Miracle-dz/UniFAR-FTUs huggingface dataset:
The effect of spine actuation and stiffness on a pneumatically-driven quadruped robot for cheetah-like locomotion

Biological research has concluded that the actuation of the spine contributes significantly to the performance of quadrupeds in terms of controlling body posture, and integrating limbs and trunk actions. Inspired by this biological findings, we develop a pneumatically-driven quadruped robot called Renny with configurable spine morphology to study how the spine contributes to cheetah-like running. Three spine morphologies: rigid spine, passive spine, and actuated spine, are introduced and tested in Renny robot. In addition, we investigate the effect of the stiffness distribution of the spine muscles in the passive case. The experimental results show that the passive one where the dorsal stiffness is higher than the ventral stiffness can run faster, even faster than the rigid case. Moreover, the coordination between the legs and the actuated spine is studied in actuated spine morphology. We found that when the spinal movements are synchronized with the legs movements, the speed is much faster. In the actuated case, both flexion and extension benefit the increase of the speed by advancing limbs rapidly and increasing the limb swing.
Separating Fast and Slow Modes in Coupled Chaotic Systems

We test a simple technique based on breeding to separate fast and slow unstable modes in coupled systems with different time scales of evolution and variable amplitudes. The technique takes advantage of the earlier saturation of error growth rate of the fastest mode and of the lower value of the saturation amplitude of perturbation of either the fast or the slow modes. These properties of the coupled system allow a physically-based selection of the rescaling time interval and the amplitude of initial perturbations in the " breeding " of unstable modes to isolate the desired mode. We perform tests in coupled models composed of fast and slow versions of the Lorenz (1963) model with different strengths of coupling. As examples we present first a coupled system which we denote " weather with convection " , with a slow, large amplitude model coupled with a fast, small amplitude model, second an " ENSO " system with a " tropical atmosphere " strongly coupled with a " tropical ocean " , and finally a triply coupled system denoted " tropical-extratropical " in which a fast model (representing the " extratropical atmosphere ") is loosely coupled the ENSO " tropical atmosphere ". We find that it is always possible to isolate the fast modes by taking the limit of small amplitudes and short rescaling intervals, in which case, as expected, the results are the same as the local Lyapunov growth obtained with the linear tangent model. In contrast , slow modes cannot be isolated with either Lyapunov or Singular vectors, since the linear tangent and adjoint models are dominated by the fast modes. Breeding is successful in isolating slow modes if rescaling intervals and amplitudes are chosen from physically appropriate scales.
Computational Group Theory

Computational group theory has a history going back more than 80 years. It is a collaborative e ort of researchers in a wide range of areas in both mathematics and computer science. The eld has produced important algorithmic ideas and large software packages that have been used to obtain valuable results in mathematics and in other disciplines. The algorithmic achievements include the development of complicated algorithms designed to have the best possible asymptotic complexity and algorithms of exponential or perhaps unknown complexity that are nevertheless extremely useful in actual computations. There are also techniques for attempting to study instances of problems that are known not have have algorithmic solutions in general. This article is intended as a survey of the eld for the nonexpert. Thus it is written to provide a mathematician, physicist, or chemist who has encountered a particular group with guidance about the kinds of information one should expect to be able to determine about the group and in some cases to o er insight into the size of problems that can be attacked with current hardware. The article also is designed to show the computer scientist unfamiliar with the eld the rich variety of problems concerning the complexity of group-theoretic algorithms. The reader is introduced to several data structures that are unique to computational group theory. These include bases and strong generating sets for permutation groups and coset tables used to describe nitely generated subgroups of free groups. Other themes are the role of the classi cation of nite simple groups in the development of the subject and e orts to cope with the fact that many interesting problems do not have general algorithmic solutions. A number of other surveys of computational group theory have appeared
Semantic segmentation of mFISH images using convolutional networks

Multicolor in situ hybridization (mFISH) is a karyotyping technique used to detect major chromosomal alterations using fluorescent probes and imaging techniques. Manual interpretation of mFISH images is a time consuming step that can be automated using machine learning; in previous works, pixel or patch wise classification was employed, overlooking spatial information which can help identify chromosomes. In this work, we propose a fully convolutional semantic segmentation network for the interpretation of mFISH images, which uses both spatial and spectral information to classify each pixel in an end‐to‐end fashion. The semantic segmentation network developed was tested on samples extracted from a public dataset using cross validation. Despite having no labeling information of the image it was tested on, our algorithm yielded an average correct classification ratio (CCR) of 87.41%. Previously, this level of accuracy was only achieved with state of the art algorithms when classifying pixels from the same image in which the classifier has been trained. These results provide evidence that fully convolutional semantic segmentation networks may be employed in the computer aided diagnosis of genetic diseases with improved performance over the current image analysis methods. © 2018 International Society for Advancement of Cytometry
A BAYESIAN APPROACH FOR MODELING INTERVAL-VALUED VARIABLES

This paper proposes two Bayesian approaches to estimate the regression model coefficients considering interval-valued variables as response and explanatory variables. The first approach considers a more simple co-variance structure, while the second approach supposes a more general co-variance structure. The posterior distribution for the parameters was approximated considering Markov Chain Monte Carlo method (MCMC). A simulation study is presented and suggests the effectiveness of the sampling scheme in recovering the true values of the parameters and also indicates convergence of the parameter estimate algorithm. The new approaches are applied to real interval-valued data sets and their performance compared.
The Complex Admixture History and Recent Southern Origins of Siberian Populations

Although Siberia was inhabited by modern humans at an early stage, there is still debate over whether this area remained habitable during the extremely cold period of the Last Glacial Maximum or whether it was subsequently repopulated by peoples with a recent shared ancestry. Previous studies of the genetic history of Siberian populations were hampered by the extensive admixture that appears to have taken place among these populations, since commonly used methods assume a tree-like population history and at most single admixture events. We therefore developed a new method based on the covariance of ancestry components, which we validated with simulated data, in order to investigate this potentially complex admixture history and to distinguish the effects of shared ancestry from prehistoric migrations and contact. We furthermore adapted a previously devised method of admixture dating for use with multiple events of gene flow, and applied these methods to whole-genome genotype data from over 500 individuals belonging to 20 different Siberian ethnolinguistic groups. The results of these analyses indicate that there have indeed been multiple layers of admixture detectable in most of the Siberian populations, with considerable differences in the admixture histories of individual populations, and with the earliest events dated to not more than 4500 years ago. Furthermore, most of the populations of Siberia included here, even those settled far to the north, can be shown to have a southern origin. These results provide support for a recent population replacement in this region, with the northward expansions of different populations possibly being driven partly by the advent of pastoralism, especially reindeer domestication. These newly developed methods to analyse multiple admixture events should aid in the investigation of similarly complex population histories elsewhere. Author Summary We developed a new method that lets us disentangle complex admixture events and date the individual episodes of gene flow. We applied this method to a large dataset of genome-wide SNP genotypes from a linguistically diverse sample of populations covering the extent of Siberia. Our results demonstrate that these populations have been in intense contact with each other, with most of them carrying more than two, and up to six different ancestries. Nevertheless, as shown by the dates we estimate, these various admixture events have taken place over a relatively short time, with the oldest dating to not more than 4500 years ago. Our results emphasize the enormous impact that contact has had on the genetic history of these Siberian populations, and the methods developed here will be of use in the investigation of admixture events in populations around the world.
Perfect Moments

In this paper we consider the problem of creating the best group picture by capturing multiple group pictures. We discuss two different ways to go back and forth between different frames of a sequence of images to let the user choose the best face for each person and thus make the picture perfect. The first algorithm corrects for camera motion using homographic transformation and then blends the faces using pyramid blending. The second algorithm uses template matching to find the best location for each desired face on the reference frame. We provide an Android application as well as a desktop implementation of our
Assessing consciousness with auditory event-related potential during coma recovery: a case study

To observe changes in mismatch negativity (MMN) and P300 in a patient transitioning from a vegetative state (VS) to a minimally conscious state (MCS). One patient with intracerebral hemorrhage and an 8-month disease course was evaluated as being in the VS using the Coma Recovery Scale-Revised. Two weeks after the patient was admitted to the hospital, another evaluation was performed, and the patient was determined to be in an MCS. Using the Oddball paradigm, pure tone and name stimuli were presented to the patient to study event-related potentials (ERPs). A 15-week clinical follow-up was carried out, and four ERP examinations were performed at 2 days and 2, 6, and 15 weeks after admission. One healthy individual was assessed as a control participant. MMN and P300 were elicited in all four ERP examinations. MMN and P300 may occur earlier than believed in patients in persistent VS and MCS; their predictive values for prognosis need to be further confirmed by follow-up studies on a large clinical sample.
Range of joint motion and disability in patients with osteoarthritis of the knee or hip.

OBJECTIVE To establish the relationships between the range of joint motion (ROM) and disability in patients with osteoarthritis (OA) of the knee or hip. Two related issues were addressed: (1) the inter-relationships between ROMs of joint actions, and (2) the relationship between ROM and disability. METHODS Data on 198 patients with OA of the knee or hip were used. The ROM was assessed bilaterally for the hip and knee, using a goniometer. Disability was assessed using a self-reporting method (questionnaire) and an observational method. Correlation and factor analysis were used to establish the inter-relationships between the ROMs of joint actions. Correlation and multiple regression analyses were carried out to establish the relationships between ROM and disability. RESULTS Close inter-relationships were found between the ROMs of the same joint action of the lateral and contralateral joints; inter-relationships between ROMs of different joint actions were substantially weaker. Low ROMs were associated with high levels of disability, both self-reported and observed. Some 25% of the variation in disability levels could be accounted for by differences in ROM. In both knee and hip OA patients, flexion of the knee and extension and external rotation of the hip were found to be most closely associated with disability. CONCLUSION Restricted joint mobility, especially in flexion of the knee and extension and external rotation of the hip, appears to be an important determinant of disability in patients with OA.
Evaluation of extending outdoor time on myopia prevention among school children

Objective To explore the impacts on myopia prevention among school children of extending outdoor activities time and to provide suggestions to improve the intervention protocol. Methods All the school children from 2 urban schools and 3suburban schools from 16 districts in Beijing were selected as the subjects using stratified cluster sampling method. The students of each school were randomly allocated to trial group and control group. The students in the trail group( 295) were extending their outdoor activities' time,while the students in the control group( 311) didn't experience that way. The diopter of computer optometry to non mydriatic condition was used as the diagnosis criteria of myopia. The software of SPSS 17.0 was used for the statistics. Logistic regression model and Analysis of Covariance was used to evaluate the effect of the intervention. Results Logistic regression analysis showed that compared with the control group,the OR of primary school students in the intervention group suffered from myopia was 0.586( 95%CI = 0.402-0.853). According to the gender stratification,extending outdoor activities' time for male students was good for the protection of the vision( OR = 0.513,95%CI = 0.297-0.885). And the Covariance analysis results were consistent with the results of Logistic regression analysis. Conclusion Extending outdoor activities' time,especially for boys,can control the progress of myopia to some degree.
Sensitivity of global river discharges under Holocene and future climate conditions

A comparative analysis of global river basins shows that some river discharges are more sensitive to future climate change for the coming century than to natural climate variability over the last 9000 years. In these basins (Ganges, Mekong, Volta, Congo, Amazon, Murray‐Darling, Rhine, Oder, Yukon) future discharges increase by 6–61%. These changes are of similar magnitude to changes over the last 9000 years. Some rivers (Nile, Syr Darya) experienced strong reductions in discharge over the last 9000 years (17–56%), but show much smaller responses to future warming. The simulation results for the last 9000 years are validated with independent proxy data.
Hilbert's Nullstellensatz Is in the Polynomial Hierarchy

We show that if the Generalized Riemann Hypothesis is true, the problem of deciding whether a system of polynomial equations in several complex variables has a solution is in the second level of the polynomial hierarchy. In fact, this problem is in AM, the ``Arthur-Merlin'''' class (recall that $\np \subseteq \am \subseteq \rp^{\tiny \np} \subseteq \Pi_2$). The best previous bound was PSPACE. An earlier version of this paper was distributed as NeuroCOLT Technical Report~96-44. The present paper includes in particular a new lower bound for unsatisfiable systems, and remarks on the Arthur-Merlin class.
Instantaneous frequency estimation of frequency modulated signals in the presence of multiplicative and additive noise: Application to mobile communication systems

In this paper, we address the problem of estimating the instantaneous frequency (IF) of an FM modulated signal in the presence of multiplicative and additive noise processes. In particular, we consider the estimation of the IF of the received signal at the mobile unit antenna. We show that the existing non-parametric methods based on the Wigner-Ville spectrum (WVS) fail to extract the desired signal. Instead, the first moment of the Wigner-Ville distribution (WVD) of the signal can be used to estimate the IF of the signal under consideration. The estimator is unbiased and analytical expressions for the variance of the estimator in the absence and presence of additive noise are given.
MADARP : A Flexible Agent Architecture for Passenger Transportation

This work describes the development of a distributed agentbased application devoted to the flexible transportation of passengers. The system considers the planning and control of trip requests comming from clients. The underlying 3-tier agent architecture, named MADARP, provides a set of base agents organized around an interface, a planning and a service layer. Interface agents provide GUIs for the interaction with customers and drivers, while planning agents make use of a distributed version of an improved insertion heuristic called ADARTW for the scheduling of passengers’ trips. They make use of the contract-net protocol as base coordination mechanism plus a specific transportation domain&communication ontology. The agent application was designed with the agent-oriented software engineering methodology (AOSE) PASSI and implemented over the JADE agent platform. Performance tests were carried out, to evaluate the application’s planning capabilities, by analyzing diverse clients’ arrival rates while varying the number of hosts.
Heart rate phenotypes and clinical correlates in a large cohort of adults without sleep apnea

Background Normal sleep is associated with typical physiological changes in both the central and autonomic nervous systems. In particular, nocturnal blood pressure dipping has emerged as a strong marker of normal sleep physiology, whereas the absence of dipping or reverse dipping has been associated with cardiovascular risk. However, nocturnal blood pressure is not measured commonly in clinical practice. Heart rate (HR) dipping in sleep may be a similar important marker and is measured routinely in at-home and in-laboratory sleep testing. Methods We performed a retrospective cross-sectional analysis of diagnostic polysomnography in a clinically heterogeneous cohort of n=1047 adults without sleep apnea. Results We found that almost half of the cohort showed an increased HR in stable nonrapid eye movement sleep (NREM) compared to wake, while only 13.5% showed a reduced NREM HR of at least 10% relative to wake. The strongest correlates of HR dipping were younger age and male sex, whereas the periodic limb movement index (PLMI), sleep quality, and Epworth Sleepiness Scale (ESS) scores were not correlated with HR dipping. PLMI was however significantly correlated with metrics of impaired HR variability (HRV): increased low-frequency power and reduced high-frequency power. HRV metrics were unrelated to sleep quality or the ESS value. Following the work of Vgontzas et al, we also analyzed the sub-cohort with insomnia symptoms and short objective sleep duration. Interestingly, the sleep–wake stage-specific HR values depended upon insomnia symptoms more than sleep duration. Conclusion While our work demonstrates heterogeneity in cardiac metrics (HR and HRV), the population analysis suggests that pathological signatures of HR (nondipping and elevation) are common even in this cohort selected for the absence of sleep apnea. Future prospective work in clinical populations will further inform risk stratification and set the stage for testing interventions.
Individual Development Plans as Governance Tools – Changed Governance of Teachers’ Work

ABSTRACT Auditing, accountability, and transparency are concepts that greatly impact the working conditions of today’s public sector professionals, including teachers. Documentation requirements have been on the increase for some time, which can be seen in the education sector’s Individual Development Plans (IDPs), for example. These IDPs are pedagogical tools, but can also be seen as governance tools, which is how we will treat them here. In this conceptual paper, we argue that to improve knowledge of education policy changes, there is a need to consider the changed documentation requirements from the perspective of sociology of professions. To this end, we use Evetts’ occupational and organisational logics and Abbott’s three aspects of professional work.
Stepsize control on the modified bacterial foraging algorithm for constrained numerical optimization

The stepsize value is one of the most sensitive parameters in the bacterial foraging optimization algorithm when solving constrained numerical optimization problems. In this paper, four stepsize control mechanisms are proposed and analyzed in the modified bacterial foraging optimization algorithm. The first one is based on a random value which remains fixed during the search, the second one generates a random value per cycle, the third one is based on a nonlinear decreasing function and the last one is an adaptive approach. Seven experiments are proposed to evaluate the abilities of each mechanism to: (1) obtain competitive final results, (2) find feasible solutions, (3) find the feasible global optimum, (4) promote successful swims, and (5) decrease the constraint violation. A comparison against two state-of-the-art algorithms is considered to evaluate the performance of the most competitive control mechanism. A well-known set of constrained numerical optimization problems is used in the experiments as well as six performance measures. The results obtained show that the control mechanism based on the nonlinear decreasing function is the most competitive and provides the ability to generate better solutions late in the search.
Selective Modulation of TNF–TNFRs Signaling: Insights for Multiple Sclerosis Treatment

Autoimmunity develops when self-tolerance mechanisms are failing to protect healthy tissue. A sustained reaction to self is generated, which includes the generation of effector cells and molecules that destroy tissues. A way to restore this intrinsic tolerance is through immune modulation that aims at refurbishing this immunologically naïve or unresponsive state, thereby decreasing the aberrant immune reaction taking place. One major cytokine has been shown to play a pivotal role in several autoimmune diseases such as rheumatoid arthritis (RA) and multiple sclerosis (MS): tumor necrosis factor alpha (TNFα) modulates the induction and maintenance of an inflammatory process and it comes in two variants, soluble TNF (solTNF) and transmembrane bound TNF (tmTNF). tmTNF signals via TNFR1 and TNFR2, whereas solTNF signals mainly via TNFR1. TNFR1 is widely expressed and promotes mainly inflammation and apoptosis. Conversely, TNFR2 is restricted mainly to immune and endothelial cells and it is known to activate the pro-survival PI3K-Akt/PKB signaling pathway and to sustain regulatory T cells function. Anti-TNFα therapies are successfully used to treat diseases such as RA, colitis, and psoriasis. However, clinical studies with a non-selective inhibitor of TNFα in MS patients had to be halted due to exacerbation of clinical symptoms. One possible explanation for this failure is the non-selectivity of the treatment, which avoids TNFR2 stimulation and its immune and tissue protective properties. Thus, a receptor-selective modulation of TNFα signal pathways provides a novel therapeutic concept that might lead to new insights in MS pathology with major implications for its effective treatment.