Miracle-dz/UniFAR-FTUs huggingface dataset:
Gait optimization for roombots modular robots — Matching simulation and reality

The design of efficient locomotion gaits for robots with many degrees of freedom is challenging and time consuming even if optimization techniques are applied. Control parameters can be found through optimization in two ways: (i) through online optimization where the performance of a robot is measured while trying different control parameters on the actual hardware and (ii) through offline optimization by simulating the robot's behavior with the help of models of the robot and its environment. In this paper, we present a hybrid optimization method that combines the best properties of online and offline optimization to efficiently find locomotion gaits for arbitrary structures. In comparison to pure online optimization, both the number of experiments using robotic hardware as well as the total time required for finding efficient locomotion gaits get highly reduced by running the major part of the optimization process in simulation using a cluster of processors. The presented example shows that even for robots with a low number of degrees of freedom the time required for optimization can be reduced by a factor of 2.5 to 30, at least, depending on how extensive the search for optimized control parameters should be. Time for hardware experiments becomes minimal. More importantly, gaits that can possibly damage the robotic hardware can be filtered before being tried in hardware. Yet in contrast to pure offline optimization, we reach well matched behavior that allows a direct transfer of locomotion gaits from simulation to hardware. This is because through a meta-optimization we adapt not only the locomotion parameters but also the parameters for simulation models of the robot and environment allowing for a good matching of the robot behavior in simulation and hardware. We validate the proposed hybrid optimization method on a structure composed of two Roombots modules with a total number of six degrees of freedom. Roombots are self-reconfigurable modular robots that can form arbitrary structures with many degrees of freedom through an integrated active connection mechanism.
Sensor and actuator integrated low-profile robotic origami

The robotic origami (Robogami) is a low-profile, sheet-like robot with multi degrees-of-freedom (DoF) that embeds different functional layers. Due to its planar form, it can take advantage of precise 2D fabrication methods usually reserved for micro and nano systems. Not only can these methods reduce fabrication time and expenses, by offering a high precision, they enable us to integrate actuators, sensors and electronic components into a thin sheet. In this research, we study sensors, actuators and fabrication methods for Robogami which can reconfigure into various forms. Our main objective is to develop technologies that can be easily applied to Robogamis consisting of many active folds and DoFs. In this paper, after studying the performance of the proposed sensors and actuators in one fold, we use a design for a crawler robot consisting of four folds to assess the performance of these technologies.
Our experience with sagittal split osteotomy for retrognathia.

: Twenty-six cases which had been operated upon for retrognathia are reviewed. Most of these patients were unmarried, young individuals, and the improvement in their self-image and appearance was the major benefit from the surgical procedure: a lesser number felt the improvement in their bite and function was more important. Relapse, weakness of the lower lip, and numbness of the lower lip were the 3 most common complications. They occurred with sufficient frequency to encourage us to find a surgical approach with less morbidity for this problem of skeletal asymmetry. Perhaps a "C" cut (as champion;ed by Hinds), a forward block of the mandible with cartilage (as described by Trauner), or a vertical cut of the ramus with the posterior fragment notched into the anterior fragment (Mehnert), would yield results with fewer undesirable effects.
Whole-body pose estimation in physical rider-bicycle interactions with a monocular camera and a set of wearable gyroscopes

We report the development of a human whole-body pose estimation scheme with application to rider-bicycle interactions. The estimation scheme is built on the fusion of measurements of a monocular camera on the bicycle and a set of small wearable gyroscopes attached to the rider's upper- and lower-limb and the trunk. A single feature point is collocated with each wearable gyroscope and also on the segment link where the gyroscope is not attached. An extended Kalman filter is designed to fuse the vision-inertial measurements to obtain accurate whole-body poses. The estimation design also incorporates a set of constraints from human anatomy and the physical rider-bicycle interactions. We demonstrate and compare the performance of the estimation design through multiple subjects riding experiments.
Adherence to MRI protocol consensus guidelines in multiple sclerosis: An Australian multi‐centre study

Multiple sclerosis (MS) is a debilitating disease that causes significant morbidity within a young demographic. Diagnostic guidelines for MS have evolved, and imaging has played an increasingly important role in diagnosis over the last two decades. For imaging to contribute to diagnosis in a meaningful way, it must be reproducible. Consensus guidelines for MRI in MS exist to define correct sequence type and imaging technique, but it is not clear to what extent they are followed. This study reviewed MRI studies performed on Australian individuals presenting with a first clinical diagnosis of central nervous system demyelination (FCD) for adherence to published guidelines and discussed practical implementation of MS guidelines in light of recent updates.
Overview of airway involvement in tuberculosis

Pulmonary tuberculosis is a ubiquitous infection and a re‐emerging medical and socioeconomic problem resulting in increasing mortality and morbidity, especially in Asian countries. We aim to review the spectrum of imaging findings in airway involvement in tuberculosis through characteristic radiological images and to assess the role of computed tomography and image‐guided interventions in the diagnosis and management of pulmonary tuberculosis.
Dual-mode twisting actuation mechanism with an active clutch for active mode-change and simple relaxation process

In this paper, a dual-mode twisting actuation mechanism with an active clutch is newly presented for a high performance tendon-driven robot (e.g., robot hand). This mechanism is a kind of mechanical automatic power transmission mechanism which provides fast motion and large contraction force by two geared motors. One of the motors is adopted for main actuation and the other is utilized for active clutch. The active clutch consisting of low-power DC motor and gear set allows easy control of the dual-mode twisting actuation and simplifies relaxation process of twisted strings which was a critical problem by a passive brake in previous research [17]. Kinematics of the proposed mechanism is represented and its simulation is performed to verify the performance numerically. By using BLDC & DC motor with 8 W & 0.3 W power, we developed a prototype of the dual-mode twisting actuation with the weight of 45.7 g and the size of 71 mm × 21.5 × 15 mm. Despite of simple structure, the proposed mechanism shows that operation mode-change can be easily managed and the relaxation time was much more reduced than that of the passive brake version.
Emerging insights into Transforming growth factor β Smad signal in hepatic fibrogenesis

Irrespective of initial stimuli, increased production of type I collagen is a common hallmark of fibrotic diseases in various organs including the liver. A dynamic balance between the production and degradation of collagen is seen, which is rigorously controlled by several growth factors and cytokines. Of these, transforming growth factor β (TGFβ) is the most potent factor in stimulating type I collagen gene transcription. It also regulates expression of matrix metalloproteinases and their inhibitors, and modulates inflammatory reactions by influencing T cell functions. Therefore, TGFβ is considered to be the major factor accelerating liver fibrosis. Identification and characterisation of Smad proteins, intracellular mediators of the signal transduction of TGFβ, have led to a better understanding of the precise mechanisms of TGFβ functions from the viewpoint of its intracellular signalling pathway and crosstalk with other factors. Several studies have focused on the suppression of TGFβ activation and intervention of the TGFβ/Smad signalling pathways to treat liver fibrosis. However, as generalised blockade of TGFβ activity may result in the promotion of carcinogenesis and excessive immune reactions, much attention has to be paid to selective intervention of the TGFβ/Smad signal specifically in collagen-producing cells in the fibrotic tissue. TGFβ also affects the growth and differentiation of stem and progenitor cells. From this point of view, a new concept of the treatment for liver fibrosis may arise from the discipline of stem cell biology by modulating TGFβ and Smad signalling in stem/progenitor cells. TGFβ is a member of a large family of pleiotropic cytokines that includes bone morphogenetic proteins (BMPs), activins and other related factors. Mammals have three different forms of TGFβ (β1, β2 and β3). Although the three isoforms of TGFβ are encoded by distinct genes located on different chromosomes, they have approximately 80% homology at the level of amino acid sequence. Of …
Heuristic 3D object shape completion based on symmetry and scene context

Object shape information is essential for robot manipulation tasks, in particular for grasp planning and collision-free motion planning. But in general a complete object model is not available, in particular when dealing with unknown objects. We propose a method for completing shapes that are only partially known, which is a common situation when a robot perceives a new object only from one direction. Our approach is based on the assumption that most objects used in service robotic setups have symmetries. We determine and rate symmetry plane candidates to estimate the hidden parts of the object. By finding possible supporting planes based on its immediate neighborhood, the search space for symmetry planes is restricted, and the bottom part of the object is added. Gaps along the sides in the direction of the view axis are closed by linear interpolation. We evaluate our approach with real-world experiments using the YCB object and model set [1].
Utility of a prototype liposomal contrast agent for x-ray imaging of breast cancer: a proof of concept using micro-CT in small animals

Imaging tumor angiogenesis in small animals is extremely challenging due to the size of the tumor vessels. Consequently, both dedicated small animal imaging systems and specialized intravascular contrast agents are required. The goal of this study was to investigate the use of a liposomal contrast agent for high-resolution micro-CT imaging of breast tumors in small animals. A liposomal blood pool agent encapsulating iodine with a concentration of 65.5 mg/ml was used with a Duke Center for In Vivo Microscopy (CIVM) prototype micro-computed tomography (micro-CT) system to image the R3230AC mammary carcinoma implanted in rats. The animals were injected with equivalent volume doses (0.02 ml/kg) of contrast agent. Micro-CT with the liposomal blood pool contrast agent ensured a signal difference between the blood and the muscle higher than 450 HU allowing the visualization of the tumors 3D vascular architecture in exquisite detail at 100-micron resolution. The micro-CT data correlated well with the histological examination of tumor tissue. We also studied the ability to detect vascular enhancement with limited angle based reconstruction, i.e. tomosynthesis. Tumor volumes and their regional vascular percentage were estimated. This imaging approach could be used to better understand tumor angiogenesis and be the basis for evaluating anti-angiogenic therapies.
Inherited platelet disorders: toward DNA-based diagnosis.

Variations in platelet number, volume, and function are largely genetically controlled, and many loci associated with platelet traits have been identified by genome-wide association studies (GWASs). (1) The genome also contains a large number of rare variants, of which a tiny fraction underlies the inherited diseases of humans. Research over the last 3 decades has led to the discovery of 51 genes harboring variants responsible for inherited platelet disorders (IPDs). However, the majority of patients with an IPD still do not receive a molecular diagnosis. Alongside the scientific interest, molecular or genetic diagnosis is important for patients. There is increasing recognition that a number of IPDs are associated with severe pathologies, including an increased risk of malignancy, and a definitive diagnosis can inform prognosis and care. In this review, we give an overview of these disorders grouped according to their effect on platelet biology and their clinical characteristics. We also discuss the challenge of identifying candidate genes and causal variants therein, how IPDs have been historically diagnosed, and how this is changing with the introduction of high-throughput sequencing. Finally, we describe how integration of large genomic, epigenomic, and phenotypic datasets, including whole genome sequencing data, GWASs, epigenomic profiling, protein-protein interaction networks, and standardized clinical phenotype coding, will drive the discovery of novel mechanisms of disease in the near future to improve patient diagnosis and management.
Introduction to a review series: the 2016 revision of the WHO classification of tumors of hematopoietic and lymphoid tissues.

This issue of Blood includes 2 review articles that summarize the recent revision of the World Health Organization (WHO) classification of tumors of hematopoietic and lymphoid tissues: The “ WHO Classification of Tumours of Haematopoietic and Lymphoid Tissues ”[1][1] is one of the “blue book
Gaussian processes for dynamic movement primitives with application in knowledge-based cooperation

Dynamic Movement Primitives (DMPs) represent stable goal-directed or periodic movements, which are learned from observations or demonstrations. They rely on proper function approximators, which are sufficiently flexible to represent arbitrary movements but also ensure goal convergence in point-to-point motions. This work shows that Gaussian Processes (GPs) are suitable as a regressor for learning movements with DMPs ensuring stability. In addition, GPs provide a measure for the uncertainty about the current movement, which we exploit by proposing a new cooperation scheme for DMPs: For better reproduction of demonstrations, we follow the intuition, that individuals with more knowledge lead towards the goal, while others follow and focus on cooperation. Along with simulation results, we validate the presented methods in a robotic cooperative object manipulation task.
Acute distal colitis impairs gastric emptying in rats via an extrinsic neuronal reflex pathway involving the pelvic nerve

Background and aims: Patients with inflammatory bowel disease often present with abnormal gut motility away from the inflammatory site. We studied remote motility disturbances and their pathophysiology in a rat model of colitis. Methods: Colitis was induced 72 h prior to experiments using trinitrobenzene sulphate (TNBS) instillation. Inflammation was verified using histology and myeloperoxidase (MPO) measurements. To assess gut motility, we determined gastric emptying, distal front and geometric centre (GC) of intestinal transit 30 min after intragastric administration of a semiliquid Evans blue solution. The effects of hexamethonium (20 mg/kg), capsaicin (125 mg/kg) and pelvic nerve section on colitis induced motility changes were evaluated. c-Fos expression was studied in the pelvic nerve dorsal root ganglion (DRG) S1. Results: Colitis reduced gastric emptying from 38.4 (3.6)% in controls to 22.7 (4.4)% in TNBS treated rats in the absence of local gastric inflammation. Colitis had no effect on the distal front or on the geometric centre of small intestinal transit. Hexamethonium reduced gastric emptying in controls to 26.3 (4.1)% but restored it to 35.8 (4.4)% in TNBS treated rats. Capsaicin significantly impaired gastric emptying in controls from 33.1 (5.2)% to 9.5 (3.3)% while this effect was less pronounced in TNBS treated rats (from 19.2 (2.3)% to 11.5 (3.8)%; NS). In TNBS treated rats, pelvic nerve section completely restored gastric emptying from 19.8 (5.3)% to 52.5 (6.3)% without any effect on gastric emptying in control rats. TNBS colitis induced de novo c-Fos expression in the DRG S1. Conclusions: Experimental colitis in rats delays gastric emptying via a neuronal pathway involving pelvic afferent nerve hyperactivity.
Keynote Address 1: "Transistors and reliability in the innovation era"

Traditional transistor scaling drive the semiconductor industry through the 1990s, but led to the era of innovation driven transistor scaling. Strained silicon, high-k plus metal gate transistors, and fin based transistors were some of the key innovations in the last several process technology generations. This presentation will explore both the transistor scaling benefits from these innovations as well as the reliability implications covering the 90nm to 14nm timeframe.
Discovery and characterization of novel genetic markers for use in the management of Lahontan cutthroat trout (Oncorhynchus clarkii henshawi)

The Lahontan cutthroat trout (Oncorhynchus clarkii henshawi) is threatened by habitat destruction, over‐harvest and hybridization with nonnative trout. Currently, three Geographic Management Units (GMUs) are recognized within the taxon. Here, we describe a suite of 68 single‐nucleotide polymorphism (SNP) genetic markers for use in the study and management of Lahontan cutthroat trout and a closely related subspecies, the Paiute cutthroat trout (O. c. seleneris). These include markers variable within the two subspecies (n = 35), diagnostic for the two subspecies (n = 23) and diagnostic for Yellowstone cutthroat trout (O. c. bouvieri) and other closely related subspecies (n = 10). Sixty‐three markers were discovered by Sanger sequencing of 171 EST loci in an ascertainment panel including Lahontan cutthroat trout from four populations representing all GMUs. Five markers were identified in a secondary sequencing effort with a single population of Lahontan cutthroat trout. TaqMan assays were validated on six Lahontan cutthroat trout populations and a diverse panel of other trout. Over 90% of the markers variable in Lahontan cutthroat trout were polymorphic in at least two populations, and 66% were variable within all three GMUs. All Lahontan diagnostic markers were also fixed for the Lahontan allele in Paiute cutthroat trout. Most of the Yellowstone diagnostic markers can also be used for this purpose in other cutthroat trout subspecies. This is the first set of SNP markers to be developed for Lahontan cutthroat trout, and will be an important tool for conservation and management.
A method for estimating population sex ratio for sage‐grouse using noninvasive genetic samples

Population sex ratio is an important metric for wildlife management and conservation, but estimates can be difficult to obtain, particularly for sexually monomorphic species or for species that differ in detection probability between the sexes. Noninvasive genetic sampling (NGS) using polymerase chain reaction (PCR) has become a common method for identifying sex from sources such as hair, feathers or faeces, and is a potential source for estimating sex ratio. If, however, PCR success is sex‐biased, naively using NGS could lead to a biased sex ratio estimator. We measured PCR success rates and error rates for amplifying the W and Z chromosomes from greater sage‐grouse (Centrocercus urophasianus) faecal samples, examined how success and error rates for sex identification changed in response to faecal sample exposure time, and used simulation models to evaluate precision and bias of three sex assignment criteria for estimating population sex ratio with variable sample sizes and levels of PCR replication. We found PCR success rates were higher for females than males and that choice of sex assignment criteria influenced the bias and precision of corresponding sex ratio estimates. Our simulations demonstrate the importance of considering the interplay between the sex bias of PCR success, number of genotyping replicates, sample size, true population sex ratio and accuracy of assignment rules for designing future studies. Our results suggest that using faecal DNA for estimating the sex ratio of sage‐grouse populations has great potential and, with minor adaptations and similar marker evaluations, should be applicable to numerous species.
Evaluating the capacity of plant DNA barcodes to discriminate species of cotton (Gossypium: Malvaceae)

Although two plastid regions have been adopted as the standard markers for plant DNA barcoding, their limited resolution has provoked the consideration of other gene regions, especially in taxonomically diverse genera. The genus Gossypium (cotton) includes eight diploid genome groups (A–G, and K) and five allotetraploid species which are difficult to discriminate morphologically. In this study, we tested the effectiveness of three widely used markers (matK, rbcL, and ITS2) in the discrimination of 20 diploid and five tetraploid species of cotton. Sequences were analysed locus‐wise and in combinations to determine the most effective strategy for species identification. Sequence recovery was high, ranging from 92% to 100% with mean pairwise interspecific distance highest for ITS2 (3.68%) and lowest for rbcL (0.43%). At a 0.5% threshold, the combination of matK+ITS2 produced the greatest number of species clusters. Based on ‘best match’ analysis, the combination of matK+ITS2 was best, while based on ‘all species barcodes’ analysis, ITS2 gave the highest percentage of correct species identifications (98.93%). The combination of sequences for all three markers produced the best resolved tree. The disparity index test based on matK+rbcL+ITS2 was significant (P < 0.05) for a higher number of species pairs than the individual gene sequences. Although all three barcodes separated the species with respect to their genome type, no single combination of barcodes could differentiate all the Gossypium species, and tetraploid species were particularly difficult.