Miracle-dz/UniFAR-FTUs huggingface dataset:
Continuously satisfying constraints with contact forces in trajectory optimization for humanoid robots

Humanoid robots being underactuated, they need to interact with their environment to move. When optimizing trajectories, the contact forces must therefore be taken into account. In this paper, we first highlight an issue encountered when using parametrized functions in the presence of equality constraints which need to be satisfied continuously over a time interval. We then propose a parametrization of contact forces and a formulation of the constraints which allow to write a tractable optimization program whose solution verifies at any instant all the constraints where those forces appear. We finish by exemplifying the approach with preliminary results obtained on a HRP-2 humanoid robot.
Associative recognition in a patient with selective hippocampal lesions and relatively normal item recognition

Previous work (Mayes et al., Hippocampus 12:325–340, 2002) found that patient YR, who suffered a selective bilateral lesion to the hippocampus in 1986, showed relatively preserved verbal and visual item recognition memory in the face of clearly impaired verbal and visual recall. In this study, we found that YR's Yes/No as well as forced‐choice recognition of both intra‐item associations and associations between items of the same kind was as well preserved as her item recognition memory. In contrast, YR was clearly impaired, and more so than she was on the above kinds of recognition, at recognition of associations between different kinds of information. Thus, her recognition memory for associations between objects and their locations, words and their temporal positions, abstract visual items or words and their temporal order, animal pictures and names of professions, faces and voices, faces and spoken names, words and definitions, and pictures and sounds, was clearly impaired. Several of the different information associative recognition tests at which YR was impaired could be compared with related item or inter‐item association recognition tests of similar difficulty that she performed relatively normally around the same time. It is suggested that YR's familiarity memory for items, intra‐item associations, and associations between items of the same kind was mediated by her intact medial temporal lobe cortices and was preserved, whereas her hippocampally mediated recall/recollection of these kinds of information was impaired. It is also suggested that the components of associations between different kinds of information are represented in distinct neocortical regions and that initially they only converge for memory processing within the hippocampus. No familiarity memory may exist in normal subjects for such associations, and, if so, YR's often chance recognition occurred because of her severe recall/recollection deficit. Conflicting data and views are discussed, and the way in which recall as well as item and associative recognition need to be systematically explored in patients with apparently selective hippocampal lesions, in order to resolve existing conflicts, is outlined. © 2004 Wiley‐Liss, Inc.
Equivalences of monoidal model categories

We construct Quillen equivalences between the model categories of monoids (rings), modules and algebras over two Quillen equivalent model categories under certain conditions. This is a continuation of our earlier work where we established model categories of monoids, modules and algebras [Algebras and modules in monoidal model categories, Proc. London Math. Soc. 80 (2000), 491-511]. As an application we extend the Dold-Kan equivalence to show that the model categories of simplicial rings, modules and algebras are Quillen equivalent to the associated model categories of connected differential graded rings, modules and algebras. We also show that our classification results from [Stable model categories are categories of modules, Topology, 42 (2003) 103-153] concerning stable model categories translate to any one of the known symmetric monoidal model categories of spectra.
Genome-Wide Survey of SNP Variation Uncovers the Genetic Structure of Cattle Breeds

A survey of genetic diversity of cattle suggests two domestication events in Asia and selection by husbandry. Not Just Dinner on Legs Several thousand years ago, human beings realized the virtues of domesticating wild animals as easy meat. Soon other possibilities became apparent, and as revealed in a series of papers in this issue, early pastoralists became selective about breeding for wool, leather, milk, and muscle power. In two papers, Gibbs et al. report on the bovine genome sequence (p. 522; see the cover, the Perspective by Lewin, and the Policy Forum by Roberts) and trace the diversity and genetic history of cattle (p. 528), while Chessa et al. (p. 532) survey the occurrence of endogenous retroviruses in sheep and map their distribution to historical waves of human selection and dispersal across Europe. Finally, Ludwig et al. (p. 485) note the origins of variation in the coat-color of horses and suggest that it is most likely to have been selected for by humans in need of good-looking transport. The imprints of domestication and breed development on the genomes of livestock likely differ from those of companion animals. A deep draft sequence assembly of shotgun reads from a single Hereford female and comparative sequences sampled from six additional breeds were used to develop probes to interrogate 37,470 single-nucleotide polymorphisms (SNPs) in 497 cattle from 19 geographically and biologically diverse breeds. These data show that cattle have undergone a rapid recent decrease in effective population size from a very large ancestral population, possibly due to bottlenecks associated with domestication, selection, and breed formation. Domestication and artificial selection appear to have left detectable signatures of selection within the cattle genome, yet the current levels of diversity within breeds are at least as great as exists within humans.
Structure alignment via Delaunay tetrahedralization

A novel protein structure alignment technique has been developed reducing much of the secondary and tertiary structure to a sequential representation greatly accelerating many structural computations, including alignment. Constructed from incidence relations in the Delaunay tetrahedralization, alignments of the sequential representation describe structural similarities that cannot be expressed with rigid‐body superposition and complement existing techniques minimizing root‐mean‐squared distance through superposition. Restricting to the largest substructure superimposable by a single rigid‐body transformation determines an alignment suitable for root‐mean‐squared distance comparisons and visualization. Restricted alignments of a test set of histones and histone‐like proteins determined superpositions nearly identical to those produced by the established structure alignment routines of DaliLite and ProSup. Alignment of three, increasingly complex proteins: ferredoxin, cytidine deaminase, and carbamoyl phosphate synthetase, to themselves, demonstrated previously identified regions of self‐similarity. All‐against‐all similarity index comparisons performed on a test set of 45 class I and class II aminoacyl‐tRNA synthetases closely reproduced the results of established distance matrix methods while requiring 1/16 the time. Principal component analysis of pairwise tetrahedral decomposition similarity of 2300 molecular dynamics snapshots of tryptophanyl‐tRNA synthetase revealed discrete microstates within the trajectory consistent with experimental results. The method produces results with sufficient efficiency for large‐scale multiple structure alignment and is well suited to genomic and evolutionary investigations where no geometric model of similarity is known a priori. Proteins 2005. © 2005 Wiley‐Liss, Inc.
The Complete Genome Sequence and Analysis of the Epsilonproteobacterium Arcobacter butzleri

Background Arcobacter butzleri is a member of the epsilon subdivision of the Proteobacteria and a close taxonomic relative of established pathogens, such as Campylobacter jejuni and Helicobacter pylori. Here we present the complete genome sequence of the human clinical isolate, A. butzleri strain RM4018. Methodology/Principal Findings Arcobacter butzleri is a member of the Campylobacteraceae, but the majority of its proteome is most similar to those of Sulfuromonas denitrificans and Wolinella succinogenes, both members of the Helicobacteraceae, and those of the deep-sea vent Epsilonproteobacteria Sulfurovum and Nitratiruptor. In addition, many of the genes and pathways described here, e.g. those involved in signal transduction and sulfur metabolism, have been identified previously within the epsilon subdivision only in S. denitrificans, W. succinogenes, Sulfurovum, and/or Nitratiruptor, or are unique to the subdivision. In addition, the analyses indicated also that a substantial proportion of the A. butzleri genome is devoted to growth and survival under diverse environmental conditions, with a large number of respiration-associated proteins, signal transduction and chemotaxis proteins and proteins involved in DNA repair and adaptation. To investigate the genomic diversity of A. butzleri strains, we constructed an A. butzleri DNA microarray comprising 2238 genes from strain RM4018. Comparative genomic indexing analysis of 12 additional A. butzleri strains identified both the core genes of A. butzleri and intraspecies hypervariable regions, where <70% of the genes were present in at least two strains. Conclusion/Significance The presence of pathways and loci associated often with non-host-associated organisms, as well as genes associated with virulence, suggests that A. butzleri is a free-living, water-borne organism that might be classified rightfully as an emerging pathogen. The genome sequence and analyses presented in this study are an important first step in understanding the physiology and genetics of this organism, which constitutes a bridge between the environment and mammalian hosts.
Autonomous agent oriented traffic control system

Emerging trends in software development has been changed due to the huge amount of data, growth of internet, mobile, dynamic and smart applications. Most of such applications consist of small, intelligent, flexible and distributed components known as agents. Number of agent methodologies has been presented but few of these are evaluated and verified. Due to the invention of agent technology, the way to analyze, design and build the systems has been changed. Agents take input from the multiple sources and have real time response. Vehicle traffic management especially in large cities is rapidly becoming one of the major challenges due to heavy growth in population and vehicles. Our research proposed a solution for traffic control and management system using intelligent/ autonomous agents technology. These agents have the ability to observe, act and learn from their experience. Our system uses the knowledge of flow of previous signal to predict the incoming flow for the next signal. The proposed architecture involves the video analysis and exploration using some machine learning techniques to estimate and guess the flow of traffic.
Relating the Farrell Nil-groups to the Waldhausen Nil-groups

Abstract Every virtually cyclic group Γ that surjects onto the infinite dihedral group D ∞ contains an index two subgroup ∏ of the form We show that the Waldhausen Nil-group of Γ vanishes if and only if the Farrell Nil-group of ∏ vanishes. 2000 Mathematics Subject Classification: 19D35.
Motzkin Paths, Motzkin Polynomials and Recurrence Relations

We consider the Motzkin paths which are simple combinatorial objects appearing in many contexts. They are counted by the Motzkin numbers, related to the well known Catalan numbers. Associated with the Motzkin paths, we introduce the Motzkin polynomial, which is a multi-variable polynomial "counting" all Motzkin paths of a certain type. Motzkin polynomials (also called Jacobi-Rogers polynomials) have been studied before, but here we deduce some properties based on recurrence relations. The recurrence relations proved here also allow an efficient computation of the Motzkin polynomials. Finally, we show that the matrix entries of powers of an arbitrary tridiagonal matrix are essentially given by Motzkin polynomials, a property commonly known but usually stated without proof.
A novel dynamic edge detection inspired from mammalian retina toward better robot vision

Edge detection plays a significant role in assessing the capability level of the robot's vision. Accurate edge detection leads to better vision. The work in this paper was conducted by the inspiration of the biological concept of mammalian vision. That is, the retina enriches the edges in the view before passing it to the visual cortex in the brain for further processes. Although many works have been done to investigate surrounding this issue, these works are still limited in compare with that exists in retina. In this study, we investigated the main role of horizontal cells for the retina's network toward building a retina-like robot's vision technique. Experimental results show the validity of the proposed algorithm to provide accurate edges in real-time with less noise.
Influence of genetic relatedness and spatial proximity on chronic wasting disease infection among female white-tailed deer

Summary 1. Social organization and interactions among individuals are suspected to play important roles in the transmission and potential management of wildlife diseases. However, few studies have been conducted to evaluate sociality in wildlife disease transmission. We evaluated the hypothesis of socially facilitated transmission of chronic wasting disease (CWD) among adult female white-tailed deer using spatial location and genetic relatedness for 1387 female deer, and spatial locations of 1321 adult male deer harvested during 2002–2004 CWD control efforts in Wisconsin, USA. 2. Genetically related female deer were significantly clustered at distances of <3AE2 km. However, spatial autocorrelation based on maternally inherited mitochondrial DNA was 50-fold higher than relatedness estimated from microsatellite loci, indicating spatial overlap of females from different social groups with high rates of male-mediated dispersal and gene flow among groups. 3. Probability of CWD infection in adult females was significantly increased by closely related (fullsibling, mother-offspring) infected females that were both spatially proximate (£3AE2 km) and farther distant. To a minor extent, the probability of infection was also influenced by the number of nearby infected females (£3AE2 km), but not by the number of infected males. 4. Direct deer-to-deer transmission of CWD between closely related female deer may be an important route of local CWD transmission. 5. Synthesis and applications. Random mixing and infectious contact may be inadequate models for CWD transmission and disease spread in female deer. Frequency-dependent CWD transmission may be important for females because infectious contacts are limited between members of different female social groups, even if ranges overlap. Given that our data demonstrate a strong relationship between infection probability and female relatedness, CWD management should consider female harvest to maintain smaller female social groups and reduce contact among female deer. However, evaluation of the effects of this strategy on deer social behaviour and contact is needed.
Preface Studying Corporate Life with Diction

Between February 14 th and 16 th of 2013, some sixty scholars from a wide variety of disciplines includ-finance, and accounting came to Austin, Texas to exchange ideas about the language of institutions. Most of them had never met before and many had nothing in common except one thing – they had used the same computer program to do their work. The software they used, DICTION (www.dictionsoftware. com), analyzes large groups of texts and does so quickly, accurately, and reliably. In other words, these 50 carpenters had pounded on very different nails but used the same hammer when doing so. Their craftsmanship resulted in this book and its companion volume, Communication and Language Analysis in the Public Sphere. Bringing together such a diverse set of scholars is all too rare in academic circles. Most scholars stay within their own disciplines, talking to people with kindred backgrounds. But for three days in early 2013, things were different. The researchers represented in these two volumes listened carefully and respectfully to one another, disagreeing when disagreement was warranted but mostly they asked questions: What can language tell us about complex institutions? Why are some words repeated with special frequency within a certain era and within a given organization by some social actors and not others? Why are some words never heard at all until they suddenly become dominant, words like Enron, Obamacare, occupy, drones, and QE2? Do these sudden appearances tell us the world has changed? What about words that are used all the time, words like hope and jobs? What does it mean when such words suddenly increase or decrease in frequency? If people stop talking about jobs, does it mean that employment is now bountiful or that workers have lost hope? DICTION can easily detect which words are being used in day-today life but it cannot say why. That is the task of the authors in this volume. In an era featuring the World Wide Web, there are now available a great many programs for doing word searches. DICTION is one of the hardiest and simplest and has been in use for some forty years. Researchers using the program have been especially interested in complex institutions. They have treated DICTION's results as bellweathers to tell them which social arrangements seem to be unraveling and which seem newly emergent. There are other ways of measuring institutions, of course. One could track baseball …
Test Results for a Fuel Cell-Powered Demonstration Aircraft

A fuel cell powered airplane has been designed and constructed at the Georgia Insitute of Technology to develop an understanding of the design and implementation challenges of fuel cell-powered unmanned aerial vehicles (UAVs). A custom 448W net output proton exchange membrane fuel cell powerplant has been constructed and tested. A demonstrator aircraft was designed and built to accommodate this powerplant and the fuel cell powered aircraft has performed seven test flights to date. Test data show that the aircraft performance validates the models used for design and optimization and that the fuel cell aircraft is capable of longer endurance, higher performance test flights.
Host Stromal Bradykinin B2 Receptor Signaling Facilitates Tumor-Associated Angiogenesis and Tumor Growth

We evaluated the significance of the host kallikrein-kinin system in tumor angiogenesis and tumor growth using two rodent models genetically deficient in a kallikrein-kinin system. Inoculation of Walker 256 carcinoma cells into the s.c. tissues of the back of normal Brown Norway Kitasato rats (BN-Ki rats) resulted in the rapid development of solid tumors with marked angiogenesis. By contrast, in kininogen-deficient Brown Norway Katholiek rats (BN-Ka rats), which cannot generate intrinsic bradykinin (BK), the weights of the tumors and the extent of angiogenesis were significantly less than those in BN-Ki rats. Daily administration of B2 receptor antagonists significantly reduced angiogenesis and tumor weights in BN-Ki rats to levels similar to those in BN-Ka rats but did not do so in BN-Ka rats. Angiogenesis and tumor growth were significantly suppressed in B2 receptor knockout mice bearing sarcoma 180 compared with their wild-type counterparts. Immunoreactive vascular endothelial growth factor (VEGF) was localized in Walker tumor stroma more extensively in BN-Ki rats than in BN-Ka rats, although immunoreactive B2 receptor also was detected in the stroma to the same extent in both types of rats. Cultured stromal fibroblasts isolated from BN-Ki rats and BN-Ka rats produced VEGF in response to BK (10−8-10−6 m), and this stimulatory effect of BK was abolished with a B2 receptor antagonist, Hoe140 (10−5 m). These results suggest that BK generated from kininogens supplied from the host may facilitate tumor-associated angiogenesis and tumor growth by stimulating stromal B2 signaling to up-regulate VEGF production mainly in fibroblasts.
A systematic design of space-time block codes with reduced-complexity partial interference cancellation group decoding

Recently, space-time block codes (STBC) with a partial interference cancellation (PIC) group decoding was proposed to deal with the tradeoff among rate, diversity and complexity by Guo and Xia. In this paper, we propose a systematic design of STBC with reduced-complexity PIC group decoding. The proposed STBC is featured as Alamouti-type block code in which each entry of Alamouti code matrix is replaced by a block of multi-layer coded symbols. With the PIC group decoding and a particular grouping scheme, the proposed STBC can achieve full diversity, rate- 2M over M+2 and a low-complexity decoding for M transmit antennas. Simulation results show that the proposed codes can achieve the full diversity with PIC group decoding while requiring half decoding complexity of the existing codes.
yeast Target hub proteins serve as master regulators of development in data

Online First articles must include the digital object identifier (DOIs) and date of initial publication. establish publication priority; they are indexed by PubMed from initial publication. Citations to may be posted when available prior to final publication). Online First articles are citable and accepted for publication but have not yet appeared in the paper journal (edited, typeset versions contains unedited articles in manuscript form that have been peer reviewed and Online First
Joint and transfer learning of CNN and similarity metric for comparing UAV video image patches

Comparing Unmanned Aerial Vehicle (UAV) video image patches is a fundamental task in UAV video image processing. The main difficulty lies in the wide variety of appearance changes in images taken under different UAV imaging conditions, such as jitter, changing points of view, frequent undefined motion, illumination changes and etc. The usual algorithms which are based on the hand-craft features and independently predefined similarity metrics, cannot deal with these factors well. Motivated by recent successes on learning deep feature representations and feature similarity metric, a method which jointly models and learns these two objects is proposed here. Especially, comparing UAV video image patches is deemed as a binary classification problem and a Convolutional Neural Network (CNN) based comparing system is developed. It is composed of three parts: (1) two stream CNNs, (2) one similarity metric network, (3) one softmax layer. To jointly learn the CNNs and similarity metric, the available standard natural image datasets are employed and two new datasets representing typical satellite and UAV imaging scenes are built. Furthermore, over the datasets from different imaging scenes, the transfer joint learning of the proposed comparing system is investigated. The primary experimental results show that the proposed method can significantly outperform the recent results of the hand-craft feature based comparing methods.