Miracle-dz/UniFAR-FTUs huggingface dataset:
A single closed-loop kinematic chain approach for a hybrid control of two cooperating arms with a passive joint: an application to sawing task

Deals with a sawing task performed by two cooperating arms. The two-arm system under our hand consists of a four degree-of-freedom (DOF) SCARA robot and a five DOF PT200V robot. When the two arms are rigidly grasping a saw, the mobility of the system is three, which is not enough for sawing tasks. Therefore, we deliberately insert a passive joint at the end of the SCARA robot to increase the mobility up to four. A hybrid control method to regulate the force and velocity by the two arms is proposed in this work. The proposed scheme has three typical features; first, the two arms are treated as one arm in a kinematic viewpoint. Secondly, our approach is different from other acceleration-based approaches, in the sense that our hybrid control method is based on a Jacobian and an internal kinematics for a single closed-kinematic chain of the two arms to reflect the nature of the position-controlled industrial manipulator. Thirdly, the proposed scheme is not only able to operate the system even if a passive joint exists, but also is able to utilize the internal loads for useful applications such as pitch motion control. We experimentally show that the performance of the velocity and force response are satisfactory, and that one additional passive joint not only prevents the system from unwanted roll motion in the sawing task, but also allows an unwanted pitch motion to be notably reduced by an internal load control. To show the effectiveness of the proposed algorithms, we perform experimentation under several, different conditions for saw, such as three saw blades, two sawing speeds, and two vertical forces.
Post Mortem Viability of Epididymal Sperm from Philippine Native Water Buffalo ( Bubalusbubalis ) Edeneil

Post-mortem spermatozoa recovery is an important method to obtain germplasm reserves from genetically valuable animals or endangered species.The objective of the study was to determine the viability of water buffalo epididymal spermatozoa from excised testicles stored at two temperature conditions either at 5 to 80 C or at 18 to 220 C which is maintained for 10 to 12 hours and 15 to 17 hours. Six pairs of water buffalo paired testicles were collected after slaughter and transported to the laboratory. The testicles were placed in a styropore box previously calibrated with the target storage temperature. Epididymal sperm from one testicle was recovered after 10 to 12 hours while the other testicle at 15 to 17 hours post-mortem. Epididymal spermatozoa recovery was by slicing and swim up method in Tris-citric acid-egg yolk extender with fructose and raffinose. Sperm viability was assessed by determining the percentage sperm motility using conventional method. Total motility and progressive motility were determined using an automated sperm analyzer CASA IVOS II (Hamilton Thorne). Percentage live sperm was determined after eosin nigrosin staining of smeared sperm slide preparations. Morphological observation for the presence of abnormal spermatozoa and cytoplasmic droplets was similarly performed. Based on our findings, two way ANOVA revealed that the main effect of storage temperature and its interaction with storage time did not affect the viability of epididymal spermatozoa. However, a significant decline on the quality of spermatozoa was notable in the prolonged post mortem storage duration (p < 0.05). On the other hand, acceptable percentage of abnormal spermatozoa of less than 20% was obtained and was not influenced by storage temperature and storage time (p > 0.05). Therefore, viable water buffalo epididymal sperm can be recovered after 10-12 hours of animal death from testicles maintained at storage temperature of either 18-22°C and 5-8°C.
System Support for the In Situ Testing of Wireless Sensor Networks via Programmable Virtual Onboard Sensors

Wireless sensor networks (WSNs) can be extensively tested before they are deployed in the field. However, it is equally important to test a WSN after it has been deployed, to verify that it will work as expected in certain situations of interest, which are hard to reproduce in reality. In this paper, we introduce the mechanism of programmable virtual onboard sensors, for letting sensor nodes produce artificial sensor values as dictated by the user, transparently to the application. Virtual onboard sensors are programmed using a simple script-like language, which is interpreted at runtime on the wireless sensor nodes. The user can deploy sensor scripts in the WSN and activate the virtual sensor mode for selected nodes and sensors at any point in time, without changing the node firmware and without stopping the application that runs on the nodes. We also describe and evaluate an implementation of the virtual onboard sensor mechanism on a commercial WSN platform. Our implementation requires little memory and has negligible runtime overhead, and thus can be adopted even for resource-constrained sensor nodes.
Body sizes, cumulative and allometric degree distributions across natural food webs

The distributions of body masses and degrees (i.e. the number of trophic links) across species are key determinants of food-web structure and dynamics. In particular, allometric degree distributions combining both aspects in the relationship between degrees and body masses are of critical importance for the stability of these complex ecological networks. They describe decreases in vulnerability (i.e. the number of predators) and increases in generality (i.e. the number of prey) with increasing species' body masses. We used an entirely new global body-mass database containing 94 food webs from four different ecosystem types (17 terrestrial, 7 marine, 54 lake, 16 stream ecosystems) to analyze (1) body mass distributions, (2) cumulative degree distributions (vulnerability, generality, linkedness), and (3) allometric degree distributions (e.g. generality - body mass relationships) for significant differences among ecosystem types. Our results demonstrate some general patterns across ecosystems: (1) the body masses are often roughly log-normally (terrestrial and stream ecosystems) or multi-modally (lake and marine ecosystems) distributed, and (2) most networks exhibit exponential cumulative degree distributions except stream networks that most often possess uniform degree distributions. Additionally, with increasing species body masses we found significant decreases in vulnerability in 70% of the food webs and significant increases in generality in 80% of the food webs. Surprisingly, the slopes of these allometric degree distributions were roughly three times steeper in streams than in the other ecosystem types, which implies that streams exhibit a more pronounced body mass structure. Overall, our analyses documented some striking generalities in the body-mass (allometric degree distributions of generality and vulnerability) and degree structure (exponential degree distributions) across ecosystem types as well as surprising exceptions (uniform degree distributions in stream ecosystems). This suggests general constraints of body masses on the link structure of natural food webs irrespective of ecosystem characteristics.
Visualization of glutamate as a volume transmitter

Glutamate is the major excitatory neurotransmitter in the central nervous system. Although glutamate mediates synaptically confined point‐to‐point transmission, it has been suggested that under certain conditions glutamate may escape from the synaptic cleft (glutamate spillover), accumulate in the extrasynaptic space, and mediate volume transmission to regulate important brain functions. However, the inability to directly measure glutamate dynamics around active synapses has limited our understanding of glutamatergic volume transmission. The recent development of a family of fluorescent glutamate indicators has enabled the visualization of extrasynaptic glutamate dynamics in brain tissues. In this topical review, we examine glutamate as a volume transmitter based on novel results of glutamate imaging in the brain.
Application of the Sensitivity Analysis to the Optimal Design of the Microstrip Low-Pass Filter With Defected Ground Structure

This paper shows applied sensitivity analysis for easier design and practical application of a planar half-wavelength low-pass filter (LPF) using defected ground structure (DGS). Typically, it is difficult to deploy planar half-wavelength low-pass filters when high power durability is required because of the very narrow line-widths of high impedance transmission line. Here, we propose a new configuration for the high impedance microstrip line using DGS structure to allow broader line width and high power handling capability. The sensitivity of the scattering parameters was calculated using the self-adjoint sensitivity formula in order to determine the proposed filter's dimension. The paper also highlights the validity of the proposed LPF optimization with its measured performance.
Does Aerobic Exercise Influence Intrinsic Brain Activity? An Aerobic Exercise Intervention among Healthy Old Adults

Previous studies have indicated that aerobic exercise could reduce age related decline in cognition and brain functioning. Here we investigated the effects of aerobic exercise on intrinsic brain activity. Sixty sedentary healthy males and females (64–78 years) were randomized into either an aerobic exercise group or an active control group. Both groups recieved supervised training, 3 days a week for 6 months. Multimodal brain imaging data was acquired before and after the intervention, including 10 min of resting state brain functional magnetic resonance imaging (rs-fMRI) and arterial spin labeling (ASL). Additionally, a comprehensive battery of cognitive tasks assessing, e.g., executive function and episodic memory was administered. Both the aerobic and the control group improved in aerobic capacity (VO2-peak) over 6 months, but a significant group by time interaction confirmed that the aerobic group improved more. Contrary to our hypothesis, we did not observe any significant group by time interactions with regard to any measure of intrinsic activity. To further probe putative relationships between fitness and brain activity, we performed post hoc analyses disregarding group belongings. At baseline, VO2-peak was negativly related to BOLD-signal fluctuations (BOLDSTD) in mid temporal areas. Over 6 months, improvements in aerobic capacity were associated with decreased connectivity between left hippocampus and contralateral precentral gyrus, and positively to connectivity between right mid-temporal areas and frontal and parietal regions. Independent component analysis identified a VO2-related increase in coupling between the default mode network and left orbitofrontal cortex, as well as a decreased connectivity between the sensorimotor network and thalamus. Extensive exploratory data analyses of global efficiency, connectome wide multivariate pattern analysis (connectome-MVPA), as well as ASL, did not reveal any relationships between aerobic fitness and intrinsic brain activity. Moreover, fitness-predicted changes in functional connectivity did not relate to changes in cognition, which is likely due to absent cross-sectional or longitudinal relationships between VO2-peak and cognition. We conclude that the aerobic exercise intervention had limited influence on patterns of intrinsic brain activity, although post hoc analyses indicated that individual changes in aerobic capacity preferentially influenced mid-temporal brain areas.
Identification of the tetracycline resistance gene, tet(O), in Streptococcus pneumoniae

Five isolates of Streptococcus pneumoniae resistant to tetracycline but lacking tet(M) were studied. The tetracycline resistance gene, tet(O), was detected for the first time in the pneumococcus. The gene was amplified and sequenced and found to share 99% nucleotide sequence identity and 99, 99, and 98% deduced amino acid sequence identity with the tet(O) resistance genes of Streptococcus mutans, Campylobacter coli, and Campylobacter jejuni, respectively.
"Memory Pressed Flat into Text": The Importance of Print in Steven Hall's The Raw Shark Texts

The fear of obliteration obsessed the societies of early modern Europe. To quell their anxiety, they preserved in writing traces of the past, remem- brances of the dead, the glory of the living, and texts of all kinds that were not supposed to disappear. Stone, wood, fabric, parchment, and paper all served as substrates on which the memory of events and men could be inscribed. In the open space of the city or the seclusion of the library, in majesty in books or in humility on more ordinary objects, the mission of the written was to dispel the obsession with loss. This was no easy task in a world where writing could be erased.
Multiple Organ Manifestations in Thromboangiitis Obliterans (Buerger's Disease) A Case Report

Thromboangiitis obliterans (TAO) occurs almost exclusively in young male smokers. Its involvement of the small and medium-sized arteries and veins leads to ischemic complaints and/or changes in the extremities. The possibility of organ involvement is a matter of controversy. The authors report a case of TAO with multiple organ involvement, including myocardial, splenic, and cerebral infarctions; pulmonary embolisms; and probable intestinal ischemia during a twenty-three-year course.
Modified quasi-boundary value method for a Cauchy problem of semi-linear elliptic equation

In this paper, we investigate a Cauchy problem for the semi-linear elliptic equation. This problem is well known to be severely ill-posed and regularization methods are required. We use a modified quasi-boundary value method to deal with it, and a convergence estimate for the regularized solution is obtained under an a priori bound assumption for the exact solution. Finally, some numerical results show that our given method works well.
Chronic pain after venous cannulation

that the perceived tilt applied to the operating tilt was grossly overestimated. Interestingly, in our study the degree of overestimation was greatest amongst obstetricians compared with anaesthetists, with a median (IQR) error of 14° (10°–25°) compared with 12° (5°–22°), respectively. This may reflect the fact that the obstetricians are considering the pelvic angle (which, as Kinsella and Harvey demonstrate, is greater than that applied to the table), whereas anaesthetists are placing more emphasis on the operating table tilt, assuming this to be aligned with the pelvic angle. The final and most important consideration, therefore, is that of the actual tilt applied to the pelvis. In view of my study and in light of this recent article, it is apparent that any application of tilt thought to be applied to the pelvis is, at best, an educated estimate. I believe it emphasises the importance of re-evaluation of the patient’s position during periods of haemodynamic instability. We must remain aware that the perceived tilt may not represent the actual pelvic tilt and aortocaval compression may still be a contributing factor. Possible methods of improving the adequacy of tilt are to liaise with the operating surgeon as to the perceived pelvic angle, use of a smartphone to assess the degree of table tilt, and the incorporation of a ‘tilt applied’ check box to the maternity World Health Organization checklist.
A depth camera based lightweight visual SLAM algorithm

The Visual SLAM algorithm has the goal of estimating the camera trajectory while reconstructing the Environment, which provides great help for autonomous navigation of mobile robot. However, many SLAM systems improve the complexity of the algorithm in order to show high precision, resulting in poor real-time performance. In practical application, considering the problem of robot life-time and the speed of embedded system, SLAM algorithm needs to improve the real-time performance of the algorithm and ensure the accuracy of application requirements at the same time. This paper presents a lightweight SLAM algorithm, which mainly through the management of map points, multi-threaded design and NEON technology to improve the real-tine performance of the algorithm while still maintaining a good localizing accuracy. It has great reference value for the practical application of SLAM algorithm.
Aberystwyth University Effect of heterologous and homologous seminal plasma on stallion sperm quality

Removing most of the seminal plasma (SP) from stallion semen has been shown to improve survival during cooled storage, yet adding small quantities of SP may improve pregnancy rates or cryosurvival. Furthermore, there is considerable controversy about whether the stallion ’ s own SP or heterologous SP produces the best effect, possibly because of the variation between stallions in SP proteins or because some homologous SP remained in the sperm preparation. The SP is removed completely from stallion spermatozoa prepared by colloid centrifugation. Thus, the aim of the present study was (1) to investigate the effect of adding back SP to colloid centrifuged spermatozoa to determine its effect on spermatozoa; and (2) to investigate whether the stallion ’ s own SP had a greater or lesser effect than heterologous SP. Conventional semen doses were sent from a stud overnight to the laboratory using standard transport conditions. Once at the laboratory, the semen samples were used for single layer centrifugation with Androcoll-E, and the resulting sperm preparations were treated with heterologous SP. Adding SP had a small but signi ﬁ cant effect on sperm motility but no effect on the proportion of spermatozoa that had acrosome reacted. There were signi ﬁ cant increases in hydrogen peroxide production and chromatin damage (P < 0.001). When homologous and heterologous SP were compared, considerable variation was observed between stallions, so that it was not possible to predict whether homologous or heterologous SP, or no SP, will produce the best motility for spermatozoa from any given stallion. Therefore, it is necessary to test different combinations of spermatozoa and SP to ﬁ nd the optimal effect on motility. The SP from most stallions increased reactive oxygen species and chromatin damage. In conclusion, the interaction between SP and spermatozoa dependsontheoriginofbothSPandspermatozoa.IfitisdesirabletoaddSPtostallionsperm samples, it should be done directly before insemination rather than before storage, because of increased hydrogen peroxide production and sperm chromatin damage. (cid:1) 2014 Elsevier
Irreversible investment under Lévy uncertainty: an equation for the optimal boundary

Abstract We derive a new equation for the optimal investment boundary of a general irreversible investment problem under exponential Lévy uncertainty. The problem is set as an infinite time-horizon, two-dimensional degenerate singular stochastic control problem. In line with the results recently obtained in a diffusive setting, we show that the optimal boundary is intimately linked to the unique optional solution of an appropriate Bank–El Karoui representation problem. Such a relation and the Wiener–Hopf factorization allow us to derive an integral equation for the optimal investment boundary. In case the underlying Lévy process hits any point in R with positive probability we show that the integral equation for the investment boundary is uniquely satisfied by the unique solution of another equation which is easier to handle. As a remarkable by-product we prove the continuity of the optimal investment boundary. The paper is concluded with explicit results for profit functions of Cobb–Douglas type and CES type. In the former case the function is separable and in the latter case nonseparable.
Self-Mixing Interferometry With Terahertz Quantum Cascade Lasers

Terahertz frequency quantum cascade lasers (THz QCLs) are compact sources of coherent THz radiation with potential applications that include astronomy, trace-gas sensing, and security imaging. However, the reliance on slow and incoherent thermal detectors has limited their practical use in THz systems. We demonstrate THz sensing using self-mixing (SM) interferometry, in which radiation is reflected from an object back into the QCL cavity, causing changes in the laser properties; the THz QCL thus acts simultaneously as both a source and detector. Well-established SM theory predicts a much weaker coupling in THz QCLs than in diode lasers, yielding a near-linear relationship between the phase of SM signals and the external cavity length. We demonstrate velocimetry of an oscillating reflector by monitoring SM-induced changes in the QCL drive voltage. We show that this yields data equivalent to that obtained by sensing the emitted THz power, thus allowing phase-sensitive THz-SM sensing without any external detector. We also demonstrate high-resolution SM-imaging at a round-trip distance of 21 m in air-the longest-range interferometric sensing with a THz QCL to date.
Cutting Edge: TLR Ligands Are Not Sufficient to Break Cross-Tolerance to Self-Antigens1

Cross-presentation of peripheral self-Ags by dendritic cells (DC) can induce deletion of autoreactive CTL by a mechanism termed cross-tolerance. Activation of DC by microbial TLR ligands is thought to result in adaptive immunity. However, activation of tolerogenic DC may cause autoimmunity by stimulating instead of deleting autoreactive CTL. To investigate this scenario, we have monitored the response of autoreactive CTL in specific for the transgenic self Ag, OVA, expressed in pancreatic islets of RIP-mOVA mice injected with ligands of TLR2, 3, 4, and 9. This somewhat enhanced proliferation and cytokine production, and moderately reduced the CTL number able to induce autoimmunity. Nevertheless, physiological CTL numbers were deleted before disease ensued, unless specific CD4 T cell help was provided. In conclusion, DC activation by TLR ligands was insufficient to break peripheral cross-tolerance in the absence of specific CD4 T cell help, and triggered autoimmunity by stimulating the early effector phase of autoreactive CTL only when their precursor frequency was extremely high.
The powerful colour of the maqui (Aristotelia chilensis [Mol.] Stuntz) fruit

Over the past 10 years, the research interest on maqui has increased due to the potential health benefits of the fruit, which are largely attributed to the high anthocyanin content and high antioxidant capacity. Furthermore, maqui fruit has earned the name of ‘superfruit’, and several products based on the dehydrated fruit and maqui juice are available on the international market. Although the maqui fruit is not frequently consumed by the Chilean population from urban areas, its use is deeply rooted in rural and native cultures (Mapuche and Huilliche). This review summarises the validation of the traditional uses of maqui and new evidence highlighting the principal role of anthocyanins in the antioxidant, anti-inflammatory and anti-diabetic activity of maqui fruit. The identification of a particular anthocyanin (delphinidin-3-glucoside-5-sambubioside) in maqui fruit and its anti-diabetic effect in in vivo models, in addition to its presence at higher concentrations in some maqui genotypes, encourages investigation into maqui genotypes that may have higher contents of particular anthocyanins. However, information concerning maqui domestication is still deficient.