Miracle-dz/UniFAR-FTUs huggingface dataset:
Autonomous Stairwell Ascent

Summary This paper documents autonomous multi-floor stairwell ascent by a legged robot. This is made possible through empirically deployed sequential composition of several reactive controllers, with perceptually triggered transitions. This composition relies on simplified assumptions regarding the robot’s sensory capabilities, its level of mobility, and the environment it operates in. The discrepancies between these assumptions and the physical reality are capably handled by the intrinsic motor competence of the robot. This behavior is implemented on the legged RHex platform and experiments spanning 10 different stairwells with various challenges are conducted.
MagneComm: Magnetometer-based Near-Field Communication

Near-field communication (NFC) plays a crucial role in the operation of mobile devices to enhance applications such as payment, social networks, private communication, gaming, and etc. Despite of the convenience, existing NFC standards like ISO-13157 require additional hardware (e.g., loop antenna and dedicated chip) and thereby hindering their wide-scale applications. In this work, we seek to propose a novel near-field communication protocol, MagneComm, which utilizes Magnetic Induction (MI) signals emitted from CPUs and captured by magnetometers on mobile devices for communication. Since CPUs and magnetometers are readily available components in mobile devices, MagneComm eliminates the requirement for special hardware and complements existing near-field communication protocols by providing additional bandwidth. We systematically analyze the characteristics of magnetic signals of CPUs and facilitate MagneComm with one-way communication, full-duplex communication, and multi-transmitter schemes in accordance with the hardware availability on devices. We prototype MagneComm on both laptops and smartphones. Extensive evaluation results show that MagneComm achieves up to 110bps within 10cm.
Spinal and Brain Control of Human Walking: Implications for Retraining of Walking

In this update, the authors will discuss evidence for both spinal and brain regulation of walking in humans. They will consider the sensory control of walking in young babies and spinal cord–injured adults, two models with weak descending input from the brain, to suggest that subcortical structures are important in shaping walking behavior. Based on evidence from development, the authors suggest that the primitive pattern of walking seen in babies forms the base upon which additional features are added by supraspinal input as independent walking develops. Increasing evidence suggests the motor cortex is important in the control of level-ground walking in adults, in contrast to quadrupeds. This brain input seems particularly important for distal flexors in the leg. Finally, the authors will consider evidence that the recovery of walking after incomplete spinal cord injuries is dependent on the presence of descending input from the motor cortex and our ability to strengthen that input. These findings imply that training methods for improving walking after injury to the nervous system must promote the involvement of both spinal and brain circuits.
Two phosphorylation-independent sites on the p85 SH2 domains bind A-Raf kinase.

Src homology 2 (SH2) domains mediate phosphotyrosine (pY)-dependent protein:protein interactions involved in signal transduction pathways. We have found that the SH2 domains of the 85-kDa alpha subunit (p85) of phosphatidylinositol 3-kinase (PI3 kinase) bind directly to the serine/threonine kinase A-Raf. In this report we show that the p85 SH2:A-Raf interaction is phosphorylation-independent. The affinity of the p85 C-SH2 domain for A-Raf and phosphopeptide pY751 was similar, raising the possibility that a p85:A-Raf complex may play a role in the coordinated regulation of the PI3 kinase and Raf-MAP kinase pathways. We further show that the p85 C-SH2 domain contains two distinct binding sites for A-Raf; one overlapping the phosphotyrosine-dependent binding site and the other a separate phosphorylation-independent site. This is the first evidence for a second binding site on an SH2 domain, distinct from the phosphotyrosine-binding pocket.
Analytical Determination of Slot Leakage Field and Inductances of Electric Machines With Double-Layer Windings and Semiclosed Slots

Slot leakage field and inductance computation are, in general, nontrivial tasks in the analysis of electric machines equipped with semiclosed slots, even under the hypothesis of neglecting magnetic saturation. This paper proposes an analytical method to evaluate the slot leakage field and inductances in dual-layer distributed winding machines, extending the results of a previous work where the single-layer winding design was addressed. A direct solution to Poisson's differential equation in the slot domain is found by suitably defining boundary conditions in the slot opening area. Boundary conditions are defined exploiting the analytical form taken by the magnetic field in the neighborhood of ferromagnetic corner-shaped regions. The presented approach is successfully validated against finite element simulations.
A fuzzy quantitative VRIO‐based framework for evaluating organizational activities

Purpose – The study aims to shed light on how to identify drivers of sustainable competitive advantage under a turbulent and uncertain environment, one of the most crucial challenges faced by resource‐based strategists.Design/methodology/approach – This study introduces a VRIO‐based framework to evaluate a firm's internal activities, in which the fuzzy set and utilities functions are adopted to identify the competitive advantage of available resources based on resource‐based theory. A case study is conducted to illustrate how the framework can be applied as a tool for exploring the potential competitiveness of a firm's core resources.Findings – The quantitative VRIO‐based framework is a useful tool to assist top management to identify a list of potential competitive advantages of the available sources.Originality/value – The VRIO‐based framework is built through the integration of quantitative and qualitative methods, and this innovative approach is proposed to bridge the gap between resource‐based theory.
Effects of kinesio tape compared with nonelastic sports tape and the untaped ankle during a sudden inversion perturbation in male athletes.

STUDY DESIGN Controlled laboratory study. OBJECTIVES To examine the effect of 2 adhesive tape conditions compared to a no-tape condition on muscle activity of the fibularis longus during a sudden inversion perturbation in male athletes (soccer, team handball, basketball). BACKGROUND Ankle sprains are common in sports, and the fibularis muscles play a role in providing functional stability of the ankle. Prophylactic ankle taping with nonelastic sports tape has been used to restrict ankle inversion. Kinesio Tape, an elastic sports tape, has not been studied for that purpose. METHODS Fifty-one male premier-league athletes were tested for functional stability of both ankles with the Star Excursion Balance Test. Based on the results, those with the 15 highest and those with the 15 lowest stability scores were selected for further testing. Muscle activity of the fibularis longus was recorded with surface electromyography during a sudden inversion perturbation. Each participant was tested under 3 conditions: ankle taped with nonelastic white sports tape, ankle taped with Kinesio Tape, and no ankle taping. Differences in mean muscle activity were evaluated with a 3-way mixed-model analysis of variance (ANOVA) for the 3 conditions, across four 500-millisecond time frames, and between the 2 groups of stable versus unstable participants. Differences in peak muscle activity and in the time to peak muscle activity were evaluated with a 2-way mixed-model ANOVA. RESULTS Significantly greater mean muscle activity was found when ankles were taped with nonelastic tape compared to no tape, while Kinesio Tape had no significant effect on mean or maximum muscle activity compared to the no-tape condition. Neither stability level nor taping condition had a significant effect on the amount of time from perturbation to maximum activity of the fibularis longus muscle. CONCLUSION Nonelastic sports tape may enhance dynamic muscle support of the ankle. The efficacy of Kinesio Tape in preventing ankle sprains via the same mechanism is unlikely, as it had no effect on muscle activation of the fibularis longus.
Immunohistochemical Assessment of MGMT Expression and p53 Mutation in Glioblastoma Multiforme

Aims and background The prognosis of glioblastoma multiforme (GBM) remains poor despite advances in surgery and adjuvant therapies. TP53 and O6-methylguanine-DNA methyltransferase (MGMT) are tumor suppressor genes that are implicated in GBM resistance to radiation and chemotherapy. In order to assess the expression of the protein products of these two genes, 50 GBM samples were analyzed in this study. Methods Demographic and clinical data along with postsurgery tumor samples from 50 GBM patients were collected from the pathology archive. MGMT and p53 protein expression was evaluated by immunohistochemistry. Results 52% of cases had mutated p53, predominantly expressed in the nuclei of tumor cells. MGMT immunohistochemistry was negative in 35 (70%) patients and positive in 15 (30%) others. Immunohistochemistry-negative specimens for MGMT expression showed a significantly higher expression of mutant p53 (P = 0.03). Conclusion MGMT expression was significantly lower in cells bearing p53 mutation. This indicates that there is a tendency for p53 activity to decline with MGMT inactivation. However, this study could not deduce which protein was the regulator of the other. Free full text available at www.tumorionline. it
d-Glycerate Transport by the Pea Chloroplast Glycolate Carrier : Studies on [1-C]d-Glycerate Uptake and d-Glycerate Dependent O(2) Evolution.

The transport of glycolate and d-glycerate, the substrate and end product of the photorespiratory carbon pathway, respectively, by isolated intact pea (Pisum sativum) chloroplasts has been compared. d-Glycerate uptake was inhibited by the 2-hydroxymonocarboxylates, glycolate, glyoxylate, and d-lactate. Phosphate and phosphoglycerate and triose phosphates were without effect when the assays were carried out for two seconds. Glycolate was found to be a competitive inhibitor of d-glycerate uptake and the presence of glycolate in the chloroplast stroma strongly enhanced d-glycerate uptake from the medium. For optimal rates of d-glycerate-dependent O(2) evolution by pea chloroplasts, phosphate, ADP or ATP, and a mediator of cyclic electron flow had to be added. The inhibition of d-glycerate-dependent O(2) evolution by triose phosphates and 2-hydroxymonocarboxylates was tested. The inhibition of d-glycerate-dependent O(2) evolution by these metabolites did not correlate with their effects on glycerate transport. Thus, metabolism of d-glycerate, rather than its transport, limits the rate of glycerate-dependent oxygen evolution. The ramifications of d-glycerate metabolism on the interpretation of d-glycerate uptake data obtained with prolonged incubations are discussed. We conclude that d-glycerate and glycolate transport are mediated by the same transport system.
The Impact of Hypothesis-Testing Strategies on Auditors' Use of Judgment Data

Auditors make numerous judgments in evaluating internal control, assessing audit risk, designing and implementing sampling plans, and appraising and reporting on uncertainties. Libby [1981] notes that auditors often explicitly or implicitly formulate hypotheses within these judgment tasks, and typically, alternative hypotheses are possible for any given judgment. After the hypothesis has been framed, the auditor searches for data to test it. In this paper I examine whether the hypothesis-testing strategies employed by auditors affect their search for, attention to, and use of judgment data. Snyder and Swann [1978] indicate that at least three such strategies might be employed. In one, the decision maker tends to search for evidence that confirms the hypothesis under scrutiny. For example, in evaluating the hypothesis that a target individual was an extrovert, the decision maker might recall or search for instances where the target behaved in an extroverted manner. Using this type of confirmatory strategy, the individual would be more inclined to accept the hypothesis if a number of hypothesis-confirming events are uncovered. A second strategy would be to search for disconfirming evidence (e.g., introverted behavior) when testing whether a target was an extrovert. If sufficient evidence is uncovered, the decision maker would be more prone to reject the extrovert hypothesis. Finally, the decision maker could invest equal
Safety and Efficacy of Infliximab and Adalimumab for Refractory Uveitis in Juvenile Idiopathic Arthritis: 1-year Followup Data from the Italian Registry

Objective. To evaluate safety and efficacy of adalimumab (ADA) and infliximab (IFX) for the treatment of juvenile idiopathic arthritis-related anterior uveitis (JIA-AU). Methods. Starting January 2007, patients with JIA-AU treated with IFX and ADA were managed by a standard protocol and data were entered into the National Italian Registry (NIR). At baseline, all patients were refractory to standard immunosuppressive treatment and/or were corticosteroid-dependent. Data recorded every 3 months included uveitis course, number/type of ocular complications, drug-related adverse events (AE), treatment change or withdrawal, and laboratory measures. Data of patients treated for at least 1 year were retrieved from the NIR and analyzed using descriptive statistics. Treatment efficacy was based on change in uveitis course and in number of ocular complications. Results. Up to December 2009, data for 108 patients with JIA-AU treated with anti-tumor necrosis factor-α agents were recorded in the NIR and data from 91, with at least 12 months’ followup, were included in the study. Forty-eight patients were treated with IFX, 43 with ADA. Forty-seven patients (55.3%) achieved remission of AU, 28 (32.9%) had recurrent AU, and 10 (11.8%) maintained a chronic course. A higher remission rate was observed with ADA (67.4% vs 42.8% with IFX; p = 0.025). Ocular complications decreased from 0.47 to 0.32 per subject. Five patients experienced resolution of structural complications. No patient reported serious AE; 8 (8.8%) experienced 11 minor AE (9 with IFX, 2 with ADA). Conclusion. IFX and ADA appear to be effective and safe for treatment of refractory JIA-related uveitis, with a better performance of ADA in the medium-term period.
Effects of a 7-day eccentric training period on muscle damage and inflammation.

PURPOSE This study examined the effects of a 7-d repeated maximal isokinetic eccentric training period on the indicators of muscle damage and inflammatory response. METHODS Twenty-two college-age males were randomly assigned to eccentric training (ET) (N = 12) and control groups (CON) (N = 10). The initial exercise was 30 repetitions of maximal voluntary isokinetic eccentric contraction (ECC1) on nondominant elbow flexors with Cybex 6000 at 60 degrees.s-1 angular velocity. The ET group performed the same exercise for the following 6 consecutive days (referred to as ECC2 to ECC7) after ECC1. Upper arm circumference (CIR), range of motion (ROM), and maximal isometric force (MIF) were measured before, immediately after, and every 24 h for 7 consecutive days after ECC1. Plasma creatine kinase (CK), lactate dehydrogenase (LDH), glutamic oxaloacetate transaminase (GOT), leukocyte counts, and serum interleukin-1beta and -6 (IL-1beta, IL-6) levels were assessed before; at 2 h; and at 1, 3, 4, 6, and 7 d after ECC1. Muscle soreness was measured before and for 7 consecutive days after ECC1. RESULTS The ECC1 produced significant changes in most of the measures for both groups (P < 0.05), with the exception of leukocyte counts (P > 0.05). No indicators of increased damage (P > 0.05) were found from ECC2 to ECC7 for the ET group. CONCLUSION Continuous intensive isokinetic eccentric training performed with damaged muscles did not exacerbate muscle damage and inflammation after ECC1. In addition, a muscular "adaptation effect" may occur as early as 24 h after ECC1, as shown by the ET group's performance for 6 consecutive days after ECC1.
CT and MRI Correlations with Neuropsychological Tests

This study consisted of 124 brain-injured participants who were administered the Meyers Neuropsychological Battery (MNB) and (Meyers, 2003); the MNB contains commonly used neuropsychological instruments. These individuals had defined lesions on CT/MRI studies. The current study examined the performance of more modern versions of older tests and some newer neuropsychological tests to determine their sensitivity to lesion location as identified in the brain scans. The results showed 84% concordance with previously hypothesized localization results. Tables of sensitivity to various localizations were constructed along with functional maps for the various tests. These data will assist the clinician in assessing consistency in cognitive impairment across test performance. Newer versions of tests seem to perform as well or better than their previous versions for localization; although localization is not the main purpose of modern neuropsychological assessment, the current data do indicate that the modern versions of neuropsychological tests do perform generally as expected. Memory tests were found to be the most sensitive to injury regardless of the location of injury.
Taxing Future Consumption

The Economic Council’s Road Map for Tax Reform laid the groundwork for a greater discussion of the consumption tax principle as a basis for taxation in Canada. In his paper, Jack M. Mintz continues this discussion by setting out the case for and against a consumption tax. He argues that the tax treatment of savings is likely to become a more central policy focus for the medium term. More practically, he cites three possible evolutionary changes that could lead to a greater reliance on consumption taxes: a sharp increase in sales tax revenues (sales and excise) to reduce reliance on income taxes; a major expansion of RRSP and pension limits to allow for greater accumulation of wealth to meet future contingencies of various sorts; and the introduction of an exempt-yield tax savings plan (with restrictions on contributed amounts) that would encourage saving by individuals expecting increases in future tax rates. More fundamentally, Mintz observes that the income tax could even be replaced with an expenditure tax system with continuing reliance on the other indirect forms of consumption taxation (sales taxes). Even though Mintz believes that the adoption of a consumption tax would certainly set Canada apart from other countries, including the United States, he holds that the technical issues, including implementation and transition issues, are not insurmountable if promoting future consumption is the key to Canada’s overall development.
Cross-Self-Bias Rail-to-Rail Column Buffer for 640-Channel 6-Bit TFT-LCD

A 640-channel 6-bit LCD column driver with a cross-self-bias push-pull buffer is presented. To design a column driver for thin-film transistor liquid-crystal displays (TFT-LCDs), both low power consumption and chip area are key problems that must be solved. Therefore, the proposed cross-self-bias buffer amplifier effectively reduces the circuit area and power consumption overheads of conventional class-AB biasing techniques. The 640-channel 6-bit column driver is implemented using 0.18-μm high-voltage CMOS technology. The proposed column driver is then used in an SXGA LCD panel to perform the experimental characterization. The measured performance of column driver exhibits maximum settling times of 1.4 μs and 1.2 μs for rising and falling edges, respectively, under one-dot inversion. The quiescent current consumption of the proposed rail-to-rail buffer is about 4 μA .
Sentence Similarity Measurement Based on Shallow Parsing

The paper proposes a novel method to determine sentence similarities. First two compared sentences are parsed by shallow-parsing and all noun phrases, verb phrases and preposition phrases of each sentence are extracted. Then the similarity between each kind of phrases is calculated based on a semantic vector method. The overall sentence similarity is defined as a combination of semantic similarities of the three kinds of phrases. Experiments show that the proposed method has a high performance in F-measure (81.6%) and Recall (97.4%).
Time-Varying Inflation Risk and the Cross-Section of Stock Returns

I provide empirical evidence indicating that inflation risk is time-varying and priced in the cross-section of individual stocks in the U.S. and UK equity markets. I establish that the way inflation risk is priced in equity markets is closely related to the cyclicality of inflation. I show that the market price of inflation shocks is positive (negative) in the cross-section of individual stocks when inflation is procyclical (countercyclical) and hence comoves positively (negatively) with measures of economic activity. As a consequence, risk premiums on stocks with positive/negative exposure to inflation shocks depend on whether the economy is in a pro- or countercyclical inflation regime. A zero-investment strategy that goes long low (high) inflation-beta stocks and short high (low) inflation-beta stocks when inflation is countercyclical (procyclical) yields economically large and statistically significant return premiums in both markets, even after controlling for well-known risk-factors.
Resource optimization for asynchronous cooperative location-aware networks

Wireless localization systems are of great importance for a variety of modern applications. Recently, cooperation among agents (nodes with unknown positions) becomes attractive in localization networks, especially in the infrastructure-limited scenario. In many cases, synchronization of the agents' clocks to the anchors (nodes with known positions) has to be performed together with the localization. In this paper, we first show the fundamental limits of localization and synchronization in asynchronous cooperative localization networks, in terms of equivalent Fisher information matrix (EFIM). It shows that the synchronization of agents can be treated equivalently as position estimation. We then perform power and bandwidth allocation among anchors and agents, to achieve the optimal results for joint position and clock offset estimation. Numeric results confirm the performance advantages of the presented strategies. Meaningful performance benchmarks and intuitive remarks are thus provided.
A study of VOIP codecs performance over IEEE 802.11n

Voice over Internet Protocol (VoIP) is actually a link between the nodes which communicate with each other through VoIP link. VoIP faces many threats and attacks. Among those attack is Eavesdropping attack. Voice packets suffer due to Eavesdropping attack because of noise and interference of the channel. Hence the receiver cannot receive all the packets at the same duration of time. Jitter buffer is an important device which can be used to eliminate noise and interference of the channel. In this paper, we have studied about VoIP codecs performance over IEEE 802.11n. Voice quality can be improved simply by increasing the average MOS and reducing the delay factor. There are different VoIP codecs such as G.711, G.729, G.726ar24 and G.726ar32. Out of all these codecs, G.711 has shown good results since the call quality for G.711 is excellent.