Miracle-dz/UniFAR-FTUs huggingface dataset:
Safe and Efficient Human–Robot Collaboration Part II: Optimal Generalized Human-in-the-Loop Real-Time Motion Generation

The coexistence of humans and robots in fenceless robot cells requires robust safety precautions to prevent humans from being injured. Currently, safety is ensured by limiting the robot velocity, force, and power. This results in large cycle times and, hence, very inefficient industrial applications, where no amortization of the robotic system can be expected. In this letter, a novel method for improving the robot performance is presented that still complies with the international safety standards for collaborative robots. The approach of this letter is based on a projection of a human arm motion into the robot's path to estimate a possible collision with the robot. This idea is addressed in an optimization approach by minimizing the time needed by the robot to reach the goal position under human-in-the-loop constraints. The segmented path is optimized by solving a nonlinear programming problem, and the effect of crucial parameters is analyzed. To guarantee a flexible motion of the resulting optimized path, a generalization method using dynamic movement primitives and the compliance of constraints are proposed. Experiments validate this new method that significantly improves the efficiency of human–robot coexistence.
Poster: Identification of Methods with Low Fault Risk

Test resources are usually limited and therefore it is often not possible to completely test an application before a release. Therefore, testers need to focus their activities on the relevant code regions. In this paper, we introduce an inverse defect prediction approach to identify methods that contain hardly any faults. We applied our approach to six Java open-source projects and show that on average 31.6% of the methods of a project have a low fault risk; they contain in total, on average, only 5.8% of all faults. Furthermore, the results suggest that, unlike defect prediction, our approach can also be applied in cross-project prediction scenarios. Therefore, inverse defect prediction can help prioritize untested code areas and guide testers to increase the fault detection probability.
A Pseudo-Random Number Generator Based on Delay Coupled Map Lattice

This paper proposes a new algorithm of generating pseudo-random numbers where delay coupled map lattice is utilized as a pseudo-random function. k-order Chebyshev map embedded time-varying delay is introduced as the dynamic function of delay coupled map lattice to improve random performance of the system. The proposed pseudo-random number generator is subjected to statistical tests which is the well-known NIST 800–22 and TestU01 test in the field of security and other related properties are also investigated. The result shows that the proposed pseudo-random number generator holds better pseudo-random characteristics and suggests strong candidate for cryptographic applications.
A Hybrid Path-Planning Scheme for an Unmanned Surface Vehicle

In this paper, a hybrid path-planning scheme that combines global A* algorithm with local dynamic window based collision avoidance is proposed for an unmanned surface vehicle (USV) in complex environment. Considering the way-points tracking in maritime applications, the A* algorithm with post-smoothed (A* PS) method is employed to reduce the number of way-points, and thereby contributing to plan a shortest path without constraining on grids. The local collision avoidance is realized by the Dynamic Window approach which takes the motion dynamics of the USV into account. Furthermore, a virtual safety zone pertaining to the shape of the obstacle is established to ensure reliable navigation at high speed. Simulation studies demonstrate that the proposed global-local hybrid path-planning scheme achieves remarkable performance and superiority in path planning with obstacle avoidance.
Robust skin simulation in Incredibles 2

Robustly simulating the dynamics of skin sliding over a character's body is an ongoing challenge. Skin can become non-physically "snagged" in curved or creased regions, such as armpits, and create unusable results. These problems usually arise when it becomes ambiguous which kinematic surface the skin should be sliding along. We have found that many of these problems can be addressed by performing 2D ray-tracing over the surface of the mesh. The approach is fast and robust, and has been used successfully in Incredibles 2.
Phonons and Thermal Expansion Behavior of NiSi and NiGe

We have carried out first principles calculations of the vibrational and thermodynamic behavior in NiSi and isostructural compound NiGe. Phonon density of states has also been measured in NiSi using inelastic neutron scattering techniques. We find that the vibrational spectra of the two compounds are very different, due to the difference in the size and mass of Si and Ge. Interesting anomalous thermal behavior of NiSi due to anharmonic phonons is brought out well in our calculations, particularly the negative thermal expansion (NTE) along the b-axis of the orthorhombic unit cell. Large difference in thermal expansion behavior of NiSi and NiGe is very well reproduced by the calculations. Additionally, calculations enable to identify the phonon modes which lend major contribution to the negative thermal expansion behavior in NiSi, and reasons for negligible NTE in NiGe. Such typical representative modes at the zone-boundary along b-axis involve transverse vibrations of Si/Ge along c-axis. PACS numbers: 78.70. Nx, 63.20. -e, 65.40. –b.
A unified crowd simulation model revealing relationships among "Physiology-Psychology-Physics" factors

We present a unified model for crowd simulation, CubeP, which comprehensively considers physiological, psychological, and physical factors. Inspired by the theory of "the devoted actor," the movements of each individual in our model are determined by modeling the physical influence of physical strength consumption and the emotion of panic. In particular, human physical strength consumption is computed using a physics-based numerical method. Inspired by the James-Lange theory, panic emotion is estimated by means of an enhanced emotional contagion model that leverages the inherent relation between physical strength consumption and panic emotion. To the best of our knowledge, our model is the first method that integrates physiological, psychological, and physical factors together and exploits the relationship between these factors. We highlight the performance on different scenarios and compare the resulting behavior with real-world video sequences. Our approach can reliably predict the changes in physical strength consumption and panic emotion of individuals in an emergency situation.
Estimation of Glacier Thickness From Surface Mass Balance and Ice Flow Velocities: A Case Study on Argentière Glacier, France

Glacier thickness distribution is a prerequisite to simulate the future of glaciers. Inaccurate thicknesses may lead to significant uncertainties in the timing of future changes to glaciers and their consequences for water resources or sea level rise. Unfortunately, glacier thickness distribution is rarely measured and consequently has to be estimated. In this study, we present an approach developed on the well documented Argentiere Glacier (French Alps) that uses surface mass balance (SMB) together with surface flow velocity data to quantify glacier thickness distribution over the entire surface of the glacier. We compare the results of our approach to those obtained applying Farinotti et al. (2009) approach. Our results show that glacier thickness distribution are significantly biased when the glacier SMB profile used to quantify the ice fluxes is not constrained with in situ measurements. We also show that even with SMB measurements available on the studied glacier, ice flux estimates can be inaccurate. This inability to correctly estimate ice fluxes from the apparent SMB may be due to the steady state assumption that is not respected from the available glacier surface topography data. Therefore, ice thickness measurements on few cross sections (four are used in this study) are required to constrain the ice flux estimates and lead to an overall agreement between the ice thickness estimations and measurements. Using our approach, the ice thicknesses only differ by 10% from observations in average, but can differ by up to 150 m (or 30%) locally. We also show that approaches that use the glacier surface slope can lead to large uncertainties given that the quantification of the slope is highly uncertain. The approach presented here does not pretend to be applied globally but rather as a tool to quantify ice thickness distribution over the entire surface of glaciers for which a few in situ surface mass balance and thickness data are available together with surface flow velocities that can be obtained for example from remote sensing.
Brain, Behavior, and Cognitive Interplay in Disorders of Consciousness: A Multiple Case Study

Patients with prolonged disorders of consciousness (DoC) after severe brain injury may present residual behavioral and cognitive functions. Yet the bedside assessment of these functions is compromised by patients' multiple impairments. Standardized behavioral scales such as the Coma Recovery Scale-Revised (CRS-R) have been developed to diagnose DoC, but there is also a need for neuropsychological measurement in these patients. The Cognitive Assessment by Visual Election (CAVE) was therefore recently created. In this study, we describe five patients in minimally conscious state (MCS) or emerging from the MCS (EMCS). Their cognitive profiles, derived from the CRS-R and CAVE, are presented alongside their neuroimaging results using structural magnetic resonance imaging (MRI) and fluorodeoxyglucose positron emission tomography (FDG-PET). Scores on the CAVE decreased along with the CRS-R total score, establishing a consistent behavioral/cognitive profile for each patient. Out of these five cases, the one with highest CRS-R and CAVE performance had the least extended cerebral hypometabolism. All patients showed structural and functional brain impairments that were consistent with their behavioral/cognitive profile as based on previous literature. For instance, the presence of visual and motor residual functions was respectively associated with a relative preservation of occipital and motor cortex/cerebellum metabolism. Moreover, residual language comprehension skills were found in the presence of preserved temporal and angular cortex metabolism. Some patients also presented structural impairment of hippocampus, suggesting the presence of memory impairments. Our results suggest that brain-behavior relationships might be observed even in severely brain-injured patients and they highlight the importance of developing new tools to assess residual cognition and language in MCS and EMCS patients. Indeed, a better characterization of their cognitive profile will be helpful in preparation of rehabilitation programs and daily routines.
Feasibility, safety, and reliability of exercise testing using the combined arm-leg (Cruiser) ergometer in subjects with a lower limb amputation

Background Physical fitness of patients with a lower limb amputation predicts their walking ability and may be improved by physical exercise and training. A maximal exercise test is recommended prior to training in order to determine cardiovascular risks and design exercise programs. A potentially suitable ergometer for maximal exercise testing in patients with a lower limb amputation is the combined arm-leg (Cruiser) ergometer. The aim of this study was to determine feasibility, safety, and reliability of (sub)maximal exercise testing on the Cruiser ergometer in subjects with a lower limb amputation. Methods and findings Subjects with a lower limb amputation performed 1 submaximal exercise test and 3 maximal exercise tests on the Cruiser ergometer. Feasibility was determined by examining whether key variables such as power output, heart rate and oxygen uptake were correctly and reliably measured, by determining whether a test was a maximal aerobic performance, by studying reasons for non-completion, and by measuring gross efficiency. Safety was analyzed by recording complications, electrocardiogram results, and blood pressure. Reliability was tested by comparing the results of the second and third maximal exercise test. Seventeen subjects (14 men and 3 women) out of 21 preselected subjects completed the study. In general, the maximal Cruiser exercise test was feasible. Almost 75% of the subjects reached a maximal aerobic performance. The test was also safe because no complications occurred, although electrocardiogram and blood pressure could only be reliably recorded in most subjects just before and after the test. Reliability was good: Intraclass correlation was 0.84 for peak oxygen uptake. Conclusions The Cruiser ergometer is a feasible, safe, and reliable ergometer for measuring physical fitness of subjects with a lower limb amputation.
E2F1 Mediates the Retinoic Acid-Induced Transcription of Tshz1 during Neuronal Differentiation in a Cell Division-Dependent Manner

The involvement of cell division in cellular differentiation has long been accepted. Cell division may be required not only for the expansion of a differentiated cell population but also for the execution of differentiation processes. ABSTRACT The involvement of cell division in cellular differentiation has long been accepted. Cell division may be required not only for the expansion of a differentiated cell population but also for the execution of differentiation processes. Nonetheless, knowledge regarding how specific differentiation processes are controlled in a cell division-dependent manner is far from complete. Here, we determined the involvement of cell division in neuronal differentiation. We initially confirmed that cell division is an essential event for the neuronal differentiation of P19 embryonic carcinoma cells. We investigated the induction mechanisms of Tshz1, whose expression is induced by retinoic acid (RA) in a cell division-dependent manner. Promoter analysis of Tshz1 revealed a specific region required for RA-dependent transcription. A series of experiments was used to identify E2F1 as the induction factor for the RA-dependent transcription of Tshz1. We propose that E2F1 mediates neuronal differentiation in a cell division-dependent manner.
Building capacity in neurodevelopment assessment of children in sub-Saharan Africa: A quality assurance model to implement standardized neurodevelopment testing

ABSTRACT Compromised neurodevelopment (ND) among infants and children is prevalent in sub-Saharan Africa. Standardized testing of ND is frequently prohibitive in these contexts, as tests require skilled staff for their application. In this paper, we present a quality assurance (QA) model (QualiND) for standardized ND testing, discussing findings and implications from our experience applying the Kaufman Assessment Battery for Children second edition (KABC-II). The QualiND model was implemented within IMPAACT P1104s study, a multisite, prospective study including 615 children affected by HIV. From 2014 to 2016, the QualiND managed 18 testers across 6 sites located in 4 African countries applying the KABC-II in 9 local languages. The QualiND is a multilevel, video-assisted iterative model incorporating remote evaluation, feedback, and supervision roles. Using an ad hoc rubric, videos of test application were evaluated by experienced staff in a centralized QA center. At each study site, testers and supervisors reviewed feedback from videos received via email from the QA center and devised an action plan to address testing errors and deficiencies. There were few instances of invalid tests and few barriers to test completion. Over 97% of KABC-II tests across sites were considered to be valid by the QA center. Overall, the QualiND model was a useful platform for remote supervision to nonspecialist and minimally trained research staff. The QualiND model may be useful to researchers and organizations involved in measuring early child development using standardized tests in low and middle-income countries.
Queuing-Based eDRAM Refreshing for Ultra-Low Power Processors

Ultra-low power processors designed to work at very low voltage are the enablers of the internet of things (IoT) era. Their internal memories, which are usually implemented by a static random access memory (SRAM) technology, stop functioning properly at low voltage. Some recent commercial products have replaced SRAM with embedded memory (eDRAM), in which stored data are destroyed over time, thus requiring periodic refreshing that causes performance loss. This article presents a queuing-based opportunistic refreshing algorithm that eliminates most if not all of the performance loss and is shown to be optimal. The queues used for refreshing miss refreshing opportunities not only when they are saturated but also when they are empty, hence increasing the probability of performance loss. We examine the optimal policy for handling a saturated and empty queue, and the ways in which system performance depends on queue capacity and memory size. This analysis results in a closed-form performance expression capturing read/write probabilities, memory size and queue capacity leading to CPU-internal memory architecture optimization.
Privacy-Preserving Oriented Floating-Point Number Fully Homomorphic Encryption Scheme

The issue of the privacy-preserving of information has become more prominent, especially regarding the privacy-preserving problem in a cloud environment. Homomorphic encryption can be operated directly on the ciphertext; this encryption provides a new method for privacy-preserving. However, we face a challenge in understanding how to construct a practical fully homomorphic encryption on non-integer data types. This paper proposes a revised floating-point fully homomorphic encryption scheme (FFHE) that achieves the goal of floating-point numbers operation without privacy leakage to unauthorized parties. We encrypt a matrix of plaintext bits as a single ciphertext to reduce the ciphertext expansion ratio and reduce the public key size by encrypting with a quadratic form in three types of public key elements and pseudo-random number generators. Additionally, we make the FFHE scheme more applicable by generalizing the homomorphism of addition and multiplication of floating-point numbers to analytic functions using the Taylor formula. We prove that the FFHE scheme for ciphertext operation may limit an additional loss of accuracy. Specifically, the precision of the ciphertext operation’s result is similar to unencrypted floating-point number computation. Compared to other schemes, our FFHE scheme is more practical for privacy-preserving in the cloud environment with its low ciphertext expansion ratio and public key size, supporting multiple operation types and high precision.
Beta-3 Adrenoceptor Signaling Pathways in Urothelial and Smooth Muscle Cells in the Presence of Succinate

Succinate, an intermediate metabolite of the Krebs cycle, can alter the metabolomics response to certain drugs and controls an array of molecular responses in the urothelium through activation of its receptor, G-protein coupled receptor 91 (GPR91). Mirabegron, a β3-adrenergic receptor (β3-AR) agonist used to treat overactive bladder syndrome (OAB), increases intracellular cAMP in the detrusor smooth muscle cells (SMC), leading to relaxation. We have previously shown that succinate inhibits forskolin-stimulated cAMP production in urothelium. To determine whether succinate interferes with mirabegron-mediated bladder relaxation, we examined their individual and synergistic effect in urothelial-cell and SMC signaling. We first confirmed β3-AR involvement in the mirabegron response by quantifying receptor abundance by immunoblotting in cultured urothelial cells and SMC and cellular localization by immunohistochemistry in rat bladder tissue. Mirabegron increased cAMP levels in SMC but not in urothelial cells, an increase that was inhibited by succinate, suggesting that it impairs cAMP-mediated bladder relaxation by mirabegron. Succinate and mirabegron increased inducible nitric oxide synthesis and nitric oxide secretion only in urothelial cells, suggesting that its release can indirectly induces SMC relaxation. Succinate exposure decreased the expression of β3-AR protein in whole bladder in vivo and in SMC in vitro, indicating that this metabolite may lead to impaired pharmacodynamics of the bladder. Together, our results demonstrate that increased levels of succinate in settings of metabolic stress (e.g., the metabolic syndrome) may lead to impaired mirabegron and β3-AR interaction, inhibition of cAMP production, and ultimately requiring mirabegron dose adjustment for its treatment of OAB related to these conditions.
Impact of Wearing Graduated Compression Stockings on Psychological and Physiological Responses during Prolonged Sitting

We investigated the impact of wearing vs. not wearing graduated compression stockings on psychological and physiological responses in 18 healthy young people (12 men and six women) during 3 h prolonged sitting. Profiled of Mood States (POMS) scores did not show marked differences between with and without stockings. A 3 h sit significantly decreased saliva cortisol in both conditions; with no differences between conditions. Wearing stockings suppressed a subjective uncomfortable sensation (e.g., pain; fatigue; swelling) in the lower limbs, as assessed by visual analogue scale (VAS). Increase in heart rate at 1 h and 3 h was significantly greater without than with stockings. In addition, high-frequency oscillations (HF: 0.15–0.4 Hz), used as an indicator of parasympathetic nerve activity, showed higher values with than without stockings throughout the 3 h sitting period—significantly higher at 1 h. When data for both conditions were pooled pre-to-post changes in saliva cortisol were positively associated with higher uncomfortable sensations of VAS in the lower limbs and negatively associated with changes in the Vigor subscale of POMS. Collectively, these findings suggest that wearing graduated compression stockings may benefit from subjective comfort and increased parasympathetic nerve activity.
Passivation Materials for a Reliable Fine Pitch RDL

Even if polymers are used for decades in electronics and microelectronics, one of the primary drawbacks is their susceptibility to moisture uptake. Moisture penetrating into polymers reduces their mechanical and electrical performances and consequently, moisture becomes a reliability issue for the RDL level. This paper presents results which highlight the need of choosing the right integration scheme in addition to the right polymer to ensure steady electrical performances of the Cu RDL level. The reliability studies using high temperature storages demonstrate that the main moisture diffusion path is through the polymer itself and the use of a bilayer (inorganic/organic) as passivation layer seems to be the best choice to minimize the moisture permeation. In addition, we have identify the failure modes, due to the electromigration phenomenon in the Cu RDL level, as being the grain boundaries and the Cu/SiN interface.