Miracle-dz/UniFAR-FTUs huggingface dataset:
On the Design and Development of a Quadruped Robot Platform

In this paper, we describe the development of a quadruped robot named HuboDog. The objective of this project is to develop a reliable and robust quadruped robot platform that enables the implementation of stable and fast static/dynamic walking on even or uneven terrain, and walking while carrying a payload. A lightweight but highly rigid platform is achieved via a frame-type structure and double-supported beam-type joint design. A small, light but high output power joint actuator is designed with a harmonic reduction gear and electric motor that has high speed and a high output power. A distributed control system is used since it can reduce the computational burden of the main computer and easily extend the electrical components. Microprocessor-based subcontrollers are developed for motor control and sensor signal feedback. The main computer, which is mounted on the trunk, communicates with the subcontroller via the CAN (Controller Area Network) protocol. We used Windows XP as the operating system and have established a real-time control system in Windows XP by using RTX (Real Time eXtension) software. This paper includes design concepts, mechanical system design, system integration and electrical system design. In order to demonstrate the performance of the robot platform, simple experiments were performed.
Non‐randomized studies as a source of complementary, sequential or replacement evidence for randomized controlled trials in systematic reviews on the effects of interventions

The terms applicability, generalizability, external validity and transferability are related, sometimes used interchangeably and have in common that they lack a clear and consistent definition in the classic epidemiological literature. However, all of these terms generally describe one overarching theme: whether or not available research evidence can be directly utilized to answer the healthcare questions at hand, ideally supported by a judgment about the degree of confidence for this utilization. This concept has been called directness. The objectives of this paper were to delineate how non‐randomized studies (NRS) inform judgments in relation to directness and the concepts that it encompasses in the context of systematic reviews. We will briefly review what is known and describe the theoretical and practical issues as well as offer guidance to those tackling the challenges of judging directness and using research evidence to answer healthcare questions with evidence from NRS.
Assimilation de données par filtrage pour les systèmes hyperboliques du second ordre - Applications à la mécanique cardiaque. (Filtering based data assimilation for second order hyperbolic PDEs - Applications in cardiac mechanics)

L'objectif est de formuler des methodes d'assimilation de donnees adaptees a la simulation du comportement mecanique du coeur tout au long d'un battement cardiaque, afin de beneficier du developpement des techniques d'imagerie et de l'interet croissant des cliniciens pour la simulation numerique. Nous presentons une strategie originale par filtrage, adaptee a l'estimation de systemes mecaniques, et plus generalement de systemes hyperboliques du second ordre, avec des conditions initiales et des parametres inconnus. La trajectoire est estimee via des observateurs de Luenberger efficaces exploitant la stabilisation par feedback a des fins d'estimation. A la difference d'approches Kalmaniennes classiques, ces filtres peuvent etre numeriquement adaptes a des systemes issus de la discretisation d'EDPs, et la stabilite exponentielle du systeme de l'erreur d'observation assure la convergence de l'estimateur. Ainsi, nous analysons en particulier la strategie collocalisee du "Direct Velocity Feedback" utilisee en controle des structures. Nous formulons aussi une methode originale dans le cas de mesures de positions, et par extension de contours dans une image. Pour les parametres, nous etendons ensuite l'estimateur en ajoutant une dynamique parametrique fictive. Les observateurs d'etat precedents restreignent alors l'incertitude a l'espace parametrique afin d'y appliquer des filtres de rang reduit H2 ou Hinfini. La convergence de l'estimateur en resultant est mathematiquement demontree, et illustree en estimant des parametres distribues de type raideurs et contractilites, avec la perspective d'aide au diagnostic de regions infarcies du muscle cardiaque.
Chronic inhibition of nitric oxide synthesis enhances both subventricular zone neurogenesis and olfactory learning in adult mice

The ability to generate new neurons during the course of adult life is preserved in the subventricular zone of the lateral ventricles and the dentate gyrus of the hippocampus in the mammalian brain. These two regions constitute specifically regulated neurogenic niches, and provide newborn neurons involved in olfactory and spatial learning, respectively. Nitric oxide (NO) is a negative regulator of neurogenesis in the subventricular zone, whereas its role in the dentate gyrus remains controversial. Using systemic administration of NO synthase (NOS) inhibitors to chronically inhibit NO production, we increased neural precursor proliferation in the subventricular zone as well as neurogenesis in the olfactory bulb, without modifying the number of mitotic cells or the granular cell layer thickness in the dentate gyrus. The same treatment specifically improved olfactory learning performance, whereas spatial learning and memory was unchanged, thus demonstrating that olfactory memory is closely associated with the level of ongoing neurogenesis in the subventricular zone–olfactory bulb. The anatomical specificity of the NOS inhibitor actions was not due to differences in the availability of NO, as demonstrated by immunohistochemical detection of neuronal NOS and S‐nitrosylated proteins in both regions. Remarkably, the distinct NO sensitivity might result from a differential expression of epidermal growth factor receptor in precursor cells in both regions, as the proliferative effect of NOS inhibitors in the subventricular zone was restricted to the cells that expressed this receptor.
Quantifying canyon incision and Andean Plateau surface uplift, southwest Peru: A thermochronometer and numerical modeling approach

incision. We quantify the timing and magnitude of incision by integrating previously published ages from the valley bottom with 19 new sample ages from four valley wall transects. Interpretation of the incision history from cooling ages is complicated by a southwest to northeast increase in temperatures at the base of the crust due to subduction and volcanism. Furthermore, the large magnitude of incision leads to additional threedimensional variations in the thermal field. We address these complications with finite element thermal and thermochronometer age prediction models to quantify the range of topographic evolution scenarios consistent with observed cooling ages. Comparison of 275 model simulations to observed cooling ages and regional heat flow determinations identify a best fit history with � 0.2 km of incision in the forearc region prior to � 14 Ma and up to 3.0 km of incision starting between 7 and 11 Ma. Incision starting at 7 Ma requires incision to end by � 5.5 to 6 Ma. However, a 2.2 Ma age on a volcanic flow on the current valley floor and 5 Ma gravels on the uplifted piedmont surface together suggest that incision ended during the time span between 2.2 and 5 Ma. These additional constraints for incision end time lead to a range of best fit incision onset times between 8 and 11 Ma, which must coincide with or postdate surface uplift.
Intramyocardial lipid accumulation in the failing human heart resembles the lipotoxic rat heart

In animal models of lipotoxicity, accumulation of triglycerides within cardiomyocytes is associated with contractile dysfunction. However, whether intramyocardial lipid deposition is a feature of human heart failure remains to be established. We hypothesized that intramyocardial lipid accumulation is a common feature of non‐ischemic heart failure and is associated with changes in gene expression similar to those found in an animal model of lipotoxicity. Intramyocardial lipid staining with oil red O and gene expression analysis was performed on heart tissue from 27 patients (9 female) with non‐ischemic heart failure. We determined intramyocardial lipid, gene expression, and contractile function in hearts from 6 Zucker diabetic fatty (ZDF) and 6 Zucker lean (ZL) rats. Intramyocardial lipid overload was present in 30% of non‐ischemic failing hearts. The highest levels of lipid staining were observed in patients with diabetes and obesity (BMI>30). Intramyocardial lipid deposition was associated with an up‐regulation of peroxisome proliferator‐activated receptor a (PPARα) ‐regulated genes, myosin heavy chain β (MHC‐β), and tumor necrosis factor α (TNF‐α). Intramyocardial lipid overload in the hearts of ZDF rats was associated with contractile dysfunction and changes in gene expression similar to changes found in failing human hearts with lipid overload. Our findings identify a subgroup of patients with heart failure and severe metabolic dysregulation characterized by intramyocardial triglyceride overload and changes in gene expression that are associated with contractile dysfunction. —Sharma, S. , Adrogue, J. V. , Golfman, L. , Uray, I. , Lemm, J., Youker, K. , Noon, G. P., Frazier, O. H. , Taegtmeyer, H. Intramyocardial lipid accumulation in the failing human heart resembles the lipotoxic rat heart. FASEB J. 18, 1692–1700 (2004)
Study of the phytoplankton plume dynamics off the Crozet Islands (Southern Ocean): A geochemical‐physical coupled approach

The Crozet Archipelago, in the Indian sector of the Southern Ocean, constitutes one of the few physical barriers to the Antarctic Circumpolar Current. Interaction of the currents with the sediments deposited on the margins of these islands contributes to the supply of chemical elements--including iron and other micro-nutrients--to offshore high-nutrient, low-chlorophyll (HNLC) waters. This natural fertilization sustains a phytoplankton bloom that was studied in the framework of the KEOPS-2 project. In this work, we investigated the time scales of the surface water transport between the Crozet Island shelves and the offshore waters, a transport that contributes iron to the phytoplankton bloom. We report shelf-water contact ages determined using geochemical tracers (radium isotopes) and physical data based on in situ drifter data and outputs of a model based on altimetric Lagrangian surface currents. The apparent ages of surface waters determined using the three independent methods are in relatively good agreement with each other. Our results provide constraints on the time scales of the transport between the shelf and offshore waters near the Crozet Islands and highlight the key role played by horizontal transport in natural iron fertilization and in defining the extension of the chlorophyll plume in this HNLC region of the Southern Ocean.
Correlations between mRNA expression of neurotransmitter receptors in the brain and alcohol self-administration in rats Master ’ s degree project

In this thesis it was investigated whether there was a correlation between the mRNA expression of neurotransmitter receptors in the brain and self-administration of ethanol in rats. Forty naïve Wistar rats were trained to orally self-administer ethanol during a nine day training period. A high divergence in alcohol consumption was observed over the population. mRNA expression levels of a number of receptors was determined using real-time PCR. Prefrontal cortex (PFC), hippocampus and amygdala were studied, three brain structures that interact with the core regions of the reward pathway and are involved in learning and memory. Several correlations between mRNA expression and number of alcohol deliveries were found, especially in the PFC. In particular, we found correlations between three adrenergic receptor subtypes and alcohol deliveries which could indicate an involvement of stress in the choice to self-administer.
FPGA implementation of fixed and variable frequency ADALINE schemes for grid-connected VSI synchronization

Grid-connected Voltage Source Inverter (VSI) are essentials to integrate the Distributed Energy Resources (DER) with the utility power systems. This integration allows the increasing of the reliability and the efficiency of power systems. However, the massive utilization of VSI can generates problems into the power quality indices of power systems, especially if the power control algorithm has a poor synchronization. Therefore, a good synchronization of power control algorithm helps to keep acceptable power quality indices. This paper presents the FPGA implementation of synchronization and power control of VSI using a variable frequency ADALINE structure. The proposed ADALINE implementation is used for amplitude, frequency and phase detection of the fundamental utility voltage and its harmonics. Fundamental signal information is then employed for the synchronization and power control scheme. The fundamental and harmonics information is employed to evaluate the power flow and the power quality of VSI output current. This evaluation is very useful for power quality problems mitigation. Experimental results, using low power VSI and Xilinx FPGA system, demonstrate the validity of proposition.
A latent class analysis of DSM-IV alcohol use disorder criteria and binge drinking in undergraduates.

BACKGROUND Adolescent and adult samples have shown that the Diagnostic and Statistical Manual of Mental Disorders-IV (DSM-IV) abuse and dependence criteria lie on a continuum of alcohol problem severity, but information on criteria functioning in college students is lacking. Prior factor analyses in a college sample (Beseler et al., 2010) indicated that a 2-factor solution fit the data better than a single-factor solution after a binge drinking criterion was included. The second dimension may indicate a clustering of criteria related to excessive alcohol use in this college sample. METHODS The present study was an analysis of data from an anonymous, online survey of undergraduates (N = 361) that included items pertaining to the DSM-IV alcohol use disorder (AUD) diagnostic criteria and binge drinking. Latent class analysis (LCA) was used to determine whether the criteria best fit a categorical model, with and without a binge drinking criterion. RESULTS In an LCA including the AUD criteria only, a 3-class solution was the best fit. Binge drinking worsened the fit of the models. The largest class (class 1, n = 217) primarily endorsed tolerance (18.4%); none were alcohol dependent. The middle class (class 2, n = 114) endorsed primarily tolerance (81.6%) and drinking more than intended (74.6%); 34.2% met criteria for dependence. The smallest class (class 3, n = 30) endorsed all criteria with high probabilities (30 to 100%); all met criteria for dependence. Alcohol consumption patterns did not differ significantly between classes 2 and 3. Class 3 was characterized by higher levels on several variables thought to predict risk of alcohol-related problems (e.g., enhancement motives for drinking, impulsivity, and aggression). CONCLUSIONS Two classes of heavy-drinking college students were identified, one of which appeared to be at higher risk than the other. The highest risk group may be less likely to "mature out" of high-risk drinking after college.
Variation in the venous drainage of left lateral segment liver graft requiring reconstruction of segment III vein with donor iliac artery

The techniques of reduced size split and living donor liver transplantation have relieved the organ shortage in children to some extent by allowing access to larger donors and decreased waiting list mortality. In children undergoing transplantation with left lateral segment graft, hepatic vein reconstruction is critical because of the potential risks of rotation at the line of anastomosis. Variations in the anatomy of the hepatic veins draining the left lateral segment are uncommon, but exist. Modification of surgical technique may be necessary to ensure good venous outflow to preserve graft viability. A rare variant of left lateral segment venous drainage is described that required modification using donor iliac artery.
DISCO Nets : DISsimilarity COefficient Networks Supplementary material

In this section, we provide details on the toy example presented in Section 1. We used the following simple experimental setting. All covariances for the bidimensional distributions are diagonal, therefore all bidimensional Gaussian distributions are parametrised by 4 parameters (μ1, μ2, σ1, σ2) where μ, σ is a mean-variance pair on each dimension. We consider a data distribution that is a mixture of 2 bidimensional Gaussian distributions, referred as GMM. The first Gaussian of the mixture, G1, is parametrised by (1, 1.5, 2, 0.8) and the second Gaussian G2 is parametrised by (0,−0.5, 0.7, 0.6). The mixture weights are 0.7 and 0.3, such that GMM = 0.7 × G1 + 0.3 × G2. We consider two models to capture the true data distribution GMM. Each model is able to represent a bidimensional Gaussian distribution parametrised by (μ1, μ2, σ1, σ2). The sets in which to search for the parameters are the same in both dimensions and both models. The set to search the means ranges from −3 to 3 by 1, and the set to search the variances ranges 0.1 to 2 by 0.5. The training dataset is composed of N = 10000 examples drawn randomly from GMM, denoted as (x1, .,xN ). The testing dataset is composed of 1000 examples drawn randomly from GMM. During training, we draw K = 2 samples from the model and estimate the probabilistic loss defined as:
[Phylogenetic analysis and PCR-restriction fragment length polymophism identification of Salmonella based on grOEL gene sequence].

OBJECTIVE To investigate the value of grOEL gene sequence in phylogenetic analysis and typing of Salmonella. METHODS The grOEL gene was amplified by PCR, sequenced and analyzed using Bioedit and DNAstar software. The Salmonella strains were identified using PCR-restriction fragment length polymophism (PCR-RFLP). RESULTS The conservative and variable regions of grOEL gene of Salmonella serogroup were separately distributed and most of the small mutant regions distributed intermittently among the conservative regions. The phylogenetic tree of Salmonella based on the nucleotides differed from that generated based on the amino acid sequence. O8, O9 and O10 had the closest consanguinity, and 5 patterns were identified by PCR-RFLP. CONCLUSION The grOEL gene can be used as a genetic marker for phylogenetic analysis of Salmonella and also as a target sequence for Salmonella typing identification.
3D Plane Labeling Stereo Matching with Content Aware Adaptive Windows

: In this paper, we present an algorithm that exploits both the underlying 3D structure and image entropy to generate an adaptive matching window. The presented algorithm estimates real valued disparity maps by smartly exploring a 3D search space using a novel hypothesis generation approach that acts like a propagation scheduler. The proposed approach is among the top performing results when evaluated in the Middlebury, KITTI 2015 benchmarks.
Exploiting gene expression and protein data for predicting remote homology and tissue specificity

In this thesis I describe my investigations of applying machine learning methods to high throughput experimental and predicted biological data. The importance of such analysis as a means of making inferences about biological functions is widely acknowledged in the bioinformatics community. Specifically, this work makes three novel contributions based on the systematic analysis of publicly archived data of protein sequences, three dimensional structures, gene expression and functional annotations: (a) remote homology detection based on amino acid sequences and secondary structures; (b) the analysis of tissue-specific gene expression for predictive signals in the sequence and secondary structure of the resulting protein product; and (c) a study of ageing in the fruit fly, a commonly used model organism, in which tissue specific and whole-organism gene expression changes are contrasted. In the problem of remote homology detection, a kernel-based method that combines pairwise alignment scores of amino acid sequences and secondary structures is shown to improve the prediction accuracies in a benchmark task defined using the Structural Classification of Proteins (SCOP) database. While the task of predicting SCOP superfamilies should be regarded as an easy one, with not much room for performance improvement, it is still widely accepted as the gold standard due to careful manual annotation by experts in the subject of protein evolution. A similar method is introduced to investigate whether tissue specificity of gene expression is correlated with the sequence and secondary structure of the resulting protein product. An information theoretic approach is adopted for sorting fruit fly and mouse genes according to their tissue specificity based on gene expression data. A classifier is then trained to predict the degree of specificity for these genes. The study concludes that the tissue specificity of gene expression is correlated with the sequence, and to a certain extent, with the secondary structure of the gene’s protein product. The sorted list of genes introduced in the previous chapter is used to investigate the tissue specificity of transcript profiles obtained from a study of ageing in the fruit fly. The same list is utilised to investigate how filtering tissue-restricted genes affects gene set enrichment analysis in the ageing study, and to examine the specificity of age-associated genes identified in the literature. The conclusion drawn in this chapter is that categorisation of genes according to their tissue specificity using Shannon’s information theory is useful for the interpretation of whole-fly gene expression data.
Multilayer Stretchable Conductors on Polymer Substrates for Conformal and Reconfigurable Antennas

Multilayer stretchable conductors (SCs) are demonstrated for the first time as an alternative cost-effective method for implementing conformal and reconfigurable antennas over flexible substrates. Structurally, these SCs are realized on polydimethylsiloxane (PDMS) substrate via single or double copper layers deposited around a commercially available conductive rubber. The dc measurements demonstrate the stretchability of the multilayer SCs up to 25% and 22.5 times larger conductivity as compared to the standalone conductive rubber. The RF performance of these multilayer SCs is first characterized in the 1–5-GHz range by measuring the insertion loss in 50-$\Omega$ microstrip lines. As compared to a standalone conductive rubber, the triple-layer SC has shown 58% less insertion loss. To demonstrate their use in reconfigurable and flexible conformal antennas, an aperture-coupled patch antenna is designed, fabricated, and tested. Specifically, it is shown that the antenna can be tuned from 2.97 to 2.69 GHz when stretched by 9%. Additionally, the patch antenna implemented from the multilayer SC exhibits 6.18 dB realized gain. This gain is 3.71 dB better than that of a patch antenna implemented from a standalone conductive rubber layer, and only 0.4 dB lower than that of a conventional patch.
Osteoradionecrosis of the temporal bone: A surgical technique of treatment

Osteoradionecrosis of the temporal bone is a well‐documented complication of radiotherapy to the ear, with potentially lethal complications. Three cases of advanced disease, treated surgically, are presented. In two of these, subtotal petrosectomy with blind‐sac closure of the external auditory canal was carried out via an anterior approach. The enclosed space was obliterated with pedicled temporalis muscle. Primary healing took place. One case was similarly obliterated using a prolonged posterior incision. The wound broke down, requiring a microvascular free flap for closure.