Miracle-dz/UniFAR-FTUs huggingface dataset:
Comparison between Newton-Euler and Automatic Separation Method for SCARA dynamic modeling

Dynamic modeling of robotic systems is always a challenge, not only because of the calculation complexity, but also because of the difficulties in separating basic elements of the system mass matrix, matrix of Coriolis torques, matrix of centrifugal torques, and the matrix of gravity torques. Automatic Separation Method (ASM) is applied and compared with the traditional Newton-Euler (N-E) recursive procedure using the SCARA robotic system with three Degrees of Freedom (3 DOF). In the comparison of the two methods, it is significant that using the N-E method will require additional computing time and effort to manually separate metrics elements, while the ASM takes no time to achieve the same result. The benefits of ASM can be important for more complex robotic systems, such as industrial robots with 6 or 7 DOF. The results achieved by ASM can be easily written in the form that the N-E recursive procedure delivers, but vice versa is very hard.
Chromosome Bin Map of Expressed Sequence Tags in Homoeologous Group 1 of Hexaploid Wheat and Homoeology With Rice and Arabidopsis

A total of 944 expressed sequence tags (ESTs) generated 2212 EST loci mapped to homoeologous group 1 chromosomes in hexaploid wheat (Triticum aestivum L.). EST deletion maps and the consensus map of group 1 chromosomes were constructed to show EST distribution. EST loci were unevenly distributed among chromosomes 1A, 1B, and 1D with 660, 826, and 726, respectively. The number of EST loci was greater on the long arms than on the short arms for all three chromosomes. The distribution of ESTs along chromosome arms was nonrandom with EST clusters occurring in the distal regions of short arms and middle regions of long arms. Duplications of group 1 ESTs in other homoeologous groups occurred at a rate of 35.5%. Seventy-five percent of wheat chromosome 1 ESTs had significant matches with rice sequences (E ≤ e−10), where large regions of conservation occurred between wheat consensus chromosome 1 and rice chromosome 5 and between the proximal portion of the long arm of wheat consensus chromosome 1 and rice chromosome 10. Only 9.5% of group 1 ESTs showed significant matches to Arabidopsis genome sequences. The results presented are useful for gene mapping and evolutionary and comparative genomics of grasses.
A 17.1-17.3-GHz image-reject downconverter with phase-tunable LO using 3/spl times/ subharmonic injection locking

A 17-GHz RF receiver, consisting of a low-noise amplifier (LNA) and doubly balanced mixers coupled by a monolithic 3.7:1 step-down transformer, realizes over 75 dB of image rejection in a production 100-GHz f/sub T/ SiGe BiCMOS technology. A new coupling transformer winding improves the magnetic coupling coefficient by more than 20% compared to conventional designs, which reduces parasitic effects and increases the overall efficiency of the LNA/mixer combination. Quadrature LO signals with electronically tunable phase are generated by a subharmonically injection-locked oscillator. The measured receiver IIP3 is -5.1 dBm with 17.3-dB conversion gain and 6.5-dB noise figure (SSB 50 /spl Omega/) at 17.2 GHz. The 1.9/spl times/1.0 mm/sup 2/ IC consumes 62.5 mW from a 2.2-V supply.
Increased NAD(P)H oxidase-mediated superoxide production in renovascular hypertension: evidence for an involvement of protein kinase C.

BACKGROUND Angiotensin II infusion has been shown to cause hypertension and endothelial dysfunction and to increase superoxide (O-.2) production in vascular tissue, mainly via an activation of nicotinamide adenine dinucleotide (phosphate) [NAD(P)H]-dependent oxidase, the most significant O-. 2 source in endothelial and/or smooth muscle cells. With these studies, we sought to determine whether endothelial dysfunction in renovascular hypertension is secondary to an activation of these oxidases. METHODS Endothelial function in aortas from rats with two kidney-one clip (2K-1C) hypertension and age-matched controls was assessed using isometric tension studies in organ chambers. Changes in vascular O-. 2 production were measured using lucigenin-enhanced chemiluminescence and electron spin resonance spectroscopy. RESULTS In hypertensive animals, relaxation to endothelium-dependent (acetylcholine) and endothelium-independent nitrovasodilators (nitroglycerin) was impaired. Constriction to a direct activator of protein kinase C (PKC) phorbol ester 12,13 dibutyrate (PDBu) was enhanced, and vascular O-. 2 was significantly increased compared with controls. Vascular O-. 2 was normalized by the PKC inhibitor calphostin C, by the inhibitor of flavin-dependent oxidases, diphenylene iodonium, and recombinant heparin-binding superoxide dismutase, whereas inhibitors of the xanthine oxidase (oxypurinol), nitric oxide synthase (NG-nitro-l-arginine) and mitochondrial NADH dehydrogenase (rotenone) were ineffective. Studies of vascular homogenates demonstrated that the major source of O-. 2 was a NAD(P)H-dependent oxidase. Incubation of intact tissue with PDBu markedly increased O-. 2, the increase being significantly stronger in vessels from hypertensive animals as compared with vessels from controls. Endothelial dysfunction was improved by preincubation of vascular tissue with superoxide dismutase and calphostin C. CONCLUSIONS We therefore conclude that renovascular hypertension in 2K-1C rats is associated with increased vascular O-. 2 leading to impaired vasodilator responses to endogenous and exogenous nitrovasodilators. Increased vascular O-. 2 is likely secondary to a PKC-mediated activation of a membrane-associated NAD(P)H-dependent oxidase.
Spear phishing in organisations explained

Purpose The purpose of this study is to explore how the opening phrase of a phishing email influences the action taken by the recipient. Design/methodology/approach Two types of phishing emails were sent to 593 employees, who were asked to provide personally identifiable information (PII). A personalised spear phishing email opening was randomly used in half of the emails. Findings Nineteen per cent of the employees provided their PII in a general phishing email, compared to 29 per cent in the spear phishing condition. Employees having a high power distance cultural background were more likely to provide their PII, compared to those with a low one. There was no effect of age on providing the PII requested when the recipient’s years of service within the organisation is taken into account. Practical implications This research shows that success is higher when the opening sentence of a phishing email is personalised. The resulting model explains victimisation by phishing emails well, and it would allow practitioners to focus awareness campaigns to maximise their effect. Originality/value The innovative aspect relates to explaining spear phishing using four socio-demographic variables.
Applying 'Comply-or-Explain': Conformance with Codes of Corporate Governance in the UK and Germany

The comply-or-explain principle is a central element of most codes of corporate governance. Originally put forward by the Cadbury Committee in the UK as a practical means of establishing a code of corporate governance whilst avoiding an inflexible ‘one size fits all’ approach, it has since been incorporated into code regimes around the world. Despite its wide application very little is known about the ways in which managers apply the principle – in particular, how they make use of the option to ‘explain’ deviations. To address this we analysed the compliance statements and reports of 257 listed companies in the UK and Germany, producing some 708 records of deviations, which we used to generate our empirically derived taxonomy of forms of ‘explanation’. We find these varied forms of ‘explanation’ are based in part on different logics of argumentation. This leads to a broader use of the option to ‘explain’ than envisaged by the Cadbury Committee. In addition our country comparison shows significant divergence in compliance patterns in the UK and Germany which may be explained by differences in experience, culture and legal system.
School difficulties at adolescence in a regional cohort of children who were extremely low birth weight.

OBJECTIVES To compare measures of psychometric assessment and school difficulties in a cohort of extremely low birth weight (ELBW) teenagers and term controls, and to determine whether there is stability in psychometric measures between age 8 and the teen years. STUDY DESIGN Longitudinal follow-up; geographically defined region. PARTICIPANTS 150 of 169 (89%) ELBW survivors born between 1977 and 1982 and 124 of 145 (86%) sociodemographically matched term controls between 12 and 16 years of age. Psychometric measures: Wechsler Intelligence Scale for Children-Revised, Wide Range Achievement Test-Revised, and a validated parent questionnaire. RESULTS Neurosensory impairments were present in 28% of ELBW and 1% of controls. The mean Wechsler Intelligence Scale for Children-Revised scores were ELBW: 89 +/- 19 and controls: 102 +/- 13. ELBW children did less well on Wide Range Achievement Test-Revised Reading, Spelling, and Arithmetic measures with mean scores in the range from 75 to 85. ELBW children <750 g were more disadvantaged, compared with those >/=750 g. A significantly higher proportion of ELBW children were receiving special educational assistance and/or had repeated a grade (ELBW: 58%; controls: 13%; odds ratio: 9.0). Paired analysis of within-cohort data at age 8 and teen years showed that for both cohorts Arithmetic scores declined, but there were small improvements in other measures, predominantly in the term children. CONCLUSIONS Differences of 13 to 18 points in psychometric measures in ELBW teens compared with controls are both statistically significant and clinically relevant. Decreasing birth weight was associated with increased risk on all measures. The high utilization of special educational resources has economic implications, and the incremental cost attributable to being extremely premature needs to be determined.
Androgen receptor, estrogen receptor alpha, and estrogen receptor beta show distinct patterns of expression in forebrain song control nuclei of European starlings.

In songbirds, singing behavior is controlled by a discrete network of interconnected brain nuclei known collectively as the song control system. Both the development of this system and the expression of singing behavior in adulthood are strongly influenced by sex steroid hormones. Although both androgenic and estrogenic steroids have effects, androgen receptors (AR) are more abundantly and widely expressed in song nuclei than are estrogen receptors (ER alpha). The recent cloning of a second form of the estrogen receptor in mammals, ER beta, raises the possibility that a second receptor subtype is present in songbirds and that estrogenic effects in the song system may be mediated via ER beta. We therefore cloned the ER beta complementary DNA (cDNA) from a European starling preoptic area-hypothalamic cDNA library and used in situ hybridization histochemistry to examine its expression in forebrain song nuclei, relative to the expression of AR and ER alpha messenger RNA (mRNA), in the adjacent brain sections. The starling ER beta cDNA has an open reading frame of 1662-bp, predicted to encode a protein of 554 amino acids. This protein shares greater than 70% sequence identity with ER beta in other species. We report that starling ER beta is expressed in a variety of tissues, including brain, pituitary, skeletal muscle, liver, adrenal, kidney, intestine, and ovary. Similar to reports in other songbird species, we detected AR mRNA-containing cells in several song control nuclei, including the high vocal center (HVc), the medial and lateral portions of the magnocellular nucleus of the anterior neostriatum, and the robust nucleus of the archistriatum. We detected ER alpha expression in the medial portion of HVc (also called paraHVc) and along the medial border of the caudal neostriatum. ER beta was not expressed in HVc, in the medial and lateral portions of the magnocellular nucleus of the anterior neostriatum, in the robust nucleus of the archistriatum, or in area X. In contrast, ER beta mRNA-containing cells were detected in the caudomedial neostriatum and medial preoptic area in a pattern reminiscent of P450 aromatase expression in the same brain regions in other songbirds. These data suggest that estrogenic effects on the song system are not mediated via ER beta-producing cells within song nuclei. Nonetheless, the overlapping expression of ER beta- and aromatase-producing cells in the caudomedial neostriatum suggests that locally synthesized estrogens may act via ER beta, in addition to ER alpha, to mediate seasonal or developmental effects on nearby song nuclei (e.g. HVc).
Antisense-mediated melanoma inhibitor of apoptosis protein downregulation sensitizes G361 melanoma cells to cisplatin

Malignant melanoma is an aggressive form of skin cancer that is highly resistant to conventional therapies. The melanoma inhibitor of apoptosis protein is a potent inhibitor of apoptosis and is overexpressed in melanoma cells, but undetectable in most normal tissues including melanocytes. We designed 20-mer phosphorothioate antisense oligonucleotides complementary to five putatively single-stranded sites on the melanoma inhibitor of apoptosis protein mRNA and investigated their ability to sensitize G361 melanoma cells to cisplatin. Inhibition of melanoma inhibitor of apoptosis protein mRNA and protein expression were measured by real-time polymerase chain reaction and immunoblotting. Cell viability and apoptosis were quantitated by colorimetric viability assays and by annexin V staining, respectively. Oligonucleotide M706 was identified as the most efficient antisense sequence which downregulated melanoma inhibitor of apoptosis protein mRNA and protein levels in G361 cells by 68 and 78%, respectively. The specificity of target downregulation was confirmed using scrambled sequence control oligonucleotides that only marginally decreased melanoma inhibitor of apoptosis protein expression. Whereas downregulation of melanoma inhibitor of apoptosis protein moderately inhibited cell growth by 26%, in combination with cisplatin, this resulted in a supra-additive effect with almost 57% reduction in G361 cell viability compared with cisplatin alone (17%) (P<0.05). Cell death was mainly due to apoptosis as demonstrated by a 3- to 4-fold increase in annexin V-positive cells and typical morphological changes compared with controls. In summary, we describe a new antisense oligonucleotide that efficiently downregulates melanoma inhibitor of apoptosis protein expression and sensitizes melanoma cells to cisplatin.
The fellowship of the rings: distinct pools of proliferating cell nuclear antigen trimer at work

The proliferating cell nuclear antigen (PCNA) is a homotrimeric ring‐shaped protein that, by encircling DNA, may function as a sliding platform for proteins participating in various DNA transactions. PCNA plays a fundamental role in DNA replication and repair, but also in postreplicative events, like DNA methylation, chromatin assembly and remodeling, sister chromatid cohesion, and coordinates these activities with cell cycle control. However, relevant aspects of PCNA function are still not well understood, like the role of PCNA in the association with partner proteins, and how multiple protein interactions are orchestrated. Based on emerging evidence, I suggest that 1) PCNA interacting proteins may be reclassified in three major categories, namely, a) cell cycle control; b) DNA replication/repair; c) chromatin regulation/transcription. 2) PCNA is a negative regulator, rather than a processivity/recruitment factor, of chromatin‐modifying enzymes. 3) At DNA replication sites, PCNA function may be envisaged with a model of “dynamic hand‐off” of interacting partners that rapidly and transiently exchange in a mutually exclusive manner, while cyclin‐dependent kinase (Cdk) 2 (CDK2) is stably bound to PCNA. The partner exchange might occur through a conformational change of the PCNA/protein/DNA complex allowing CDK2 to phosphorylate the partner protein, thereby enabling its hand‐off from PCNA. — Prosperi, E. The fellowship of the rings: distinct pools of proliferating cell nuclear antigen trimer at work. FASEB J. 20, 833–837 (2006)
Crystal structure of the carboxyltransferase subunit of the bacterial sodium ion pump glutaconyl‐coenzyme A decarboxylase

Glutaconyl‐CoA decarboxylase is a biotin‐dependent ion pump whereby the free energy of the glutaconyl‐CoA decarboxylation to crotonyl‐CoA drives the electrogenic transport of sodium ions from the cytoplasm into the periplasm. Here we present the crystal structure of the decarboxylase subunit (Gcdα) from Acidaminococcus fermentans and its complex with glutaconyl‐CoA. The active sites of the dimeric Gcdα lie at the two interfaces between the mono mers, whereas the N‐terminal domain provides the glutaconyl‐CoA‐binding site and the C‐terminal domain binds the biotinyllysine moiety. The Gcdα catalyses the transfer of carbon dioxide from glutaconyl‐CoA to a biotin carrier (Gcdγ) that subsequently is decarboxylated by the carboxybiotin decarboxylation site within the actual Na+ pump (Gcdβ). The analysis of the active site lead to a novel mechanism for the biotin‐dependent carboxy transfer whereby biotin acts as general acid. Furthermore, we propose a holoenzyme assembly in which the water‐filled central channel of the Gcdα dimer lies co‐axial with the ion channel (Gcdβ). The central channel is blocked by arginines against passage of sodium ions which might enter the central channel through two side channels.
A Viewpoint‐Dependent Approach to Ray Trace Free‐Form Surfaces

For convincing realistic scenes objects with free‐form surfaces are essential. Especially for photorealistic rendering pure polygonal models are often not sufficient. We present a new kind of algorithm to render free‐form surfaces in a rendering system based on ray tracing. We describe a triangular patch as usual by its three points and normal vectors, but base the intersection calculation as well on the viewpoint of the camera (or, in general, on the ray itself). Hence, the shape of the object depends to some extent on the sampling rays. However, the resulting differences of, for instance, the shape of the silhouette to the shape of the corresponding shadow is usually not perceived by the observer of the rendered image. Because we perform a direct computation without a tessellation process, the resulting surface, its shadows, and its reflections appear smooth independent of the distance to the camera. Furthermore, the memory consumption depends only linearly on the number of input triangles. Special features like creases, T‐vertices, and darts are also well supported. The computed uv‐coordinates provide a direct means for texture mapping whose visual appearance improves significantly compared to triangle meshes of the same resolution.
Increased renal ANP synthesis, but decreased or unchanged cardiac ANP synthesis in water-deprived and salt-restricted rats.

BACKGROUND Experiments were performed to examine the effect of water deprivation and salt restriction on ANP synthesis in the kidneys and hearts of normal rats. METHODS A 4-day water deprivation (WD) and 7-day salt restriction (SR; 0.01% NaCl) were performed in 12 and 14 rats, respectively. Atrial natriuretic peptide (ANP) mRNA expression in the kidney was assessed with reverse transcription-polymerase chain reaction coupled with Southern blot hybridization, while the ANP mRNA in the hearts was measured by Northern blot hybridization. ANP and angiotensin II concentrations in the extracted plasma were measured by radioimmunoassay. The molecular form of renal ANP-like protein was characterized by reverse phase-high-performance liquid chromatography (RP-HPLC). RESULTS Renal outer and inner medullary ANP mRNA showed a respective 11-fold and ninefold increase in WD rats, and an eightfold and fivefold increase in SR rats as compared to corresponding control groups. Inversely, cardiac atrial ANP mRNA and plasma ANP were decreased in WD rats, whereas they did not change in the SR group. Plasma angiotensin II concentration increased in conjunction with the decrease of urine sodium excretion in both groups. RP-HPLC analysis revealed a 45% extraction of ANP in the WD rat kidneys, whereas only 3% ANP in the control kidneys migrated in a molecular form similar to cardiac atrial proANP. CONCLUSIONS Our results demonstrate that water deprivation and salt restriction markedly enhance renal ANP mRNA, whereas water deprivation suppresses cardiac atrial ANP mRNA and plasma ANP concentrations. The current study indicates that renal ANP and cardiac atrial ANP appear to be two distinct systems regulated by different mechanisms and possibly exhibiting different intra-renal paracrine and systemic endocrine functions.
Cellular neuroanatomy of rat presubiculum

The presubiculum, at the transition from the hippocampus to the cortex, is a key area for spatial information coding but the anatomical and physiological basis of presubicular function remains unclear. Here we correlated the structural and physiological properties of single neurons of the presubiculum in vitro. Unsupervised cluster analysis based on dendritic length and form, soma location, firing pattern and action potential properties allowed us to classify principal neurons into three major cell types. Cluster 1 consisted of a population of small regular spiking principal cells in layers II/III. Cluster 2 contained intrinsically burst firing pyramidal cells of layer IV, with a resting potential close to threshold. Cluster 3 included regular spiking cells of layers V and VI, and could be divided into subgroups 3.1 and 3.2. Cells of cluster 3.1 included pyramidal, multiform and inverted pyramidal cells. Cells of cluster 3.2 contained high‐resistance pyramidal neurons that fired readily in response to somatic current injection. These data show that presubicular principal cells generally conform to neurons of the periarchicortex. However, the presence of intrinsic bursting cells in layer IV distinguishes the presubicular cortex from the neighbouring entorhinal cortex. The firing frequency adaptation was very low for principal cells of clusters 1 and 3, a property that should assist the generation of maintained head direction signals in vivo.
Users ’ SenseMaking of an Affective Intervention in Human-Computer Interaction

This qualitative interview study builds on an empirical experiment in which an affective intervention was given to users in a critical dialog situation of human-computer interaction (HCI). The applied intervention addressed users on a personal level by asking for their thoughts and feelings. Since this is still an unusual behavior for a technical system, the aim of the present study was to investigate how users reason about this. Three different kinds of individual sensemaking processes regarding the intervention were worked out. These clarify that a personal level of interaction between system and user is only appropriate for some users, whereas it also can have adverse effects on others. By explicating users’ experiences and conceptions, this study contributes to research on affective interventions in HCI that in the past was mainly focused on measurements of effectiveness rather than on understanding users‘inner processes regarding such