Miracle-dz/UniFAR-FTUs huggingface dataset:
Lunar rover technology demonstrations with Dante and Ratler

Carnegie Mellon University has undertaken a research, development, and demonstration program to enable a robotic lunar mission. The two-year mission scenario is to traverse 1,000 kilometers, revisiting the historic sites of Apollo 11, Surveyor 5, Ranger 8, Apollo 17, and Lunokhod 2, and to return continuous live video amounting to more than 11 terabytes of data. Our vision blends autonomously safeguarded user driving with autonomous operation augmented with rich visual feedback, in order to enable facile interaction and exploration. The resulting experience is intended to attract mass participation and evoke strong public interest in lunar exploration. The encompassing program that forwards this work is the Lunar Rover Initiative (LRI). Two concrete technology demonstration projects currently advancing the Lunar Rover Initiative are: (1) The Dante/Mt. Spurr project, which, at the time of this writing, is sending the walking robot Dante to explore the Mt. Spurr volcano, in rough terrain that is a realistic planetary analogue. This project will generate insights into robot system robustness in harsh environments, and into remote operation by novices; and (2) The Lunar Rover Demonstration project, which is developing and evaluating key technologies for navigation, teleoperation, and user interfaces in terrestrial demonstrations. The project timetable calls for a number of terrestrial traverses incorporating teleoperation and autonomy including natural terrain this year, 10 km in 1995. and 100 km in 1996. This paper will discuss the goals of the Lunar Rover Initiative and then focus on the present state of the Dante/Mt. Spurr and Lunar Rover Demonstration projects.
Effects of a Resting Foot Splint in Early Brain Injury Patients

Objective To assess the effectiveness of the resting foot splint to prevent ankle contracture. Methods We performed a randomized controlled trial in 33 patients with brain injury with ankle dorsiflexor weakness (muscle power ≤grade 2). Both groups continued conventional customized physical therapy, but the patients in the foot splint group were advised to wear a resting foot splint for more than 12 hours per day for 3 weeks. The data were assessed before and 3 weeks after the study. The primary outcome was the change in ankle dorsiflexion angle after 3 weeks. Results Before the study, there were no differences between groups in gender, age, time post-injury, brain injury type, initial edema, spasticity, passive range of ankle dorsiflexion, Fugl-Meyer score (FMS), or Functional Ambulation Classification. A significant improvement in ankle dorsiflexion angle, and FMS was found after 3 weeks in both groups. The splint group showed more spasticity than the control group after 3 weeks (p=0.04). The change of ankle dorsiflexion angle, foot circumference, spasticity, and FMS after adjusting initial value and spasticity were not significantly different between the 2 groups. Conclusion Wearing a resting foot splint for 3 weeks did not affect joint mobility in patients with subacute brain injury regularly attending personalized rehabilitation programs. Further studies of larger sample sizes with well controlled in spasticity are required to evaluate the effects of the resting foot splint.
Integrating constraint satisfaction techniques with complex object structures

Integrating constraint satisfaction techniques with complex object structures is highly desirable. Several libraries are now available to use algorithms off-the shelf and embed them in large object-oriented systems. However, the design of complex object + constraint problems is an open issue that severely limits the applicability of available libraries. We compare two radically different approaches in designing systems integrating objects and finite domain constraints. In the first approach, constraints are defined within classes and constrain attributes of the class, thereby introducing "partially instanciated" objects in the reasoning. In the second approach, constraints are defined outside classes, and constrain fully instanciated objects. We show that, for a particular class of problem, the second solution yields a simpler design while being more efficient. We exemplify our claims by comparing these two approaches on a hard object + constraint problem: four-voice harmonization of tonal melodies, seen as a representative complex configuration problem.
ZOID: I/O-forwarding infrastructure for petascale architectures

The ZeptoOS project is developing an open-source alternative to the proprietary software stacks available on contemporary massively parallel architectures. The aim is to enable computer science research on these architectures, enhance community collaboration, and foster innovation. In this paper, we introduce a component of ZeptoOS called ZOID---an I/O-forwarding infrastructure for architectures such as IBM Blue Gene that decouple file and socket I/O from the compute nodes, shipping those functions to dedicated I/O nodes. Through the use of optimized network protocols and data paths, as well as a multithreaded daemon running on I/O nodes, ZOID provides greater performance than does the stock infrastructure. We present a set of benchmark results that highlight the improvements. Crucially, the flexibility of our infrastructure is a vast improvement over the stock infrastructure, allowing users to forward data using custom-designed application interfaces, through an easy-to-use plug-in mechanism. This capability is used for real-time telescope data transfers, extensively discussed in the paper. Plug-in--specific threads implement prefetching of data obtained over sockets from an input cluster and merge results from individual compute nodes before sending them out, significantly reducing required network bandwidth. This approach allows a ZOID version of the application to handle a larger number of subbands per I/O node, or even to bypass the input cluster altogether, plugging the input from remote receiver stations directly into the I/O nodes. Using the resources more efficiently can result in considerable savings.
Fast classification using sparsely active spiking networks

Spike generation and routing is typically the most energy-demanding operation in neuromorphic hardware built using spiking neurons. Spiking neural networks running on neuromorphic hardware, however, often use rate-coding where the neurons spike rate is treated as the information-carrying quantity. Rate-coding is a highly inefficient coding scheme with minimal information content in each spike, which requires the transmission of a large number of spikes. In this paper, we describe an alternative type of spiking networks based on temporal coding where neuron spiking activity is very sparse and information is encoded in the time of each spike. We implemented the proposed networks on an FPGA platform and we use these sparsely active spiking networks to classify MNIST digits. The network FPGA implementation produces the classification output using only few tens of spikes from the hidden layer, and the classification result is obtained very quickly, typically within 1–3 synaptic time constants. We describe the idealized network dynamics and how these dynamics are adapted to allow an efficient implementation on digital hardware. Our results illustrate the importance of making use of the temporal dynamics in spiking networks in order to maximize the information content of each spike, which ultimately leads to reduced spike counts, improved energy efficiency, and faster response times.
On L2-sensitivity of state-space digital filters under Gramian-preserving frequncy transformation

This paper aims to reveal the relationship between the minimum L2-sensitivity of state-space digital filters and the Gramian-preserving frequency transformation. To this end, we first give a prototype low-pass state-space filter in such a manner that its structure becomes the minimum L2-sensitivity structure. Then we apply the Gramian-preserving (LP-LP) frequency transformation with a tunable parameter to this prototype filter. In this way we obtain a low-pass state-space filter with tunable cutoff frequency from a prescribed prototype low-pass filter with minimum L2-sensitivity. For this tunable low-pass state-space filter, we evaluate the L2-sensitivity over the entire range of cutoff frequencies. The evaluation result shows that, although the minimality of the L2-sensitivity is not preserved under the frequency transformation, the L2-sensitivity of the tunable filter given in this way becomes very close to the minimum value for arbitrary cutoff frequencies.
Language and Ideology in Congress

Legislative speech records from the 101st to 108th Congresses of the US Senate are analysed to study political ideologies. A widely-used text classification algorithm – Support Vector Machines (SVM) – allows the extraction of terms that are most indicative of conservative and liberal positions in legislative speeches and the prediction of senators’ ideological positions, with a 92 per cent level of accuracy. Feature analysis identifies the terms associated with conservative and liberal ideologies. The results demonstrate that cultural references appear more important than economic references in distinguishing conservative from liberal congressional speeches, calling into question the common economic interpretation of ideological differences in the US Congress.
Comparing sensitivity to facial asymmetry and facial identity

Bilateral symmetry is a facial feature that plays an important role in the aesthetic judgments of faces. The extent to which symmetry contributes to the identification of faces is less clear. We investigated the relationship between facial asymmetry and identity using synthetic face stimuli where the geometric identity of the face can be precisely controlled. Thresholds for all observers were 2 times lower for discriminating facial asymmetry than they were for discriminating facial identity. The advantage for discriminating asymmetrical forms was not observed using nonface shape stimuli, suggesting this advantage is face-specific. Moreover, asymmetry thresholds were not affected when faces were either inverted or constructed about a nonmean face. These results, taken together, suggest that facial asymmetry is a characteristic that we are exquisitely sensitive to, and that may not contribute to face identification. This conclusion is consistent with neuroimaging evidence that suggests that face symmetry and face identity are processed by different neural mechanisms.
TRIM16 suppresses the progression of prostate tumors by inhibiting the Snail signaling pathway

Prostate carcinoma is a devastating disease which is characterized by insidious early symptoms, rapid progression and a poor prognosis. Tripartite motif-containing protein 16 (TRIM16) was identified as an estrogen- and antiestrogen-regulated gene in epithelial cells stably expressing estrogen receptors. The protein encoded by this gene contains two B-box domains and a coiled-coiled region that are characteristic of the B-box zinc finger protein family. Proteins belonging to this family have been reported to be involved in a variety of biological processes including cell growth, differentiation and pathogenesis. TRIM16 expression has been detected in most tissues. However, the funtions of this gene remain to be elucidated. In the present study, immunohistochemical staining revealed that the expression of TRIM16 was decreased in prostate adenocarcinoma compared with that in normal prostate tissues. The patients with high TRIM16-expressing tumors had a significantly greater survival than those with low TRIM16-expressing tumors. Western blot analysis showed that TRIM16 was downregulated in distant metastatic cancer tissues compared with that in non-distant metastatic cancer tissues. The overexpression of TRIM16 inhibited the migration and invasion of prostate cancer cells as well as inhibiting the epithelial-to-mesenchymal transition process, whereas TRIM16 depletion enhanced these processes. Moreover, TRIM16 inhibited the Snail signaling pathway. The silencing of Snail by small interfering RNA was performed in order to determine the role of Snail in the TRIM16-mediated tumor phenotype. Taken together, these findings suggest that TRIM16 may be an important molecular target which may aid in the design of novel therapeutic agents for prostate cancer.
Community-Quality-Based Player Ranking in Collaborative Games with no Explicit Objectives

Player ranking can be used to determine the quality of the contributions of a player to a collaborative community. However, collaborative games with no explicit objectives do not support player ranking, as there is no metric to measure the quality of player contributions. An implicit objective of such communities is not being disruptive towards other players. In this paper, we propose a parameterizable approach for real-time player ranking in collaborative games with no explicit objectives. Our method computes a ranking by applying a simple heuristic community quality function. We also demonstrate the capabilities of our approach by applying several parameterizations of it to a case study and comparing the obtained results.
Deep lamellar keratoplasty versus penetrating keratoplasty for corneal lesions.

PURPOSE To compare the effectiveness of deep lamellar keratoplasty (DLK) with that of penetrating keratoplasty (PKP) in cases of corneal lesions not involving the endothelium. METHODS Forty-eight eyes with leukomatous corneal opacity (n = 33), keratoconus with apical scarring (n = 6), granular corneal dystrophy (n = 5), lattice corneal dystrophy (n = 2), and multiple corneal foreign bodies (n = 2) in an age group varying from 16 to 53 years underwent DLK (n = 24) and PKP (n = 24) by utilizing B and (B+ and A) grade M-K preserved donor tissue, respectively. The patients were followed up closely, and the graft clarity, visual achievement, astigmatism and endothelial cell count were evaluated at repeated occasions up to 1 year. RESULTS Astigmatism of <3 diopters (D) and > or = 5D was obtained in 19 eyes and one eye, respectively, after DLK at 6 months, whereas six eyes of the PKP group had astigmatism <3D, and 12 eyes had > or = 5D at the end of 6 months. The same at 1 year was observed in 20 and one eye in the DLK and eight and five eyes of the PKP group. Astigmatism of > or = 5D at the end of 6 months in both the groups showed highly significant changes (p < 0.001). Best corrected visual acuity of 6/18 or more was achieved in 18 and 12 eyes at 6 months after DLK and PKP, respectively, which were statistically highly significant (p < 0.001), whereas at 1 year, it was seen in 17 and 15 eyes of the DLK and PKP groups, respectively, which was nonsignificant. The mean endothelial cell count was 2,233.3+/-64.453 cells/mm2 and 2,219.6+/-102.48 cells/mm2 at 6 months and I year, respectively, after DLK, which was nonsignificant. The mean cell count of the donor eyes used for PKP was 2,191+/-52.164 cells/mm2, 1,902.8+/-70.346 cells/mm2 at 6 months, and 1,579.0+/-80.24 cells/mm2 at 1 year. All the values showed highly significant changes (p < 0.001). Further, the graft clarity of > or = 3+ was achieved in 20 and 18 eyes at 6 months postoperatively in the DLK and PKP groups, whereas the same was observed in 19 and 13 eyes of both the groups, respectively, at 1-year follow-up. CONCLUSION DLK is a promising procedure and should be practiced more frequently for corneal pathology not involving the endothelium.
Surgery for Acquired Cardiovascular DiseaseIsolated bypass grafting of the left internal thoracic artery to the left anterior descending coronary artery: Late consequences of incomplete revascularization☆☆☆

Objective: Multiple strategies to achieve some degree of myocardial revascularization are available. In some, less complete revascularization is accepted to limit invasiveness. To examine the issues of incomplete revascularization, we assessed the long-term impact of additional non–left anterior descending coronary artery stenoses in patients undergoing only grafting of the left internal thoracic artery to the left anterior descending coronary artery. Methods: A total of 2067 patients underwent primary isolated grafting of the left internal thoracic artery to the left anterior descending coronary artery from 1971 to 1997. Of these, 26% and 13% had 2- and 3-system disease, respectively. Multivariable analyses of survival and reintervention were performed in the hazard function domain for 27,683 patient-years of follow-up (mean 14 ± 6.7). Results: Survival was 99%, 88%, and 62% at 1, 10, and 20 years. Right coronary artery or left circumflex system disease of 50% or more (P =.02) and particularly high-grade (≥70%) left circumflex (P =.01) and proximal right coronary artery disease (P =.01), as well as any degree of left main trunk stenosis (P <.0001), were associated with reduced long-term survival. Compared with 75% 20-year survival in patients with no non–left anterior descending disease, those with either left circumflex or left main trunk disease experienced a 44% survival, and those with proximal right coronary artery disease, 42%. The most common stated reason for incomplete revascularization was small vessel size. Freedom from reintervention was 89% and 65% at 10 and 20 years, respectively. High-grade left main trunk disease, but, in contrast, mid or distal disease of the right coronary artery, and not left circumflex disease, were risk factors for reintervention. Conclusions: These findings call into question the long-term appropriateness of interventions whose strategy includes leaving unrevascularized segments in territories not in the distribution of the left anterior descending coronary artery. (J Thorac Cardiovasc Surg 2000;120:173-84)
An ANN model of optimizing activation functions based on constructive algorithm and GP

The importance of the activation functions in ANN is emphasized. A new ANN modeling method is proposed based on constructive algorithm and GP. This method can be used to realize the automatic optimization of the ANN's net structure and the activation functions. As a result, the ANN's constructure and generalization capability is greatly improved, it's characteristic is better than the M-P feed forword neural network. This improvement is verified experimentally.
Abnormal Choline Phospholipid Metabolism in Breast and Ovary Cancer : Molecular Bases for Noninvasive Imaging Approaches

Elevated contents of choline phospholipid metabolites are typically detected by nuclear magnetic resonance spectroscopy (MRS) in human and animal tumors. An increase in the intensity of the 1 H-MRS profile of total cholinecontaining compounds (tCho, 3.2 ppm) is today considered as a common feature in different types of cancer, beyond their otherwise wide phenotypic variability. This finding fostered investigations on the molecular mechanisms underlying the observed spectral changes and on correlations between aberrant phospholipid metabolism and tumor progression. At the clinical level, efforts are addressed to evaluate effectiveness and potential use of in vivo localized MRS and choline-based positron emission tomography (Cho-PET) in cancer diagnosis. Aims of this article are: a) to overview recent advances in the identification of biochemical pathways responsible for the altered 1 H-MRS tCho profile in breast and ovary cancer cells, as a basis for interpreting in vivo MR spectra and enhanced uptake of radiolabeled choline in PET; b) to summarize recent developments of in vivo 1 H-MRS methods in breast cancer diagnosis; c) to discuss the potentialities of complementing current diagnostic modalities with noninvasive MRS and Cho-PET methods to monitor biochemical alterations associated with progression, relapse and therapy response in ovary cancer.
RNA Interference as a Method for Target-Site Screening in the Western Corn Rootworm, Diabrotica Virgifera Virgifera

Abstract To test the efficacy of RNA interference (RNAi) as a method for target-site screening in Diabrotica virgifera virgifera LeConte (Coleptera: Chrysomelidae) larvae, genes were identified and tested for which clear RNAi phenotypes had been identified in the Coleopteran model, Tribolium castaneum. Here the cloning of the D. v. vergifera orthologs of laccase 2 (DvvLac2) and chitin synthase 2 (DvvCHS2) is reported. Injection of DvvLac2-specific double-stranded RNA resulted in prevention of post-molt cuticular tanning, while injection of DvvCHS2-specific dsRNA reduced chitin levels in midguts. Silencing of both DvvLac2 and DvvCHS2 was confirmed by RT-PCR and quantitative RT-PCR. As in T. castaneum, RNAi-mediated gene silencing is systemic in Diabrotica. The results indicate that RNAi-induced silencing of D. v. vergifera genes provides a powerful tool for identifying potential insecticide targets.
Multipoint haptic device for robot hand teleoperation

A haptic feedback system is required to assist teleoperation with robot hand. The system should provide the reaction force measured in the robot hand to an operator. In this paper, we have developed a force feedback device that presents a reaction force to operator's multiple finger knuckles. The device uses a shape memory alloy as an actuator, which affords a very compact, lightweight, and accurate device.
On the Psychometric Study of Human Life History Strategies

This article attends to recent discussions of validity in psychometric research on human life history strategy (LHS), provides a constructive critique of the extant literature, and describes strategies for improving construct validity. To place the psychometric study of human LHS on more solid ground, our review indicates that researchers should (a) use approaches to psychometric modeling that are consistent with their philosophies of measurement, (b) confirm the dimensionality of life history indicators, and (c) establish measurement invariance for at least a subset of indicators. Because we see confirming the dimensionality of life history indicators as the next step toward placing the psychometrics of human LHS on more solid ground, we use nationally representative data and structural equation modeling to test the structure of middle adult life history indicators. We found statistically independent mating competition and Super-K dimensions and the effects of parental harshness and childhood unpredictability on Super-K were consistent with past research. However, childhood socioeconomic status had a moderate positive effect on mating competition and no effect on Super-K, while unpredictability did not predict mating competition. We conclude that human LHS is more complex than previously suggested—there does not seem to be a single dimension of human LHS among Western adults and the effects of environmental components seem to vary between mating competition and Super-K.