Miracle-dz/UniFAR-FTUs huggingface dataset:
Neural Control of Bimanual Robots With Guaranteed Global Stability and Motion Precision

Robots with coordinated dual arms are able to perform more complicated tasks that a single manipulator could hardly achieve. However, more rigorous motion precision is required to guarantee effective cooperation between the dual arms, especially when they grasp a common object. In this case, the internal forces applied on the object must also be considered in addition to the external forces. Therefore, a prescribed tracking performance at both transient and steady states is first specified, and then, a controller is synthesized to rigorously guarantee the specified motion performance. In the presence of unknown dynamics of both the robot arms and the manipulated object, the neural network approximation technique is employed to compensate for uncertainties. In order to extend the semiglobal stability achieved by conventional neural control to global stability, a switching mechanism is integrated into the control design. Effectiveness of the proposed control design has been shown through experiments carried out on the Baxter Robot.
Testability measurement and software dependencies

Testability is an important quality characteristic of software. A lack of testability contributes to a higher test and maintenance effort. Metrics can be used locate parts of a program which contribute to a lack of testability.In this paper we present a new approach to define metrics for software dependencies. We use this approach in the context of testability to identify test-critical dependencies,i.e. those dependencies within a system that are critical for test complexity. The results of four case studies show that 1) a small subset of the dependencies within a system has an exceedingly high impact on particular testability metrics,2) conventional coupling metrics are not good predictors of these test-critical dependencies, 3) dependencies automatically identified to be test-critical are good indicators of design that needs improvement.
Comparison of SQL injection detection and prevention techniques

Database driven web application are threaten by SQL Injection Attacks (SQLIAs) because this type of attack can compromise confidentiality and integrity of information in databases. Actually, an attacker intrudes to the web application database and consequently, access to data. For stopping this type of attack different approaches have been proposed by researchers but they are not enough because most of implemented approaches cannot stop all type of attacks. In this paper all type of SQL injection attack and also different techniques which can detect or prevent them are presented. Finally we evaluate these approaches against all types of SQL injection attacks.
Analysis of a novel 2-DOF flexure hinge-based parallel micromanipulator in a polar coordinate system

Based on flexure hinges, a novel two-degree-of-freedom (2-DOF) compliant parallel micromanipulator driven by piezoelectric actuator (PZT) is presented in this paper. According to the designed mechanism structure, a pseudo rigid body (PRB) model is set up, and then the kinematics and statics are studied in a polar coordinate system. The workspace analysis is given subsequently according to the motion ranges of flexure hinges and actuators. To examine the static performance of the mechanism and verify the accuracy of the established kinematic model, finite element analysis (FEA) is carried out using ANSYS software. The simulation result also reveals that the mechanism has ideal linearity in terms of the kinematic and static properties.
Detrimental incorporation of excess Cenp-A/Cid and Cenp-C into Drosophila centromeres is prevented by limiting amounts of the bridging factor Cal1

Propagation of centromere identity during cell cycle progression in higher eukaryotes depends critically on the faithful incorporation of a centromere-specific histone H3 variant encoded by CENPA in humans and cid in Drosophila. Cenp-A/Cid is required for the recruitment of Cenp-C, another conserved centromere protein. With yeast three-hybrid experiments, we demonstrate that the essential Drosophila centromere protein Cal1 can link Cenp-A/Cid and Cenp-C. Cenp-A/Cid and Cenp-C interact with the N- and C-terminal domains of Cal1, respectively. These Cal1 domains are sufficient for centromere localization and function, but only when linked together. Using quantitative in vivo imaging to determine protein copy numbers at centromeres and kinetochores, we demonstrate that centromeric Cal1 levels are far lower than those of Cenp-A/Cid, Cenp-C and other conserved kinetochore components, which scale well with the number of kinetochore microtubules when comparing Drosophila with budding yeast. Rather than providing a stoichiometric link within the mitotic kinetochore, Cal1 limits centromeric deposition of Cenp-A/Cid and Cenp-C during exit from mitosis. We demonstrate that the low amount of endogenous Cal1 prevents centromere expansion and mitotic kinetochore failure when Cenp-A/Cid and Cenp-C are present in excess.
Depletion of zebrafish essential and regulatory myosin light chains reduces cardiac function through distinct mechanisms.

AIMS Mutations in the essential myosin light chain (ELC) and regulatory myosin light chain (RLC) genes have been linked to sarcomeric hypertrophic cardiomyopathies in humans; however, the specific functions of the different myosin light chains during cardiogenesis in a vertebrate animal are not well understood. METHODS AND RESULTS Using zebrafish (Danio rerio) as a model organism, we have identified cmlc1 and cmlc2 as the main ELC and RLC orthologues, respectively, and have furthermore characterized their functions during cardiogenesis by morpholino technology. Depletion of either cmlc1 or cmlc2 using morpholino-modified antisense oligonucleotides leads to a disruption in sarcomere structure and compromises cardiac function as well, although through seemingly distinct mechanisms. While myosin still assembles into a novel rod-like structure in both morphants, the sarcomere length is longer in cmlc1 morphants than that in wild-type embryos, whereas it is shorter in cmlc2 morphants. In addition, cardiomyocyte size and number are increased upon depletion of cmlc1, resulting in a larger ventricular chamber volume; in contrast, depletion of cmlc2 leads to a reduction in cardiomyocyte size and number. CONCLUSION Our data have elucidated distinct roles for cmlc1 and cmlc2 during zebrafish cardiogenesis, suggesting that cardiomyopathies resulting from human mutations in ELCs vs. RLCs may have distinct pathological characteristics during disease progression.
Na+ currents are required for efficient excitation–contraction coupling in rabbit ventricular myocytes: a possible contribution of neuronal Na+ channels

Ca2+ transients were activated in rabbit ventricular cells by a sequence of action potential shaped voltage clamps. After activating a series of control transients, Na+ currents (INa) were inactivated with a ramp from −80 to −40 mV (1.5 s) prior to the action potential clamp. The transients were detected with the calcium indicator Fluo‐4 and an epifluorescence system. With zero Na+ in the pipette INa inactivation produced a decline in the SR Ca2+ release flux (measured as the maximum rate of rise of the transient) of 27 ± 4% (n= 9, P < 0.001) and a peak amplitude reduction of 10 ± 3% (n= 9, P < 0.05). With 5 mm Na+ in the pipette the reduction in release flux was greater (34 ± 4%, n= 4, P < 0.05). The ramp effectively inactivates INa without changing ICa, and there was no significant change in the transmembrane Ca2+ flux after the inactivation of INa. We next evoked action potentials under current clamp. TTX at 100 nm, which selectively blocks neuronal isoforms of Na+ channels, produced a decline in SR Ca2+ release flux of 35 ± 3% (n= 6, P < 0.001) and transient amplitude of 12 ± 2% (n= 6, P < 0.05). This effect was similar to the effect of INa inactivation on release flux. We conclude that a TTX‐sensitive INa is essential for efficient triggering of SR Ca2+ release. We propose that neuronal Na+ channels residing within couplons activate sufficient reverse Na+–Ca2+ exchanger (NCX) to prime the junctional cleft with Ca2+. The results can be explained if non‐linearities in excitation–contraction coupling mechanisms modify the coupling fidelity of ICa, which is known to be low at positive potentials.
A polysaccharide from Streptococcus sanguis 34 that inhibits coaggregation of S. sanguis 34 with Actinomyces viscosus T14V

Coaggregation between Actinomyces viscosus T14V and Streptococcus sanguis 34 depends on interaction of a lectin on A. viscosus T14V with a cell surface carbohydrate on S. sanguis 34. This carbohydrate was isolated, and its chemical makeup was established. The carbohydrate remained attached to S. sanguis 34 cells through extraction with Triton X-100 and treatment with pronase. It was cleaved from the cell residue by autoclaving and purified by differential centrifugation and column chromatography on DEAE-Sephacel and Sephadex G-75. The polysaccharide contained phosphate which was neither inorganic nor monoester. Treatment with NaOH-NaBH4, followed by Escherichia coli alkaline phosphatase, or with 48% HF at 4 degrees C, followed by NaBH4, yielded inorganic phosphate and oligosaccharide alditols. Therefore, the polysaccharide is composed of oligosaccharide units joined together by phosphodiester bridges. The structure and stereochemistry of the main oligosaccharide alditol was established previously (F. C. McIntire, C. A. Bush, S.-S. Wu, S.-C. Li, Y.-T. Li, M. McNeil, S. Tjoa, and P. V. Fennessey, Carbohydr. Res. 166:133-143). Permethylation analysis, 1H and 31P nuclear magnetic resonance studies on the whole polysaccharide revealed the position of the phosphodiester linkages. The polysaccharide is mainly a polymer of (6) GalNAc(alpha 1-3)Rha(beta 1-4)Glc(beta 1-6)Galf(beta 1-6)GalNAc(beta 1- 3)Gal(alpha 1)-OPO3. It reacted as a single antigen with antiserum to S. sanguis 34 cells and was a potent inhibitor of coaggregation between A. viscosus T14V and S. sanguis 34. Quantitative inhibition of precipitation assays with oligosaccharides, O-allyl N-acetylgalactosaminides, and simple sugars indicated that specific antibodies were directed to the GalNAc end of the hexasaccharide unit. In contrast, coaggregation was inhibited much more effectively by saccharides containing betaGalNAc. Thus, the specificity of the A. viscosus T14V lectin is strikingly different from that of antibodies directed against the S. sanguis 34 polysaccharide.
Applying the Locales Framework to understanding and designing

The paper presents another iteration in the ongoing CSCW dialogue between the understanding of work and the design of systems to support work. We overview the Locales Framework (and its five aspects of locale foundations, individual views, civic structures, interaction trajectory, and mutuality) as a shared abstraction for both understanding and designing. We describe the use of the framework in a telehealth case study and discuss the implications of the framework for the design of generic toolkit environments, as interpreted in the prototype system called Orbit. We conclude with a critique of the framework and suggestions for further iterations in the dialogue.
Genetic Algorithm Based Model in Text Steganography

Steganography is an ancient art. It is used for security in open systems. It focuses on hiding secret messages inside a cover medium. The most important property of a cover medium is the amount of data that can be stored inside it without changing its noticeable properties. There are many sophisticated techniques with which to hide, analyze, and recover that hidden information. This paper discusses an exploration in the use of Genetic Algorithm operators on the cover medium. We worked with text as the cover medium with the aim of increasing robustness and capacity of hidden data. Elitism is used for the fitness function. The model presented here is applied on text files, though the idea can also be used on other file types. Our results show this approach satisfied both security and hiding capacity requirements. Furthermore, we found that an increase in the size of the secret message resulted in an exponential increase in the size of the generated cover text. We also found a close relationship between the size of the chromosome used and the population size.
Oxidation of Phenolate Siderophores by the Multicopper Oxidase Encoded by the Escherichia coli yacK Gene

ABSTRACT A gene (yacK) encoding a putative multicopper oxidase (MCO) was cloned from Escherichia coli, and the expressed enzyme was demonstrated to exhibit phenoloxidase and ferroxidase activities. The purified protein contained six copper atoms per polypeptide chain and displayed optical and electron paramagnetic resonance (EPR) spectra consistent with the presence of type 1, type 2, and type 3 copper centers. The strong opticalA610 (Ε610 = 10,890 M−1 cm−1) and copper stoichiometry were taken as evidence that, similar to ceruloplasmin, the enzyme likely contains multiple type 1 copper centers. The addition of copper led to immediate and reversible changes in the optical and EPR spectra of the protein, as well as decreased thermal stability of the enzyme. Copper addition also stimulated both the phenoloxidase and ferroxidase activities of the enzyme, but the other metals tested had no effect. In the presence of added copper, the enzyme displayed significant activity against two of the phenolate siderophores utilized by E. coli for iron uptake, 2,3-dihydroxybenzoate and enterobactin, as well as 3-hydroxyanthranilate, an iron siderophore utilized bySaccharomyces cerevisiae. Oxidation of enterobactin produced a colored precipitate suggestive of the polymerization reactions that characterize microbial melanization processes. As oxidation should render the phenolate siderophores incapable of binding iron, yacK MCO activity could influence levels of free iron in the periplasm in response to copper concentration. This mechanism may explain, in part, how yacK MCO moderates the sensitivity of E. coli to copper.
Wireless Sensor Networks for Ambient Assisted Living

This paper introduces wireless sensor networks for Ambient Assisted Living as a proof of concept. Our workgroup has developed an arrhythmia detection algorithm that we evaluate in a closed space using a wireless sensor network to relay the information collected to where the information can be registered, monitored and analyzed to support medical decisions by healthcare providers. The prototype we developed is then evaluated using the TelosB platform. The proposed architecture considers very specific restrictions regarding the use of wireless sensor networks in clinical situations. The seamless integration of the system architecture enables both mobile node and network configuration, thus providing the versatile and robust characteristics necessary for real-time applications in medical situations. Likewise, this system architecture efficiently permits the different components of our proposed platform to interact efficiently within the parameters of this study.
Sine-fitting by the energy-based method in the dynamic testing of ADCs

The paper proposes a sine-fit algorithm exploiting the Energy-Based Method (EBM) to estimate the sine-wave parameters. Its use in the estimation of Analog-to-Digital Converter (ADC) spectral parameters like SIgnal-to-Noise And Distortion (SINAD) ratio and Effective Number Of Bits (ENOB) is investigated. A performance comparison with some state-of-the-art ADC test methods is performed using both computer simulations and experimental results. Finally, some important results concerning the algorithm design process, such as the selection of the optimal window and the number of acquired samples, are reported.
Muscle function and running activity in mouse models of hereditary muscle dystrophy: Impact of double knockout for dystrophin and the transcription factor MyoD

Introduction: Mice that lack both the transcription factor MyoD and dystrophin display a more pronounced myopathic phenotype when compared with mdx mice. No data on skeletal muscle function and the impact of exercise training are available. Methods: Six‐month‐old wild‐type, mdx, myoD−/−, mdx:myoD+/−, and mdx:myoD−/− mice were randomly assigned to either 4 weeks of voluntary running or sedentary behavior. The mdx:myoD−/− mice were not able to exercise at all and were kept sedentary. Results: The soleus muscle of sedentary 7‐month‐old mdx:myoD−/− mice showed a significantly lower force development compared with all other mice. Voluntary running beginning at the age of 6 months led to lower force development of soleus muscle in the mdx animals. Conclusions: mdx:myoD−/− is not a suitable model to study exercise‐induced effects on dystrophic muscles. Voluntary exercise in adult mdx mice seems to have detrimental effects on the function of soleus muscle. Muscle Nerve, 2012
[Effect of xuefu zhuyu pill on blood stasis syndrome and risk factor of atherosclerosis].

OBJECTIVE To observe the effect of Xuefuzhuyu Pill (XFZYP) on blood stasis syndrome and risk factor of atherosclerosis. METHODS Fifty-seven patients of atherosclerosis were randomly divided into XFZYP group (30 cases) and aspirin group (27 cases) treated with XFZYP (6 g, three times daily) and aspirin (40 mg per day) oral taken respectively for one month. RESULTS XFZYP could improve blood stasis syndrome of patients (P < 0.01) and reduced the level of risk factor of atherosclerosis, including high blood cholesterol (P < 0.01), oxidation of low density lipoprotein (P < 0.05) and plasma granule membrane protein alpha (P < 0.01). CONCLUSION XFZYP is beneficial to retard the progress of atherosclerosis.
Learning to personalize spoken generation for dialogue systems

One of the most robust findings of studies of human-human dialogue is that people adapt their utterances to their conversational partners. However, spoken language generators are limited in their ability to adapt to individual users. While statistical models of language generation have the potential for individual adaptation, we know of no experiments showing this. In this paper, we utilize one statistical method, boosting, to train a spoken language generator for individual users. We show that individualized models perform better than models based on sets of users, and describe differences in the learned individual models arising from the linguistic preferences of users.
Virulence of Escherichia coli B2 Isolates from Meat and Animals in a Murine Model of Ascending Urinary Tract Infection (UTI): Evidence that UTI Is a Zoonosis

ABSTRACT In vivo evidence of a connection between urinary tract infections (UTI) and foods is lacking. The virulence of 13 Escherichia coli B2 isolates from healthy animals and fresh meat was investigated in a murine model of ascending UTI. All isolates produced positive bladder cultures (102 to 107 CFU), and nine isolates produced positive kidney cultures (102 to 105 CFU).
Mammalian oocyte growth and development in vitro

This paper is a review of the current status of technology for mammalian oocyte growth and development in vitro. It compares and contrasts the characteristics of the various culture systems that have been devised for the culture of either isolated preantral follicles or the oocyte‐granulosa cell complexes from preantral follicles. The advantages and disadvantages of these various systems are discussed. Endpoints for the evaluation of oocyte development in vitro, including oocyte maturation and embryogenesis, are described. Considerations for the improvement of the culture systems are also presented. These include discussions of the possible effects of apoptosis and inappropriate differentiation of oocyte‐associated granulosa cells on oocyte development. Finally, the potential applications of the technology for oocyte growth and development in vitro are discussed. For example, studies of oocyte development in vitro could help to identify specific molecules produced during oocyte development that are essential for normal early embryogenesis and perhaps recognize defects leading to infertility or abnormalities in embryonic development. Moreover, the culture systems may provide the methods necessary to enlarge the populations of valuable agricultural, pharmaceutical product‐producing, and endangered animals, and to rescue the oocytes of women about to undergo clinical procedures that place oocytes at risk. © 1996 Wiley‐Liss, Inc.
A bidirectional energy conversion circuit for piezoelectric energy harvesting and vibration exciting purposes

Piezoelectric transducers can convert the mechanical energy into electrical one with their direct piezoelectric effect, or reciprocally convert the electrical energy into mechanical one with their inverse piezoelectric effect. Various applications were developed based on either of these two effects, for example, sensors and energy harvesters using the direct piezoelectric effect and actuators using the inverse piezoelectric effect. Yet, few of them have fulfilled the multi-functional purposes, which are useful in some application scenarios. This paper proposes a bidirectional energy conversion circuit (BECC) solution for the time-division energy harvesting and actuating purposes. The circuit topology is derived from the synchronized triple bias-flip circuit, which was formerly used for energy harvesting enhancement. The circuit topology and control logic for energy harvesting and actuating modes are discussed in details. Two designs are studied for investigating the potential applications of the BECC. In the linear piezoelectric structure, the BECC can be used to provide vibration excitation and then reclaim the vibration energy. Such time-division energy injection and reclamation can be used in some non-destructive structural health evaluations. The proposed BECC can be also used to realize the controllable orbit exciter in nonlinear piezoelectric energy harvesting systems. It is the first time to realize a compact and integrated orbit exciter and energy harvester by using a single interface circuit. Simulations and experiments are carried out for validating the performance of the BECC towards versatile engineering designs.
The Sweet-Home speech and multimodal corpus for home automation interaction

Ambient Assisted Living aims at enhancing the quality of life of older and disabled people at home thanks to Smart Homes and Home Automation. However, many studies do not include tests in real settings, because data collection in this domain is very expensive and challenging and because of the few available data sets. The S WEET-H OME multimodal corpus is a dataset recorded in realistic conditions in D OMUS, a fully equipped Smart Home with microphones and home automation sensors, in which participants performed Activities of Daily living (ADL). This corpus is made of a multimodal subset, a French home automation speech subset recorded in Distant Speech conditions, and two interaction subsets, the first one being recorded by 16 persons without disabilities and the second one by 6 seniors and 5 visually impaired people. This corpus was used in studies related to ADL recognition, context aware interaction and distant speech recognition applied to home automation controled through voice.