bluuebunny/crossref_metadata_2025_split huggingface dataset:
Benchmarking Fuel Economy of Connected and Automated Vehicles in Real World Driving Conditions via Monte Carlo Simulation
Authors: Rajakumar Deshpande Shreshta , Gupta Shobhit , Kibalama Dennis , Pivaro Nicola , Canova Marcello 
Published: January 2021

Abstract
Connectivity and automation have accelerated the development of algorithms that use route and real-time traffic information for improving energy efficiency. The evaluation of such benefits, however, requires establishing a reliable baseline that is representative of a real-world driving environment. In this context, virtual driver models are generally adopted to predict the vehicle speed based on route data and presence of lead vehicles, in a way that mimics the response of human drivers.
This paper proposes an Enhanced Driver Model (EDM) that forecasts the human response when driving in urban conditions, considering the effects of Signal Phasing and Timing (SPaT) by introducing the concept of Line-of-Sight (LoS). The model was validated against data collected on an instrumented vehicle driven on public roads by different human subjects.
Using this model, a Monte Carlo simulation is conducted to determine the statistical distribution of fuel consumption and travel time on a given route, varying driver behavior (aggressiveness), traffic conditions and SPaT. This allows one to quantify the impact of uncertainties associated to real-world driving in fuel economy estimates.
Monolithic Leg Design With Compliant Knee Joint for Bipedal Robots: Design and Preliminary Results
Authors: Rouse Ciaphus , Warnix Trevor , Garcia Martin , Tekes Ayse 
Published: January 2021

Abstract
Design and control of human-like robots mimicking the motion using biped legs are still in demand. However, the vast majority of the biped robots are too heavy due to the number of actuators and their bulky design. Compliant designs can mimic the motions in nature through the large deformation of their compliant members and have the ability to be designed as a single piece thereby reducing the overall weight and increasing the performance of the mechanism. Biped robots specifically designed for walking currently existing in the literature often arranged in series form. Although serial design leads high flexibility, each link carries its actuator compromising the overall weight and stability. This paper presents the design and development of a bioinspired leg for biped robots without the requirement of actuation of the knee or addition of a spring element. Each leg is designed as a single piece by exploiting a compliant knee joint, 3D printed using TPU filament and actuated through a cam design using a servo motor. Servo motor is also attached to the trunk which serves as the torso of the robot body. Zero moment point (ZMP) analysis is performed by adopting simple cart-table and inverted pendulum methods. Stiffness of the compliant knee is obtained from multibody dynamic simulations in MSC Adams. The preliminary testing of the bio-inspired biped robot reveals that the robot performs successful periodic gait.
Robust Iterative Learning Control for Interval Linear Systems
Authors: Mishra Kirti D. , Srinivasan K. 
Published: January 2021

Abstract
Many forms of system uncertainty result in interval description of linear systems, and numerically efficient design methods for the computation of robust iterative learning controllers with good learning transients for these systems are lacking. Using a Lyapunov framework, two design procedures that ensure robust convergence of the tracking error to zero with good learning transients are described in this study. Both methods are validated numerically for an application of position control, and robust and monotonic convergence of the tracking error to zero is demonstrated.
Switched Control Barrier Function With Applications to Vehicle Safety Control
Authors: Huang Yiwen , Chen Yan 
Published: January 2021

Abstract
For safety-critical systems, the safety constraints are required to be satisfied through control design. To describe and apply system safety constraints, controlled invariant set (CIS) and control barrier function (CBF) are effective methods. In many applications, safety constraints may change dynamicly in operation environment and thus are not always continuous. However, such discontinuity and switching problems of CIS and CBF were well-addressed in the literature. In this paper, to tackle the issues, novel definitions of switched CIS (SCIS) and switched CBF (SCBF) are proposed. To address the undifferentiability issue in SCBF, a novel relaxation function that connects different SCISs is proposed. Sufficient conditions for selecting the relaxation function are proposed with a rigorous proof. In the application of vehicle safety control for an obstacle avoidance problem, a relaxation function is selected and demonstrated in the safety control design. To evaluate the effectiveness of the proposed definitions and control design, simulation results are presented and discussed.
Towards Explainable Co-Robots: Developing Confidence-Based Shared Control Paradigms
Authors: Saraphis Daniel , Izadi Vahid , Ghasemi Amirhossein 
Published: January 2021

Abstract
In this paper, we aim to develop a shared control framework wherein the control authority is dynamically allocated between the human operator and the automation system. To this end, we have defined a shared control paradigm wherein the blending mechanism uses the confidence between a human and co-robot to allocate the control authority. To capture the confidence between the human and robot, qualitatively, a simple-but-generic model is presented wherein the confidence of human-to-robot and robot-to-human is a function of the human’s performance and robot’s performance. The computed confidence will then be used to adjust the level of autonomy between the two agents dynamically. To validate our novel framework, we propose case studies in which the steering control of a semi-automated system is shared between the human and onboard automation systems. The numerical simulations demonstrate the effectiveness of the proposed shared control paradigms.
An Integrated Hardware and Software Platform for Control of Automatic Ground Vehicles
Authors: Chu Jian , Bakshi Soovadeep , Qin Hansen , Yan Zeyu , Chen Dongmei 
Published: January 2021

Abstract
With the development of factory automation, intelligent manufacturing system technology, and three-dimensional automated warehouses, an automatic ground vehicle (AGV) became an essential part of controlling the discrete logistics management system within a facility. The scope of the AGV application and technical capability have been rapidly developed in recent years. However, it is highly time-consuming and resource-intensive to develop a comprehensive AGV platform in both industrial setting and academic environment to design and control of an AGV system. This paper introduces a platform for conducting AGV research and deployment, which consists of the hardware prototyping and entire software system development. By using this platform, users can readily develop customized AGV systems or verify their self-developed algorithms.
Geochemical evidence of tropical cyclone controls on shallow-marine sedimentation (Pliocene, Taiwan)
Authors: Dashtgard Shahin E. , Löwemark Ludvig , Wang Pei-Ling , Setiaji Romy A. , Vaucher Romain 
Published: January 2021

Abstract
Shallow-marine sediment typically contains a mix of marine and terrestrial organic material (OM). Most terrestrial OM enters the ocean through rivers, and marine OM is incorporated into the sediment through both suspension settling of marine plankton and sediment reworking by tides and waves under fair-weather conditions. River-derived terrestrial OM is delivered year-round, although sediment and OM delivery from rivers is typically highest during extreme weather events that impact river catchments. In Taiwan, tropical cyclones (TCs) are the dominant extreme weather event, and 75% of all sediment delivered to the surrounding ocean occurs during TCs. Distinguishing between sediment deposited during TCs and that redistributed by tides and waves during fair-weather conditions can be approximated using δ13Corg values and C:N ratios of OM. Lower Pliocene shallow-marine sedimentary strata in the Western Foreland Basin of Taiwan rarely exhibit physical evidence of storm-dominated deposition. Instead they comprise completely bioturbated intervals that transition upward into strata dominated by tidally generated sedimentary structures, indicating extensive sediment reworking under fair-weather conditions. However, these strata contain OM that is effectively 100% terrestrial OM in sediment that accumulated in estimated water depths &lt;35 m. The overwhelming contribution of terrestrially sourced OM is attributed to the dominance of TCs on sedimentation, whereby ∼600,000 TCs are estimated to have impacted Taiwan during accumulation of the succession. In contrast, the virtual absence of marine OM indicates that organic contributions from suspension settling of marine OM is negligible regardless of the preserved evidence of extensive reworking under fair-weather conditions. These data suggest that (1) even in the absence of physical expressions of storm deposition, TCs still completely dominate sedimentation in shallow-marine environments, and (2) the organic geochemical signal of preserved shallow-marine strata is not reflective of day-to-day depositional conditions in the environment.
Recognition of a Middle–Late Jurassic arc-related porphyry copper belt along the southeast China coast: Geological characteristics and metallogenic implications
Authors: Mao Jingwen , Zheng Wei , Xie Guiqing , Lehmann Bernd , Goldfarb Richard 
Published: January 2021

AbstractRecent exploration has led to definition of a Middle–Late Jurassic copper belt with an extent of ∼2000 km along the southeast China coast. The 171–153 Ma magmatic-hydrothermal copper systems consist of porphyry, skarn, and vein-style deposits. These systems developed along several northeast-trending transpressive fault zones formed at the margins of Jurassic volcanic basins, although the world-class 171 Ma Dexing porphyry copper system was controlled by a major reactivated Neoproterozoic suture zone in the South China block. The southeast China coastal porphyry belt is parallel to the northeast-trending, temporally overlapping, 165–150 Ma tin-tungsten province, which developed in the Nanling region in a back-arc transtensional setting several hundred kilometers inboard. A new geodynamic-metallogenic model linking the two parallel belts is proposed, which is similar to that characterizing the Cenozoic metallogenic evolution of the Central Andes.
Mentoring as an intervention to promote gender equality in academic medicine: a systematic review
Authors: House Allan , Dracup Naila , Burkinshaw Paula , Ward Vicky , Bryant Louise D 
Published: January 2021

BackgroundMentoring is frequently suggested as an intervention to address gender inequalities in the workplace.ObjectivesTo systematically review evidence published since a definitive review in 2006 on the effectiveness of mentoring interventions aimed at achieving gender equality in academic medicine.DesignSystematic Review, using the Template for Intervention Description and Replication as a template for data extraction and synthesis.SampleStudies were included if they described a specific mentoring intervention in a medical school or analogous academic healthcare organisation and included results from an evaluation of the intervention.Eligibility criteriaMentoring was defined as (1) a formally organised intervention entailing a supportive relationship between a mentor, defined as a more senior/experienced person and a mentee defined as a more junior/inexperienced person; (2) mentoring intervention involved academic career support (3) the mentoring relationship was outside line management or supervision of performance and was defined by contact over an extended period of time.OutcomesThe impact of mentoring was usually reported at the level of individual participants, for example, satisfaction and well-being or self-reported career progression. We sought evidence of impact on gender equality via reports of organisation-level effectiveness, of promotion or retention, pay and academic performance of female staff.ResultsWe identified 32 publications: 8 review articles, 20 primary observational studies and 4 randomised controlled trials. A further 19 discussed mentoring in relation to gender but did not meet our eligibility criteria. The terminology used, and the structures and processes reported as constituting mentoring, varied greatly. We identified that mentoring is popular with many who receive it; however, we found no robust evidence of effectiveness in reducing gender inequalities. Primary research used weak evaluation designs.ConclusionsMentoring is a complex intervention. Future evaluations should adopt standardised approaches used in applied health research to the design and evaluation of effectiveness and cost-effectiveness.
Evaluation of patient characteristics, management and outcomes for COVID-19 at district hospitals in the Western Cape, South Africa: descriptive observational study
Authors: Mash Robert James , Presence-Vollenhoven Mellisa , Adeniji Adeloye , Christoffels Renaldo , Doubell Karlien , Eksteen Lawson , Hendrikse Amee , Hutton Lauren , Jenkins Louis , Kapp Paul , Lombard Annie , Marais Heleen , Rossouw Liezel , Stuve Katrin , Ugoagwu Abi , Williams Beverley 
Published: January 2021

ObjectivesTo describe the characteristics, clinical management and outcomes of patients with COVID-19 at district hospitals.DesignA descriptive observational cross-sectional study.SettingDistrict hospitals (4 in metro and 4 in rural health services) in the Western Cape, South Africa. District hospitals were small (<150 beds) and led by family physicians.ParticipantsAll patients who presented to the hospitals’ emergency centre and who tested positive for COVID-19 between March and June 2020.Primary and secondary outcome measuresSource of referral, presenting symptoms, demographics, comorbidities, clinical assessment and management, laboratory turnaround time, clinical outcomes, factors related to mortality, length of stay and location.Results1376 patients (73.9% metro, 26.1% rural). Mean age 46.3 years (SD 16.3), 58.5% females. The majority were self-referred (71%) and had comorbidities (67%): hypertension (41%), type 2 diabetes (25%), HIV (14%) and overweight/obesity (19%). Assessment of COVID-19 was mild (49%), moderate (18%) and severe (24%). Test turnaround time (median 3.0 days (IQR 2.0–5.0 days)) was longer than length of stay (median 2.0 day (IQR 2.0–3.0)). The most common treatment was oxygen (41%) and only 0.8% were intubated and ventilated. Overall mortality was 11%. Most were discharged home (60%) and only 9% transferred to higher levels of care. Increasing age (OR 1.06 (95% CI 1.04 to 1.07)), male (OR 2.02 (95% CI 1.37 to 2.98)), overweight/obesity (OR 1.58 (95% CI 1.02 to 2.46)), type 2 diabetes (OR 1.84 (95% CI 1.24 to 2.73)), HIV (OR 3.41 (95% CI 2.06 to 5.65)), chronic kidney disease (OR 5.16 (95% CI 2.82 to 9.43)) were significantly linked with mortality (p<0.05). Pulmonary diseases (tuberculosis (TB), asthma, chronic obstructive pulmonary disease, post-TB structural lung disease) were not associated with increased mortality.ConclusionDistrict hospitals supported primary care and shielded tertiary hospitals. Patients had high levels of comorbidities and similar clinical pictures to that reported elsewhere. Most patients were treated as people under investigation. Mortality was comparable to similar settings and risk factors identified.
Anticancer immunity induced by a synthetic tumor-targeted CD137 agonist
Authors: Upadhyaya Punit , Lahdenranta Johanna , Hurov Kristen , Battula Sailaja , Dods Rachel , Haines Eric , Kleyman Marianna , Kristensson Julia , Kublin Jessica , Lani Rachid , Ma Jun , Mudd Gemma , Repash Elizabeth , Van Rietschoten Katerine , Stephen Tom , You Fanglei , Harrison Helen , Chen Liuhong , McDonnell Kevin , Brandish Philip , Keen Nicholas 
Published: January 2021

BackgroundIn contrast to immune checkpoint inhibitors, the use of antibodies as agonists of immune costimulatory receptors as cancer therapeutics has largely failed. We sought to address this problem using a new class of modular synthetic drugs, termed tumor-targeted immune cell agonists (TICAs), based on constrained bicyclic peptides (Bicycles).MethodsPhage libraries displayingBicycleswere panned for binders against tumor necrosis factor (TNF) superfamily receptors CD137 and OX40, and tumor antigens EphA2, Nectin-4 and programmed death ligand 1. The CD137 and OX40Bicycleswere chemically conjugated to tumor antigenBicycleswith different linkers and stoichiometric ratios of binders to obtain a library of low molecular weight TICAs (MW <8 kDa). The TICAs were evaluated in a suite ofin vitroandin vivoassays to characterize their pharmacology and mechanism of action.ResultsLinkingBicyclesagainst costimulatory receptors (e.g., CD137) toBicyclesagainst tumor antigens (e.g., EphA2) created potent agonists that activated the receptors selectively in the presence of tumor cells expressing these antigens. An EphA2/CD137 TICA (BCY12491) efficiently costimulated human peripheral blood mononuclear cellsin vitroin the presence of EphA2 expressing tumor cell lines as measured by the increased secretion of interferon γ and interleukin-2. Treatment of C57/Bl6 mice transgenic for the human CD137 extracellular domain (huCD137) bearing EphA2-expressing MC38 tumors with BCY12491 resulted in the infiltration of CD8+ T cells, elimination of tumors and generation of immunological memory. BCY12491 was cleared quickly from the circulation (plasma t1/2in mice of 1–2 hr), yet intermittent dosing proved effective.ConclusionTumor target-dependent CD137 agonism using a novel chemical approach (TICAs) afforded elimination of tumors with only intermittent dosing suggesting potential for a wide therapeutic index in humans. This work unlocks a new path to effective cancer immunotherapy via agonism of TNF superfamily receptors.
Mandibular force profiles and tooth morphology in growth series of Albertosaurus sarcophagus and Gorgosaurus libratus (Tyrannosauridae: Albertosaurinae) provide evidence for an ontogenetic dietary shift in tyrannosaurids1
Authors: Therrien François , Zelenitsky Darla K. , Voris Jared T. , Tanaka Kohei 
Published: January 2021

The albertosaurines Albertosaurus sarcophagus and Gorgosaurus libratus are among the best represented tyrannosaurids, known from nearly complete growth series. These specimens provide an opportunity to study mandibular biomechanical properties and tooth morphology to infer changes in feeding behaviour and bite force through ontogeny in tyrannosaurids. Mandibular force profiles reveal that the symphyseal region of albertosaurines is consistently stronger in bending than the mid-dentary region, indicating that the anterior extremity of the jaws played an important role in prey capture and handling through ontogeny. The symphyseal region was better adapted to withstand torsional stresses than in most non-avian theropods, but not to the extent seen in Tyrannosaurus rex, suggesting that albertosaurine feeding behaviour may have involved less bone crushing or perhaps relatively smaller prey than in Tyrannosaurus rex. The constancy of these biomechanical properties at all known growth stages indicates that although albertosaurines maintained a similar feeding strategy through ontogeny, prey size/type had to change between juvenile and mature individuals. This ontogenetic dietary shift likely happened when individuals reached a mandibular length of ∼58 cm, a size at which teeth shift from ziphodont to incrassate in shape and bite force begins to increase exponentially. The fact that large albertosaurines were capable of generating bite forces equivalent to similar-sized tyrannosaurines suggests that no significant differences in jaw-closing musculature existed between the two clades and that the powerful bite of Tyrannosaurus rex is the result of its large body size rather than of unique adaptations related to a specialized ecology.
Potential for individual tree monitoring in ponderosa pine dominated forests using unmanned aerial system structure from motion point clouds
Authors: Creasy Matthew B. , Tinkham Wade T. , Hoffman Chad M. , Vogeler Jody C. 
Published: January 2021

Characterization of forest structure is important for management-related decision making, monitoring, and adaptive management. Increasingly, observations of forest structure are needed at both finer resolutions and across greater extents to support spatially explicit management planning. Unmanned aerial system (UAS) based photogrammetry provides an airborne method of forest structure data acquisition at a significantly lower cost and time commitment than existing methods such as airborne laser scanning (LiDAR). This study utilizes nearly 5000 stem-mapped trees in ponderosa pine (Pinus ponderosa Lawson & C. Lawson) dominated forests to evaluate several algorithms for detecting individual tree locations and characterizing crown area across tree sizes. Our results indicate that adaptive variable window detection methods with UAS-based canopy height models have greater tree detection rates compared with fixed window analysis across a range of tree sizes. Using the UAS approach, probability of detecting individual trees decreases from 97% for dominant overstory to 67% for suppressed understory trees. Additionally, crown radii were correctly determined within 0.5 m for approximately two-thirds of sampled trees. These findings highlight the potential for UAS photogrammetry to characterize forest structure through the detection of trees and tree groups in open-canopy ponderosa pine forests. Further work should investigate how these methods transfer to more diverse species compositions and forest structures.