Miracle-dz/UniFAR-FTUs huggingface dataset:
Adaptive compensation of dynamic friction in an industrial robot

A new dynamic model to describe joint friction in a industrial robot is presented. This model is an extension of the popular LuGre dynamic friction model. However, the description of the Stribeck effect is modeled with a first order nonlinear differential equation. This yields a second order dynamic friction model that still preserves the intuitive base of previous models, reproduces the pseudo-steady state behavior and offers the same input-output properties. The advantage with respect to other dynamic friction models is in the possibility of identifying all the relevant parameters. This particularly important when this parameters change with time making it difficult to continuously calibrate the model. The validity of a dynamic friction adaptive compensation scheme is verified by means of experimental results.
Situation based Load Balancer for Distributed Computing Systems

In this paper, one of the major objectives of distributed systems is performance. Load balancing is a concept used in computer networks to distribute the workload across the replicated system resources. Load balancing is the key driving factor to enhance the performance of the system. The requests of various clients are redirected to the available servers considering its existing workload. The main aim of the load balancing algorithms is to equally distribute the load the available servers. The algorithms also need to consider the processing power of each server. There are many load balancing algorithms available. Dynamism is also used in these algorithms to throw the task to the next eligible server. Simple load balancers use random choice and round robin algorithms. But the system use only one algorithm for the load balancing such as round robin or weighted or priority etc. But each algorithm would be efficient in one aspect and might be inefficient otherwise. In our paper, we try to use few algorithms and invoke them during a particular situation when they are efficient. Simulation results show that our load balancer significantly improves the average and total response time of client tasks and thus increases the performance of the overall system.
From Bounded to Unbounded Model Checking for Temporal Epistemic Logic

This paper addresses the problem of verification of temporal epistemic properties of multi-agent systems by means of symbolic model checking. An overview of the technique of bounded model checking for temporal epistemic logic, and an analysis of some limitations of the method are provided. An extension of this technique called unbounded model checking to solve these limitations is explored. Similarities and differences of the two methods are explicitly exemplified by the analysis of a scenario in the two formalisms.
Genetics of resistance to colicins in Escherichia coli K-12: cross-resistance among colicins of group B

This paper describes the isolation of mutants resistant to colicins of group B (i.e., colicins B, D, G, H, Ia, Ib, M, Q, S1, and V). The 145 mutants studied in detail can be divided into nine phentopyic classes, based on their colicin-resistance patterns. They include the previously isolated tonA, tonB exbB and cir mutants. Each of the different phenotypic classes of mutants has been partially characterized, and some approximately mapped. Sodium dodecyl sulfate-polyacrylamide gel electrophoresis has revealed substantial changes in the composition of the outer membrane proteins of exbB and tonB mutants.
Noninvasive Diagnosis of Visceral Leishmaniasis: Development and Evaluation of Two Urine-Based Immunoassays for Detection of Leishmania donovani Infection in India

Background Visceral Leishmaniasis (VL), a severe parasitic disease, could be fatal if diagnosis and treatment is delayed. Post kala-azar dermal leishmaniasis (PKDL), a skin related outcome, is a potential reservoir for the spread of VL. Diagnostic tests available for VL such as tissue aspiration are invasive and painful although they are capable of evaluating the treatment response. Serological tests although less invasive than tissue aspiration are incompetent to assess cure. Parasitological examination of slit-skin smear along with the clinical symptoms is routinely used for diagnosis of PKDL. Therefore, a noninvasive test with acceptable sensitivity and competency, additionally, to decide cure would be an asset in disease management and control. Methodology/principal findings We describe here, the development of antibody-capture ELISA and field adaptable dipstick test as noninvasive diagnostic tools for VL and PKDL and as a test of cure in VL treatment. Sensitivity and specificity of urine-ELISA were 97.94% (95/97) and 100% (75/75) respectively, for VL. Importantly, dipstick test demonstrated 100% sensitivity (97/97) and specificity (75/75) in VL diagnosis. Degree of agreement of the two methods with tissue aspiration was 98.83% (κ = 0.97) and 100% (κ = 1), for ELISA and dipstick test, respectively. Both the tests had 100% positivity for PKDL (14/14) cases. ELISA and dipstick test illustrated treatment efficacy in about 90% (16/18) VL cases when eventually turned negative after six months of treatment. Conclusions/significance ELISA and dipstick test found immensely effective for diagnosis of VL and PKDL through urine samples thus, may substitute the existing invasive diagnostics. Utility of these tests as indirect methods of monitoring parasite clearance can define infected versus cured. Urine-based dipstick test is simple, sensitive and above all noninvasive method that may help not only in active VL case detection but also to ascertain treatment response. It can therefore, be deployed widely for interventions in disease management of VL particularly in poor resource outskirts.
Scaling heterogeneous databases and the design of Disco

Access to large numbers of data sources introduces new problems for users of heterogeneous distributed databases. End users and application programmers must deal with unavailable data sources. Database administrators must deal with incorporating new sources into the model. Database implementers must deal with the translation of queries between query languages and schemas. The Distributed Information Search COmponent (Disco) addresses these problems. Query processing semantics are developed to process queries over data sources which do not return answers. Data modeling techniques manage connections to data sources. The component interface to data sources flexibly handles different query languages and translates queries. This paper describes (a) the distributed mediator architecture of Disco, (b) its query processing semantics, (C) the data model and its modeling of data source connections, and (d) the interface to underlying data sources.
Polymers for tissue engineering, medical devices, and regenerative medicine. Concise general review of recent studies

Recently investigated applications of polymeric materials for tissue engineering, regenerative medicine, implants, stents, and medical devices are described in the present review. Papers published during the last 2 years about polymeric materials used for preparation of various polymeric scaffolds, methods of fabrication of such scaffolds and their effectiveness in providing support for cell growth and development into various tissues and enhancing or mimicking an extracellular network (ECM's) have been cited. Papers describing the use of such polymeric materials for tissue engineering of cartilage and bones were cited. The exciting developments in the field of regenerative medicine, based on application of the self-assembled biocompatible polymeric scaffolds for regeneration of tissues and organs are described in some detail. The use of the biocompatible and biodegradable collapsible polymeric stents, as well as the use of biocompatible, but not necessarily biodegradable polymeric materials for protective coatings of metallic stents and reservoirs of drugs, preventing restenosis and other post-operative complications that may occur after insertion of a stent, have been reviewed. Clinical results pointing out the advantages of such treatments, as well as results indicating their limitations, have been cited. New formulas, for coating implants, stents, and other medical devices, have been discussed. Copyright © 2006 John Wiley & Sons, Ltd.
Fault Tolerance Using a Front-End Service for Large Scale Distributed Systems

In this paper we present a solution to ensuring a high degree of availability and reliability in service-based large scale distributed systems. The proposed architecture is based on a set of replicated services running in a fault-tolerant container and a proxy service able to mask possible faults, completely transparent for a client. The solution not only masks possible faults but also optimizes the access to the distributed services and their replicas using a load-balancing strategy, whilst ensuring a high degree of scalability. The advantages of the proposed architecture were evaluated using a pilot implementation. The obtained results prove that the solution ensures a high degree of availability and reliability for a wide range of service-based distributed systems.
The ENP image and ground truth dataset of historical newspapers

This paper presents a research dataset of historical newspapers comprising over 500 page images, uniquely representative of European cultural heritage from the digitization projects of 12 national and major European libraries, created within the scope of the large-scale digitisation Europeana Newspapers Project (ENP). Every image is accompanied by comprehensive ground truth (Unicode encoded full-text, layout information with precise region outlines, type labels, and reading order) in PAGE format and searchable metadata about document characteristics and artefacts. The first part of the paper describes the nature of the dataset, how it was built, and the challenges encountered. In the second part, a baseline for two state-of-the-art OCR systems (ABBYY FineReader Engine 11 and Tesseract 3.03) is given with regard to both text recognition and segmentation/layout analysis performance.
Prediction of erectile function following treatment for prostate cancer.

CONTEXT Sexual function is the health-related quality of life (HRQOL) domain most commonly impaired after prostate cancer treatment; however, validated tools to enable personalized prediction of erectile dysfunction after prostate cancer treatment are lacking. OBJECTIVE To predict long-term erectile function following prostate cancer treatment based on individual patient and treatment characteristics. DESIGN Pretreatment patient characteristics, sexual HRQOL, and treatment details measured in a longitudinal academic multicenter cohort (Prostate Cancer Outcomes and Satisfaction With Treatment Quality Assessment; enrolled from 2003 through 2006), were used to develop models predicting erectile function 2 years after treatment. A community-based cohort (community-based Cancer of the Prostate Strategic Urologic Research Endeavor [CaPSURE]; enrolled 1995 through 2007) externally validated model performance. Patients in US academic and community-based practices whose HRQOL was measured pretreatment (N = 1201) underwent follow-up after prostatectomy, external radiotherapy, or brachytherapy for prostate cancer. Sexual outcomes among men completing 2 years' follow-up (n = 1027) were used to develop models predicting erectile function that were externally validated among 1913 patients in a community-based cohort. MAIN OUTCOME MEASURES Patient-reported functional erections suitable for intercourse 2 years following prostate cancer treatment. RESULTS Two years after prostate cancer treatment, 368 (37% [95% CI, 34%-40%]) of all patients and 335 (48% [95% CI, 45%-52%]) of those with functional erections prior to treatment reported functional erections; 531 (53% [95% CI, 50%-56%]) of patients without penile prostheses reported use of medications or other devices for erectile dysfunction. Pretreatment sexual HRQOL score, age, serum prostate-specific antigen level, race/ethnicity, body mass index, and intended treatment details were associated with functional erections 2 years after treatment. Multivariable logistic regression models predicting erectile function estimated 2-year function probabilities from as low as 10% or less to as high as 70% or greater depending on the individual's pretreatment patient characteristics and treatment details. The models performed well in predicting erections in external validation among CaPSURE cohort patients (areas under the receiver operating characteristic curve, 0.77 [95% CI, 0.74-0.80] for prostatectomy; 0.87 [95% CI, 0.80-0.94] for external radiotherapy; and 0.90 [95% CI, 0.85-0.95] for brachytherapy). CONCLUSION Stratification by pretreatment patient characteristics and treatment details enables prediction of erectile function 2 years after prostatectomy, external radiotherapy, or brachytherapy for prostate cancer.
Local Interneurons Regulate Synaptic Strength by Retrograde Release of Endocannabinoids

Neurons release endocannabinoids from their dendrites to trigger changes in the probability of transmitter release. Although such retrograde signaling has been described for principal neurons, such as hippocampal pyramidal cells and cerebellar Purkinje cells (PCs), it has not been demonstrated for local interneurons. Here we tested whether inhibitory interneurons in the cerebellum, stellate cells (SCs) and basket cells, regulate the strength of parallel fiber (PF) synapses by releasing endocannabinoids. We found that depolarization-induced suppression of excitation (DSE) is present in both SCs and basket cells. The properties of retrograde inhibition were examined more thoroughly for SCs. Both DSE and synaptically evoked suppression of excitation (SSE) triggered with brief PF bursts require elevations of postsynaptic calcium, are blocked by a type 1 cannabinoid receptor (CB1R) antagonist, and are absent in mice lacking the CB1R. SSE for SCs is similar to that described previously for PCs in that it is prevented by BAPTA and DAG lipase inhibitors in the recording pipette; however, unlike in PCs, NMDA receptors (NMDARs) play an important role in SSE for SCs. Although SCs express CB1Rs postsynaptically, neither high-frequency firing of SCs nor PF bursts lead to autocrine suppression of subsequent SC activity. Instead, PF bursts decrease the amplitude of disynaptic inhibition in PCs by evoking endocannabinoid release that transiently reduces the ability of PF synapses to trigger spikes in SCs. Thus, local interneurons within the cerebellum can release endocannabinoids through metabotropic glutamate receptor- and NMDAR-dependent mechanisms and contribute to use-dependent modulation of circuit properties.
An Essential Role for Inhibitor-2 Regulation of Protein Phosphatase-1 in Synaptic Scaling

Protein phosphatase-1 (PP1) activity is important for many calcium-dependent neuronal functions including Hebbian synaptic plasticity and learning and memory. PP1 activity is necessary for the induction of long-term depression, whereas downregulation of PP1 activity is required for the normal induction of long-term potentiation. However, how PP1 is activated is not clear. Moreover, it is not known whether PP1 plays a role in homeostatic synaptic scaling, another form of synaptic plasticity which functions to reset the neuronal firing rate in response to chronic neuronal activity perturbations. In this study, we found that PP1 inhibitor-2 (I-2) is phosphorylated at serine 43 (S43) in rat and mouse cortical neurons in response to bicuculine application. Expression of I-2 phosphorylation-blocking mutant I-2 (S43A) blocked the dephosphorylation of GluA2 at serine 880, AMPA receptor trafficking, and synaptic downscaling induced by bicuculline application. Our data suggest that the phosphorylation of I-2 at S43 appears to be mediated by L-type calcium channels and calcium/calmodulin-dependent myosin light-chain kinase. Our work thus reveals a novel calcium-induced PP1 activation pathway critical for homeostatic synaptic plasticity.
Nerve Injury Triggers Changes in the Brain

It is well known that the adult brain is capable of profound plasticity. Much of our understanding of the mechanisms underlying injury-induced changes in the brain is based on animal models. The development of sophisticated noninvasive neuroimaging techniques over the past decade provides a unique opportunity to examine brain plasticity in humans. In this article, the authors examine the consequences of nerve injury and surgical repair on peripheral nerve degeneration and regeneration and review classic animal literature that laid the foundation of injury-induced plasticity research. They relate these concepts to recent findings of functional and structural changes in the human brain following peripheral nerve injury. They then present a working theoretical model that links behavioral outcomes of nerve injury with functional and structural brain plasticity and personality.
Development of the OnTrack Diabetes Program

Background Type 2 diabetes affects an estimated 347 million people worldwide and often leads to serious complications including blindness, kidney disease, and limb amputation. Comorbid dysphoria is common and is an independent risk factor for poor glycaemic control. Professional support for diabetes self-management and dysphoria has limited availability and involves high costs, especially after regular hours, and in rural and remote areas. Web-based cognitive behavior therapy offers highly accessible, acceptable, and cost-effective support for people with diabetes. This paper describes the development of OnTrack Diabetes, a self-guided, Web-based program to promote improved physical and emotional self-management in people with Type 2 diabetes. Objective The objective of the study is to describe the development of the OnTrack Diabetes program, which is a self-guided, Web-based program aimed to promote euthymia and improved disease self-management in people with Type 2 diabetes. Methods Semistructured interviews with 12 general practitioners and 13 patients with Type 2 diabetes identified enablers of and barriers to effective diabetes self-management, requirements for additional support, and potential program elements. Existing resources and research data informed the development of content, and consultants from relevant disciplines provided feedback on draft segments and reviewed the program before release. Using a self-guided delivery format contained costs, in addition to adapting program features and modules from an existing OnTrack program. Results A separate paper describes the protocol for a randomized controlled trial to provide this required evaluation. Conclusions Development of the OnTrack Diabetes program demonstrates strategies that help ensure that a program is acceptable to users. The next stages involve testing users’ experiences and examining the program’s effectiveness and cost-effectiveness in randomized controlled trials. Trial Registration The Australian New Zealand Clinical Trials Registry (ACTRN): 12614001126606; https://www.anzctr. org.au/Trial/Registration/TrialReview.aspx? ACTRN=12614001126606 (Archived by WebCite at http://www.webcitation.org/6U0Fh3vOj).
Patient Informed Governance of Distributed Research Networks: Results and Discussion from Six Patient Focus Groups

Understanding how to govern emerging distributed research networks is essential to their success. Distributed research networks aggregate patient medical data from many institutions leaving data within the local provider security system. While much is known about patients' views on secondary medical research, little is known about their views on governance of research networks. We conducted six focus groups with patients from three medical centers across the U.S. to understand their perspectives on privacy, consent, and ethical concerns of sharing their data as part of research networks. Participants positively endorsed sharing their health data with these networks believing that doing so could advance healthcare knowledge. However, patients expressed several concerns regarding security and broader ethical issues such as commercialism, public benefit, and social responsibility. We suggest that network governance guidelines move beyond strict technical requirements and address wider socio-ethical concerns by fully including patients in governance processes.
Automated contact assembly of vessel-mimetic microstructure through position and orientation estimation based on object detection

This paper presents an automated contact assembly method to fabricate vessel-mimetic microstructure through accurate position and orientation estimation of manipulators and micromodules. As an essential component for delivering sufficient nutrients to the regenerated composite tissues, a vessel-mimetic microtube can be precisely assembled through a microrobotic system with dual manipulators under an optical microscope. However, due to the complex situation during contact assembly, it is difficult to access the accurate position and orientation of micromanipulators and assembly units for full automation. To address this problem, we proposed a visual feedback method based on object detection to estimate the position and orientation. Firstly, we employ YOLO (You Only Look Once), a state-of-art object detection algorithm based on deep learning, to locate multi targets and optimize the algorithm for occlusion situations under optical microscopy. Then we combine traditional image-processing algorithms to access the accurate position and orientation of the micromanipulators and micromodules. The experimental results show that assembly units with different shapes can be precisely located with no more than 3μm (6 pixel at 4x magnification) error and the tip position error of micromanipulators remains within 7 μm. The error is acceptable and the algorithm is effective in real-time visual feedback for the automated assembly. As a result, the cell-embedded microtube is automatically assembled at six layers/min, which is efficient enough for automated contact assembly of vessel-mimetic microstructure potentially applied to vascular tissue engineering.
Accelerating motif finding in DNA sequences with multicore CPUs

Motif discovery in DNA sequences is a challenging task in molecular biology. In computational motif discovery, Planted (l, d) motif finding is a widely studied problem and numerous algorithms are available to solve it. Both hardware and software accelerators have been introduced to accelerate the motif finding algorithms. However, the use of hardware accelerators such as FPGAs needs hardware specialists to design such systems. Software based acceleration methods on the other hand are easier to implement than hardware acceleration techniques. Grid computing is one such software based acceleration technique which has been used in acceleration of motif finding. However, drawbacks such as network communication delays and the need of fast interconnection between nodes in the grid can limit its usage and scalability. As using multicore CPUs to accelerate CPU intensive tasks are becoming increasingly popular and common nowadays, we can employ it to accelerate motif finding and it can be a faster method than grid based acceleration. In this paper, we have explored the use of multicore CPUs to accelerate motif finding. We have accelerated the Skip-Brute Force algorithm on multicore CPUs parallelizing it using the POSIX thread library. Our method yielded an average speed up of 34x on a 32-core processor compared to a speed up of 21x on a grid based implementation of 32 nodes.