Miracle-dz/UniFAR-FTUs huggingface dataset:
A study on efficient motion design for redundantly actuated parallel kinematic manipulators

The increasing energy consumption within the industrial sector causes great concerns among numerous countries. Accordingly, an extensive reorientation towards an energy-efficient facility and processes design is essential for innovative production systems. In terms of automated object manipulation, energy efficiency significantly is affected by the physical design as well as by the dynamic characteristics of the manipulator. Since the influence on physical design parameters often is limited, a great impact on energy-efficiency of innovative manufacturing systems may result from an intelligent task management and suitable motion strategies. This contribution identifies energy-efficiency potentials for industrial manipulators in terms of motion design and redundant actuator configurations. In this context, an efficient trajectory planning algorithm is proposed, estimating the energy demand of object manipulation tasks in consideration of dynamic motion parameters as well as redundant actuator configurations. For this purpose, the geometric path as well as the motion law of given trajectories are optimized by a spatial displacement of predefined nodes and by an adjustment of corresponding time intervals. In order to verify its generality, the presented method is applied to the spatial n-PRPaR manipulator exhibiting actuation redundancy. According results show a significant energy reduction, establishing high potentials for an increased efficiency of industrial robots.
Stacked-Chip Implementation of On-Chip Buck Converter for Distributed Power Supply System in SiPs

An on-chip buck converter which is implemented by stacking chips and suitable for on-chip distributed power supply systems is proposed. The operation of the converter with 3-D chip stacking is experimentally verified for the first time. The manufactured converter achieves a maximum power efficiency of 62% for an output current of 70 mA and a voltage conversion ratio of 0.7 with a switching frequency of 200 MHz and a 2 times2 mm on-chip LC output filter. The active part and the passive LC output filter are implemented on separate chips fabricated in 0.35-mum CMOS and connected with metal bumps. The use of glass epoxy interposer to increase the maximum power efficiency up to 71.3% is also discussed.
Digital Comprehensive Summaries of Uppsala Dissertations from the Faculty of Science and Technology 1087 Fragment Based Drug Discovery with Surface Plasmon Resonance Technology

Nordström, H. 2013. Fragment Based Drug Discovery with Surface Plasmon Resonance Technology. Digital Comprehensive Summaries of Uppsala Dissertations from the Faculty of Science and Technology 1087. 60 pp. Uppsala: Acta Universitatis Upsaliensis. ISBN 978-91-554-8775-1. Fragment based drug discovery (FBDD) has been applied to two protease drug targets, MMP-12 and HIV-1 protease. The primary screening and characterization of hit fragments were performed with surface plasmon resonance -technology. Further evaluation of the interaction was done by inhibition studies and in one case with X-ray crystallography. The focus of the two projects was different. Many MMP inhibitors contain a strong zinc chelating group, hydroxamate, interacting with the catalytic zinc atom. This strategy may be the cause for the low specificity of MMP inhibitors. Using FBDD we found a fragment with an unusual strong affinity for MMP-12. An inhibition assay confirmed that it was an inhibitor but indicated a stoichiometry of 2:1. Crystallography data revealed that an adduct of the fragment was bound in the active site, with interactions both with the catalytic zinc and the S1’ pocket. This may present a new scaffold for MMP-12 inhibitors. For HIV-1 protease the focus was on identifying inhibitors not sensitive to current resistance mutations. A fragment library for screening with SPR-technology was designed and used for screening against wild type enzyme and three variants with resistance mutations. Many of the hits were promiscuous but a number of fragments with possible allosteric inhibition mechanism were identified. The temperature dependency of the dissociation rate and reported resistance mutations was studied with thermodynamics. A good, but not perfect correlation was found between resistance and both the dissociation data and the free energy for dissociation compared to data from wild type enzyme. However, the type of mutation also influenced the results. The flap mutation G48V displayed thermodynamic profiles not completely correlating with resistance. It was found that dissociation rate and thermodynamics may complement each other when studying resistance, but only one of them may not be enough.
The Role of the Leverage Ratio in Capital Regulation of the Banking Sector

Basel III responded to the financial crisis by redefining and expanding the capital requirements for risk-weighted assets and by proposing the introduction of a leverage ratio setting a minimum level of capital for banks in relation to total exposures. The capital requirement is being increased primarily through the active use of macroprudential capital buffers. As a result, there have been proposals that the leverage ratio requirement should also take into account the level of capital buffers and thus become a macroprudential policy tool. One argument in support of such proposals is that if the level of capital buffers is not taken into account, the leverage ratio may not create a sufficient constraint on the size of banks' exposures and hence not fulfil its intended purpose. This article examines the relationship between the capital and leverage ratios and discusses the options for, and effects of, introducing a macroprudential leverage ratio. We find that the capital and leverage ratios complement each other and that the introduction of a macroprudential leverage ratio could, under certain circumstances, enhance the effectiveness of macroprudential policy.
Deep vein thrombosis detection by 99mTc‐plasmin test and phlebography

During a 2‐year period the diagnostic value of 99mTc‐labelled‐plasmin test was evaluated in 63 patients admitted with clinical signs of deep vein thrombosis (DVT). In comparison with a conventional phlebography the diagnostic sensitivity and specificity of the plasmin test was 0.97 and 0.55, respectively. The predictive value in positive cases was 0.79 and in negative 0.92. The sensitivity was highest for thrombosis in the calf and popliteal regions, while the specificity was higher for thrombosis in the femoral veins. It is concluded that the 99mTc‐labelled‐plasmin test is suitable for DVT‐screening in groups of high‐risk patients and is simple and rapid. In positive cases the DVT diagnosis must be verified by phlebography.
Characterization of Monoclonal Antibodies against Hokkaido Strain Tick‐Borne Encephalitis Virus

A tick‐borne encephalitis (TBE) patient was found in Hokkaido in 1993, and TBE viruses were isolated from animals and ticks in our previous studies. To develop a diagnostic reagent to identify TBE viruses, monoclonal antibodies (Mabs) were produced against the TBE virus strain Hokkaido (Oshima 5–10). Seven Mabs were obtained which reacted with the envelope protein of the Oshima 5–10 strain. These Mabs were flavivirus genus‐specific, TBE virus complex‐specific or TBE virus type‐specific. The Mabs are applicable for identification of TBE virus strains.
Antithrombin III During Cardiac Surgery: Effect on Response of Activated Clotting Time to Heparin and Relationship to Markers of Hemostatic Activation

This study was designed to determine if, and to what extent, antithrombin III (AT) levels affect the response of the activated clotting time (ACT) to heparin in concentrations used during cardiac surgery, and to characterize the relationship between AT levels and markers of activation of coagulation during cardiopulmonary bypass (CPB). After informed consent, blood specimens obtained from eight normal volunteers (Phase I) were used to measure the response of the kaolin and celite ACT to heparin after in vitro addition of AT (200 U/dL) and after dilution with AT-deficient plasma to yield AT concentrations of 20, 40, 60, 80, and 100 U/dL. In Phase II, blood specimens collected before the administration of heparin and prior to discontinuation of CPB, were used to measure the response of the kaolin ACT to heparin (preheparin only), AT concentration, and a battery of coagulation assays in 31 patients undergoing repeat or combined cardiac surgical procedures. In Phase I, strong linear relationships were observed between kaolin (slope = 1.04 AT - 2, r2 = 0.78) and celite (slope = 1.36 AT + 6, r2 = 0.77) ACT slopes and AT concentrations below 100 U/dL. In the pre-CPB period of Phase II, only factors V (partial r = -0.49) and VIII (partial r = -0.63) were independently associated with heparin-derived slope using multivariate analysis; an inverse relationship was observed between AT and fibrinopeptide A levels (r = -0.41) at the end of CPB. Our findings indicate that the responsiveness of whole blood (ACT) to heparin at the high concentrations used with CPB is progressively reduced when the AT concentration decreases below 80 U/dL. Because AT is variably, and sometimes extensively, reduced in many patients before and during CPB, AT supplementation in these patients might be useful in reducing excessive thrombin-mediated consumption of labile hemostatic blood components, excessive microvascular bleeding, and transfusion of blood products. Implications: Heparin, a drug with anticoagulant properties, is routinely given to patients undergoing cardiac surgery to prevent clot formation within the cardiopulmonary bypass circuit. However, when levels are reduced, heparin is not as effective. Findings within this study indicate that administration of antithrombin III may help to preserve the hemostatic system during cardiopulmonary bypass. (Anesth Analg 1997;85:498-506)
Analysis of RF exposure in the head tissues of children and adults

This paper analyzes the radio frequencies (RF) exposure in the head tissues of children using a cellular handset or RF sources (a dipole and a generic handset) at 900, 1800, 2100 and 2400 MHz. Based on magnetic resonance imaging, child head models have been developed. The maximum specific absorption rate (SAR) over 10 g in the head has been analyzed in seven child and six adult heterogeneous head models. The influence of the variability in the same age class is carried out using models based on a morphing technique. The SAR over 1 g in specific tissues has also been assessed in the different types of child and adult head models. Comparisons are performed but nevertheless need to be confirmed since they have been derived from data sets of limited size. The simulations that have been performed show that the differences between the maximum SAR over 10 g estimated in the head models of the adults and the ones of the children are small compared to the standard deviations. But they indicate that the maximum SAR in 1 g of peripheral brain tissues of the child models aged between 5 and 8 years is about two times higher than in adult models. This difference is not observed for the child models of children above 8 years old: the maximum SAR in 1 g of peripheral brain tissues is about the same as the one in adult models. Such differences can be explained by the lower thicknesses of pinna, skin and skull of the younger child models.
Toward deep space humanoid robotics inspired by the NASA Space Robotics Challenge

This paper presents the initial work toward deep space robotic applications. Humanoid robots as astronauts can experience gravity differences, hazardous environmental conditions, extreme latency communications, and lack of energy sources while on deep space missions. Such constraints provide a challenge in the development of software, hardware, and experiments for space humanoid robots. This paper demonstrates the preliminary work for deep space robotics through the two qualification tasks specified by NASA's Space Robotics Challenge. The tasks are implemented in both the SRC simulator using IHMC ROS APIs, and with a physical humanoid robot, DRC-Hubo. The main objective is to testify the fundamental vision capability and maneuverability for deep space missions. This paper serves as a reference for future research in the field of deep space robotics.
Toward Real-time Volume-based Haptic Communication with Realistic Sensation

A volume-based realistic communication system called Haptic Communication is described. The system allows participants to interact in real time with others at remote locations on the network using haptic perception (sense of touch) of soft objects in virtual environments. We constructed the system so that it provides a sense of touch at remote locations in real time. First, an adaptive volume model represents virtual soft objects in PCs at remote locations. Next, the reflection force of the soft object is calculated rapidly and accurately from the parameters of positions and forces at contacting points transmitted via network at each PC. Eventually, the haptic and visual information are rendered by a haptic device (PHANToM) and a volume graphic software in the PCs. We investigated the efficiency of our system via experiments on a simulation of needle insertion with high force feedback rates at two remote locations on a WAN between Ritsumeikan University, Biwako Kusatsu Campus and Shiga Medical University. The experiment results show that the delay due to network traffic is negligible.
NHE3 Kinase A Regulatory Protein E3KARP Binds the Epithelial Brush Border Na+/H+ Exchanger NHE3 and the Cytoskeletal Protein Ezrin*

Cyclic AMP is a major second messenger that inhibits the brush border Na+/H+exchanger NHE3. We have previously shown that either of two related regulatory proteins, E3KARP or NHERF, is necessary for the cAMP-dependent inhibition of NHE3. In the present study, we characterized the interaction between NHE3 and E3KARP using in vitro binding assays. We found that NHE3 directly binds to E3KARP and that the entirety of the second PSD-95/Dlg/ZO-1 (PDZ) domain plus the carboxyl-terminal domain of E3KARP are required to bind NHE3. E3KARP binds an internal region within the NHE3 C-terminal cytoplasmic tail, defining a new mode of PDZ domain interaction. Analyses of cellular distribution of NHE3 and E3KARP expressed in PS120 fibroblasts show that NHE3 and E3KARP are co-localized on the plasma membrane, but not in a distinct juxtanuclear compartment in which NHE3 is predominantly expressed. The distributions of NHE3 and E3KARP were not affected by treatment with 8-bromo-cAMP. As shown earlier for the human homolog of NHERF, we also found that the cytoskeletal protein ezrin binds to the carboxyl-terminal domain of E3KARP. These results are consistent with the possibility that E3KARP and NHERF may function as scaffold proteins that bind to both NHE3 and ezrin. Since ezrin is a protein kinase A anchoring protein, we suggest that the scaffolding function of E3KARP binding to both ezrin and NHE3 localizes cAMP-dependent protein kinase in the vicinity of the cytoplasmic domain of NHE3, which is phosphorylated by elevated cAMP.
Effect of estradiol and progesterone on c‐myc expression in the sea star testis and the seasonal regulation of spermatogenesis

Analysis of the expression of cell cycle control genes provides a sensitive assay for mitotic and meiotic progression under experimental conditions. Transcription of the c‐myc proto‐oncogene and thymidine incorporation into DNA were both used to assay the mitogenic effects of estradiol and progesterone on the testicular germinal epithelium of the starfish Asterias vulgaris. Experimental in vitro studies during the annual spermatogenic cycle show that testes are not sensitive to mitotic stimulation by estradiol alone, whereas progesterone alone is mitotically inhibitory. The germinal epithelium can only be mitotically stimulated by estradiol after pretreatment with progesterone. The net increase in mitotic activity following a progesterone to estradiol transfer is dependent on the length of progesterone pretreatment. Overall, the seasonal pattern of testicular estradiol and progesterone levels evident in field populations of A. vulgaris (Hines et al., 1992a: Endocrinology 100:1468–1471) do not appear to be responsible for initiating spermatogonial mitosis at the onset of the annual spermatogenic cycle. Expression rates of the c‐myc proto‐oncogene are substantially more sensitive than thymidine incorporation in quantifying mitotic activity. Measuring proto‐oncogene expression provides an ideal experimental approach to investigations of the regulatory mechanisms that control growth and reproduction in marine organisms. © 1995 Wiley‐Liss, Inc.
Family well-being in a participant-directed autism waiver program: the role of relational coordination.

BACKGROUND Massachusetts is one of a very limited number of states exclusively employing participant-direction to deliver autism waiver services to children. A crucial element of this waiver program is the work conducted by the state's Department of Developmental Services (DDS) staff and state-approved providers with waiver families to facilitate the implementation of the participant-direction model. Our study investigates the effect of the collaboration between state providers and family caregivers on family well-being. METHODS We conducted a survey of 74 families who have been utilising waiver services for at least 6 months. Participants were asked to rate the coordination with providers as well as to report on parenting stress and impact of waiver services on family functioning. Data from in-home child and family assessments conducted by the state were also abstracted from program records. RESULTS After controlling for a host of variables hypothesised to affect the outcomes of interest, we found that the family's view of how well they coordinated with formal providers is significantly associated all of the outcomes. Families who reported greater coordination with state providers experienced lower parenting stress and reported a more positive impact on family functioning. Child externalising behavioural problems and caregiver's health rating also contributed to parenting stress and family functioning. CONCLUSIONS Our findings highlight the importance of establishing a collaborative partnership with waiver families in promoting family well-being. These results suggest that training and/or resources that foster team building and communication can positively impact family functioning among families with young children with autism.
Hepatitis B virus genotypes, phylogeny and occult infection in a region with a high incidence of hepatocellular carcinoma in China.

AIM To determine the genotypes and phylogeny of hepatitis B viruses (HBVs) in asymptomatic HBV carriers, and the prevalence of occult HBV infection in Long An County, Guangxi Zhuang Autonomous Region, an area with a high incidence of hepatocellular carcinoma. METHODS A nested polymerase chain reaction (nPCR) was used for detection of HBV DNA in serum samples from 36 blood donors with asympmatic HBV infection, and in serum samples from 52 HBsAg negative family members of the children who did not receive hepatitis B vaccination in Long An County. PCR products were sequenced, and the genotype of each HBV sequence was determined by comparison with sequences of known genotypes in the GenBank and EMBL nucleotide databases using the BLAST programme. Phylogenetic trees were constructed by the quartet maximum likelihood analysis using the TreePuzzle software. RESULTS Twenty (55.56%) of 36 HBV asymptomatic carriers were positive for HBV DNA. They were all genotype C by comparison with sequences of known genotypes in the GenBank and EMBL nucleotide databases. The full-length HBV DNA sequence isolated from the sample No. 624 contained 3 215 bases. No interesting mutations were found in this isolate. The homology analysis showed that this strain was closer to the Vietnamese HBV genotype C strain, with a homology of 97%, compared its relation to the same genotype of HBV isolated in Shanghai. Six (11.5%) of the 52 HBsAg negative family members were positive for HBV DNA. A point mutation was found in the sample No. 37, resulting in the substitution of amino acid glycine to arginine in the "a" determinant. Other samples with positive HBV DNA did not have any unusual amino acid substitutions in or around the "a" determinant, and were attributed to the wild-type HBV. CONCLUSION The HBVs isolated from asymptomatic carriers of Long An County were all identified as genotype C, and the prevalence of occult HBV infection in the population of the county is as high as 11.5%. It is suggested that genotype C and persistent occult HBV infection may play an important role in the development of HCC in the county.
Fatigue and depression in brain-injured patients correlated with quadriceps strength and endurance.

Many brain-injured (BI) patients complain of persistent fatigue that may alter their lifestyles. In order to assess muscular strength and endurance after brain injury, 22 BI men, greater than 9 months postinjury and aged 20 to 51 years, were separated into two groups based on a complaint of fatigue (fatigue n = 13, nonfatigue n = 9); each performed one maximal isometric knee extension at 60 degrees and 20 maximal isokinetic contractions at 20 rpm using a Cybex II dynamometer. A third group of age-matched, able-bodied men (n = 10) were used as controls. A battery of tests assessing the presence of fatigue (using a symptom checklist and two rating scales), depression, anxiety, and health status were given at the time of isokinetic/isometric testing. The mean fatigue rating, a subjective score, for the fatigue group of BI subjects was significantly worse than the other groups (p less than .01). There was a positive correlation between clinically significant Zung depression scores and fatigue rating (r = .46) and between Zung anxiety scores and fatigue rating. The depression scores for those who complained of fatigue were significantly higher than the other groups (p less than .005). Maximal isometric contractions were no different among the three groups. The mean maximal isokinetic torque during the 20 repetitions was greater in controls than in the BI groups, but did not reach statistical significance (p less than .25). There were no significant declines in isokinetic torque in the 20 repetitions for any of the groups, and the fatigue index was nearly equal for all three groups. (ABSTRACT TRUNCATED AT 250 WORDS)