Miracle-dz/UniFAR-FTUs huggingface dataset:
From template to anchor: A novel control strategy for spring-mass running of bipedal robots

In this paper, we present a novel control strategy for running of bipedal robots with compliant legs. To achieve this goal and to take advantage of the characteristics of the template, we match the dynamics of the full multibody model of a real biped robot with the dynamics of a well-known running template called spring loaded inverted pendulum (SLIP) model. This can be viewed as a template and anchor approach. Because the SLIP model is theoretically conservative, it always operates at a constant energy level. However, real robots operate at various energy levels due to the positive and/or negative work done by the motors, inherent damping/friction of the components and more importantly, the regular ground impact that occurs during the running process. As a case study the proposed controller was implemented on a simulation of the bipedal robot called ATRIAS. The full dynamic equations for running of the ATRIAS robot are derived using the Lagrangian approach. To make our multibody biped robot run with a steady and stable gait that tracks the SLIP model dynamics, a two-level controller is proposed. The upper level controller in stance phase is designed with feedback linearization to make the active SLIP model follow the SLIP model trajectory. The lower level controller in stance phase is designed for the multibody model to track the toe force profile of the active SLIP model. Two active SLIP architectures are proposed for locked and unlocked torso cases of the robot. Simulation results demonstrate stable running based on this strategy for both cases of the ATRIAS model with locked and unlocked torso angle. Matching the SLIP dynamics on running biped robots not designed for spring-mass gaits is impossible due to actuator limitations, or, at best, inefficient.
3D reconstruction of indoor building environments with new generation of tablets

This paper presents a mobile platform that uses a new generation of tablets equipped with a depth sensor to perform a real time 3D reconstruction of an indoor environment. The platform generates a 3D model where the strucutral elements are identified: ground, ceiling, walls and openings. The 3D model is used for the evaluation of both the geometric features of the building, but also for the assessment of the building's energetic performance. Also, a series of edition and visualization tools are proposed within the platform to assist the user in modifying and exploring the 3D reconstructed environment.
Uplink Performance Analysis for Heterogeneous Stochastic Cellular Networks

In this paper, the uplink outage probability and energy efficiency of user terminals are investigated for heterogeneous networks (HetNets). In order to characterize the performance of users in small cells, the probability distribution function (PDF) of the distance between a user terminal and the access point (AP) in the typical small cell is derived in closed-form expressions. On this basis, the signal-to-interference ratio (SIR) of uplink terminals is analyzed to evaluate the performance with APs turning on in small cells. Simulation results show that user's density in small cells has a great impact on the uplink energy efficiency. These results provide some guidelines for developing new energy saving schemes in practical HetNet deployments.
Reduction of thrombus formation without inhibiting coagulation factors does not inhibit intimal hyperplasia after balloon injury in pig coronary arteries

BackgroundThe proposed mechanisms of restenosis after coronary angioplasty include neointima formation, vessel wall remodeling and mural thrombus. Poloxamer 188 does not inhibit coagulation factors, but was shown to reduce mural thrombus formation in pig coronary arteries after intracoronary stenting in an acute study. This study was performed to examine whether this agent may reduce neointima formation. MethodsThirty domestic juvenile pigs of weight 20–30 kg were anesthetized. A left angiogram was performed via a femoral artery. Proximal left anterior descending and circumflex arteries were dilated three times with a 20–30% oversized coronary angioplasty balloon catheter. Fifteen animals were allocated randomly to receive intravenous infusions of poloxamer 188. starting 30 min before angioplasty and continuing for 24 h. The remaining 15 received intravenous 0.45% saline and served as controls. The animals were killed 2 weeks after the angioplasty. Histologic studies of the arteries were performed. The severity of the injury and the amount of thrombus material incorporated in the neointima were assessed by semiquantitative methods. ResultsThere was no significant difference between injury scores in the two groups.Thrombus material in the neointima in the treatment group was significantly less than that in those of the control group (thrombus areas 0.013 ± 0.004 compared with 0.029 ± 0.006 mm2, P < 0.02), but there were no significant differences between the neointimal (0.60 < 0.08 and 0.60 <0.13 mm2) and luminal (2.51 < 0.21 and 2.44 < 0.26 mm2) areas in treatment and control groups. ConclusionContinuous 24 h intravenous infusion of poloxamer 188 after balloon injury in pig coronary arteries may reduce mural thrombus formation significantly, but did not reduce neointima formation.
A comparison of two EIT systems suitable for imaging impedance changes in epilepsy

Electrical impedance tomography (EIT) has the potential to produce functional images of the conductivity changes associated with epilepsy to help localization of epileptic foci. Scalp voltage changes associated with internal conductivity changes due to focal seizures have been shown at the limit of detectability for present EIT systems. The performances of two EIT systems, which may be employed in clinical recordings during presurgical assessment of intractable epilepsy, were compared. Those were the 32-channel serial UCH Mk2.5 and the 16-channel semi-parallel KHU Mk1. Images of three conductivity perturbations, simulating epileptic foci, in a head-shaped saline tank without and with a real human skull were recorded using 31-channel and 16-channel protocols with the UCH Mk2.5, while only 16-channel protocols with the KHU Mk1. The UCH Mk2.5 employing the 31-channel protocol had better overall performance with a localization error of 12.7% of the tank diameter, which would be sufficient for lateralization of the epileptic activity. More blurred images, but with similar localization, were obtained using 16 electrodes.
Successful Catheter Ablation of Human Ventricular Tachycardia with Radiofrequency Current Guided by an Endocardial Map of the Area of Slow Conduction

A case is presented of a 68‐year‐old male patient with a history of myocardial infarction and recurrent ventricular tachycardia who was successfully treated with a single 20‐second transcatheter application of radiofrequency current. Prior to current application a complete endocardial map had been obtained of an area of slow conduction that extended caudo‐cranially for approximately 2 cm along the lower left ventricular septum. Stimulation techniques yielded evidence that this area was critically related to tachycardia initiation and maintenance. Its central part was subsequently chosen as the site for current delivery.
The Lived Meanings of Fanaticism: Understanding the Complex Role of Labels and Categories in Defining the Self in Consumer Culture

Fandom is often stigmatized as abnormal, dangerous, or silly (Lewis 1992). At the same time, fanaticism and fandom in its various incarnations are becoming the story of the times and of central importance to marketing theory and practice. How to develop and utilize fanatical consumers is counterbalanced by the dilemma often encountered where the most committed fans resist the attempts by marketers to grow market share via the inclusion of less involved consumers. Examining so‐called fanaticism in an in‐depth manner provides new and unique insights into the processes and complexities that lead to deeply involved commitment to lifestyles and consumer products or brands. This research involved the interviewing of individuals who have experienced the “fanatic” label to attempt to understand the motivations that drive their consumption and to examine the way in which these stigmatizations are used, accepted, modified, or refuted in the definition and construction of identity. The use of videography was uniquely able to capture this experience from a first‐person perspective. This is particularly important where the label and designation of “fanatic” is highly contested and controversial.
Singlehood, Marriage, and Remarriage

This article examines three dimensions of mothers' well-being (personal happiness, self-esteem, and depression) across four diverse family structures (first-married, remarried, divorced, and continuously single-parent families). Using a nationally representative sample of 2,781 mothers, the results indicate small but statistically significant differences across family structures. Mothers in their first marriage enjoy the highest well-being, mothers in stepfamilies fare nearly as well, and divorced and continuously single mothers have the lowest well-being. Most of the differences persist when relevant variables are controlled. Multiple regression analyses indicate that the strongest predictors of mothers' well-being are measures of family relations, especially children's well-being, marital happiness, marital stability, and low levels of marital conflict. Implications of the findings are discussed in terms of the relative importance for mothers' well-being of family structure, sociodemographic variables, and family processes.
Genome-Wide Profiling Reveals That Herbal Medicine Jinfukang-Induced Polyadenylation Alteration Is Involved in Anti-Lung Cancer Activity

Alternative polyadenylation (APA) plays an important role in regulation of genes expression and is involved in many biological processes. As eukaryotic cells receive a variety of external signals, genes produce diverse transcriptional isoforms and exhibit different translation efficiency. The traditional Chinese medicine (TCM) Jinfukang (JFK) has been effectively used for lung cancer treatment. In this study, we investigated whether JFK exerts its antitumor effect by modulating APA patterns in lung cancer cells. We performed a genome-wide APA site profiling analysis in JFK treated lung cancer cells A549 with 3T-seq approach that we reported previously. Comparing with those in untreated A549, in JFK treated A549 we observed APA-mediated 3′ UTRs alterations in 310 genes including 77 genes with shortened 3′ UTRs. In particular, we identified TMEM123, a gene involved in oncotic cell death, which produced transcripts with shortened 3′ UTR and thus was upregulated upon JFK treatment. Taken together, our studies suggest that APA might be one of the antitumor mechanisms of JFK and provide a new insight for the understanding of TCM against cancer.
MIMO Capacity Analysis of Off-Body Radio Channels in a Street Environment

This paper presents an analysis of the capacity of a 2×2 MIMO system in off-body communications in a multipath environment. The modelling of wearable antennas in Body Area Networks has been separated into antennas in the vicinity of the body (full wave simulations), including body dynamics (taken from motion capture analysis), and street environment (clusters of scatterers). Multi-Path Components are calculated using a Geometrically Based Statistical Channel model. A street scenario is simulated, for a running body, and for 9 on-body antenna placements. The results allow one to identify 3 classes of antennas, i.e., co-directed (CD), cross-directed (XD) and opposite-directed (OD). The capacity depends strongly on power imbalance, and varies a lot in the case of antenna placement on the left hand (the difference in a single Run period is 6 bps/Hz). The average capacity is similar for all classes, and is lower when one antenna is on the right side of the body (i.e., constantly in NLoS). The CD class is characterised by the highest standard deviation, equal to 5.7 bps/Hz, whereas XD and OD present values of 4.1 and 2.9 bps/Hz, respectively.
Firms' global expansion and sustainability

Firms globalize when their domestic market can no longer offer growth opportunities. But, there is always a delicate tradeoff between growth and sustainability. How fast can a firm grow and still be profitable? Should the firm pursue growth before profit? How can a firm determine when its growth strategy is no longer sustainable? These are the questions as well as motivations of our research. In this paper, we first present the case studies on two firms that have expanded into global markets, following their globalization strategies. The two firms are very similar except for their ‘strategic intents’ for globalization and their domestic market positioning: the two firms are in the same industry, and headquartered in the same country. One company with a relatively strong domestic market position has pursued its globalization based on the profit-first strategic intent, while the other with an inferior domestic position has chased a growth-first strategy. Using the conceptual framework of system dynamics, we formulate the firms’ globalization dynamics and derive managerial implications for the issue of firm’s sustainability and its growth strategy via globalization. Subjects: Globalization, Firm’s Sustainability Methodology: System Dynamics Reasoning
Attribution of Influence and Charisma to the Leader: The Romance of Leadership Revisited1

This study examined the impact of performance outcomes, leadership type, leader behaviors, and observers' general belief in the importance of leadership on attributions of influence and charisma to a leader. Subjects (N= 549) read 24 versions of an organizational vignette representing all possible combinations of two performance levels, two leadership roles, and six leader behavior conditions, and were asked to evaluate the leader's level of causal influence and charisma. Results supported and extended Meindl's (1990) claim that observers' tendency to romanticize the role of a specific leader is affected by the group performance outcomes and by observers' general beliefs in the importance of leadership in organizations. The results further suggested that more influence may be attributed to a prototypical leadership role than to a less prototypical role. However, information about leader behaviors did not affect the attributions of influence and charisma to the leader. These results are discussed with reference to Conger and Kanungo's (1987) attributional theory of charismatic leadership and leadership categorization theory (Lord, 1985).
Trajectory planning for a quadrotor helicopter

A simple direct method able to generate time-optimal trajectories for a micro quadrotor helicopter is presented. It is based on modeling the quadrotor trajectory as a composition of a parametric function P(lambda) defining the quadrotor path, and a monotonically increasing function lambda(t), specifying the motion on this path. The optimal evolutions of P(lambda) and lambda(t), which are approximated using B-spline functions, are found using a nonlinear optimization technique. The proposed method accounts for the most important constraints inherent to the system behavior, such as underactuation, obstacles avoidance and limits on actuator torques and speeds.
Effects of NG‐nitro‐l‐arginine methyl ester or indomethacin on differential regional and cardiac haemodynamic actions of arginine vasopressin and lysine vasopressin in conscious rats

1 Measurements of changes in renal, mesenteric and hindquarters haemodynamics or cardiac haemodynamics in response to i.v. bolus doses of arginine vasopressin (AVP) or lysine vasopressin (LVP, 0.7 and 7.0 pmol) were made in conscious, chronically‐instrumented Long Evans rats. 2 In some experiments AVP and LVP were administered during an infusion of NG‐nitro‐l‐arginine methyl ester (l‐NAME; 1.0 or 0.3 mg kg−1 h−1) to determine whether or not inhibition of nitric oxide production influenced the cardiovascular effects of the peptides. In other experiments, indomethacin (bolus dose of 5 mg kg−1 followed by infusion at 5 mg kg−1 h−1) was given to determine the possible involvement of cyclo‐oxygenase products in the responses to AVP and LVP. 3 Under control conditions, the lower dose of LVP had significantly greater effects than AVP on heart rate, mean arterial blood pressure, renal, mesenteric and hindquarters conductances, total peripheral conductance, cardiac index, peak aortic flow and + dF/dtmax. The higher dose of LVP had significantly greater effects than AVP on all variables (i.e. including stroke index and central venous pressure). 4 In the presence of l‐NAME (1 mg kg−1 h−1) there was a sustained increase in mean arterial blood pressure (+ 23 ± 3 mmHg) and reductions in mesenteric (– 38 ± 4%) and hindquarters (–30 ± 6%) vascular conductances. Under these conditions the difference in the pressor effects of AVP and LVP was abolished, but their differential effects on regional and cardiac haemodynamics persisted. This dose of l‐NAME did not change cardiac baroreflex sensitivity. 5 During infusion of l‐NAME at a lower rate (0.3 mg kg−1 h−1), baseline cardiovascular status was unchanged and regional haemodynamic effects of AVP and LVP were enhanced, but the differences in the regional vasoconstrictor responses to the two peptides persisted. 6 Indomethacin (5 mg kg−1 bolus, then 5 mg kg−1 h−1 infusion) augmented the renal vasoconstrictor responses to AVP and LVP, but abolished the difference in the hindquarters vasoconstrictor responses to the two peptides. However, the differences in the pressor and the renal and mesenteric vasoconstrictor effects of AVP and LVP still occurred in the presence of indomethacin. 7 The results indicate that AVP normally has lesser cardiovascular effects than LVP but this difference does not seem to be due to more effective stimulation of nitric oxide‐mediated or cyclo‐oxygenase‐dependent vasodilator mechanisms by AVP than LVP.
Research on the switched reluctance motor drive system

The structure of switched reluctance motor for the hybrid vehicles is shown firstly in this paper. Basing on the mechanical characteristics and the electrical characteristics, in order to optimize the drive system efficiency, reduce the noise and torque ripple, upgrade the capability of output, three different control strategies are proposed in the paper. Current chopping control, voltage chopping control and the angle position control are designed to the low, medium, high speed respectively. The whole integrated strategies and the detailed independent control algorithms are represented in the following chapters. The switched reluctance motor drive system is established to verify the correctness of the control strategies, the software program and the hardware design. The experiment results directly confirm their suitable and the flexible behaviors.
Obstacle detection and ranging sensor integration for a small unmanned aircraft system

In the last few years, Unmanned Aerial Systems (UAS) have been attracting enormous research interest, being employed in military and civilian missions (e.g. search and rescue, disaster assessment, urban traffic monitoring, 3D mapping, etc.) that would be risky or impossible for a human to perform. For autonomous or aided operations (e.g. automatic or aided landing), it is crucial to have on board an effective suite of sensors allowing navigation in unknown environments. This work performs obstacle detection and attitude estimation for a small quad-rotor by using low-cost sensors, namely, a Sonic Ranging Sensor (SRS) and an InfraRed Sensor (IRS), widely used in mobile applications for short distance measurements. Both sensors were controlled and managed by a microcontroller (Arduino Mega 2560) and synchronized at 2-Hz sampling. Attitude estimation was performed using multiple distance measurements between a solid surface (e.g. wall or ground) and the SRS/IRS sensors. A short range of 20–150 cm has been considered in order to assist the UAS landing procedure. The main objective was to integrate the SRS and IRS measurements for accurate distance and attitude estimation by means of variance minimization. Simulations and experimental results show the feasibility of low-cost sensor fusion for obstacle detection and ranging applications on a small rotary wing UAS.
Larger than Life: Humans' Nonverbal Status Cues Alter Perceived Size

Background Social dominance and physical size are closely linked. Nonverbal dominance displays in many non-human species are known to increase the displayer's apparent size. Humans also employ a variety of nonverbal cues that increase apparent status, but it is not yet known whether these cues function via a similar mechanism: by increasing the displayer's apparent size. Methodology/Principal Finding We generated stimuli in which actors displayed high status, neutral, or low status cues that were drawn from the findings of a recent meta-analysis. We then conducted four studies that indicated that nonverbal cues that increase apparent status do so by increasing the perceived size of the displayer. Experiment 1 demonstrated that nonverbal status cues affect perceivers' judgments of physical size. The results of Experiment 2 showed that altering simple perceptual cues can affect judgments of both size and perceived status. Experiment 3 used objective measurements to demonstrate that status cues change targets' apparent size in the two-dimensional plane visible to a perceiver, and Experiment 4 showed that changes in perceived size mediate changes in perceived status, and that the cue most associated with this phenomenon is postural openness. Conclusions/Significance We conclude that nonverbal cues associated with social dominance also affect the perceived size of the displayer. This suggests that certain nonverbal dominance cues in humans may function as they do in other species: by creating the appearance of changes in physical size.
Are Old Lesbian and Gay People Well Served?

The lesbian and gay population is largely invisible in the gerontological literature and in planning and provision of aging services. A recent survey of providers of aging services in a large midwestern metropolitan area provides insight into providers’ beliefs, preparation, and experience with serving old lesbian and gay people. Few agencies that participated in the study provided services targeted to this population, and some agencies were unwilling to consider their unique needs. Participating agencies generally recognized a need for greater knowledge and specific training in working with aging lesbian and gay people. Providers diverged over whether separate services should be established for the old lesbian and gay population. Providers consistently expressed values of care, inclusiveness, sensitivity, respect, and provision of service to everyone. The study results provide direction for future training and research with providers of aging services.
An algorithm for conceptual clustering of Chinese text

In this paper, an algorithm for conceptual clustering of Chinese text is presented. Authors adopt ontology - Hownet, use VSM (vector space model) to represent document. Then, the authors cluster the document by a partitioned algorithm. The test results show this algorithm is more efficient than the traditional text clustering method based on the keywords set.