Miracle-dz/UniFAR-FTUs huggingface dataset:
Linear reactive control for efficient 2D and 3D bipedal walking over rough terrain

The kinematics of human walking are largely driven by passive dynamics, but adaptation to varying terrain conditions and responses to perturbations require some form of active control. The basis for this control is often thought to take the form of entrainment between a neural oscillator (i.e., a central pattern generator and/or distributed counterparts) and the mechanical system. Here we use techniques in evolutionary robotics to explore the potential of a purely reactive, linear controller to control bipedal locomotion over rough terrain. In these simulation studies, joint torques are computed as weighted linear sums of sensor states, and the weights are optimized using an evolutionary algorithm. We show that linear reactive control can enable a seven-link 2D biped and a nine-link 3D biped to walk over rough terrain (steps of ∼5% leg length or more in the 2D case). In other words, the simulated walker gradually learns the appropriate weights to achieve stable locomotion. The results indicate that oscillatory neural structures are not necessarily a requirement for robust bipedal walking. The study of purely reactive control through linear feedback may help to reveal some basic control principles of stable walking.
Modified Direct Torque Control Using Algorithm Control of Stator Flux Estimation and Space Vector Modulation Based on Fuzzy Logic Controller for High Performance of Induction Motors

Direct torque control based on space vector modulation (SVMDTC) protect DTC transient merits, furthermore, create better quality steady-state performance in a wide speed range. The modified method of DTC using SVM improves the electrical magnitudes of asynchronous machine, such as minimizing stator current distortion, stator flux with electromagnetic torque without ripple, fast response of rotor speed, and constant switching frequency. In this paper, the proposed method is based on two new control strategies for direct torque control with space vector modulation . First, fuzzy logic control is used instead of PI torque and PI flux controller to minimizing the torque error and to achieve constant switching frequency. The voltages in direct and quadratic reference frame ) ,V (V q d are achieved by fuzzy logic control. In this scheme, the switching capability of inverter is fully utilized as a result improves the system performance. Second, close loop of stator flux estimation based on voltage model and low pass filter is used to counteract the draw back in open loop of stator flux such as problem saturation and dc drift . The response of this new strategy of control is compared with DTC –SVM. The experimental and simulation results demonstrate that the proposed control topology outperforms the conventional DTC-SVM in system robustness and eliminating bad outcome of dc-offset.
Active Audition for Humanoid

In this paper, we present an active audition system for humanoid robot “SIG the humanoid” . The audition system of the highly intelligent humanoid requires localization of sound sources and identification of meanings of the sound in the auditory scene. The active audition reported in this paper focuses on improved sound source tracking by integrating audition, vision, and motor movements. Given the multiple sound sources in the auditory scene, SIG actively moves its head to improve localization by aligning microphones orthogonal to the sound source and by capturing the possible sound sources by vision. However, such an active head movement inevitably creates motor noise. The system must adaptively cancel motor noise using motor control signals. The experimental result demonstrates that the active audition by integration of audition, vision, and motor control enables sound source tracking in variety of conditions.
Modalities for Treatment of Antisperm Antibody Mediated Infertility: Novel Perspectives

Immunoinfertility because of antisperm antibodies (ASA) is an important cause of infertility in humans. The incidence of ASA in infertile couples is 9–36% depending on the reporting center. Early claims regarding the incidence and involvement of ASA in involuntary infertility were probably overemphasized, which has resulted in subsequent confusion, doubt, and underestimation of their clinical significance. No immunoglobulin that binds to sperm should be called an antisperm antibody in a strict sense unless it is directed against a sperm antigen that plays a role in fertilization and fertility. ASA directed against the fertilization‐related antigens are more relevant to infertility than the immunoglobulins that bind to sperm associated antigens. Several methods have been reported for treatment of immunoinfertility. These include: immunosuppressive therapies using corticosteroids or cyclosporine; assisted reproductive technologies such as intrauterine insemination, gamete intrafallopian transfer, in vitro fertilization, and intracytoplasmic sperm injection; laboratory techniques such as sperm washing, immunomagnetic sperm separation, proteolytic enzyme treatment, and use of immunobeads. Most of the available techniques have side effects, are invasive and expensive, have low efficacy, or provide conflicting results. Recent findings using defined sperm antigens that have a role in fertilization/fertility have provided animal models and innovative novel perspectives for studying the mechanism of immunoinfertility and possible modalities for treatment. The better understanding of local immunity and latest advances in hybridoma and recombinant technologies, proteomics and genomics leading to characterization of sperm antigens relevant to fertility will help to clarify the controversy and to establish the significance of ASA in infertility.
Fast IEEE Rounding for Division by Functional Iteration

A class of high performance division algorithms is functional iteration. Division by functional iteration uses multiplication as the fundamental operator. The main advantage of division by functional iteration is quadratic convergence to the quotient. However, unlike non-restoring division algorithms such as SRT division, functional iteration does not directly provide a final remainder. This makes fast and exact rounding difficult. This paper clarifies the methodology for correct IEEE compliant rounding for quadratically-converging division algorithms. It proposes an extension to previously reported techniques of using extended precision in the computation to reduce the frequency of back multiplications required to obtain the final remainder. Further, a technique applicable to all IEEE rounding modes is presented which replaces the final subtraction for remainder computation with very simple combinational logic.
A 2.4-GHz 0.18-μm CMOS self-biased cascode power amplifier

A two-stage self-biased cascode power amplifier in 0.18-/spl mu/m CMOS process for Class-1 Bluetooth application is presented. The power amplifier provides 23-dBm output power with a power-added efficiency (PAE) of 42% at 2.4 GHz. It has a small signal gain of 38 dB and a large signal gain of 31 dB at saturation. This is the highest gain reported for a two-stage design in CMOS at the 0.8-2.4-GHz frequency range. A novel self-biasing and bootstrapping technique is presented that relaxes the restriction due to hot carrier degradation in power amplifiers and alleviates the need to use thick-oxide transistors that have poor RF performance compared with the standard transistors available in the same process. The power amplifier shows no performance degradation after ten days of continuous operation under maximum output power at 2.4-V supply. It is demonstrated that a sliding bias technique can be used to both significantly improve the PAE at mid-power range and linearize the power amplifier. By using the sliding bias technique, the PAE at 16 dBm is increased from 6% to 19%, and the gain variation over the entire power range is reduced from 7 to 0.6 dB.
Understanding the roles of social and tangible technologies in maintaining social interaction, habits and independence into old age

The research offers a deeper understanding of how objects currently facilitate social interaction and physical activity for older adults living independently. It uses this awareness to develop, from a human perspective, considerations for the design of internet connected objects that provide novel ways of maintaining contact with loved ones. The research found that people invest emotional attachment to objects and objects foster emotional responses in people. Objects can facilitate feeling connected to another however the relationship is a result of time and repeated interaction. Recreating this connection/relationship digitally is not as simple as attaching a hyperlink.
The significance of mycobacterium tuberculosis antibody, antigen 60 IgG in patients with abnormal chest radiography.

BACKGROUND The identification of acid-fast bacilli (AFB) in sputum or tissue is the definite diagnosis of tuberculosis. However, this method of diagnosis is restricted by certain limitations. The serologic diagnosis of tuberculosis has been used for a long time. The aim of this study was to determine the sensitivity and specificity of Antigen 60 (A60) immunoglobulin G (IgG) in patients with abnormal chest radiography and to assess its application in the serologic diagnosis of pulmonary tuberculosis. METHODS Data on patients who had been diagnosed using results of culture and pathology as having active pulmonary tuberculosis (N=178), other non-tuberculosis pulmonary disease (N=34), or no pulmonary disease (N=117) was collected from January 2001 through December 2002. The data of A60 IgG using enzyme-linked immunosorbent assay (ELISA), chest radiography, tuberculosis culture and pathology were obtained retrospectively. The cutoff value of A60 IgG was chosen according to a receiver operating characteristic (ROC) analysis. The sensitivity, specificity, positive predictive value, negative predictive value and likelihood ratio for positive and negative test were determined. RESULTS The chosen cutoff value of 261.2 units defined the sensitivity (49.4%) and specificity (79.5%) of the test. The positive predictive value and likelihood ratio were 95.7% and 4.20, respectively, for patients with abnormal chest radiography and 88.2% and 2.97, respectively, for patients with abnormal chest radiography and negative AFB in sputum smear. CONCLUSIONS Because of the high positive predictive value and likelihood ratio, a positive A60 IgG test in the presence of an abnormal chest radiography can help make an accurate clinical diagnosis of pulmonary tuberculosis.
Utility of Metagenomic Next-Generation Sequencing for Characterization of HIV and Human Pegivirus Diversity

Given the dynamic changes in HIV-1 complexity and diversity, next-generation sequencing (NGS) has the potential to revolutionize strategies for effective HIV global surveillance. In this study, we explore the utility of metagenomic NGS to characterize divergent strains of HIV-1 and to simultaneously screen for other co-infecting viruses. Thirty-five HIV-1-infected Cameroonian blood donor specimens with viral loads of >4.4 log10 copies/ml were selected to include a diverse representation of group M strains. Random-primed NGS libraries, prepared from plasma specimens, resulted in greater than 90% genome coverage for 88% of specimens. Correct subtype designations based on NGS were concordant with sub-region PCR data in 31 of 35 (89%) cases. Complete genomes were assembled for 25 strains, including circulating recombinant forms with relatively limited data available (7 CRF11_cpx, 2 CRF13_cpx, 1 CRF18_cpx, and 1 CRF37_cpx), as well as 9 unique recombinant forms. HPgV (formerly designated GBV-C) co-infection was detected in 9 of 35 (25%) specimens, of which eight specimens yielded complete genomes. The recovered HPgV genomes formed a diverse cluster with genotype 1 sequences previously reported from Ghana, Uganda, and Japan. The extensive genome coverage obtained by NGS improved accuracy and confidence in phylogenetic classification of the HIV-1 strains present in the study population relative to conventional sub-region PCR. In addition, these data demonstrate the potential for metagenomic analysis to be used for routine characterization of HIV-1 and identification of other viral co-infections.
The Brunn--Minkowski Inequality and Nontrivial Cycles in the Discrete Torus

Let $(C_m^d)_{\infty}$ denote the graph whose set of vertices is $Z_m^d$ in which two distinct vertices are adjacent iff in each coordinate either they are equal or they differ, modulo $m$, by at most 1. Bollobas, Kindler, Leader, and O'Donnell proved that the minimum possible cardinality of a set of vertices of $(C_m^d)_{\infty}$ whose deletion destroys all topologically nontrivial cycles is $m^d-(m-1)^d$. We present a short proof of this result, using the Brunn-Minkowski inequality, and also show that the bound can be achieved only by selecting a value $x_i$ in each coordinate $i$, $1\leq i\leq d$, and by keeping only the vertices whose $i$th coordinate is not $x_i$ for all $i$.
The evolution of mate choice and mating biases

We review the current status of three well–established models (direct benefits, indirect benefits and sensory drive) and one newcomer (antagonistic chase–away) of the evolution of mate choice and the biases that are expressed during choice. We highlight the differences and commonalities in the underlying genetics and evolutionary dynamics of these models. We then argue that progress in understanding the evolution of mate choice is currently hampered by spurious distinctions among models and a misguided tendency to test the processes underlying each model as mutually exclusive alternatives. Finally, we suggest potentially fruitful directions for future theoretical and empirical research.
Formal Verification of Floating-Point Programs

This paper introduces a methodology to perform formal verification of floating-point C programs. It extends an existing tool for the verification of C programs, Caduceus, with new annotations specific to floating-point arithmetic. The Caduceus first-order logic model for C programs is extended accordingly. Then verification conditions expressing the correctness of the programs are obtained in the usual way and can be discharged interactively with the Coq proof assistant, using an existing Coq formalization of floatingpoint arithmetic. This methodology is already implemented and has been successfully applied to several short floatingpoint programs, which are presented in this paper.
Knockout of Slo2.2 enhances itch, abolishes KNa current, and increases action potential firing frequency in DRG neurons

Two mammalian genes, Kcnt1 and Kcnt2, encode pore-forming subunits of Na+-dependent K+ (KNa) channels. Progress in understanding KNa channels has been hampered by the absence of specific tools and methods for rigorous KNa identification in native cells. Here, we report the genetic disruption of both Kcnt1 and Kcnt2, confirm the loss of Slo2.2 and Slo2.1 protein, respectively, in KO animals, and define tissues enriched in Slo2 expression. Noting the prevalence of Slo2.2 in dorsal root ganglion, we find that KO of Slo2.2, but not Slo2.1, results in enhanced itch and pain responses. In dissociated small diameter DRG neurons, KO of Slo2.2, but not Slo2.1, abolishes KNa current. Utilizing isolectin B4+ neurons, the absence of KNa current results in an increase in action potential (AP) firing and a decrease in AP threshold. Activation of KNa acts as a brake to initiation of the first depolarization-elicited AP with no discernible effect on afterhyperpolarizations. DOI: http://dx.doi. org/10.7554/eLife.10013. 001
Prevalence and Predictors of HIV among Chinese Tuberculosis Patients by Provider-Initiated HIV Testing and Counselling (PITC): A Multisite Study in South Central of China

Background Tuberculosis (TB) and HIV are two worldwide public health concerns. Co-infection of these two diseases has been considered to be a major obstacle for the global efforts in reaching the goals for the prevention of HIV and TB. Method A comprehensive cross-sectional study was conducted to recruit TB patients in three provinces (Guangxi, Henan and Sichuan) of China between April 1 and September 30, 2010. Results A total of 1,032 consenting TB patients attended this survey during the study period. Among the participants, 3.30% were HIV positive; about one quarter had opportunistic infections. Nearly half of the participants were 50 years or older, the majority were male and about one third were from minority ethnic groups. After adjusting for site, gender and areas of residence (using the partial/selective Model 1), former commercial plasma donors (adjusted OR [aOR] = 33.71) and injecting drug users(aOR = 15.86) were found to have significantly higher risk of being HIV-positivity. In addition, having extramarital sexual relationship (aOR = 307.16), being engaged in commercial sex (aOR = 252.37), suffering from opportunistic infections in the past six months (aOR = 2.79), losing 10% or more of the body weight in the past six months (aOR = 5.90) and having abnormal chest X-ray findings (aOR = 20.40) were all significantly associated with HIV seropositivity (each p<0.05). Conclusions HIV prevalence among TB patients was high in the study areas of China. To control the dual epidemic, intervention strategies targeting socio-demographic and behavioral factors associated with higher risk of TB-HIV co-infection are urgently called for.
Extremely Sparse Parallel AC-Link Universal Power Converters

Parallel ac-link universal power converters are a relatively new class of power converters that can be configured as dc-dc, dc-ac, ac-dc, and ac-ac. These converters are extensions of a buck-boost converter in which the current of the inductor is alternating and the input and output can have any number of phases with any forms, voltage amplitude, or frequency. By placing a small capacitor in parallel with the link inductor, all the switches can benefit from soft switching. The main limitation of the parallel ac-link universal power converter is its large number of switches. A three-phase ac-ac configuration requires 24 unidirectional switches. This paper proposes two topologies based on the parallel ac-link universal power converters that significantly reduce the number of switches. One of the proposed topologies reduces the number of switches in a three-phase ac-ac configuration to 16. The other topology reduces the number of switches to 10. The latter can offer galvanic isolation with only a single-phase high-frequency transformer. This paper presents the principles of the operation of the proposed topologies and evaluates them through simulation and experiments.
Quantitative analysis of amyloid mass by segmentation of microPET and CT images

Immunoglobulin light chain amyloidosis (AL) is characterized by the deposition of light chain components as insoluble fibrils in tissues and organs leading to dysfunction and death and is the most common form of peripheral amyloid disease in humans. Presently, there are no means available in the USA to image specifically these deposits and thus ascertain the presence or extent of disease. To this end we have developed an experimental murine model of localized AL and used this to evaluate a radioiodinated amyloid fibril-reactive antibody, 11-1F4. The goal of the present study was to validate the experimental model by correlating the accumulation of 124I-11-1F4 antibody in the amyloid, using segmented PET and CT images, with lesion mass, volume, and tissue activity.
The Inhibitory Mechanism in Learning Ambiguous Words in a Second Language

Ambiguous words are hard to learn, yet little is known about what causes this difficulty. The current study aimed to investigate the relationship between the representations of new and prior meanings of ambiguous words in second language (L2) learning, and to explore the function of inhibitory control on L2 ambiguous word learning at the initial stage of learning. During a 4-day learning phase, Chinese–English bilinguals learned 30 novel English words for 30 min per day using bilingual flashcards. Half of the words to be learned were unambiguous (had one meaning) and half were ambiguous (had two semantically unrelated meanings learned in sequence). Inhibitory control was introduced as a subject variable measured by a Stroop task. The semantic representations established for the studied items were probed using a cross-language semantic relatedness judgment task, in which the learned English words served as the prime, and the targets were either semantically related or unrelated to the prime. Results showed that response latencies for the second meaning of ambiguous words were slower than for the first meaning and for unambiguous words, and that performance on only the second meaning of ambiguous words was predicted by inhibitory control ability. These results suggest that, at the initial stage of L2 ambiguous word learning, the representation of the second meaning is weak, probably interfered with by the representation of the prior learned meaning. Moreover, inhibitory control may modulate learning of the new meanings, such that individuals with better inhibitory control may more effectively suppress interference from the first meaning, and thus learn the new meaning more quickly.
Correntropy based robust multidimensional scaling applied to faces

Here, we are interested in obtaining a two-dimensional embedding of face-pose images that preserves their local structure captured by the pair-wise distances among them by using multidimensional scaling (MDS). The MDS problem is formulated as maximization of a correntropy criterion, which is solved by half-quadratic optimization in a multiplicative formulation. By doing so, theMDS copes with an initial dissimilarity matrix contaminated with outliers, because the correntropy criterion is closely related to the Welsch M-estimator. The proposed algorithm is coined as Multiplicative Half-Quadratic MDS (MHQMDS). Its performance is assessed for potential functions associated to various M-estimators have been tested. Three state-of-the-art MDS techniques, namely the Scaling by Majorizing a Complicated Function (SMACOF), the Robust Euclidean Embedding (REE), and the Robust MDS (RMDS), are implemented under the same conditions. The experimental results indicate that the MHQMDS, outperforms the aforementioned state-of-the-art competing techniques.
COMPARISON OF SIX PRIORITIZATION TECHNIQUES FOR SOFTWARE REQUIREMENTS

There are many requirements prioritization techniques and selecting the most appropriate one is a decision problem in its own rights. This paper takes a closer look at the six requirement prioritization techniques and put them in a controlled experiment with the objective of understanding differences regarding ease of use, total time taken, scalability, accuracy, and total number of comparisons required to make decisions. These five criteria combined will indicate which technique is more suitable. The result from the experiment shows that Value oriented Prioritization (VOP) yields an accurate result, can scale up, and requires the least amount of time.