that it incurs modest runtime overhead of 19.90% and 25.34% on SPECint2000 programs for ×86- 32 and ×86-64, respectively.
Motor deficits and neurofibromatosis type 1 (NF1)‐associated MRI impairments in a mouse model of NF1

Neurofibromatosis type 1 (NF1) is a genetic disorder characterized inter alia by cognitive and motor dysfunction and appearance of high‐signal foci on T2‐weighted images in the brain. Nf1+/− mice are useful models for studying aspects of NF1, including cognitive deficits. Here we assessed their motor performance and used quantitative transverse T2 relaxation MRI to identify structural abnormalities in their brains. Nf1+/− mice exhibited both enhanced and reduced T2 signals in distinct brain regions compared to wild‐type mice, and their motor performance was impaired. As in NF1 patients, enhanced T2 signals in Nf1+/− mice were observed in the thalamus and basal ganglia. Reduced T2 signals were seen in motor‐associated regions along the motor pathway, predominantly in the white matter of the cerebral peduncle and the optic tract. Correlation analysis between T2 signals and motor performance suggested that the motor deficits are associated with impairments in the cerebral peduncle and the amygdala. Copyright © 2010 John Wiley & Sons, Ltd.
Method of utilization of secondary raw materials containing iron, zinc and lead

FIELD: utilization of secondary raw materials containing iron, zinc and lead, mainly wastes of steel-making process at control of basicity of Waelz process slag. SUBSTANCE: proposed method includes mixing the charge containing raw materials and chemically active fine-grained carbon carrier, agglomeration and treatment of conglomerates thus obtained in furnace. Treatment is performed in rotary furnace working on counter-flow principle of charge and gas atmosphere; in the course of treatment, part of carbon carrier is fed to conglomerates so that total amount of carbon is lesser than 80% of amount of carbon required for reactions in charge; amount of chemically active fine-grained carbon carrier is strictly substoichiometric relative to all reactions in charge requiring carbon. EFFECT: enhanced balance of energy of Waelz process; increased productivity; improved quality of wastes. 5 cl
Low‐dose lithium regimen enhances endochondral fracture healing in osteoporotic rodent bone

Osteoporotic bone fractures are highly prevalent and involve lengthy recovery. Lithium, commonly used in psychiatric medicine, inhibits glycogen synthase kinase‐3β in the Wnt/β‐catenin pathway, leading to up‐regulation of osteogenesis. Our recent preclinical work demonstrated that a 20 mg/kg lithium dose administered beginning 7 days post‐fracture for 14 days optimally improved femoral fracture healing in healthy rats at 4 weeks post fracture (46% higher torsional strength). In this study, lithium treatment was evaluated for healing of osteoporotic bone fractures. Six‐month‐old ovariectomized rats were subjected to closed, load‐drop induced femoral diaphyseal fracture. Two regimens involving treatment initiation on day 7 and day 10, respectively, 20 mg/kg/day oral dose and 14 days duration were evaluated. Femurs of lithium‐ vs. saline‐ treated rats were analyzed at 4 weeks (for day 7 onset regimen) or 6 weeks (for day 10 onset regimen) post‐fracture by stereology and torsional mechanical testing. Initiation on day 10 led to a significant 50% higher maximum yield torque (primary outcome measure) at 6 weeks (309 vs. 206 N‐mm, p = 0.005; n = 7, 7). Initiation on day 7 suggested a trend toward a more modest improvement in maximum yield torque (13%) evaluated at 4 weeks post‐fracture (234 vs. 206 N‐mm, p = 0.10; n = 10, 13). Qualitatively, lithium‐treated femurs demonstrated better periosteal and mineralized callus bridging in the day 10 initiation group. Lithium is a widely‐available, orally administered, low‐cost drug, which represents a feasible pharmacological intervention for both healthy and osteoporotic fracture healing. This study provides important guidelines for future clinical evaluation of lithium in osteoporotic fracture patients. © 2017 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 36:1783–1789, 2018.