Miracle-dz/UniFAR-FTUs huggingface dataset:
Decoupled control of posture and trajectory of the hybrid wheel-legged robot hylos

This paper addresses the control of a hybrid wheel-legged system evolving on rough terrain. First, the posture and trajectory parameters are introduced. Then, a decoupled posture and trajectory control algorithm based on the velocity model of the robot is proposed. Last, the performance and feasibility of the control algorithm are evaluated through simulations and experiments with the Hylos robot.
Soil microbial activity in conventional and organic agricultural systems.

The aim of this study was to evaluate microbial activity in soils under conventional and organic agricultural system management regimes. Soil samples were collected from plots under conventional management (CNV), organic management (ORG) and native vegetation (AVN). Soil microbial activity and biomass was significantly greater in ORG compared with CNV. Soil bulk density decreased three years after adoption of organic system. Soil organic carbon (SOC) was higher in the ORG than in the CNV. The soil under organic agricultural system presents higher microbial activity and biomass and lower bulk density than the conventional agricultural system.
Towards Large-scale High-Performance English Verb Sense Disambiguation by Using Linguistically Motivated Features

In this paper we describe the results of training high performance word sense disambiguation (WSD) systems on a new data set based on groupings of WordNet senses. This data set is designed to provide clear sense distinctions with sufficient examples in order to provide high quality training data. The sense distinctions are based on explicit syntactic and semantic criteria. Our WSD features utilize similar syntactic and semantic linguistic information. We demonstrate that this approach, using both maximum entropy and SVM models, produces systems whose performance is comparable to that of humans.
The Effects of Above- and Belowground Mutualisms on Orchid Speciation and Coexistence

Both pollination by animals and mycorrhizal symbioses with fungi are believed to have been important for the diversification of flowering plants. However, the mechanisms by which these above- and belowground mutualisms affect plant speciation and coexistence remain obscure. We provide evidence that shifts in pollination traits are important for both speciation and coexistence in a diverse group of orchids, whereas shifts in fungal partner are important for coexistence but not for speciation. Phylogenetic analyses show that recently diverged orchid species tend either to use different pollinator species or to place pollen on different body parts of the same species, consistent with the role of pollination-mode shifts in speciation. Field experiments provide support for the hypothesis that colonization of new geographical areas requires adaptation to new pollinator species, whereas co-occurring orchid species share pollinator species by placing pollen on different body parts. In contrast to pollinators, fungal partners are conserved between closely related orchid species, and orchids recruit the same fungal species even when transplanted to different areas. However, co-occurring orchid species tend to use different fungal partners, consistent with their expected role in reducing competition for nutrients. Our results demonstrate that the two dominant mutualisms in terrestrial ecosystems can play major but contrasting roles in plant community assembly and speciation.
Design and realization of grasper-integrated force sensor for minimally invasive robotic surgery

This paper presents a grasper-integrated force sensor that provides the capability of measuring dual axial forces at the tip of surgical robot for minimally invasive surgery (MIS). On the sensorized forceps, the combination of dual axial forces measured at each side of grasper presents three axial pulling and single axial grasping force sensing, which provide force feedback control using haptic device. It consists of simple structure of triangular prism shape and two capacitive-type pressure sensor cells based on elastomeric polymer which provides the information on normal and shear forces. The sensing principle is to compare the difference between responses of two pressure sensors when the surface of the sensor contacts to the tissue. A sensorized forceps is fabricated by employing the molding method and electronics for signal processing is embedded. Finally, experimental evaluations are performed and its feasibility is validated.
Impairment of cognitive abilities and decision making after chronic use of alcohol: the impact of multiple detoxifications.

AIMS In the present study, the effect of previous detoxifications on prefrontal function and decision making was examined in alcohol-dependent patients. Further, we examined whether the length of abstinence affects cognitive function. METHODS Forty-eight alcohol-dependent patients were recruited from an inpatient detoxification treatment facility and cognitive function was compared to a control group of 36 healthy controls. The patient population was then divided into a group of patients with less than two previous detoxifications (LO-detox group, n = 27) and a group of patients with two or more previous detoxifications (HI-detox group, n = 21) and cognitive function was compared. In addition, cognitive function of recently (i.e. less than 16 days; median split) and longer abstinent patients was compared. We assessed prefrontal function, memory function and intelligence. RESULTS Alcoholics, when compared to healthy controls, performed worse with regard to the performance index Attention/Executive function. Cognitive impairment in these tasks was pronounced in recently abstinent patients. We found no significant differences between HI-detox and LO-detox patients with regard to the Attention/Executive function. However, in the IOWA gambling Task, the HI-detox group seemed to be less able to learn to choose cards from the more advantageous decks over time. CONCLUSIONS Our results provide additional evidence for cognitive impairment of alcohol-dependent patients with regard to tasks sensitive to frontal lobe function and underline the importance of abstinence for these impairments to recover. We found only little evidence for the impairing effects of repeated withdrawal on prefrontal function and we suggest that executive function is affected earlier in dependence.
DarkSUSY: Computing Supersymmetric Dark Matter Properties Numerically

The question of the nature of the dark matter in the Universe remains one of the most outstanding unsolved problems in basic science. One of the best motivated particle physics candidates is the lightest supersymmetric particle, assumed to be the lightest neutralino—a linear combination of the supersymmetric partners of the photon, the Z boson and neutral scalar Higgs particles. Here we describe DarkSUSY, a publicly available advanced numerical package for neutralino dark matter calculations. In DarkSUSY one can compute the neutralino density in the Universe today using precision methods which include resonances, pair production thresholds and coannihilations. Masses and mixings of supersymmetric particles can be computed within DarkSUSY or with the help of external programs such as FeynHiggs, ISASUGRA and SUSPECT. Accelerator bounds can be checked to identify viable dark matter candidates. DarkSUSY also computes a large variety of astrophysical signals from neutralino dark matter, such as direct detection in low-background counting experiments and indirect detection through antiprotons, antideuterons, gamma-rays and positrons from the galactic halo or high-energy neutrinos from the centre of the Earth or of the Sun. Here we describe the physics behind the package. A detailed manual will be provided with the computer package.
A Specific Primed Immune Response in Drosophila Is Dependent on Phagocytes

Drosophila melanogaster, like other invertebrates, relies solely on its innate immune response to fight invading microbes; by definition, innate immunity lacks adaptive characteristics. However, we show here that priming Drosophila with a sublethal dose of Streptococcus pneumoniae protects against an otherwise-lethal second challenge of S. pneumoniae. This protective effect exhibits coarse specificity for S. pneumoniae and persists for the life of the fly. Although not all microbial challenges induced this specific primed response, we find that a similar specific protection can be elicited by Beauveria bassiana, a natural fly pathogen. To characterize this primed response, we focused on S. pneumoniae-induced protection. The mechanism underlying this protective effect requires phagocytes and the Toll pathway. However, activation of the Toll pathway is not sufficient for priming-induced protection. This work contradicts the paradigm that insect immune responses cannot adapt and will promote the search for similar responses overlooked in organisms with an adaptive immune response.
Social Identity and Role Models

We present a lab-in-the-field experiment and surveys of marginalised Roma children in Slovakia to examine whether reminding Roma of their ethnicity reduces their performance in a cognitive task. Research on social identity and stereotypes has documented that when individuals feel their social group is negatively stereo- typed in a domain their performance declines, which can reinforce discrimination. In an effort to break the cycle of negative stereotypes we remind Roma of either Roma or non-Roma role models. We find that the activation of a Roma's ethnicity reduces cognitive performance. In contrast Roma exposed to Roma role models outperform those reminded of their ethnicity and also non-Roma role models. We then attempt to understand the channels through which social identity and role models effect performance. We show that priming a Roma's identity has a direct effect on confidence, decreasing performance.
The progress of studies on event-related potentials P_(300) and mental rotation

Objective To discuss the relationship between the mental rotation and the amplitude modulation of P 300 . Literature resource and selection Research papers and reviews in this field. Literature quotation Seventeen published papers and reviews were cited. Literature synthesis It was summarized in 3 aspects: ①The functional relation between mental rotation and amplitude modulation of P 300 ; ②The time relation between mental rotation and amplitude modulation of P 300 ; ③Studies on ERP and mental rotation while performing dual task. The prospect of further research in this field was also put forward. Conclusion Along with the increase of the angular displacement from upright (from 0°to 180°),the negativity of the P 300 is plotted up. Postponing the process of mental rotation should also postpone onset of the amplitude modulation.
Molecular Basis of Renal Adaptation in a Murine Model of Congenital Obstructive Nephropathy

Congenital obstructive nephropathy is a common cause of chronic kidney disease and a leading indication for renal transplant in children. The cellular and molecular responses of the kidney to congenital obstruction are incompletely characterized. In this study, we evaluated global transcription in kidneys with graded hydronephrosis in the megabladder (mgb −/−) mouse to better understand the pathophysiology of congenital obstructive nephropathy. Three primary pathways associated with kidney remodeling/repair were induced in mgb −/− kidneys independent of the degree of hydronephrosis. These pathways included retinoid signaling, steroid hormone metabolism, and renal response to injury. Urothelial proliferation and the expression of genes with roles in the integrity and maintenance of the renal urothelium were selectively increased in mgb −/− kidneys. Ngal/Lcn2, a marker of acute kidney injury, was elevated in 36% of kidneys with higher grades of hydronephrosis. Evaluation of Ngalhigh versus Ngallow kidneys identified the expression of several novel candidate markers of renal injury. This study indicates that the development of progressive hydronephrosis in mgb −/− mice results in renal adaptation that includes significant changes in the morphology and potential functionality of the renal urothelium. These observations will permit the development of novel biomarkers and therapeutic approaches to progressive renal injury in the context of congenital obstruction.
An Increase in the Faint Red Galaxy Population in Massive Clusters since z ~ 0.5

We compare the luminosity functions for red galaxies lying on the rest-frame (U - V) color-magnitude sequence in a homogeneous sample of 10 X-ray-luminous clusters from the MACS survey at z ~ 0.5 to a similarly selected X-ray cluster sample at z ~ 0.1. We exploit deep Hubble Space Telescope ACS imaging in the F555W and F814W passbands of the central 1.2 Mpc diameter regions of the distant clusters to measure precise colors for the galaxies in these regions and statistically correct for contamination by field galaxies using observations of blank fields. We apply an identical analysis to ground-based photometry of the z ~ 0.1 sample. This comparison demonstrates that the number of faint, MV ~ -19, red galaxies relative to the bright population seen in the central regions of massive clusters has roughly doubled over the 4 Gyr between z ~ 0.5 and z ~ 0.1. We quantify this difference by measuring the dwarf-giant ratio on the red sequence, which increases by a factor of at least 2.2 ± 0.4 since z ~ 0.5. This is consistent with the idea that many faint, blue, star-forming galaxies in high-density environments are transforming onto the red sequence in the last half of the Hubble time.
Phenotypic plasticity in blood–oxygen transport in highland and lowland deer mice

SUMMARY In vertebrates living at high altitude, arterial hypoxemia may be ameliorated by reversible changes in the oxygen-carrying capacity of the blood (regulated by erythropoiesis) and/or changes in blood–oxygen affinity (regulated by allosteric effectors of hemoglobin function). These hematological traits often differ between taxa that are native to different elevational zones, but it is often unknown whether the observed physiological differences reflect fixed, genetically based differences or environmentally induced acclimatization responses (phenotypic plasticity). Here, we report measurements of hematological traits related to blood–O2 transport in populations of deer mice (Peromyscus maniculatus) that are native to high- and low-altitude environments. We conducted a common-garden breeding experiment to assess whether altitude-related physiological differences were attributable to developmental plasticity and/or physiological plasticity during adulthood. Under conditions prevailing in their native habitats, high-altitude deer mice from the Rocky Mountains exhibited a number of pronounced hematological differences relative to low-altitude conspecifics from the Great Plains: higher hemoglobin concentrations, higher hematocrits, higher erythrocytic concentrations of 2,3-diphosphoglycerate (an allosteric regulator of hemoglobin–oxygen affinity), lower mean corpuscular hemoglobin concentrations and smaller red blood cells. However, these differences disappeared after 6 weeks of acclimation to normoxia at low altitude. The measured traits were also indistinguishable between the F1 progeny of highland and lowland mice, indicating that there were no persistent differences in phenotype that could be attributed to developmental plasticity. These results indicate that the naturally occurring hematological differences between highland and lowland mice are environmentally induced and are largely attributable to physiological plasticity during adulthood.
A hybrid fuzzy and neural approach with virtual experts and partial consensus for dram price forecasting

To further enhance the accuracy and precision of DRAM price forecasting, a hybrid fuzzy and neural approach with virtual experts and partial consensus is proposed. In the proposed methodology, some virtual experts form a committee. These virtual experts construct their own fuzzy linear regression (FLR) equations to forecast the price of a DRAM product from various viewpoints. Each FLR equation can be transformed into two equivalent NP problems to be solved. Subsequently, partial-consensus fuzzy intersection is applied to aggregate fuzzy price forecasts into a polygon-shaped fuzzy number, in order to improve the precision. After that, a back propagation network is constructed to defuzzify the polygon-shaped fuzzy number and to generate a representative/crisp value, so as to enhance the accuracy. A practical case is used to evaluate the effectiveness of the proposed methodology. According to the experimental results, the proposed methodology improved both the precision and accuracy of DRAM price forecasting by 75% and 65%, respectively.
Fast classification using sparse decision DAGs

In this paper we propose an algorithm that builds sparse decision DAGs (directed acyclic graphs) from a list of base classifiers provided by an external learning method such as AdaBoost. The basic idea is to cast the DAG design task as a Markov decision process. Each instance can decide to use or to skip each base classifier, based on the current state of the classifier being built. The result is a sparse decision DAG where the base classifiers are selected in a data-dependent way. The method has a single hyperparameter with a clear semantics of controlling the accuracy/speed trade-off. The algorithm is competitive with state-of-the-art cascade detectors on three object-detection benchmarks, and it clearly outperforms them when there is a small number of base classifiers. Unlike cascades, it is also readily applicable for multi-class classification. Using the multi-class setup, we show on a benchmark Web page ranking data set that we can significantly improve the decision speed without harming the performance of the ranker.
An Online Threshold Key Distribution Scheme for Symmetric Key Management

The threshold secret sharing technique has been used extensively in cryptography. This technique is used for splitting secrets into shares and distributing the shares in the network to provide protection against attacks and to reduce the possibility of loss of information. In this paper, a new approach is introduced to enhance communication security among the nodes in a network based on the threshold secret sharing technique and traditional symmetric key management. The proposed scheme aims to enhance the security of the symmetric key distribution in the network. In the proposed scheme, key distribution is online which means key management is conducted whenever a message needs to be communicated. The basic idea is encrypting a message with a key (the secret) at the sender, then splitting the key into shares and sending the shares from different paths to the destination. Furthermore, a pre-distributed shared key scheme is utilized for more secure transmissions of the secret’s shares. The proposed scheme, with the exception of some offline management by the network controller, is distributed, i.e., the symmetric key setups and the determination of the communication paths is preformed in the nodes. This approach enhances communication security among the nodes in a network that operates in hostile environments. The security analyses of the proposed scheme are
A Replicated Study on the Evaluation of a Size Measurement Procedure for Web Applications

This paper presents a replication study that investigates the efficacy and likely adoption of a measurement procedure for sizing Web applications from conceptual models (OOmFPWeb). The goal of the replication was to provide evidence for the generalization of the results by repeating the experiment in a different environment, using different subjects. The results of the replica carried out in Austria have confirmed the results of the original experiment, which was carried out in Spain. OOmFPWeb is efficient when compared to current industry practices. It provides reproducible functional size measurements and is perceived as easy to use and useful by its users, who also expressed their intention to use OOmFPWeb in the future. The analysis further supports the validity and reliability of Moodypsilas method evaluation model for evaluating functional size measurement methods.
Relevance Feedback Track Overview: TREC 2008

Abstract : Relevance Feedback has been one of the successes of information retrieval research for the past 30 years. It has been proven to be worthwhile in a wide variety of settings, both when actual user feedback is available, and when the user feedback is implicit. However, while the applications of relevance feedback and type of user input to relevance feedback have changed over the years, the actual algorithms have not changed much. Most algorithms are either pure statistical word based (for example, Rocchio or Language Modeling), or are domain dependent. We should be able to do better now, but there have been surprisingly few advances in the area. In part, that's because relevance feedback is hard to study, evaluate, and compare. It is difficult to separate out the effects of an initial retrieval run, the decision procedure to determine what documents will be looked at, the user dependent relevance judgment procedure (including interface), and the actual relevance feedback reformulation algorithm. Setting up a framework to look at these separate effects for future research is an important goal for this track. Why now? We have a lot more natural language tools than we had 10 or 20 years ago. We're hopeful we can get people to actually use those tools to suggest what makes a document relevant or non-relevant to a particular topic. The question-answering community has been very successful at categorizing questions and taking different approaches for different categories. The success has not transferred over to the IR task, partly because there simply isn't enough syntactic information in a typical IR topic to offer clues as to what is wanted. But given relevant and non-relevant judgments, it should be much easier to form categories for topics (e.g., this topic requires these two aspects to both be present, while this other topic does not), and take different approaches depending on topic.
Historical epidemiology of hepatitis C virus (HCV) in selected countries

Chronic infection with hepatitis C virus (HCV) is a leading indicator for liver disease. New treatment options are becoming available, and there is a need to characterize the epidemiology and disease burden of HCV. Data for prevalence, viremia, genotype, diagnosis and treatment were obtained through literature searches and expert consensus for 16 countries. For some countries, data from centralized registries were used to estimate diagnosis and treatment rates. Data for the number of liver transplants and the proportion attributable to HCV were obtained from centralized databases. Viremic prevalence estimates varied widely between countries, ranging from 0.3% in Austria, England and Germany to 8.5% in Egypt. The largest viremic populations were in Egypt, with 6 358 000 cases in 2008 and Brazil with 2 106 000 cases in 2007. The age distribution of cases differed between countries. In most countries, prevalence rates were higher among males, reflecting higher rates of injection drug use. Diagnosis, treatment and transplant levels also differed considerably between countries. Reliable estimates characterizing HCV‐infected populations are critical for addressing HCV‐related morbidity and mortality. There is a need to quantify the burden of chronic HCV infection at the national level.