Miracle-dz/UniFAR-FTUs huggingface dataset:
Introduction to the Special Issue on Benchmarking Protocols for Robotic Manipulation

Benchmarks are crucial for analyzing the effectiveness of an approach against a common basis, providing a quantitative means for interpreting performance. Carefully designed and widely recognized benchmarks encourage the research community to focus on certain key research challenges, promote competition, foster a climate for novel solutions, and, therefore, contribute dramatically to the advancement of a field. While some robotics-related fields (such as object recognition and segmentation) actively utilize benchmarks, there are essentially no robotic manipulation benchmarks that are widely adopted by the research community despite their highly acknowledged necessity.
Lightweight Private Similarity Search

Nearest neighbor search is a fundamental building-block for a wide range of applications. A privacy-preserving protocol for nearest neighbor search involves a set of clients who send queries to a remote database. Each client retrieves the nearest neighbor(s) to its query in the database without revealing any information about the query. For database privacy, the client must not learn anything beyond the query answer. Existing protocols for private nearest neighbor search require heavy cryptographic tools, resulting in poor practical performance or large client overheads. In this paper,we present the ﬁrst lightweight protocolforprivate nearestneighborsearch.
Adaptive Fertigation System Using Hybrid Vision-Based Lettuce Phenotyping and Fuzzy Logic Valve Controller Towards Sustainable Aquaponics

Sustainability is a major challenge in any plant factory, particularly those involving precision agriculture. In this study, an adaptive fertigation system in a three-tier nutrient film technique aquaponic system was developed using a non-destructive vision-based lettuce phenotype (VIPHLET) model integrated with an 18-rule Mamdani fuzzy inference system for nutrient valve control. Four lettuce phenes, that is, fresh weight, chlorophylls a and b, and vitamin C concentrations as outputted by the genetic programming-based VIPHLET model were optimized for each growth stage by injecting NPK nutrients into the mixing tank, as determined based on leaf canopy signatures. This novel adaptive fertigation system resulted in higher nutrient use efficiency (99.678%) and lower chemical waste emission (14.108 mg L-1) than that by manual fertigation (92.468%, 178.88 mg L-1). Overall, it can improve agricultural malpractices in relation to sustainable agriculture.
Leveled Fully Homomorphic Encryption Schemes with Hensel Codes

We propose the use of Hensel codes (a mathematical tool lifted from the theory of p -adic numbers) as an alternative way to construct fully homomorphic encryption (FHE) schemes that rely on the hardness of some instance of the approximate common divisor (AGCD) problem. We provide a self-contained introduction to Hensel codes which covers all the properties of interest for this work. Two constructions are presented: a private-key leveled FHE scheme and a public-key leveled FHE scheme. The public-key scheme is obtained via minor modiﬁcations to the private-key scheme in which we explore asymmetric properties of Hensel codes. The eﬃciency and security (under an AGCD variant) of the public-key scheme are discussed in detail. Our constructions take messages from large specialized subsets of the rational numbers that admit fractional numerical inputs and associated computations for virtually any real-world application. Further, our results can be seen as a natural uniﬁcation of error-free computation (computation free of rounding errors over rational numbers) and homomorphic encryption. Experimental results indicate the scheme is practical for a large variety of applications.
Post-quantum Efficient Proof for Graph 3-Coloring Problem

In this paper, we construct an eﬃcient interactive proof system for the graph 3-coloring problem and shows that it is computationally zero-knowledge against a quantum malicious veriﬁer. Our protocol is inline with the sketch of an eﬃcient protocol by Brassard and Crep´eau (FOCS 1986) that later has been elaborated by Kilian (STOC 1992). Their protocol is not post-quantum secure since its soundness property holds based on the intractability of the factoring problem. Putting aside the post-quantum security, we argue that Kilian’s interactive protocol for the graph 3-coloring problem does not fulﬁll the soundness property even in the classical setting. 1 In addition, we propose an XOR-homomorphic commitment scheme based on the Learning Parity with Noise (LPN) problem and shows that it fulﬁlls quantum computationally hiding and perfect binding properties.
m-Stability: Threshold Security Meets Transferable Utility

Use of game theory and mechanism design in cloud security is a well-studied topic. When applicable, it has the advantages of being efficient and simple compared to cryptography alone. Most analyses consider two-party settings, or multi-party settings where coalitions are not allowed. However, many cloud security problems that we face are in the multi-party setting and the involved parties can almost freely collaborate with each other. To formalize the study of disincentivizing coalitions from deviating strategies, a well-known definition named k-resiliency has been proposed by Abraham et al. (ACM PODC '06). Since its proposal, k-resiliency and related definitions are used extensively for mechanism design. However, in this work we observe the shortcoming of k-resiliency. That is, although this definition is secure, it is too strict to use for many cases and rule out secure mechanisms as insecure. To overcome this issue, we propose a new definition named ℓ-repellence against the presence of a single coalition to replace k-resiliency. Our definition incorporates transferable utility in game theory as it is realistic in many distributed and multi-party computing settings. We also propose m-stability definition against the presence of multiple coalitions, which is inspired by threshold security in cryptography. We then show the advantages of our novel definitions on three mechanisms, none of which were previously analyzed against coalitions: incentivized cloud computation, forwarding data packages in ad hoc networks, and connectivity in ad hoc networks. Regarding the former, our concepts improve the proposal by Küpçü (IEEE TDSC '17), by ensuring a coalition-proof mechanism.
Phytochemical screening and chromatographic profile of the ethanolic and aqueous extract of Passiflora edulis and Vicia faba L. (Fabaceae)

Phytochemical screening provides first hand knowledge of plants chemical constituents. Phytochemical Screening of the ethanolic extract of Passiflora edulis indicates the presence of the following phytochemicals: Cardiac Glycosides, Tannins, Flavanoids, Emodols, Anthracenosides, Alkaloids, Glycosides, Sterol and Triterpenes, Saponins, Phlobatinins. Cholesterol wasn’t detected. In contrast, phytochemical screening of the ethanolic extract of Vicia faba L. (Fabaceae) indicates the presence of all phytochemicals with the exception of Anthracenosides and Sterols and Triterpenes. The aqueous extract of both plants showed fewer phytochemicals in comparison to the ethanolic extract. For Passiflora edulis, these include Tannins, Emodols, Anthracenosides, Glycosides and Saponins, reducing sugars. For Vicia fabia, these include Tannins, Alkaloids, Glycosides, Sterol and Triterpenes and Saponins. Reducing sugars were also detected for the ethanolic extract only. The other phytochemicals weren’t detected. The selective presence of phytochemicals were also evident.
Isolation of high purity 73Se using solid phase extraction after selective 4,5-[73Se]benzopiazselenol formation with aminonaphthalene

Abstract A fast and efficient process for the production of the PET radionuclide 73Se was developed using 75Se as a surrogate. 75Se was separated from proton irradiated arsenic trioxide by reaction with 2,3-diaminonaphthalene to 4,5-[75Se]benzopiazelenol. This compound was purified using SPE column chromatography and subsequently decomposed with hydrogen peroxide. For further chemical conversions [75Se]selenite was reduced to elemental [75Se]selenium by either using thiosulfate or sulfur dioxide. The recovery yield of 75Se from the target amounted to 43%. The utility of the isolated 75Se for radiosyntheses was demonstrated by the successful preparation of [75Se]selenomethionine. The methodology developed using 75Se was successfully transformed to 73Se.
Recent advancement in the synthesis of phenoxazine derivatives and their analogues

ABSTRACT In recent years, angular and linear phenoxazines and their derivatives and polymers have attracted much attention due to their great pharmacological and industrial utility. So it becomes imperative to review the work done in this area more frequently. Therefore, various synthetic routes for phenoxazines are reviewed here comprehensively. GRAPHICAL ABSTRACT
Optimal insertion site of glenoid baseplate in reverse total shoulder arthroplasty: anatomical simulation using 3D image processing software

Purpose Conventionally, the central structure of the baseplate is inserted through the point where the vertical and horizontal axes of the glenoid intersect (conventional insertion site (CIS)). However, there is scanty theoretical evidence that CIS has the optimal bone stock. We evaluated the optimal insertion site for the glenoid baseplate through the three-dimensional volumetric measurement of the glenoid bone stock. Methods Pre-operative computed tomography (CT) images of 30 consecutive reverse total shoulder arthroplasty procedures were analyzed. Three-dimensional image processing software was used to reconstruct CT and volumetrically measure the glenoid bone stock according to the simulated central peg. A simulated central peg was inserted to the medial pole of the scapula from 49 points determined along with the intersect point of the vertical and horizontal axes of the glenoid CIS at 2-mm intervals. The overlapped volume between the simulated central peg and glenoid vault, representing the amount of glenoid bone stock along the passage of the central peg, was then automatically calculated. Results The depth of the glenoid vault was 25.5 ± 3.0 mm (range, 19.3–31.5), and the mean overlapped volume between the simulated central peg and the glenoid vault was 623.0 ± 185.8 ml. The optimal insertion site for the bony purchase of the central peg was 2 mm inferior and posterior from the CIS (765.3 ± 157.5). Conclusion The optimal insertion site of the baseplate is located slightly inferiorly and posteriorly to the CIS. This anatomical information may be used as a reference to determine the optimal insertion site of the baseplate according to an implant of a surgeon’s choice.
Scalable Synthesis of Sub-Nanosized Platinum-Reduced Graphene Oxide Composite by an Ultraprecise Photocatalytic Method

In this work, an industrially scalable method for a precisely controlled deposition of subnanosized metallic particles (e.g., platinum) on reduced graphene oxide has been developed. Partially reduced graphene oxide, a band gap engineered form of graphene, has been utilized for two purposes: the reduction of the metallic particles and a support layer. For the partial reduction, graphene oxide has been treated with a highly concentrated sodium hydroxide solution and the reduction process has been continued (and monitored) until obtaining a stable product. The chemical stability and band gap modulation process of the partially reduced graphene oxide have been discussed comprehensively. We have shown that the graphene oxide which also exhibits semiconducting properties is not a suitable choice as a photocatalyst material mainly because of its chemical instability and considerable photocorrosion. An innovative reactor with large-scale production capacity for pulsed UV illumination and continuous treatment of the reaction suspensions has been designed. A simple flow control in this reactor enables us to have precise control of the number of photoexcited electrons and consequently of the photodeposition of the subnanosized Pt particles.
Stability of Palm Oil-based Emulsion Liquid Membrane for Succinic Acid Extraction from Aqueous Solution

Emulsion liquid membrane (ELM) process has high potential in the separation of succinic from the fermentation broth. However, the major drawback of this technology is the stability of emulsion globules during the extraction process and the chemical involve d in the liquid membrane formulation. This study investigate the stability of ELM using a greener formulation containing Amberlite LA - 2 as a carrier, Span 80 and Tween 80 as a surfactant, palm oil as a diluent and sodium carbonate (Na 2 CO 3 ) as an aqueous st ripping agent. The emulsion stability was evaluated by observing the water - oil separation of the emulsion and microscopic image of emulsion droplets count and size. Several operating parameters including the organic to internal ratio, homogenizer speed, ho mogenizing time, and surfactant concentration, and surfactant blend were investigated. The results show the most stable water - in - oil emulsion was observed at 3:1 organic to internal ratio; 7000rpm homogenizer speed; 5 minute emulsification time; 3% (w/v) s urfactant at HLB 8. Besides, the extraction study shows 70% of the succinic acid was extracted at 0.01M Na 2 CO 3 , 1:3 treat ratio, and 0.7M Amberlite in palm oil at optimum primary emulsion stability conditions. This indicates the potential of using palm oil based ELM for the extraction of succinic acid.
EFFECT OF SILVER NANOPARTICLE-MEDIATED WOUND THERAPY ON BIOCHEMICAL, HEMATOLOGICAL, AND HISTOLOGICAL PARAMETERS

Objective: Green synthesis of nanoparticles has been used as an alternative, efficient, less expensive, and ecofriendly method. Ancient approaches employed for nanoparticle fabrication were chemical and physical methods having various disadvantages as they are costly and potentially harmful to the environment, use of harsh chemicals and stringent protocol for synthesizing nanoparticles. The present study is focused on the synthesis of silver nanoparticles by bio-availed as well as chemical route and evaluation of their wound healing potential in Wistar rat model. Methods: Extraction of Syzygium cumini was done and was used for silver nanoparticle synthesis. The synthesized nanoparticles were characterized by ultraviolet-visible spectroscopy, Fourier transform infrared spectroscopy, scanning electron microscopy, and transmission electron microscopy, which confirms the availability of nanosilver particles with marginally spherical morphology. The particles were then carried forward for treating impaired diabetic wounds in Wistar rat models. Regular photography was done and wound healing parameters were monitored throughout the study along with analyzing other parameters such as biochemical, hematological, and histological parameters. Results: The study showed that the sizes of the synthesized nanoparticles are below 100 nm. The results obtained from in vivo studies showed efficient wound healing potential of silver nanoparticles as compared to pre-existing drug povidone-iodine, i.e., the percentage reduction in wound area after therapy is 96.09% in case of biosynthesized silver nanoparticle-treated group, 97.7% reduction in chemically synthesized silver nanoparticle-treated group, 64.28% reduction in case of pre-existing drug povidone-iodine-treated group, 37.5% reduction in case of diabetic control group (diabetic), and 97.5% reduction in normal control group (non-diabetic). Results showed that biosynthesized silver nanoparticles showed less toxicity with respect to liver and kidney functions. Skin histology results showed increased sign of wound healing in biosynthesized silver nanoparticles. Hematology results showed no such variation. Conclusion: The study will help to synthesize new economically viable potential biosynthesized nanoparticles along with providing the approach to develop the medication at nanoscale level.
Carotid Artery Plaque Progression: Proposal of a New Predictive Score and Role of Carotid Intima-Media Thickness

Background: We aimed to investigate if the carotid intima-media thickness (IMT) at baseline and the HAD2S score, composed of the sum of single risk factors (hypertension, age ≥ 75 years, diabetes, dyslipidemia, smoking), were predictive of plaque progression. Methods: We performed a retrospective analysis on real-life prospectively collected data from patients with any detectable carotid plaque at follow up. The plaque score, calculated at baseline (T0) and at a median follow up of 36.6 months (IQR 39.6–34.3) (T3), was defined as 0: no plaque or stenosis < 30%; 1: stenosis in the range 30–49%; 2: in the range 50–69%; 3: in the range 70–99% and 4: occlusion. Carotid IMT was measured at T0 and T3; HAD2S score was calculated at baseline. Results: We included 340 patients with a mean age of 69.9 (9.1) years and 25.3% subjects had plaque progression. Individuals with progression had a median HAD2S score of 3 (1) while those without progression had 2 (1). Patients with progression had a mean baseline IMT of 0.86 (0.17) while those without progression had 0.77 (0.18) (p < 0.0001). A correlation between progression and baseline IMT was found (p = 0.002). Conclusion: Baseline IMT could be considered a predictor of progression. Patients with progression had an HAD2S score higher than those without evolution.
Development of Skeletal Muscle Model for Bridge-Style Movement Rehabilitation

Currently, according to statistical data showed by world health organization, the aging problem has been becoming an extraordinary serious social challenge. China has become one of the countries with the largest elderly population and the fastest growth in the word. Compared with the traditional one-to one between therapist and patient, this paper proposed an intelligent bridge-style movement rehabilitation robot. The rehabilitation robot assisted patients to complete the bridge-style movement via auxiliary mechanism. Then, applying muscle parameters and skeletal muscle carried out the simulation analysis of the auxiliary mechanism. The results proved that the auxiliary mechanism performs well in the process of auxiliary bridge-style movement.
Comparison of Convolutional Neural Networks in Real-Time Monitoring of Aquaculture Water State

Real-time monitoring of the aquaculture water state is essential for shrimp aquaculture, and it plays a vital role in the growth of shrimp. The main purpose of this research is to find an effective method to achieve rapid detection and classification with water state images. We obtained a water state image dataset containing four categories in the laboratory, and gained the corresponding Hough datasets through Hough transform, including blue-green and turbid water, reddish brown and turbid water, light green and clear or tawny and clear water, colorless and transparent water. We compare the performance and spatio-temporal complexity of 12 widely used convolutional neural network models in water state image classification tasks, and then optimize the best performing model on the optimizer and hyperparameters. The experimental results show that the InceptionResNet model has the best effect and the InceptionV3 model has the smallest spatio-temporal complexity, while both models realize the task of water state image classification excellently.
Valid Inertial Gait Data Recovery for Gait Recognition: A Multi-mode Adaptive Orthogonal Matching Pursuit

Gait recognition based on inertial sensor data develops rapidly. Recently, more and more studies are based on the data collected in-the-wild, where the data quality is limited. Thus, the requirement for data preprocessing is higher. In this work, an adaptive preprocessing algorithm, MAOMP, is proposed to extract the effective components in the gait data. Different from traditional denoising methods, MAOMP recovers valid data from scratch using sinusoidal bases adaptively by projecting signals and bases into the Hilbert space. It can remove invalid data to smooth the signals but highlight the essential extremums at the same time. Finally, MAOMP is evaluated on four publicly available datasets of different grades and three different neural networks. The quantization of SNR shows the data recovered by MAOMP is at a higher level. Compared to the two commonly used preprocessing methods, the performance of MAOMP can be more pronounced as the quality of the datasets decreases. The improvements of the recognition performance are more apparent in the ConvLSTM network compared to the CNN with the data recovered by MAOMP.
Experimental signatures of electron cyclotron wave energy condensation in magnetic islands

Bifurcation of the electron temperature perturbation (ΔT e) in magnetic islands due to electron cyclotron current drive (ECCD) is reported for the first time in toroidal plasmas. In this DIII-D experiment ΔT e spontaneously increases by 50% in a growing 2, 1 island which in turn rapidly shrinks, consistent with improved stabilization by the ECCD due to the temperature bifurcation. This non-linearity of ΔT e maps out a hysteresis in the island evolution cycle, in qualitative agreement with the theoretically predicted radio frequency current condensation effect Reiman and Fisch 2018 (Phys. Rev. Lett. 121 225001). Therefore, this observed bifurcation can be critical for the avoidance of disruptions caused by tearing modes in tokamaks.
To Exchange or Not to Exchange. Suppressing Anion Exchange in Cesium Lead Halide Perovskites with PbSO4–Oleate Capping

The ease of halide ion exchange in metal halide nanocrystals offers an opportunity to utilize them in a layered or tandem fashion to achieve graded bandgap films. We have now successfully suppressed the halide ion exchange by capping CsPbBr3 and CsPbI3 nanocrystals with PbSO4–oleate to create a nanostructure assembly that inhibits the exchange of anions. Absorption measurements show that the nanocrystal assemblies maintain their identity as either CsPbBr3 or CsPbI3 for several days. Furthermore, the effect of PbSO4–oleate capping on the excited state dynamics has also been elucidated. The effectiveness of PbSO4–oleate capping of lead halide perovskite nanocrystals offers new opportunities to overcome the challenges of halide ion exchange and aid toward the tandem design of perovskite light-harvesting assemblies.
Effects of Myo-inositol Hexakisphosphate on Zn(II) Sorption on γ-Alumina: A Mechanistic Study

Myo-inositol hexakisphosphate (IHP), a most common organic phosphorus in many soils, can strongly interact with aluminum (Al) oxides and influence the fate of metal ions. In this study, the effects of presorbed IHP on γ-Al2O3 (γ-alumina) surfaces on Zn(II) sorption were investigated in batch experiments using a combination of powder X-ray diffraction (XRD), in situ attenuated total reflectance Fourier transform infrared spectroscopy (ATR-FTIR), 31P and 27Al solid-state nuclear magnetic resonance spectroscopies (NMR), and Zn K-edge extended X-ray absorption fine structure spectroscopy (EXAFS). The results of the batch experiments show that the presorption of IHP increases the sorption density of Zn(II) on γ-Al2O3 surfaces. The XRD data indicate that the presorption of IHP hinders the formation of Zn–Al layered double hydroxide (LDH) precipitates by raising the critical concentration of Zn(II) required to precipitate the complex. Solid-state NMR spectra further suggest that the chemical environment and spec.