Miracle-dz/UniFAR-FTUs huggingface dataset:
Mimicking human push-recovery strategy based on five-mass with angular momentum model

As humanoid robots start entering to the human beings environments, the collision between the robot and other objects is inevitable. To solve this problem, we propose the human mimicking push-recovery strategy. With the arm mechanism, the humanoid robot utilizes human-like strategies to deal with the unexpected collision. We analyse the human push-recovery movement to the external force. Thus we can design the trajectory generator to mimic human beings reactions. To reduce the modelling error and improve zmp stability, we utilizes the five-mass with angular momentum model as humanoid robot model. We design the safe bound examination and the Center of Mass (COM) state estimator to judge the collision stage. The safe bound examination is used to guarantee the walking stability. Moreover, the COM state estimator is used to determine whether the pushing is over or not. The push-recovery control system is implemented on the humanoid robot developed in our NTU-iCeiRA lab. The purpose of this paper aims to integrate different push-recovery strategies while encountering different collision conditions based on the five-mass with angular momentum model.
Influence of edge crack parameters and type of laods on the Buckling behavior of Composite Laminated Plates

The present study focused mainly on the buckling behavior of cracked composite laminated plates (edge cracks) subjected to mechanical loads. The critical buckling load was studied for cracked composite laminated plates and it subjected for two types of compression loads (uniaxial or biaxial). This study included effect of crack parameters (length and position) for two boundary conditions. The problem was solved numerically and employing the finite element method by using ANSYS program to estimate of critical buckling load. The main conclusion from this wark was confirmation that the buckling behavior of cracked laminated plate for SSSS boundary condition vary inversely for SFSF.
Digree: Building A Distributed Graph Processing Engine out of Single-node Graph Database Installations

In this work we present Digree, a system prototype that enables distributed execution of graph pattern matching queries in a cloud of interconnected graph databases. We explain how a graph query can be decomposed into independent sub-patterns that are processed in parallel by the distributed independent graph database systems and how the results are finally synthesized at a master node. We experimentally compare a prototype of our system against a popular big data engine and show that Digree provides significantly faster query execution.
Viewing Ageing Eyes: Diverse Sites of Amyloid Beta Accumulation in the Ageing Mouse Retina and the Up-Regulation of Macrophages

Background Amyloid beta (Aβ) accumulates in the ageing central nervous system and is associated with a number of age-related diseases, including age-related macular degeneration (AMD) in the eye. AMD is characterised by accumulation of extracellular deposits called drusen in which Aβ is a key constituent. Aβ activates the complement cascade and its deposition is associated with activated macrophages. So far, little is known about the quantitative measurements of Aβ accumulation and definitions of its relative sites of ocular deposition in the normal ageing mouse. Methodology/Principal Findings We have traced Aβ accumulation quantitatively in the ageing mouse retina using immunohistochemistry and Western blot analysis. We reveal that it is not only deposited at Bruch's membrane and along blood vessels, but unexpectedly, it also coats photoreceptor outer segments. While Aβ is present at all sites of deposition from 3 months of age, it increases markedly from 6 months onward. Progressive accumulation of deposits on outer segments was confirmed with scanning electron microscopy, revealing age-related changes in their morphology. Such progress of accumulation of Aβ on photoreceptor outer segments with age was also confirmed in human retinae using immunohistochemistry. We also chart the macrophage response to increases in Aβ showing up-regulation in their numbers using both confocal laser imaging of the eye in vivo followed by in vitro immunostaining. With age macrophages become bloated with cellular debris including Aβ, however, their increasing numbers fail to stop Aβ accumulation. Conclusions Increasing Aβ deposition in blood vessels and Bruch's membrane will impact upon retinal perfusion and clearance of cellular waste products from the outer retina, a region of very high metabolic activity. This accumulation of Aβ may contribute to the 30% reduction of photoreceptors found throughout life and the shortening of those that remain. The coating of Aβ on outer segments may also have an impact upon visual function with age.
Three-dimensional imaging of lamina cribrosa defects in glaucoma using swept-source optical coherence tomography.

PURPOSE To visualize lamina cribrosa defects using three-dimensional (3D) swept-source optical coherence tomography (SS-OCT), and to determine the factors associated with this feature. METHODS All subjects were examined using an SS-OCT prototype system, which uses a tunable laser as a light source, operated at 100,000 Hz A-scan repetition rate in the 1050-nm wavelength. A 3D raster scan protocol consisting of 256×256 A-scans was acquired over a square area of 3 mm×3 mm centered on the optic disc. En face sectioned volume and serial en face images and orthogonal (horizontal and vertical) serial B-scans were evaluated. RESULTS A total of 182 eyes of 111 patients with glaucoma and 29 healthy eyes of 26 subjects were included. Twenty full-thickness focal lamina cribrosa defects were found in 12 (6.6%) of 182 eyes with glaucoma, whereas no lamina defects were found in healthy eyes. Nine eyes (75.0%) showed 15 full-thickness lamina cribrosa defects near the margin of the lamina cribrosa, and 3 eyes showed 4 lamina defects at the margin, as if detached from the sclera. Focal lamina cribrosa defects corresponded with neuroretinal rim thinning, concurrent or previous disc hemorrhages, abnormal circumpapillary retinal nerve fiber layer thickness, and visual field defects. The presence of lamina cribrosa defects was significantly associated with longer axial length and disc hemorrhages (P=0.033 and 0.024, respectively). CONCLUSIONS 3D SS-OCT imaging allows visualization of the lamina cribrosa defects, which may be more prevalent in eyes with longer axial length and related to disc hemorrhages.
Relating ACT-R buffer activation to EEG activity during an attentional blink task

While a clear relation has been established between ACT-R and activity in fMRI, little is known about whether ACT-R has also correlates in EEG activity. Because of its superior temporal resolution compared to fMRI, EEG could potentially be used to adjudicate between model versions that differ in time courses of module activation, even while generating qualitatively similar patterns of behavioural data. On the other hand, ACT-R could form a much-needed source for hypotheses about interactions between brain areas (synchronization) in EEG data. I discuss a method to find such a mapping between ACT-R and EEG buffers, and apply it to data from an attentional blink experiment (Martens et al., 2006). I show preliminary EEG correlates of ACT-R modules and discuss broader implications of this approach for both cognitive neuroscience and cognitive modeling with ACT-R.
Repressive Chromatin in Caenorhabditis elegans: Establishment, Composition, and Function

Chromatin is organized and compacted in the nucleus through the association of histones and other proteins, which together control genomic activity. Two broad types of chromatin can be distinguished: euchromatin, which is generally transcriptionally active, and heterochromatin, which is repressed. Here we examine the current state of our understanding of repressed chromatin in Caenorhabditis elegans, focusing on roles of histone modifications associated with repression, such as methylation of histone H3 lysine 9 (H3K9me2/3) or the Polycomb Repressive Complex 2 (MES-2/3/6)-deposited modification H3K27me3, and on proteins that recognize these modifications. Proteins involved in chromatin repression are important for development, and have demonstrated roles in nuclear organization, repetitive element silencing, genome integrity, and the regulation of euchromatin. Additionally, chromatin factors participate in repression with small RNA pathways. Recent findings shed light on heterochromatin function and regulation in C. elegans, and should inform our understanding of repressed chromatin in other animals.
Gelcasting Of Ceramic Radomes In The Si3N4-Al2O3-AlN-SiO2 System

A eramic radome material originally introduced in the early 19 O's ha r surfaced due to innovation in material proccs ing. GO-I, with a compo ition repre ented by the formula Si6-,AI,O, . " where z " 2, ha 1 ng been con ide red an impr ved replacement for Pyro eram. However, difficultie in pro e ing this material into a ommercially viable radome ha prevented it acceptance and application into mi ile programs uch a AMRAAM and tandard Mi ile. Re ently, it ha been dem n trated that -I can be inexpen ively formed into fullize radome u ing a near nethap ceramic forming proce known a gelca ring. This pr es, developed at Oak Ridge ati nal Lab , together with a novel firing method, offer a path for pr dueing 0-1 ceramic radome requiring a minimum f p tynthesi machining. (AI AI~ 6
Cell-Type–Specific Aptamer and Aptamer-Small Interfering RNA Conjugates for Targeted Human Immunodeficiency Virus Type 1 Therapy

Human immunodeficiency virus (HIV) is a virus that causes acquired immunodeficiency syndrome, a chronic and incurable disease of the human immune system. As the standard of care for the patients with HIV-1, current highly active antiretroviral treatment has been therapeutically effective in most patients; however, it is not curative, and highly active antiretroviral treatment is intolerable because of severe adverse effects. Therefore, nucleic acid-based therapeutics, such as antisense oligonucleotide, ribozyme, messenger RNA, RNA interference (RNAi)-based therapeutics, aptamer, and so on, have been actively developed as alternative or adjuvant agents for those chemical antiviral drugs to surmount those drawbacks. The combinatorial use of various antiviral nucleic acids could be more efficacious in blocking viral replication and preventing the emergence of resistant variants. In this regard, RNAi can function as a gene-specific therapeutic option for controlling HIV-1 replication. Another type of therapeutic nucleic acid—aptamers—shows promise as a new and potent class of anti-HIV agent and can additionally function as a cell-type–specific delivery vehicle for targeted RNAi. The combined use of small interfering RNA (siRNAs) and aptamers could effectively block viral replication and prevent the emergence of resistant variants. The present review offers a brief overview of the use of cell-type–specific aptamer and aptamer-siRNA conjugates’ development in our group for the treatment of HIV-1. Their potentials for targeted delivering RNAi therapeutics (eg, siRNA) and suppressing HIV-1 replication in vitro and in humanized animal model will be highlighted here.
Inkjet printable silver dispersions: Effect of bimodal particle-size distribution on film formation and electrical conductivity

Inks containing silver nanoparticles of 12 nm, 80 nm, and a 15%/85% mixture of the two sizes were used to evaluate the effect of particle size and size distribution on the electrical properties of sintered films. The silver layers deposited with a “drop-on-demand” inkjet printer were heated at temperatures ranging from 125 to 200 °C. The small particles formed less resistive films at 125 °C, while the larger ones provided better electrical conductivity above 150 °C. The inks containing mixed small and large particles yielded the most conductive silver films over the entire investigated temperature range. A mechanism explaining these results is proposed based on the evolution of film microstructure with temperature.
Detailed fatty acid profile of milk, cheese, ricotta and by products, from cows grazing summer highland pastures

In this research two-dimensional GC was used to analyse, for the first time, the detailed fatty acid (FA) profiles of 11 dairy matrices: raw milk (evening whole, evening partially skimmed, morning whole, and vat milk), cream, fresh cheese, whey, ricotta, scotta, 6- and 12-month-ripened cheeses, obtained across artisanal cheese- and ricotta-making trials carried out during the summer period while cows were on highland pastures. Samples were collected during 7 cheese- and ricotta-making procedures carried out at 2-week intervals from bulk milk to study possible differences in the transfer and modification of FA. Compared with morning milk, evening milk had fewer de novo synthetised FA. The detailed FA profile of partially skimmed milk differed little from that of evening whole milk before skimming, but the cream obtained differed from partially skimmed milk and from fresh cheese in about half the FA, due mainly to higher contents of all de novo FA, and lower contents of n-3 and n-6 FA. Fresh cheese and whey had similar FA profiles. The ricotta manufacturing process affected the partition of FA between ricotta and scotta, the FA profile of the latter differing in terms of groups and individual FA from the former, whereas ricotta and fresh cheese had similar composition of FA. In general, there was an increase in medium-chain saturated FA, and a decrease in many polyunsaturated FA during the first 6 months of ripening, but not during the second 6 months. Two-dimensional GC yielded a very detailed and informative FA profile on all the 11 dairy products and by-products analysed.
Reverse Nearest Neighbor Search in Metric Spaces

Given a set D of objects, a reverse nearest neighbor (RNN) query returns the objects o in D such that o is closer to a query object q than to any other object in D, according to a certain similarity metric. The existing RNN solutions are not sufficient because they either 1) rely on precomputed information that is expensive to maintain in the presence of updates or 2) are applicable only when the data consists of "Euclidean objects" and similarity is measured using the L2 norm. In this paper, we present the first algorithms for efficient RNN search in generic metric spaces. Our techniques require no detailed representations of objects, and can be applied as long as their mutual distances can be computed and the distance metric satisfies the triangle inequality. We confirm the effectiveness of the proposed methods with extensive experiments
Non Aqueous Synthesis of Titania Ink for Printed Electronics

A non-aqueous synthesis technique of room temperature curable titania ink, screen printed on flexible BoPET film for printed electronics applications is reported. The phase evolution of rutile titania powder, formulation of a fast curing titania ink, as well as the microstructure and dielectric properties of printed pattern are discussed. In terms of ease of synthesis, cost effectiveness and faster curing time, the developed ink is found to be advantageous over water based dielectric inks.
Astragaloside IV inhibits TGF‐β1‐induced epithelial‐mesenchymal transition through inhibition of the PI3K/Akt/NF‐κB pathway in gastric cancer cells

Astragaloside IV (AS‐IV) has been reported to possess anti‐metastasis activity in cancer cells. However, it is unknown whether AS‐IV could inhibit epithelial‐mesenchymal transition (EMT), a cellular de‐differentiation program that promotes metastasis, in cancer cells. The aim of this study was to study the effect and mechanism of AS‐IV on EMT in gastric cancer (GC) cells. The results showed that AS‐IV significantly inhibited cell viability, invasion, and migration of GC cells. The E‐cadherin to N‐cadherin switch and expression of Vimentin and metastasis‐related genes were induced by transforming growth factor β1 (TGF‐β1), whereas AS‐IV reversed the induction. In addition, AS‐IV inhibited TGF‐β1‐induced activation of PI3K/Akt/NF‐κB. Inhibition of the PI3K/Akt/NF‐κB pathway reversed TGF‐β1‐induced EMT. In conclusion, AS‐IV inhibited TGF‐β1‐induced EMT through inhibition of the PI3K/Akt/NF‐κB pathway in GC cells. AS‐IV might be an effective candidate for the treatment for GC.
The Risk Factors Influencing between the Early and Late Recurrence in Systemic Recurrent Breast Cancer

Purpose Patients with recurrent breast cancer usually die of their disease, even after radical surgery and adjuvant therapies which could reduce the odds of dying. Many studies analyzed and compared patients who died of recurrent disease with those that died without recurrent disease. However, less attention has been paid to evaluating factors associated with the timing of recurrence. Thus, the objective of this study is to investigate the correlation between various factors and the timing of recurrence. Methods We retrospectively reviewed the data of 95 recurrent breast cancer patients who underwent curative surgery to determine the prognostic factors such as menopausal status, operation method, stage, nodal status, histologic grade, nuclear grade, extensive intraductal carcinoma component, hormone receptor, p53, c-erbB-2, Ki-67, and molecular subtype. We had attempted to compare the recurrent patients within 2 years after operation and adjuvant chemotherapies as the early recurrence with those over 2 years as the late recurrence. Results Histologic grade (p=0.005), nuclear grade (p<0.001), p53 (p=0.022), and Ki-67 (p<0.001) were significant different factors that influenced the systemic recurrence between early recurrence and late recurrence. In stage I/II, histologic grade (p=0.001), nuclear grade (p<0.001), and Ki-67 (p=0.005) were significant factors that influenced the systemic early recurrence. In stage III, nuclear grade (p=0.024), and Ki-67 (p=0.001) were significant factors that influenced the systemic early recurrence. But subtypes (p=0.189, p=0.132, p=0.593, p=0.083) are not associated with the timing of recur rence. Conclusion In systemic recurrent breast cancer patients, the risk factors such as histologic grade, nuclear grade, p53 and Ki-67 are also associated with the timing of recurrence. We sug gest that these patients should be proper treated and be closely followed up.
Processing and Properties of IM7/LARCTM-SCI Composite

LARCTM-SCI (Langley Research Center - Semi-Crystaline polyImide) is an aromatic polyimide based on 3,4′-oxydianiline and 3,3′,4,4′-biphenyl tetracarboxylic dianhydride. This polyimide was synthesized and evaluated for use as a neat resin and a matrix resin for advanced composites. Three 30% w/w solids polyamic acid/N-methypyrrolidone solutions were prepared using 2, 3 and 4% stoichiometric imbalances end-capped with phthalic anhydride to provide polyimides with theoretical number average molecular weights of approximately 22 800, 15 100 and 11 400 g mol−1 respectively. Unidirectional IM7 carbon fibre prepreg was prepared from these three resins using the Langley multipurpose tape machine. Thermal and rheological properties and the solvent/volatile depletion rates along with crystallization kinetics were characterized for the resin scraps taken from the prepreg tapes. Processing characteristics of the LARCTM-SCI resin were thoroughly understood from these results, and a workable moulding cycle was designed for this composite. Composite laminates were moulded at 410 °C at either 200 or 300 psi, which consistently yielded good consolidation and high-quality panels as measured by C-scan, acid digestion and optical photomicrography. The composite mechanical properties were also obtained. Short beam shear strength was 15 ksi at RT. Longitudinal flexural strength was 295 ksi at RT and 200 ksi at 177 °C. Excellent fracture toughness of 6.9 in-lb/in2 was obtained. Excellent values of transverse flexural strength and longitudinal tensile strength indicated a good translation of fibre properties into the composite. Un-notched longitudinal compression strength of 163 ksi was comparable to typical thermoplastic composites. An open hole compression strength of 55 ksi suggested good damage tolerance for this composite.
Convergence comparison of least squares based bearing-only SLAM algorithms using different landmark parametrizations

This paper compares the convergence of least squares based 2D bearing-only SLAM algorithms using different landmark parametrizations. It is shown that the requirement on the accuracy of the initial value vary significantly when using different landmark parametrizations. Especially, for small scale bearing-only SLAM problems, the region of attraction of the global minimum for Gauss-Newton iteration based bearing-only SLAM algorithm using parallax angle landmark parametrization is significantly larger as compared with those of bearing-only SLAM algorithms using other landmark parametrizations.
Does it Pay to Recall your Product Early? An Empirical Investigation in the Automobile Industry

Defective products are often recalled to limit harm to consumers and damage to the firm. However, little is known about why the timing of product recalls varies after an investigation is opened. Likewise, there is little evidence on whether recall timing affects stock markets. This study tests the effect of problem severity on time to recall, the role of brand characteristics in moderating this relationship, and the stock market impact of time to recall. The authors test the hypotheses on a sample of 381 recall investigations in the automobile industry between 1999 and 2012. The results show that although problem severity increases time to recall, this relationship is weaker when the brand under investigation (1) has a strong reputation for reliability and (2) has experienced severe recalls in the recent past. However, the relationship between problem severity and time to recall is stronger when the brand is diverse. Importantly, the results reveal that stock markets punish recall delays. The study suggests that time to recall has significant implications for managers and policy makers.