Miracle-dz/UniFAR-FTUs huggingface dataset:
A period-three passive gait tracking control for bipedal walking of a compass-gait biped robot

In this paper we interest on the tracking control subject of a period-three passive bipedal walking for a planar compass-gait biped robot. This biped robot is an impulsive mechanical system of two-degrees-of-freedom known to possess passive periodic bipedal walking patterns found to be reminiscent of human walking. It is well known that such compass-gait biped can walk steadily down an inclined slope without any control. The behavior of its gait depends closely on the ground slope as well as on its inertial parameters. We showed recently that such compass-gait robot can possess two distinct periodic stable gaits for the same ground slope: a period-1 gait and another period-3 gait which has not been fully studied yet. This paper deals with the period-3 passive stable gait. Some properties of this typical gait are discussed in this paper revealing its typical symmetry, efficiency and its importance for the control subject. We reveal that the compass-gait biped robot presents an elegant and attractive manner to walk with the period-three passive gait which can be employed in some desirable objectives for the passive bipedal walking. We show in addition that the period-3 gait is very sensitive to small perturbations and becomes unstable where the passive walk of the compass biped is found to converge to the period-1 gait. This conducts to the fact that the basin of attraction of such period-three gait is very restricted. Then, in order to stabilize the passive period-three gait, we propose in this paper an energy tracking control law. Furthermore, we apply this same control law to track the period-three passive gait when the biped robot walks down a different sloped surface.
Study of Microcontact Model for Hard Particles Between Rough Surfaces

Particles are often presented at contact interfaces. In this study, a three-body microcontact model Considering of hard particles and rough surfaces is proposed in order to understand the effects of particles between surfaces on contact characteristics. Both transitional surface-to-surface and particle-to-surface two-body microcontact simulations can be obtained according to the simplification of this model. In the three-body contact situation, the curves of contact area ratio versus dimensionless load are located in the range between two straight lines. The surface-to-surface two-body contact situation is the upper bound and the particle-to-surface two-body contact situation is the lower bound. The contact situation will approach to the pure particle-to-surface two-body contact situation as the value of particle diameter over roughness value of surface increases. The total contact area ratio increases when particle size or particles density decreases, and contact load increases. Contrary to the results for contact area ratio, the dimensionless separation increases when particle density increases or contact load decreases.Copyright © 2005 by ASME
Carrier Frequency Offset Compensation for Distributed MIMO OFDM Systems

This paper focuses on the compensation of carrier frequency offsets (CFO) in multi-input multi-output (MIMO) orthogonal frequency division multiplexing (OFDM) systems with distributed transmit antennas, where the CFOs are possibly different for each transmit antenna. Considering macroscopic fading and multipath Rayleigh fading, the average power of the intercarrier interference (ICI) caused by the CFOs is derived. The optimal CFO compensation value is then obtained by maximizing the signal-to-interference-and-noise ratio (SINR) before MIMO detection. It is shown that the optimal CFO compensation value should be located between the minimum and maximum value of the CFOs and depends on the CFOs and the macroscopic fading of all the transmit antennas. The performance of the CFO compensation is evaluated for a MIMO OFDM system with two transmit antennas and two receive antennas using zero-forcing (ZF) detection. Simulation results show that the symbol error rate (SER) performance is significantly improved by using the proposed optimal CFO compensation value to compensate for the CFOs.
Logical design of data warehouses from XML

Data warehouse is a database that collects and integrates data from heterogeneous sources in order to support a decision making process. Data exchanged over the Internet and intranets has recently become an important data source, having XML as a standard format for exchange. The possibility of integrating available XML data into data warehouses plays an important role in providing enterprise managers with up-to-date and relevant information about their business domain. We have developed a methodology for data warehouse design from the source XML Schemas and conforming XML documents. As XML data is semi-structured, data warehouse design from XML brings many particular challenges. In this paper the final steps of deriving a conceptual multidimensional scheme are described, followed by the logical design, where a set of tables is created according to the derived conceptual scheme. A prototype tool has been developed to test and verify the proposed methodology. Data warehousing system is a set of technologies and tools that enable decision-makers (managers and analysts) to acquire, integrate and flexibly analyze information coming from different sources. The central part of the system is a large database specialized for complex analysis of historical data, called a data warehouse. The process of building a data warehousing system includes analysis of the data sources, design of a warehouse model that can successfully integrate them and later the construction of the warehouse according to the proposed model. Decision-makers use OLAP (OnLine Analytical Processing) tools to put queries against the warehouse in a quick, intuitive and interactive way. OLAP tools use the multidimensional data model, which enables focusing on small pieces of data, generally a few numerical parameters, that are most interesting for the decision making process. Other data in the warehouse are organized hierarchically into several independent groups, called dimensions, and used to perform calculations with the few important parameters. Data warehouses, owned by big enterprises and organizations, integrate data from heterogeneous sources: relational databases or other legacy database models, semi-structured data and different file formats. Recently, the World Wide Web, Web services and different information systems for exchanging data over the Internet and private networks have become an important data source.
The Stromlo-APM Redshift Survey II. Variation of Galaxy Clustering with Morphology and Luminosity

We present clustering measurements for samples of galaxies selected by morphological type and luminosity from the recently completed Stromlo-APM Redshift Survey. Early type galaxies are clustered more strongly by a factor 3.5--5.5, than late type galaxies. Low-luminosity galaxies are clustered more weakly by a factor of $\sim 2$ than $L^*$ and brighter galaxies on scales $\simgt 1\hMpc$. Also the slope of the correlation function is steeper for low-luminosity galaxies, so that the amplitude is a factor 4 lower at $ 10 \hMpc$. No difference, however, is seen between the clustering of $L^*$ and more luminous galaxies, an observation which may be hard to reconcile with some theories of biased galaxy formation. Both redshift-space and real-space clustering estimates show a similar dependence on luminosity.
Risk equalization in The Netherlands: an empirical evaluation

The Netherlands relies on risk equalization to compensate competing health insurers for predictable variation in individual medical expenses. Without accurate risk equalization insurers are confronted with incentives for risk selection. The goal of this study is to evaluate the improvement in predictive accuracy of the Dutch risk equalization model since its introduction in 1993. Based on individual-level claims data (n = 15.6 million), we estimate the risk equalization models that have been successively applied in The Netherlands since 1993. Using individual-level survey data (n = 8735), we examine the average under-/overcompensation by these models for several relevant subgroups in the population. We find that in the course of years, the risk equalization model has been substantially improved. Even the current model (2012), however, does not eliminate incentives for risk selection completely. To achieve the public objectives, further improvement of the Dutch risk equalization model is crucial.
LED: Tool for Synthesizing Web Element Locators

Web applications are growing fast in popularity and complexity. One of the major problems faced by web developers is writing JavaScript code that can retrieve Document Object Model (DOM) tree elements, and is consistent among multiple DOM states. We attempt to solve this problem by automatically synthesizing JavaScript code that interacts with the DOM. We present an automated tool called LED, to analyze the DOM elements, and synthesize code to select the DOM elements based on the DOM hierarchy as well as the nature of task that the user wants to perform. LED provides an interactive drag and drop support inside the browser for selecting positive and negative examples of DOM elements. We find that LED supports at least 86% of the locators used in the JavaScript code of deployed web applications, and that the locators synthesized by LED have a recall of 98% and a precision of 63%. LED is fast, taking only 0.23 seconds on average to synthesize a locator.
3D Soft Metamaterials with Negative Poisson's Ratio

Buckling is exploited to design a new class of three-dimensional metamaterials with negative Poisson's ratio. A library of auxetic building blocks is identified and procedures are defined to guide their selection and assembly. The auxetic properties of these materials are demonstrated both through experiments and finite element simulations and exhibit excellent qualitative and quantitative agreement.
RNA–protein binding interface in the telomerase ribonucleoprotein

Telomerase is a specialized reverse transcriptase containing an intrinsic telomerase RNA (TR) which provides the template for telomeric DNA synthesis. Distinct from conventional reverse transcriptases, telomerase has evolved a unique TR-binding domain (TRBD) in the catalytic telomerase reverse transcriptase (TERT) protein, integral for ribonucleoprotein assembly. Two structural elements in the vertebrate TR, the pseudoknot and CR4/5, bind TERT independently and are essential for telomerase enzymatic activity. However, the details of the TR–TERT interaction have remained elusive. In this study, we employed a photoaffinity cross-linking approach to map the CR4/5-TRBD RNA–protein binding interface by identifying RNA and protein residues in close proximity. Photoreactive 5-iodouridines were incorporated into the medaka CR4/5 RNA fragment and UV cross-linked to the medaka TRBD protein fragment. The cross-linking RNA residues were identified by alkaline partial hydrolysis and cross-linked protein residues were identified by mass spectrometry. Three CR4/5 RNA residues (U182, U187, and U205) were found cross-linking to TRBD amino acids Tyr503, Phe355, and Trp477, respectively. This CR4/5 binding pocket is distinct and separate from the previously proposed T pocket in the Tetrahymena TRBD. Based on homologous structural models, our cross-linking data position the essential loop L6.1 adjacent to the TERT C-terminal extension domain. We thus propose that stem-loop 6.1 facilitates proper TERT folding by interacting with both TRBD and C-terminal extension. Revealing the telomerase CR4/5-TRBD binding interface with single-residue resolution provides important insights into telomerase ribonucleoprotein architecture and the function of the essential CR4/5 domain.
Growth of human breast cancers in Peromyscus

ABSTRACT Modeling breast cancer in general and hormone-sensitive breast cancer, in particular in mice, has several limitations. These are related to the inbred nature of laboratory mice, and do not allow adequate appreciation of the contribution of the host's genetic heterogeneity in tumor growth. In addition, the naturally low estrogen levels of mice makes estradiol supplementation obligatory for tumor growth. Here, we show that Peromyscus californicus, following cyclosporine-mediated immunosuppression, supports the growth of both MDA-MB-231 estrogen-independent and MCF7 estrogen receptor-positive breast cancers without exogenous estradiol supplementation. Tumor growth was inhibited by fulvestrant or letrozole, confirming that MCF7 xenografts remain hormone dependent in vivo and suggesting that P. californicus can be used as an alternative to conventional mice for the study of hormone-sensitive breast cancer. The fact that Peromyscus stocks are outbred also facilitates the study of breast cancer in genetically heterogenous populations. Summary: Outbred stocks of Peromyscus californicus (California mice), upon pharmacological immunosuppression, provide an alternative to conventional inbred mice models, and can support the growth of hormone-insensitive and hormone-sensitive human breast cancers.
Ajulemic Acid, a Synthetic Nonpsychoactive Cannabinoid Acid, Bound to the Ligand Binding Domain of the Human Peroxisome Proliferator-activated Receptor γ*

Ajulemic acid (AJA) is a synthetic analog of THC-11-oic acid, a metabolite of tetrahydrocannabinol (THC), the major active ingredient of the recreational drug marijuana derived from the plant Cannabis sativa. AJA has potent analgesic and anti-inflammatory activity in vivo, but without the psychotropic action of THC. However, its precise mechanism of action remains unknown. Biochemical studies indicate that AJA binds directly and selectively to the isotype γ of the peroxisome proliferator-activated receptor (PPARγ) suggesting that this may be a pharmacologically relevant receptor for this compound and a potential target for drug development in the treatment of pain and inflammation. Here, we report the crystal structure of the ligand binding domain of the γ isotype of human PPAR in complex with ajulemic acid, determined at 2.8-Å resolution. Our results show a binding mode that is compatible with other known partial agonists of PPAR, explaining their moderate activation of the receptor, as well as the structural basis for isotype selectivity, as observed previously in vitro. The structure also provides clues to the understanding of partial agonism itself, suggesting a rational approach to the design of molecules capable of activating the receptor at levels that avoid undesirable side effects.
High-Throughput Screening with HyperCyt® Flow Cytometry to Detect Small Molecule Formylpeptide Receptor Ligands

High-throughput flow cytometry (HTFC), enabled by faster automated sample processing, represents a promising high- content approach for compound library screening. HyperCyt® is a recently developed automated HTFC analysis system by which cell samples are rapidly aspirated from microplate wells and delivered to the flow cytometer. The formylpeptide receptor (FPR) family of G protein–coupled receptors contributes to the localization and activation of tissue-damaging leukocytes at sites of chronic inflammation. Here, the authors describe development and application of an HTFC screening approach to detect potential anti-inflammatory compounds that block ligand binding to FPR. Using a homogeneous no-wash assay, samples were routinely processed at 1.5 s/well (~2500 cells analyzed/sample), allowing a 96-well plate to be processed in less than 2.5 min. Assay sensitivity and accuracy were validated by detection of a previously documented active compound with relatively low FPR affinity (sulfinpyrazone, inhibition constant [Ki]=14 μM) from among a collection of 880 compounds in the Prestwick Chemical Library. The HyperCyt® system was therefore demonstrated to be a robust, sensitive, and highly quantitative method with which to screen lead compound libraries in a 96-well format.
Comparison of ccd of F, parDE of RP4, and parD of R1 using a novel conditional replication control system of plasmid R1

A number of plasmid‐encoded gene systems are thought to stabilize plasmids by killing plasmid‐free cells (also termed post‐segregational killing or plasmid addiction). Here we analyse the mechanisms of plasmid stabilization by ccd of F, parDE of RP4 and parD of R1, and compare them to hok/sok of R1. To induce synchronous plasmid loss we constructed a novel plasmid replication‐arrest system, which possesses the advantage that plasmid replication can be completely arrested by the addition of IPTG, a non‐metabolizable inducer. Using isogenic plasmid constructions we have found, for the first time, consistent correlation between the effect on steady‐state loss rates and the effect on cell proliferation in the plasmid replication‐arrest assay for all three systems. The parDE system had the most pronounced effect both on plasmid stabilization and on plasmid retention after replication arrest. In contrast, ccd and parD both exhibited weaker effects than anticipated from previously published results. Thus, our results indicate that the function and efficiencies of some of the systems should be reconsidered. Our results are consistent with the previously postulated hypothesis that ccd and parDE act by killing plasmid‐free segregants, whereas parD seems to act by inhibiting cell division of plasmid‐free segregants.
Changes in fiber type composition in growing muscle as a result of dynamic exercise and static overload

The effects of dynamic exercise (jumping) and static overload (synergist tenotomy) on rat soleus muscle were investigated during a growing phase in juvenile animals. The relative proportions of slow twitch (type 1), fast twitch (type 2a) and intermediate (type 2c) fibers were determined histochemically. The control animals, as part developmental process, lost type 2a fibers apparently by conversion to type 1 fibers via the type 2c form. Synergist tenotomy enhanced the conversion of type 2a fibers to type 2c fibers as these muscles displayed fewer type 2a fibers than control animals at the same age. In contrast, the dynamic exercise delayed the loss of type 2a fibers from the soleus. When the two exercises were combined the effects on fiber type proportions cancelled each other; this group also had a large number of type 2c fibers. This present study indicates that the activity imposed on a muscle influences the maturational development of the constituent fiber types.
Interdependency between mechanical parameters and afferent nerve discharge in remodeled diabetic Goto-Kakizaki rat intestine

Background Gastrointestinal disorders are very common in diabetic patients, but the pathogenesis is still not well understood. Peripheral afferent nerves may be involved due to the complex regulation of gastrointestinal function by the enteric nervous system. Objective We aimed to characterize the stimulus–response function of afferent fibers innervating the jejunum in the Goto-Kakizaki (GK) type 2 diabetic rat model. A key question is whether changes in afferent firing arise from remodeled tissue or from adaptive afferent processes. Design Seven 32-week-old male GK rats and seven age-matched normal Wistar rats were studied. Firing from mesenteric afferent nerves was recorded in excised jejunal segments of seven GK rats and seven normal Wistar rats during ramp test, stress relaxation test, and creep test. The circumferential stress–strain, spike rate increase ratio (SRIR), and single unit firing rates were calculated for evaluation of interdependency of the mechanical stimulations and the afferent nerve discharge. Results Elevated sensitivity to mechanical stimuli was found for diabetic nerve bundles and single unit activity (P<0.05). The stress relaxed less in the diabetic intestinal segment (P<0.05). Linear association between SRIR and the thickness of circumferential muscle layer was found at high stress levels as well as for SRIR and the glucose level. Conclusion Altered viscoelastic properties and elevated mechanosensitivity were found in the GK rat intestine. The altered nerve signaling is related to muscle layer remodeling and glucose levels and may contribute to gastrointestinal symptoms experienced by diabetic patients.
New insights into globoids of protein storage vacuoles in wheat aleurone using synchrotron soft X-ray microscopy

Mature developed seeds are physiologically and biochemically committed to store nutrients, principally as starch, protein, oils, and minerals. The composition and distribution of elements inside the aleurone cell layer reflect their biogenesis, structural characteristics, and physiological functions. It is therefore of primary importance to understand the mechanisms underlying metal ion accumulation, distribution, storage, and bioavailability in aleurone subcellular organelles for seed fortification purposes. Synchrotron radiation soft X-ray full-field imaging mode (FFIM) and low-energy X-ray fluorescence (LEXRF) spectromicroscopy were applied to characterize major structural features and the subcellular distribution of physiologically important elements (Zn, Fe, Na, Mg, Al, Si, and P). These direct imaging methods reveal the accumulation patterns between the apoplast and symplast, and highlight the importance of globoids with phytic acid mineral salts and walls as preferential storage structures. C, N, and O chemical topographies are directly linked to the structural backbone of plant substructures. Zn, Fe, Na, Mg, Al, and P were linked to globoid structures within protein storage vacuoles with variable levels of co-localization. Si distribution was atypical, being contained in the aleurone apoplast and symplast, supporting a physiological role for Si in addition to its structural function. These results reveal that the immobilization of metals within the observed endomembrane structures presents a structural and functional barrier and affects bioavailability. The combination of high spatial and chemical X-ray microscopy techniques highlights how in situ analysis can yield new insights into the complexity of the wheat aleurone layer, whose precise biochemical composition, morphology, and structural characteristics are still not unequivocally resolved.
Web usage mining with semantic analysis

Web usage mining has traditionally focused on the individual queries or query words leading to a web site or web page visit, mining patterns in such data. In our work, we aim to characterize websites in terms of the semantics of the queries that lead to them by linking queries to large knowledge bases on the Web. We demonstrate how to exploit such links for more effective pattern mining on query log data. We also show how such patterns can be used to qualitatively describe the differences between competing websites in the same domain and to quantitatively predict website abandonment.
High-order fictitious domain method for the elliptic and Navier-Stokes equations. Application to the fluid-structure coupling. (Méthodes de domaines fictifs d'ordre élevé pour les équations elliptiques et de Navier-Stokes. Application au couplage fluide-structure)

Nous decrivons ici une methodologie complete de simulation d'ecoulements et de transferts thermiques incluant des objets ou des interfaces de formes complexes. Nous presentons tout d'abord une methode de projection de maillages surfacique vers volumique. Nous decrivons ensuite deux nouvelles methodes de domaines fictifs. La premiere est une methode de penalisation au second ordre et permet d'imposer des conditions de Dirichlet ou de Neumann. La seconde est une methode algebrique qui permet de gerer des interfaces immergees au second ordre. Nous exposons ensuite une methodologie de couplage fluide-structure ainsi que des applications industrielles de ces methodes. Nous presentons aussi l'application de ces resultats a la synthese d'image.