Miracle-dz/UniFAR-FTUs huggingface dataset:
Toward real-time realistic humanoid manipulation tasks in changing environments

A central challenging problem in humanoid robotics is to plan and execute dynamic tasks in changing environments, and at the same time keep the result convincing and realistic. Sampling-based online motion planners are particularly powerful for automatically generating collision-free motions in changing environments. However, without learning strategies, each task still has to be planned from scratch, preventing these algorithms from getting closer to realtime performance. Moreover, the nature of the random sampling strategy employed in these planners also results in extremely non human-like solutions. This document addresses these two issues by proposing to learn important features from previously planned solutions, or from real captured motion to improve both the efficiency and the solution quality. Our methods work in changing environments, where obstacles can have different positions in different tasks. However, we assume that obstacles are static during the execution of a single task. We first propose the Attractor Guided Planner (AGP), which extends existing motion planners in two simple but important ways. First, it extracts significant attractor points from successful paths as guiding landmarks for new similar tasks. Second, it relies on a task comparison metric to decide when previous solutions should be reused to guide the planning of new tasks. The task comparison metric takes into account the task specification and as well environment features which are relevant to the query. With combination of motion capture technique, the AGP planner also shows big improvements towards generating realistic planned motions. We propose a constraint detection method that applies to humanoid manipulation tasks. After recording a performer’s demonstrated motion, our method will automatically detect important constraints, and then segment the input motion according to different types of constraints. Attractors are placed at the connections between each pair of segments and assigned the same constraints as the previous segment. Then, given a new similar task, the new planning is guided not only toward the locations of the attractors, but also preserving the constraints of the attractors. Several experiments are presented with different humanoid reaching examples where obstacles are differently located for each task. Our results show that the AGP greatly improves both the planning time and solution quality, when comparing to traditional sampling-based motion planners. We also show that with our constraint detection method, the AGP planner can efficiently find a solution that preserves the features of the input motion, making the solution motion coherent with the task being solved and therefore more realistic. Although our current results are not yet capable of achieving real-time performance nor overall realistic humanlike motions, we believe that the techniques introduced here are key for getting closer to these goals.
Do the high-frequency indexes of HRV provide a faithful assessment of cardiac vagal tone? A critical theoretical evaluation

When spectral analysis of the heart rate (HR) signal is performed, it is quite common to attribute the HF indexes of heart rate variability (HRV) to cardiac vagal control. The paradigm underlying this attribution states that changes in cardiac vagal outflow correspond to a proportional change in respiratory sinus arrhythmia (RSA). However, recent studies have demonstrated that variations in these indexes do not necessarily reflect proportional changes in vagal tone. The current study provides a theoretical evaluation of the relationship between mean HR, RSA, and cardiac vagal tone. This evaluation is based on a theoretical model, which quantifies the differential effects of vagal blockade by a competitive muscarinic antagonist on the HF indexes of HRV. The model relies on several assumptions that reflect the basic physiology of the sinoatirial (SA) node, as well as pharmacological relations that describe agonist/antagonist equilibrium at the SA receptors. The mathematical framework of this model is the integral-pulse-frequency-modulation (IPFM) process, and its derivations lead to a specific expressions for the dependence of HF and mean HR on the level of vagal blockade. These expressions provide a new insight into the relationship between mean HR, RSA, and vagal tone, and explain conflicting experimental results previously published.
A Massively Parallel Multigrid Method for Finite Elements

The hierarchical hybrid grid framework supports the parallel implementation of multigrid solvers for finite element problems. Specifically, it generates extremely fine meshes by using a structured refinement of an unstructured base mesh. For special problems with piecewise uniform material parameters, this leads to the possibility of stencil-based operations, which save substantial memory and permit a very efficient implementation of the multigrid method
Defining a mechanistic link between pigment epithelium–derived factor, docosahexaenoic acid, and corneal nerve regeneration

The cornea is densely innervated to sustain the integrity of the ocular surface. Corneal nerve damage produced by aging, diabetes, refractive surgeries, and viral or bacterial infections impairs tear production, the blinking reflex, and epithelial wound healing, resulting in loss of transparency and vision. A combination of the known neuroprotective molecule, pigment epithelium–derived factor (PEDF) plus docosahexaenoic acid (DHA), has been shown to stimulate corneal nerve regeneration, but the mechanisms involved are unclear. Here, we sought to define the molecular events of this effect in an in vivo mouse injury model. We first confirmed that PEDF + DHA increased nerve regeneration in the mouse cornea. Treatment with PEDF activates the phospholipase A2 activity of the PEDF-receptor (PEDF-R) leading to the release of DHA; this free DHA led to enhanced docosanoid synthesis and induction of bdnf, ngf, and the axon growth promoter semaphorin 7a (sema7a), and as a consequence, their products appeared in the mouse tears. Surprisingly, corneal injury and treatment with PEDF + DHA induced transcription of neuropeptide y (npy), small proline-rich protein 1a (sprr1a), and vasoactive intestinal peptide (vip) in the trigeminal ganglia (TG). The PEDF-R inhibitor, atglistatin, blocked all of these changes in the cornea and TG. In conclusion, we uncovered here an active cornea–TG axis, driven by PEDF-R activation, that fosters axon outgrowth in the cornea.
The number of multinucleated trophoblastic giant cells in the basal decidua is decreased in retained placenta

Aims: Retained placenta (RP) is a major cause of obstetric haemorrhage. The aim of the study was to obtain a better understanding of the mechanisms that cause some placentas to become retained, while most are not. Methods: 23 RPs clinically diagnosed as placenta adhesiva and 10 control placentas (CPs) were examined for differences in trophoblast fusion into multinucleated trophoblastic giant cells (MTGCs), defects in the basal decidua, and decidual attachment of myometrial fibres. Results: The number of MTGCs in the basal decidua was significantly smaller in RPs (0.23 MTGC/standard length) than in CPs (1.11 MTGC/standard length) (p<0.001). Defects in the decidua were observed in 4% of the RPs and in 0% of the CPs. Myometrial fibres were attached to the decidua in 78% of the RPs and in 0% of the CPs (p<0.001). Conclusions: In placenta adhesiva compared with CPs, significantly less MTGCs were present in the basal decidua, the basal decidua was intact, and myometrial fibres were more frequently attached to the basal decidua. It is speculated that these findings may indicate that defective fusion of trophoblastic cells into MTGCs plays a causative role in placenta adhesiva.
Responses of Methanogen mcrA Genes and Their Transcripts to an Alternate Dry/Wet Cycle of Paddy Field Soil

ABSTRACT Intermittent drainage can substantially reduce methane emission from rice fields, but the microbial mechanisms remain poorly understood. In the present study, we determined the rates of methane production and emission, the dynamics of ferric iron and sulfate, and the abundance of methanogen mcrA genes (encoding the alpha subunit of methyl coenzyme M reductase) and their transcripts in response to alternate dry/wet cycles in paddy field soil. We found that intermittent drainage did not affect the growth of rice plants but significantly reduced the rates of both methane production and emission. The dry/wet cycles also resulted in shifts of soil redox conditions, increasing the concentrations of ferric iron and sulfate in the soil. Quantitative PCR analysis revealed that both mcrA gene copies and mcrA transcripts significantly decreased after dry/wet alternation compared to continuous flooding. Correlation and regression analyses showed that the abundance of mcrA genes and transcripts positively correlated with methane production potential and soil water content and negatively correlated with the concentrations of ferric iron and sulfate in the soil. However, the transcription of mcrA genes was reduced to a greater extent than the abundance of mcrA genes, resulting in very low mcrA transcript/gene ratios after intermittent drainage. Furthermore, terminal restriction fragment length polymorphism analysis revealed that the composition of methanogenic community remained stable under dry/wet cycles, whereas that of metabolically active methanogens strongly changed. Collectively, our study demonstrated a stronger effect of intermittent drainage on the abundance of mcrA transcripts than of mcrA genes in rice field soil.
Power Data Service Cost Measurement Mechanism Based on the Whole Life Cycle

Relying on the power data accumulated by enterprises for a long time, the power data service serves the internal operation of the company and the external service of the government decision-making, etc. And it also plays an important role in the national economic development and the construction of a new power system. Power data service cost measurement can provide decision-making reference for enterprises to study and judge the development trend of power data service. However, the method of measuring the cost of power data service is still blank. Therefore, this paper puts forward the power data service cost measurement mechanism based on the whole life cycle. First, power data services are classified according to their characteristics. Then, the life cycle of power data service is proposed, and the cost composition of power data service is analyzed. Finally, according to the characteristics of power data service, three kinds of power data service cost measurement models are constructed.
A Timing-Driven Approach to Synthesize Fast Barrel Shifters

In modern digital signal processing and graphics applications, the shifter is an important module, consuming a significant amount of delay. This brief presents an architectural optimization approach to synthesize a faster barrel shifter block, which can be useful to reduce the delay of the design without significantly increasing the area. We have divided the problem of generating the shifter into two steps: (i) timing-driven selection of multiple stages for merging, and (ii) the design of the merged stage. In our proposed method, we define the notion of dual merged stage, where two stages are merged and the triple merged stage, where three stages are merged into a single composite stage. These merged stages are identified by using a timing-driven algorithm and are used in conjunction with some single stages of the traditional barrel shifter. The use of these merged stages helps reduce the depth of the proposed barrel shifter architecture, thereby improving the delay. The timing-driven nature of our algorithm helps produce a faster implementation for the overall shifter block. We have evaluated the performance of our design by using a number of technology libraries, timing constraints and shifter bit-widths. Our experimental data shows that the shifter block generated by our algorithm is significantly faster (10.19% on average) than the shifter block generated by a commercially available datapath synthesis tool. These improvements were verified on placed-and-routed designs as well.
Multi-user MIMO communications for IRS-assisted Spatial Modulation Systems

In this paper, we investigate a multi-user (MU) spatial modulation (SM) scheme with the assistance of multi-panel intelligent reflecting surfaces (IRS), which is termed IRS-MU-SM. The proposed IRS-MU-SM system serves multi-users independently using different IRS panels. The reflecting angle of each panel is designed according to the information conveyed to each user. In addition, the precoding scheme employed at the base station (BS) eliminates the inter-user interference from the intended panel and other panels to achieve a maximum signal-to-noise ratio based on the number of active antennas at the BS. Furthermore, the formulation of precoding vectors is based on the singular value decomposition of the interference channel matrix corresponding to each user. Finally, the system performance is evaluated for various parameters regarding achievable sum rate and energy efficiency.
Towards Principled Experimental Study of Autonomous Mobile Robots ( Appears in ISER 95

We review the current state of research in autonomous mobile robots and conclude that there is an inadequate basis for predicting the reliability and behavior of robots operating in unengineered environments. We present a new approach to the study of autonomous mobile robot performance based on formal statistical analysis of independently reproducible experiments conducted on real robots. Simulators serve as models rather than experimental surrogates. We demonstrate three new results: 1) Two commonly used performance metrics (time and distance) are not as well correlated as is often tacitly assumed. 2) The probability distributions of these performance metrics are exponential rather than normal, and 3) a modular, object-oriented simulation accurately predicts the behavior of the real robot in a statistically significant manner.
Exploration on Intelligent Detection Methods for Substation Equipment Based on Deep Learning

With the continuous development of industrial automation and intelligence, traditional methods of substation equipment detection face challenges of low efficiency and accuracy. This study aims to explore a deep learning-based intelligent detection method for substation equipment, aiming to improve detection efficiency, accuracy, and reduce manual costs. The advanced object detection model YOLOv5 is employed in this exploration. Through training and testing on a large number of substation equipment images, rapid and accurate identification of equipment is achieved. Experimental results show that this method outperforms traditional approaches in terms of accuracy, recall, and processing speed, demonstrating promising application prospects. Furthermore, the study delves into the performance of the YOLOv5 model in handling complex scenarios, including its ability to recognize equipment states under various weather conditions and different lighting conditions. By optimizing the model structure and adjusting training strategies, the robustness of the model is enhanced when facing challenges such as occlusion, reflection, and equipment aging. Particularly, the model's capability to detect minor faults is significantly improved, which is crucial for early fault warning and maintenance decision support. In conclusion, the successful application of deep learning-based intelligent detection technology for substation equipment provides new ideas and tools for the safe operation and intelligent management of power systems. Looking ahead, with ongoing technological advancements and further accumulation of data, we believe these intelligent detection technologies will play an increasingly important role in ensuring grid reliability, optimizing operational processes, and reducing operating costs.
Adaptive transmission method for bluetooth systems in noise environments

Absfrad In wireless communication system using 2.4GHz radio 6equency ! ink, BER (Bit Error Rate) due to interferences varies with time, which causes the performance degradation. This means that an adaptive transmission method is necessary to obtain better perfonnnnce according to varying BER. This paper proposs an optimal packet type and its optimal payload length considering feedback channel CIIOIS for a given BER, which minimize the transmission time of the userdata. Based on them, an adaptive transmission method is suggested, which decide the packet type and its payload length depending on the varying BER, the feedback channel errors and the user-data length. Simulation results show tbat the proposed method is effective because it can achieve higher throughput than conventional method with varying BER
An algorithm for determining whether a given binary matroid is graphic.

1. Introduction. In a recent series of papers [l-4] on graphs and matroids I used definitions equivalent to the following. A binary chain-group N on a. finite set M is a class of subsets of M forming a group under mod 2 addition. These subsets are the chains of N. A chain of N is elementary if it is non-null and has no other non-null chain of AT as a subset. A binary matroid is the class of elementary chains of a binary chain-group. As an example of a binary chain-group we may take the class of all cuts of a given finite graph G. A cut of G is determined by a partition of its set of vertices into two disjoint subsets U and V, and is defined as the set of all edges having one end in U and the other in V. I have called the corresponding binary matroid the bond-matroid of G. In the above-mentioned series of papers I obtained necessary and sufficient conditions for a given binary matroid to be graphic, that is representable as the bond-matroid of a graph. On several occasions it has been pointed out to me that these results are of interest to electrical engineers,1 but that a practical method for deciding whether or not a given binary matroid was graphic would be still more interesting. In what follows I present an algorithm which I hope will be of some use in this connection. This algorithm is described in §3 and the theorems needed to justify
What role can gender-transformative programming for men play in increasing men’s HIV testing and engagement in HIV care and treatment in South Africa?

Abstract Men are less likely than women to test for HIV and engage in HIV care and treatment. We conducted in-depth interviews with men participating in One Man Can (OMC) – a rights-based gender equality and health programme intervention conducted in rural Limpopo and Eastern Cape, South Africa – to explore masculinity-related barriers to HIV testing/care/treatment and how participation in OMC impacted on these. Men who participated in OMC reported an increased capability to overcome masculinity-related barriers to testing/care/treatment. They also reported increased ability to express vulnerability and discuss HIV openly with others, which led to greater willingness to be tested for HIV and receive HIV care and treatment for those who were living with HIV. Interventions that challenge masculine norms and promote gender equality (i.e. gender-transformative interventions) represent a promising new approach to address men’s barriers to testing, care and treatment.
Outsourcing the routing control logic: better internet routing based on SDN principles

Inter-domain routing is based on a fully decentralized model, where multiple Autonomous Systems (AS) interact via the BGP protocol. Although BGP is the "glue" of the Internet, it faces a lot of problems regarding its fully distributed nature, policy enforcement capabilities, scalability, security and complexity. Due to the widespread adoption of BGP, only incrementally deployable solutions are feasible. Taking this observation into account, we describe a new, backwards-compatible routing model which is based on outsourcing and logically centralizing the routing control plane. We claim that outsourcing enables enhanced inter-domain routing. As multiple ASes outsource their routing control plane to the same outsourcing service contractor, AS clusters are being gradually formed. A logically centralized multi-AS routing control platform based on Software Defined Networking (SDN) principles is the natural point for taking efficient routing decisions, detecting policy conflicts, troubleshooting routing problems, and evolving BGP. We present the technical and financial incentives which support the feasibility of the model and also propose an implementation scheme to facilitate it.
Increased oxidative damage to DNA in a transgenic mouse model of Huntington's disease

Mitochondrial dysfunction and oxidative damage may play a role in the pathogenesis of Huntington's disease (HD). We examined concentrations of 8‐hydroxy‐2‐deoxyguanosine (OH8dG), a well‐established marker of oxidative damage to DNA, in a transgenic mouse model of HD (R6/2). Increased concentrations of OH8dG were found in the urine, plasma and striatal microdialysates of the HD mice. Increased concentrations were also observed in isolated brain DNA at 12 and 14 weeks of age. Immunocytochemistry showed increased OH8dG staining in late stages of the illness. These results suggest that oxidative damage may play a role in the pathogenesis of neuronal degeneration in the R6/2 transgenic mouse model of HD.
Knowledge Sharing dalam Organisasi: Tinjauan Sistematis

The aim of this research is to bring together the scattered literature on knowledge sharing, and analyze it to provide a better understanding. The review went through three stages: establishing the review protocol, conducting the review, and reporting the review. This research systematically reviews 110 articles in three research streams: (1) drivers of knowledge sharing (2) knowledge sharing processes, and (3) results of knowledge sharing. This research finds that organizations are advised to design knowledge sharing processes in line with their overall business goals, strategies and resources to maximize the benefits of knowledge sharing.
Model Linked Stress Release pada Data Gempa Bumi di Pulau Sumatra

Teori elastic rebound menjelaskan tentang model stress release dimana besarnya tekanan meningkat secara deterministik dan berkurang secara stokastik sebagai akibat dari gempa bumi. Pada analisis data gempa bumi, suatu wilayah memiliki interaksi dengan wilayah lainnya. Perpindahan tekanan dan interaksi antar wilayah belum dapat dipertimbangkan dalam model stress release. Dalam artikel ini, model stress release dikontruksi dalam model linked stress release dengan mempertimbangkan interaksi antar wilayah. aModel linked stress release dapat dinyatakan melalui fungsi intensitas bersyarat bergantung pada akumulasi tekanan yang dilepaskan saat terjadi gempa bumi dalam subwilayah j selama periode waktu t. Tujuan penelitian ini adalah mengestimasi fungsi intensitas bersyarat model linked stress release dan menerapkan pada data gempa bumi. Penelitian ini menggunakan data gempa bumi di Pulau Sumatra periode Januari 2010 sampai dengan Desember 2016. Metode estimasi likelihood maksimum digunakan untuk memperoleh hasil estimasi fungsi intensitas bersyarat model linked stress release pada data gempa bumi di Pulau Sumatra. Hasil penelitiannya yaitu intensitas gempa bumi Pulau Sumatra pada wilayah bagian utara relatif lebih tinggi dibanding dengan wilayah bagian selatan.