Miracle-dz/UniFAR-FTUs huggingface dataset:
Sequential intention estimation of a mobility aid user for intelligent navigational assistance

This paper proposes an intelligent mobility aid framework aimed at mitigating the impact of cognitive and/or physical user deficiencies by performing suitable mobility assistance with minimum interference. To this end, a user action model using Gaussian Process Regression (GPR) is proposed to encapsulate the probabilistic and nonlinear relationships among user action, state of the environment and user intention. Moreover, exploiting the analytical tractability of the predictive distribution allows a sequential Bayesian process for user intention estimation to take place. The proposed scheme is validated on data obtained in an indoor setting with an instrumented robotic wheelchair augmented with sensorial feedback from the environment and user commands as well as proprioceptive information from the actual vehicle, achieving accuracy in near real-time of ~80%. The initial results are promising and indicating the suitability of the process to infer user driving behaviors within the context of ambulatory robots designed to provide assistance to users with mobility impairments while carrying out regular daily activities.
Realizing mixed-reality environments with tablets for intuitive human-robot collaboration for object manipulation tasks

Although gesture-based input and augmented reality (AR) facilitate intuitive human-robot interactions (HRI), prior implementations have relied on research-grade hardware and software. This paper explores using tablets to render mixed-reality visual environments that support human-robot collaboration for object manipulation. A mobile interface is created on a tablet by integrating real-time vision, 3D graphics, touchscreen interaction, and wireless communication. This mobile interface augments a live video of physical objects in a robot's workspace with corresponding virtual objects that can be manipulated by a user to intuitively command the robot to manipulate the physical objects. By generating the mixed-reality environment on an exocentric view provided by the tablet camera, the interface establishes a common frame of reference for the user and the robot to effectively communicate spatial information for object manipulation. After addressing challenges due to limitations in mobile sensing and computation, the interface is evaluated with participants to examine the performance and user experience with the suggested approach.
Generating Improvement Through Research and Development in Education Systems

To effectively address problems in education, research must be shaped around a problem of practice. Reorienting research and development in this way must overcome three obstacles. First, the incentive system for university researchers must be changed to reward research on problems of practice. Second, the contexts must be created that will allow the complexity of problems of practice to be understood and addressed by interdisciplinary teams of researchers, practitioners, and education designers. And third, meaningful experimentation must become acceptable in school systems in order to develop a better understanding of how to effectively stimulate and support the desired changes.
Hand gesture-based interface with multichannel sEMG band enabling unknown gesture discrimination

A forearm band consisting of 7 EMG sensors was developed. The band is dedicated to serve as a human-machine interface and its applicability as a gesture-based interface was presented. The gesture recognition was performed by ANN with softmax output function. The classifier uses output entropy function to discriminate between known command gestures and unknown gestures. 15 features of low computational complexity were selected. The preliminary test was performed for 4 healthy volunteers. Continuous time series were used, including unknown gestures and transitions. Special attention was paid to analyze system properties of detecting and rejecting unknown gestures (not commands movements), even if they were not included in training set. Obtained preliminary results show the sensitivity for command gestures (including transition phases) of 97% and fall out of 1.9%. In case of the system trained to reject unknown gestures the sensitivity and fall out were 82% and 9%, respectively. The calculated unknown gestures rejection rate was at 96%. It was shown that in most cases the interface is robust to false positive detection of command gestures while performing other gestures, even if the same muscles groups were recruited for movement.
I-Love-Q: Unexpected Universal Relations for Neutron Stars and Quark Stars

Neutron Star Measurements Neutron stars are one of the densest manifestations of matter in the universe. Yagi and Yunes (p. 365) examined the moment of inertia of neutron stars, which determines how fast they can spin, and the quadrupole moment and tidal Love number, which determine how much they can be deformed. The findings suggest that these three quantities obey universal relationships that are independent of the internal structure of the stars, implying that measurements of one of the three could accurately predict the other two. The relation of inertia, Love number, and quadrupole moment is independent of neutron and quark stars’ internal structure. Neutron stars and quark stars are not only characterized by their mass and radius but also by how fast they spin, through their moment of inertia, and how much they can be deformed, through their Love number and quadrupole moment. These depend sensitively on the star’s internal structure and thus on unknown nuclear physics. We find universal relations between the moment of inertia, the Love number, and the quadrupole moment that are independent of the neutron and quark star’s internal structure. These can be used to learn about neutron star deformability through observations of the moment of inertia, break degeneracies in gravitational wave detection to measure spin in binary inspirals, distinguish neutron stars from quark stars, and test general relativity in a nuclear structure–independent fashion.
Are laser scanners replaceable by Kinect sensors in robotic applications?

Laser scanners are omnipresent in robotic applications. Their measurements are used in many scenarios for robust map building, localization, collision avoidance, etc. But regarding the required precise measurement and mechanical system a laser scanner is quite expensive. Hence the robotic community is looking for alternative sensors. Since 2010 a new 3D sensor system - Microsoft Kinect [1] - developed for computer games is available and applied in robotic applications. With an appropriate filter tool-chain its output can be mapped to a 2D laser scanner measurement. The reduced data set is ready to be processed by the established algorithms and methods developed for laser scanners. But will the Kinect sensor replace laser scanners in robotic applications? This paper compares the technical parameters of the new sensor with established laser scanners. Afterwards we investigate the possibilities and limits of a Kinect for three common robotic applications - map building, localization and obstacle avoidance.
Spatial Dynamics of Chromosome Translocations in Living Cells

Chromosome Choreography Chromosome translocations arise through the illegitimate pairing of broken chromosome ends and are commonly found in many cancers. Roukos et al. (p. 660) used ultrahigh-throughput time-lapse imaging on human tissue culture cells containing marked chromosomes to capture very rare translocation events. Double-strand breaks in the DNA underwent an initial “partner search,” with a fraction of the ends moving into spatial proximity to each other, which resulted in persistent pairing and the merging of DNA repair foci. Most paired ends arose from breaks in close proximity, but occasionally translocations formed from more distantly positioned breaks. Proteins of the DNA repair machinery could influence the pairing and/or translocation process. An experimental system allows the visualization of human cell chromosome translocations in real time. Chromosome translocations are a hallmark of cancer cells. We have developed an experimental system to visualize the formation of translocations in living cells and apply it to characterize the spatial and dynamic properties of translocation formation. We demonstrate that translocations form within hours of the occurrence of double-strand breaks (DSBs) and that their formation is cell cycle–independent. Translocations form preferentially between prepositioned genome elements, and perturbation of key factors of the DNA repair machinery uncouples DSB pairing from translocation formation. These observations generate a spatiotemporal framework for the formation of translocations in living cells.
A Trace of Your Place

Multiple signals of different cellular origin in the brain's cortex must be integrated in a single cell type in the hippocampus to assess spatial location. [Also see Research Article by Zhang et al.] How do you know where you are? How do you generate or remember a mental map of your surroundings? Spatial cognition arises from multiple neural systems in the brain that converge to provide this awareness. Teasing out the origin of brain signals that course through these networks is tremendously difficult because the number and nature of pathways in the brain that give rise to a particular signal—the afferent inputs—are often not known. This becomes even more complicated if one looks for connectivity along these pathways at the level of single neurons, the most elementary operating units in the brain, because of the thousands of connections a neuron can make with other neurons. On page 44 of this issue, Zhang et al. (1) tackle this question by identifying the afferent cells in the entorhinal cortex—a region associated with navigation and memory—that send signals to the hippocampus, specifically to “place cells,” neurons that become active in response to a specific location in an environment. The scheme that emerges establishes functional connectivity at an unprecedented level of detail.
Proteinsynthese nach experimentellem Trauma am Tiermodell Schwein

Die vorliegende Arbeit vergleicht den Einfluβ von zwei Aminosaurenlosungen auf den posttraumatischen Proteinstoffwechsel durch Bestimmung der Stickstoffbilanz, der 15N-Elimination, der Gesamt-korperproteinsynthese und der Verwertung des zugefuhrten Stick-stoffs unter Verwendung von Schweinen als Versuchstiere. Die Proteinsynthese und die Stickstoffverwertung wurden mit Hilfe der 15N-Tracertechnik bei Nutzung mathematischer Modellvorstellungen ermittelt. Die nicht operierten Kontrolltiere wiesen bei Infusion einer Losung mit einem herkommlichen Aminosaurenmuster (Losung A) eine geringere Stickstoffausscheidung im Urin, eine gunstigere Stickstoffbilanz, eine hohere 15N-Retention, eine bessere Gesamtkorper-proteinsynthese und Verwertung der infundierten Aminosauren auf, verglichen mit den operierten Tieren, denen entweder Losung A oder eine andere Aminosaurenlosung (Losung B) verabreicht wurden. Die Gegenuberstellung der postoperativen Daten zeigt, daβ bei Vergleich der Losung A mit Losung B, deren Aminosaurenzusammensetzung den posttraumatisch veranderten Plasmaaminosaurenmetabolismus berucksichtigt, Losung B die besseren Ergebnisse hinsichtlich der 15N-Retention, aber auch der Gesamtkorperproteinsynthese und der Stickstoffverwertung aufweist.
Structure of Parkin Reveals Mechanisms for Ubiquitin Ligase Activation

Parkin Enhanced? Inactivation of parkin, an E3 ubiquitin ligase, is responsible for a familial form of Parkinson's disease and may be involved in sporadic forms as well. Trempe et al. (p. 1451, published online 9 May) present the crystal structure of full-length parkin in an autoinhibited configuration. Guided by the structure, mutations were designed that activated parkin both in vitro and in cells. Because parkin is neuroprotective, the structure provides a framework for enhancing parkin function as a therapeutic strategy in Parkinson's disease. The complete structure of a protein linked to Parkinson’s disease suggests how to activate it. Mutations in the PARK2 (parkin) gene are responsible for an autosomal recessive form of Parkinson’s disease. The parkin protein is a RING-in-between-RING E3 ubiquitin ligase that exhibits low basal activity. We describe the crystal structure of full-length rat parkin. The structure shows parkin in an autoinhibited state and provides insight into how it is activated. RING0 occludes the ubiquitin acceptor site Cys431 in RING2, whereas a repressor element of parkin binds RING1 and blocks its E2-binding site. Mutations that disrupted these inhibitory interactions activated parkin both in vitro and in cells. Parkin is neuroprotective, and these findings may provide a structural and mechanistic framework for enhancing parkin activity.
Morphogenesis of the somatic musculature in Drosophila melanogaster

In Drosophila melanogaster, the somatic muscle system is first formed during embryogenesis, giving rise to the larval musculature. Later during metamorphosis, this system is destroyed and replaced by an entirely new set of muscles in the adult fly. Proper formation of the larval and adult muscles is critical for basic survival functions such as hatching and crawling (in the larva), walking and flying (in the adult), and feeding (at both larval and adult stages). Myogenesis, from mononucleated muscle precursor cells to multinucleated functional muscles, is driven by a number of cellular processes that have begun to be mechanistically defined. Once the mesodermal cells destined for the myogenic lineage have been specified, individual myoblasts fuse together iteratively to form syncytial myofibers. Combining cytoplasmic contents demands a level of intracellular reorganization that, most notably, leads to redistribution of the myonuclei to maximize internuclear distance. Signaling from extending myofibers induces terminal tendon cell differentiation in the ectoderm, which results in secure muscle‐tendon attachments that are critical for muscle contraction. Simultaneously, muscles become innervated and undergo sarcomerogenesis to establish the contractile apparatus that will facilitate movement. The cellular mechanisms governing these morphogenetic events share numerous parallels to mammalian development, and the basic unit of all muscle, the myofiber, is conserved from flies to mammals. Thus, studies of Drosophila myogenesis and comparisons to muscle development in other systems highlight conserved regulatory programs of biomedical relevance to general muscle biology and studies of muscle disease. WIREs Dev Biol 2015, 4:313–334. doi: 10.1002/wdev.180
Oxidized Cellulose for Epithelialization of Neovagina in Vaginal Agenesis

Abstract Objective: The study objective was to evaluate use of oxidized regenerated cellulose (Surgicel®) for epithelialization of neovagina in vaginal agenesis. Design: A prospective, longitudinal study (Canadian Task Force classification II-2) was conducted at a tertiary care center. Method: Ten (10) women (ages: 17–25 years) with vaginal agenesis, undergoing surgical construction of vagina over a period of 2 years, were included in the study. The surgical technique involved creation of a neovagina by modified Sheares technique, followed by use of a foam mold covered with a condom and further wrapped in oxidized cellulose to aid epithelialization. The main outcome measures evaluated were effectiveness and complications (if any) with the use of oxidized cellulose for epithelialization of neovagina. Results: There were no intraoperative complications. Adequate vaginal length (7–10 cm) was achieved in all cases on foam mold removal. On follow-up at 6 months, all vaginas were well epithelialized. One (1) pa.
Behavioral Triage: A New Model for Identifying and Treating Substance-Abusing Offenders

Over the last decade there have been several large-scale efforts to leverage the law to encourage substance-abusing offenders to enter treatment. A routine practice has developed in most states in which offenders undergo an assessment for drug abuse or dependence, and based on their self-reported behavior, those deemed to have a substance use disorder are referred to treatment programs. The problem with applying the assessment-treatment model in correctional systems is that both components of this approach are seriously flawed. An alternative model, using regular random testing coupled with modest sanctions, relies on offender observed behavior rather than self report, to signal need for treatment services. Many offenders are able to desist from drug use without treatment. This reallocation of resources creates greater opportunity to provide more-intensive treatment services to those who really need it. This paper proposes replacing the traditional assess-and-treat approach with an alternative model that bases treatment decisions on observed behavior: the behavioral triage model.
Incision into the Eastern Andean Plateau During Pliocene Cooling

Bringing Down the Andes Mountain ranges, like the Andes in South America, have a number of forces acting on them that control their elevation. High rates of precipitation can induce rapid incision of canyons, but tectonic forces from deep within the mountain range may balance or even exceed the rate of erosion. Lease and Ehlers (p. 774) examined the exhumation histories of the northeastern Andean Plateau. The erosion of sediments older than ∼10 million years was controlled largely by tectonic processes. However, more recent sediments suggest that a shift to cooler temperatures increased precipitation 3 to 4 million years ago. Climate had stronger control of canyon incision than tectonics in the eastern Andes 4 million years ago. Canyon incision into mountain topography is commonly used as a proxy for surface uplift driven by tectonic or geodynamic processes, but climatic changes can also instigate incision. The ~1250-kilometer (km)–long eastern margin of the Andean Plateau hosts a series of 1.5- to 2.5-km-deep canyons that cross major deformation zones. Using (U-Th)/He thermochronology, we document a transition from Miocene faulting to Pliocene canyon incision across the northeastern plateau margin. Regionally, widespread Pliocene incision into the eastern plateau margin is concurrent with a shift in global climate from early Pliocene warmth to late Pliocene cooling. Enhanced moisture transport onto the Andean Plateau driven by sea surface temperature changes during cooling is the likely pacemaker for canyon incision.
Overlapped disk access for real-time disk I/O

Disk subsystems of soft real time systems are designed to meet the deadlines of the real time disk I/O commands as much as possible. The paper examines methods to get the best out of active hardware components in a disk drive and evaluates the real time performances of the methods. Some of the active hardware components in a disk drive are idle for some time, while a disk I/O command is being serviced by some active hardware components in the disk drive. If the idle time is used for the next pending disk I/O command, the disk I/O command could be serviced much earlier. We develop three models of overlapped disk access which service two adjacent disk I/O commands concurrently by overlapping. The new disk model embedding the overlapped disk access methods is also proposed. It is evaluated via simulations, and its real time performance is compared with traditional disk drives. The results of the performance evaluation show that the proposed disk model has a much better real time performance than traditional disk drives in real time computing environments.
SPIRIT-/spl mu/Kernel for strongly partitioned real-time systems

To achieve reliability, reusability and cost reduction, a significant trend of building large, complex real-time systems is to integrate separated application modules. An essential requirement of integrated real-time systems is to guarantee strong partitioning among applications. In this paper, we propose a microkernel, called the SPIRIT (Strongly Partitioned Integrated Real-tIme sysTem) /spl mu/Kernel, for strongly partitioned real-time systems. The SPIRIT-/spl mu/Kernel has been designed and implemented based on a two-level hierarchical scheduling methodology such that the real-time constraints of each application can be guaranteed. It provides a minimal set of kernel functions, such as address management, interrupt/exception dispatching, inter-application communication and application scheduling. To demonstrate the feasibility of the SPIRIT-/spl mu/Kernel, we have ported two different application-level real-time operating systems (RTOSs)-WindRiver's VxWorks and Cygnus's eCos-on the top of the microkernel. The SPIRIT-/spl mu/Kernel architecture is practical and appealing due to its low overheads of kernel services and the support for dependable integration of real-time applications.
Impacto dos exercícios na capacidade funcional e dor em pacientes com osteoartrite de joelhos: ensaio clínico randomizado

INTRODUCAO: A fraqueza muscular, especialmente do quadriceps, e uma das principais repercussoes osteomusculares da osteoartrite de joelho, e os exercicios sao considerados uma das principais intervencoes no tratamento conservador da doenca. OBJETIVO: Avaliar o efeito do fortalecimento do quadriceps femural na capacidade funcional e nos sintomas relacionados a osteoartrite de joelho utilizando o teste Timed Up and Go (TUG), o questionario Western Ontario and McMaster Universities Osteoarthritis Index (WOMAC) e o Indice de Lequesne. METODOS: Foram randomizados 100 pacientes, divididos em dois grupos: 1) Grupo Exercicio (n = 50), o qual incluiu bicicleta estacionaria, alongamento dos musculos isquiotibiais e fortalecimento do musculo quadriceps, e 2) Grupo Orientacao (n = 50), que recebeu um manual de orientacoes a fim de descrever a osteoartrite de joelho e instruir os pacientes a como ajustar o dia a dia de acordo com os sintomas. Os pacientes foram informados sobre os sinais e sintomas da doenca e os cuidados durante as atividades de vida diaria. O manual nao incluiu orientacao de exercicios. RESULTADOS: O Grupo Exercicio apresentou melhora estatisticamente significante no teste TUG, nos aspectos dor, funcao e rigidez do questionario WOMAC e no indice Lequesne, quando comparado ao Grupo Orientacao. CONCLUSAO: Exercicios para fortalecimento do quadriceps com duracao de oito semanas sao efetivos na melhora de dor, funcao e rigidez em pacientes com osteoartrite de joelho.
Identifying community structure in a multi‐relational network employing non‐negative tensor factorization and GA k‐means clustering

The ubiquity of social networking sites leads to the generation of rich social media content. Community discovery is one of the significant tools in the analysis of social media data that is often multi‐relational due to diverse forms of user interactions. Although there has been extensive research devoted to community discovery, most of it is restricted to single‐relational networks. However, focus has been shifted to multi‐relational networks in the recent years. In this study, we aim to discover communities in the multi‐relational networks through relational learning. Our main focus is the utilization of non‐negative tensor factorization and GA k‐means clustering for community discovery. In order to incorporate the relational characteristics of the data in the learning methodology, tensors are used to model the multi‐relational network. Tensor factorization reveals the latent features of the data and shows state‐of‐the‐art results for multi‐relational learning. Once the implicit information is obtained by factorization, we apply a GA k‐means clustering algorithm for community discovery. Experiments are performed on synthetic as well as real datasets. The results obtained are quite promising and clearly demonstrate the effectiveness of our proposed scheme. WIREs Data Mining Knowl Discov 2017, 7:e1196. doi: 10.1002/widm.1196