Miracle-dz/UniFAR-FTUs huggingface dataset:
Multi-modal control scheme for rehabilitation robotic exoskeletons

In the past few decades, a variety of rehabilitation robotic exoskeletons have been developed for patients with stroke and traumatic brain injury, which can assist therapists and potentially improve the functional outcomes. Many robotic exoskeleton systems adopted series elastic actuators, which are known to offer a number of advantages over rigid actuators, such as high force/torque fidelity, low output impedance, intrinsic compliance, and tolerance to shocks. While several control schemes have been proposed for robotic exoskeletons driven by series elastic actuators, existing methods are limited at high level, by assuming a perfect inner control loop. Due to the nonlinearity in robot dynamics, changing interaction forces, etc., the stability of the overall system consisting of both the robot dynamics and the actuator dynamics may not be guaranteed. This paper presents a multi-modal control scheme for rehabilitation robotic exoskeletons. Three control modes are smoothly integrated into the controller, where the robot-assisted mode allows the human to exert voluntary efforts within a desired region, the robot-dominant mode is activated to correct the movement of the human when the robot is outside the region, and the safety-stop mode is to stop the robot whenever the interaction force is too large which may result in injuries. By using the regional position and force feedback, the proposed controller achieves the paradigm of “assist-as-needed” and also guarantees the safety of the human. The development of the proposed controller follows the singular perturbation approach, and the stability of the overall system is rigorously proved by using Tikhonov’s theorem. Experimental results in both upper-limb and lower-limb exoskeleton systems are presented to demonstrate the effectiveness of the proposed control method.
Efficient Multipath Communication for Time-Critical Applications in Underwater Acoustic Sensor Networks

Due to the long propagation delay and high error rate of acoustic channels, it is very challenging to provide reliable data transfer for time-critical applications in an energy-efficient way. On the one hand, traditional retransmission upon failure usually introduces very large end-to-end delay and is thus not proper for time-critical services. On the other hand, common approaches without retransmission consume lots of energy. In this paper, we propose a new multipath power-control transmission (MPT) scheme, which can guarantee certain end-to-end packet error rate while achieving a good balance between the overall energy efficiency and the end-to-end packet delay. MPT smartly combines power control with multipath routing and packet combining at the destination. With carefully designed power-control strategies, MPT consumes much less energy than the conventional one-path transmission scheme without retransmission. Besides, since no hop-by-hop retransmission is allowed, MPT introduces much shorter delays than the traditional one-path scheme with retransmission. We conduct extensive simulations to evaluate the performance of MPT. Our results show that MPT is highly energy-efficient with low end-to-end packet delays.
Geometry‐Driven Local Neighbourhood Based Predictors for Dynamic Mesh Compression

The task of dynamic mesh compression seeks to find a compact representation of a surface animation, while the artifacts introduced by the representation are as small as possible. In this paper, we present two geometric predictors, which are suitable for PCA‐based compression schemes. The predictors exploit the knowledge about the geometrical meaning of the data, which allows a more accurate prediction, and thus a more compact representation. We also provide rate/distortion curves showing that our approach outperforms the current PCA‐based compression methods by more than 20%.
Scientific Opinion on the re-evaluation Tartrazine (E 102) on request from the European Commission: Question No EFSA-Q-2008-222

The Panel on Food Additives and Nutrient Sources added to Food provides a scientific opinion re-evaluating the safety of Tartrazine (E 102). Tartrazine has been previously evaluated by the Joint FAO/WHO Expert Committee on Food Additives (JECFA) in 1966 and the EU Scientific Committee for Food (SCF) in 1975 and 1984. Both committees established an Acceptable Daily Intake (ADI) of 0-7.5 mg/kg bw/day. The Panel was not provided with a newly submitted dossier and based its evaluation on previous evaluations, additional literature that became available since then and the data available following a public call for data. New studies included a study by Sasaki et al. from 2002 reporting effects on nuclear DNA migration in the mouse in vivo Comet assay, a study by McCann et al. from 2007 that concluded that exposure to a mixture including Tartrazine resulted in increased hyperactivity in 3-year old and 8to 9-year old children and studies on neurodevelopment by Tanaka. The Panel notes that Tartrazine was negative in long-term carcinogenicity studies and that the effects on nuclear DNA migration observed in the mouse in vivo Comet assay are not expected to result in carcinogenicity. The Panel also concurrs with the conclusion from a previous EFSA opinion on the McCann et al. study that the findings of the study cannot be used as a basis for altering the ADI, and additionally considered that the Tanaka study can also not be used as a basis for altering the ADI. The Panel concludes that the present database does not give reason to revise the ADI of 7.5 mg/kg bw/day. The Panel also concludes that at the maximum reported levels of use, refined intake estimates are below the ADI. The Panel concludes that Tartrazine appears to be able to elicit intolerance reactions in a small fraction of the exposed population.The Panel also notes that sensitive individuals may react to Tartrazine at dose levels within the ADI.
Interface and high energy band effects in quantum dots : beyond 8-band k · p Hamiltonian

The role of interfaces and higher bands on the electronic structure of embedded semiconductor quantum dots (QDs) was investigated. The term in the multiband k·p Hamiltonian that captures the effect of interfaces was derived starting from the microscopic theory. It was shown, analytically and numerically, that, with such a term included, the right symmetry of the QD system can be captured. The inclusion of additional higher bands beyond the ones from the standard eight-band model also leads to the reduction of symmetry from an artificially high one to the true atomistic symmetry of the system. These results prove that the multiband k·p Hamiltonians are fully capable of describing the correct symmetry of a QD.
Functionality vs. Security in IS: Tradeoff or Equilibrium?

This paper reports a study that challenges the widely-held assumption that security and functionality are a tradeoff relationship. Based on a survey sample of more than 9000 French firms, the study finds that higher degrees of system functionality entail higher degrees of security. Rather than sharing a tradeoff relation in which more security investments entail an opportunity cost in terms of less functionality investments, current information systems require an equilibrium between security and functionality. Increasing functionality requires increasing security. This equilibrium applies to functionality in terms of both range (internal integration) and reach (external integration); it also applies to security in terms of both preventative security measures and responsive recovery security measures.
The ApolloScape Dataset for Autonomous Driving

Scene parsing aims to assign a class (semantic) label for each pixel in an image. It is a comprehensive analysis of an image. Given the rise of autonomous driving, pixel-accurate environmental perception is expected to be a key enabling technical piece. However, providing a large scale dataset for the design and evaluation of scene parsing algorithms, in particular for outdoor scenes, has been difficult. The per-pixel labelling process is prohibitively expensive, limiting the scale of existing ones. In this paper, we present a large-scale open dataset, ApolloScape, that consists of RGB videos and corresponding dense 3D point clouds. Comparing with existing datasets, our dataset has the following unique properties. The first is its scale, our initial release contains over 140K images - each with its per-pixel semantic mask, up to 1M is scheduled. The second is its complexity. Captured in various traffic conditions, the number of moving objects averages from tens to over one hundred (Figure 1). And the third is the 3D attribute, each image is tagged with high-accuracy pose information at cm accuracy and the static background point cloud has mm relative accuracy. We are able to label these many images by an interactive and efficient labelling pipeline that utilizes the high-quality 3D point cloud. Moreover, our dataset also contains different lane markings based on the lane colors and styles. We expect our new dataset can deeply benefit various autonomous driving related applications that include but not limited to 2D/3D scene understanding, localization, transfer learning, and driving simulation.
The relationship between maternal–fetal attachment and maternal self-efficacy in Iranian women: a prospective study

Abstract Introduction: This prospective study was conducted to determine the relationship between maternal–fetal attachment and maternal self-efficacy. Maternal self-efficacy contributes significantly to the mental health of the mother and infant. Maternal–fetal attachment facilitates maternal role attainment and might improve maternal self-efficacy. Methods: This study was conducted on 242 women. The data collection tools used included a socio-demographic and obstetric questionnaire, Cranley’s Maternal–Fetal Attachment Scale, the Edinburgh Postnatal Depression Scale and the Maternal Self-Efficacy Scale. A multivariate linear regression was used to estimate the extent to which maternal–fetal attachment affects maternal self-efficacy. Results: Pearson’s correlation test showed a moderate but significant positive correlation between maternal–fetal attachment and self-efficacy (r = 0.48, P < 0.001). The highest correlation with self-efficacy was observed in the domain of ‘differentiation of self from fetus’ (r = 0.43) and the lowest in the domain of ‘giving of self’ (r = 0.25). According to the multivariate linear regression, the domain of ‘Interaction with fetus’ had a significant relationship with maternal self-efficacy (P = 0.009). Conclusion: Maternal–fetal attachment would appear to be a factor related to postpartum maternal self-efficacy which suggests identifying and supporting women with low self-efficacy may increase maternal–fetal attachment and thereby maternal self-efficacy.
Medical assessment of adverse health outcomes in long-term survivors of childhood cancer.

CONTEXT Improved survival of children with cancer has been accompanied by multiple treatment-related complications. However, most studies in survivors of childhood cancer focused on only 1 late effect. OBJECTIVE To assess the total burden of adverse health outcomes (clinical or subclinical disorders ["adverse events"]) following childhood cancer in a large cohort of childhood cancer survivors with long-term and complete medical follow-up. DESIGN, SETTING, AND POPULATION Retrospective cohort study of 1362 five-year survivors of childhood cancer treated in a single institution in the Netherlands between 1966 and 1996. All survivors were invited to a late-effects clinic for medical assessment of adverse events. Adverse events occurring before January 2004 were graded for severity in a standardized manner. MAIN OUTCOME MEASURES Treatment-specific prevalence of adverse events (according to severity) at end of follow-up and relative risk of high or severe burden of disease (> or =2 severe or > or =1 life-threatening or disabling adverse events) associated with various treatments. RESULTS Medical follow-up was complete for 94.3% of survivors (median follow-up, 17.0 years). The median attained age at end of follow-up was 24.4 years. Almost 75% of survivors had 1 or more adverse events, and 24.6% had 5 or more adverse events. Furthermore, 40% of survivors had at least 1 severe or life-threatening or disabling adverse event. A high or severe burden of adverse events was observed in 55% of survivors who received radiotherapy only and 15% of survivors treated with chemotherapy only, compared with 25% of survivors who had surgery only (adjusted relative risks, 2.18 [95% confidence interval, 1.62-2.95] and 0.65 [95% confidence interval, 0.46-0.90], respectively). A high or severe burden of adverse events was most often observed in survivors of bone tumors (64%) and least often in survivors of leukemia or Wilms tumor (12% each). CONCLUSIONS In young adulthood, a substantial proportion of childhood cancer survivors already has a high or severe burden of disease, particularly after radiotherapy. This underscores the need for lifelong risk-stratified medical surveillance of childhood cancer survivors.
Micromanaging Glucose Tolerance and Diabetes

MicroRNAs (miRNAs) are endogenous non-coding RNAs that have significant roles in biological processes such as glucose homoeostasis. MiRNAs fine-tune target genes expression via sequence-specific binding of their seed sequence to the untranslated region of mRNAs and degrade target mRNAs. MicroRNAs in islet β-cells regulate β-cell differentiation, proliferation, insulin transcription and glucose-stimulated insulin secretion. Furthermore, miRNAs play key roles in the regulation of glucose and lipid metabolisms and modify insulin sensitivity by controlling metabolic functions in main target organs of insulin such as skeletal muscle, liver and adipose tissue. Moreover, since circulating miRNAs are detectable and stable in serum, levels of certain miRNAs seem to be novel biomarkers for prediction of diabetes mellitus. In this article, due to the prominent impact of miRNAs on diabetes, we overviewed the microRNAs regulatory functions in organs related to insulin resistance and diabetes and shed light on their potential as diagnostic and therapeutic markers for diabetes.
Effects of the Native Language on the Learning of Fundamental Frequency in Second-Language Speech Segmentation

This study investigates whether the learning of prosodic cues to word boundaries in speech segmentation is more difficult if the native and second/foreign languages (L1 and L2) have similar (though non-identical) prosodies than if they have markedly different prosodies (Prosodic-Learning Interference Hypothesis). It does so by comparing French, Korean, and English listeners’ use of fundamental-frequency (F0) rise as a cue to word-final boundaries in French. F0 rise signals phrase-final boundaries in French and Korean but word-initial boundaries in English. Korean-speaking and English-speaking L2 learners of French, who were matched in their French proficiency and French experience, and native French listeners completed a visual-world eye-tracking experiment in which they recognized words whose final boundary was or was not cued by an increase in F0. The results showed that Korean listeners had greater difficulty using F0 rise as a cue to word-final boundaries in French than French and English listeners. This suggests that L1–L2 prosodic similarity can make the learning of an L2 segmentation cue difficult, in line with the proposed Prosodic-Learning Interference Hypothesis. We consider mechanisms that may underlie this difficulty and discuss the implications of our findings for understanding listeners’ phonological encoding of L2 words.
Venular basement membranes contain specific matrix protein low expression regions that act as exit points for emigrating neutrophils

The mechanism of leukocyte migration through venular walls in vivo is largely unknown. By using immunofluorescence staining and confocal microscopy, the present study demonstrates the existence of regions within the walls of unstimulated murine cremasteric venules where expression of key vascular basement membrane (BM) constituents, laminin 10, collagen IV, and nidogen-2 (but not perlecan) are considerably lower (<60%) than the average expression detected in the same vessel. These sites were closely associated with gaps between pericytes and were preferentially used by migrating neutrophils during their passage through cytokine-stimulated venules. Although neutrophil transmigration did not alter the number/unit area of extracellular matrix protein low expression sites, the size of these regions was enlarged and their protein content was reduced in interleukin-1β–stimulated venules. These effects were entirely dependent on the presence of neutrophils and appeared to involve neutrophil-derived serine proteases. Furthermore, evidence was obtained indicating that transmigrating neutrophils carry laminins on their cell surface in vivo. Collectively, through identification of regions of low extracellular matrix protein localization that define the preferred route for transmigrating neutrophils, we have identified a plausible mechanism by which neutrophils penetrate the vascular BM without causing a gross disruption to its intricate structure.
Oxygen isotopes suggest elevated thermometabolism within multiple Permo-Triassic therapsid clades

The only true living endothermic vertebrates are birds and mammals, which produce and regulate their internal temperature quite independently from their surroundings. For mammal ancestors, anatomical clues suggest that endothermy originated during the Permian or Triassic. Here we investigate the origin of mammalian thermoregulation by analysing apatite stable oxygen isotope compositions (δ18Op) of some of their Permo-Triassic therapsid relatives. Comparing of the δ18Op values of therapsid bone and tooth apatites to those of co-existing non-therapsid tetrapods, demonstrates different body temperatures and thermoregulatory strategies. It is proposed that cynodonts and dicynodonts independently acquired constant elevated thermometabolism, respectively within the Eucynodontia and Lystrosauridae + Kannemeyeriiformes clades. We conclude that mammalian endothermy originated in the Epicynodontia during the middle-late Permian. Major global climatic and environmental fluctuations were the most likely selective pressures on the success of such elevated thermometabolism. DOI: http://dx.doi. org/10.7554/eLife.28589. 001
Parallel triangular mesh decimation without sorting

The common task in computer graphics is to visualise models of real world objects. These models are often represented by a triangular mesh, which can be very large and complex (thousands or a million triangles). Since we want a fast and interactive manipulation with the models, we need either to improve our graphics hardware or to find any method for reducing the number of triangles in the mesh. We present a fast algorithm for triangular mesh reduction based on the principle of mesh decimation. We present an efficient and stable algorithm for triangular mesh simplification in a parallel environment. We use a method based on vertex decimation and our original super independent set of vertices to avoid critical sections.
GREEN FLUORESCENT PROTEIN

Abstract— Several bioluminescent coelenterates use a secondary fluorescent protein, the green fluorescent protein (GFP), in an energy transfer reaction to produce green light. The most studied of these proteins have been the GFPs from the jellyfish Aequorea victoria and the sea pansy Renilla reniformis. Although the proteins from these organisms are not identical, they are thought to have the same chro‐mophore, which is derived from the primary amino acid sequence of GFP. The differences are thought to be due to changes in the protein environment of the chromophore. Recent interest in these molecules has arisen from the cloning of the Aequorea gfp cDNA and the demonstration that its expression in the absence of other Aequorea proteins results in a fluorescent product. This demonstration indicated that GFP could be used as a marker of gene expression and protein localization in living and fixed tissues. Bacterial, plant and animal (including mammalian) cells all express GFP. The heterologous expression of the gfp cDNA has also meant that it could be mutated to produce proteins with different fluorescent properties. Variants with more intense fluorescence or alterations in the excitation and emission spectra have been produced.
Novel Processing of 1‐3 Piezoelectric Ceramic/Polymer Composites for Transducer Applications

Piezoelectric ceramic/polymer composites with 1-3 connectivity were made by weaving sized lead zirconate titanate (PZT) fiber bundles through a honeycomb support. Bundles comprised of fine-scale, 20-50 μm green fibers, made using the viscous suspension spinning process, were sized to increase their manageability. The sizing step comprised of soaking the green PZT fiber bundles in an aqueous solution of poly(vinyl alcohol), then pulling the wet fibers through a steel sizing die. Sizing resulted in dense and flexible fiber bundles, which facilitated composite construction and led to composites with increased volume fractons. Sintering, polymer embedding, and machining produced a composite exhibiting 1-3 connectivity. Composites with 10 vol% PZT yilded d33 values of 230 pC/N and a dielectric constant of 130.
Maternal Diet Influences Offspring Feeding Behavior and Fearfulness in the Precocial Chicken

Background In chicken, oils in the maternal diet confer a specific scent to the yolk. Embryos are known to perceive and memorize chemosensory signals of the surrounding environment; however, the potential impact of the maternal diet has not previously been investigated. In the present study, we hypothesized that chicken embryos memorize the chemical signals of the maternal diet and that this perceptual learning may orient subsequent feeding behavior of the hatchlings. Methodology/Principal Findings Laying hens were fed standard food enriched with 2% menhaden oil (MH group) or 2% soybean oil (controls). The scent of menhaden was significantly more detected in MH egg yolks than in control yolks by a human panel. We analyzed the development and behavior of offspring towards different types of food, bearing or not bearing the menhaden scent. When chicks were exposed to a 3-min choice test between the familiar food bearing the menhaden scent and the familiar food without menhaden, no effect of treatment was observed. In a 3-min choice test with unfamiliar food (mashed cereals) MH chicks showed a clear positive orientation toward the unfamiliar food bearing the menhaden scent. By contrast, control chicks showed a preference for the non-odorized unfamiliar food. MH chicks expressed higher emotional reactivity level than control chicks as expressed by food neophobia and longer immobility in a restraint test. Conclusion/Significance Chicks exposed in ovo to menhaden oil via the maternal diet preferentially oriented their feeding behavior towards food containing menhaden oil, but only when the food was unfamiliar. We propose that oil in the maternal diet engenders maternal effects and contributes to the development of behavioral phenotype in the offspring. In ovo chemosensory learning may have evolved to prepare precocial offspring for their environment. This suggests a common principle of embryonic chemosensory learning across vertebrate taxa.
Phase Transition in Photonic Crystals Doped with Nanoparticles

We have study the phenomenon on of phase transition in photonic band gap (PBG) materials doped with four-level nanoparticles in the presence of the dipole-dipole interaction. Numerical simulations for the real susceptibility have been performed for an isotropic PBG material. It is found that the real susceptibility has a singularity for a certain value of the nanostructure concentration. This is a signature of the phase transition in the system.