bluuebunny/crossref_metadata_2025_split huggingface dataset:
Conditions for Kinematic Stability of Position/Force Control for Robots
Authors: Doulgeri Z. 
Published: December 2004

This corresponance aims at correcting and clarifying the stability conditions given in Doulgeri, Fahantidis and Paul (1998) for selected error schemes in hybrid position/ force control. Sufficient kinematic stability conditions require not only symmetry of the equivalent Joint error projection matrix (Doulgeri, Fahantidis and Paul 1998) but also equal control gains. The positive definiteness of the system's potential function depends on the existence and magnitude of the contact stiffness. Full velocity feedback is required to ensure asymptotic stability.
A Comparative Study of Vision-Based Lateral Control Strategies for Autonomous Highway Driving
Authors: Taylor Camillo J. , Košecká Jana , Blasi Robert , Malik Jitendra 
Published: December 2004

With the increasing speeds of modern microprocessors, it has become ever more common for computer-vision algorithms to find application in real-time control tasks. In this paper, we present an analysis of the problem of steering an autonomous vehicle along a highway based on the images obtained from a CCD camera mounted in the vehicle. We explore the effects of changing various important system parameters like the vehicle velocity, the look-ahead range of the vision sensor, and the processing delay associated with the perception and control systems. We also present the results of a series of experiments that were designed to provide a systematic comparison of a number of control strategies. The control strategies that were explored include a lead-lag control law, a full-state linear controller, and an input-output linearizing control law. Each of these control strategies was implemented and tested at highway speeds on our experimental vehicle platform, a Honda Accord LX sedan.
Pose and Motion from Contact
Authors: Jia Yan-Bin , Erdmann Michael 
Published: December 2004

In the absence of vision, grasping an object often relies on tactile feedback from the fingertips. As the finger pushes the object, the fingertip can feel the contact point move. If the object is known in advance, from this motion the finger may infer the location of the contact point on the object, and thereby, the object pose. This paper primarily investigates the problem of determining the pose (orientation and position) and motion (velocity and angular velocity) of a planar object with known geometry from such contact motion generated by pushing. A dynamic analysis of pushing yields a nonlinear system that relates through contact the object pose and motion to the finger motion. The contact motion on the fingertip thus encodes certain information about the object pose. Nonlinear observability theory is employed to show that such information is sufficient for the finger to “observe” not only the pose, but also the motion of the object. Therefore, a sensing strategy can be realized as an “observer” of the nonlinear dynamical system. Two observers are subsequently introduced. The first observer, based on the work of Gauthier, Hammouri, and Othman (1992), has its “gain” determined by the solution of a Lyapunov-like equation; it can be activated at any time instant during a push. The second observer, based on Newton’s method, solves for the initial (motionless) object pose from three intermediate contact points during a push. Under the Coulomb-friction model, the paper deals with support friction in the plane and/or contact friction between the finger and the object. Extensive simulations have been done to demonstrate the feasibility of the two observers. Preliminary experiments (with an Adept robot) have also been conducted. A contact sensor has been implemented using strain gauges.
The Annular Ligament
Authors: Bozkurt Murat , Acar Halil İbrahim , Apaydin Nihal , Leblebicioglu Gürsel , Elhan Alaittin , Tekdemir İbrahim , Tonuk Ergin 
Published: December 2004

Background Despite documentations of ligamentous structures of the elbow, the anatomy and clinical and functional importance of the annular ligament has not been comprehensively defined in the orthopaedic literature. Hypothesis The annular ligament is an important component of both the proximal radioulnar and humeroradial joints, as well as an important component of the neighboring muscles and ligaments. Study Design Descriptive laboratory study. Materials and Methods To investigate the annular ligament and its relationship with neighboring structures, macroscopic and microscopic dissections were performed on both upper extremities of 30 cadavers (12 female and 18 male) fixed in 10% formaldehyde and on 1 upper extremity of a fresh cadaver (male). Results The distal ulnar insertion of discrete fibers on the supinator crest was defined as the inferior oblique band of the annular ligament, and the proximal insertion of the annular ligament was defined as the superior oblique band of the annular ligament. These patterns were noted in all specimens. It was difficult to distinguish the fibers of the supinator muscle in every specimen because they were intimately fused with the fibers of the annular ligament. Conclusions The superior and inferior oblique bands of the annular ligament attached proximally and distally onto the ulna, thus helping to secure the annular ligament in place.
Upper and Lower Extremity Muscle Fatigue after a Baseball Pitching Performance
Authors: Mullaney Michael J. , McHugh Malachy P. , Donofrio Tom M. , Nicholas Stephen J. 
Published: December 2004

Background Previous studies have estimated joint torques and electromyogram activity associated with the pitching motion. Although previous studies have investigated the influence of extended pitching (fatigue) on kinematic and kinetic parameters, no attempts have been made to quantify the fatigue associated with a pitching performance. Purpose Considering previous investigations on muscle activity during pitching, this study investigated muscle fatigue in upper and lower extremity muscle groups after a pitching performance. Study Design Descriptive laboratory study. Methods Thirteen baseball pitchers from 4 universities and 1 independent minor league team were tested before and after 19 games. Pitchers threw an average of 99 pitches during an average of 7 innings. Shoulder, scapular, and lower extremity muscle strengths were assessed using a handheld dynamometer before and after the pitching performances. Results Baseline strength tests revealed that the pitching arm was 12% weaker (P =. 02) in the empty can test (supraspinatus) compared to the contralateral side. Postgame shoulder strength tests revealed selective fatigue of 15% in shoulder flexion (P =. 02), 18% fatigue in internal rotation (P =. 03), and 11% fatigue in shoulder adduction (P =. 01). Minimal fatigue was noted in the empty can test, scapular stabilizers, and hip musculature. Conclusions A trend toward significant baseline strength in internal rotation together with significant selective postgame fatigue on internal rotation of the dominant upper extremity indicate that the internal rotators experience a high performance demand during pitching. Weakness in the empty can test on the dominant arm combined with minimal postgame fatigue was surprising given that studies and injury patterns have indicated a high performance demand on the supraspinatus during pitching.
Copper(II) Triflate Immobilized in [bmim]BF4 Ionic liquid: An Efficient Reaction Medium for Michael Addition of β-Ketoesters to Acceptor-activated Alkenes
Authors: Yadav J S , Reddy B V S , Baishya Gakul , Narsaiah A Venkat 
Published: December 2004

Abstract
1,3-Dicarbonyl compounds undergo smooth conjugate addition to α,β-unsaturated ketones in the presence of 10 mol % copper(II) triflate immobilized in air and moisture stable [bmim]BF4 ionic liquid under extremely mild conditions to afford the corresponding Michael adducts in high to quantitative yield.
Highly Dispersed Gold Nanowires within the Pore Channels of Mesoporous Silica Thin Films Prepared From Organic–Inorganic Hybrid Films Functionalized with Basic Moieties
Authors: Gu Jinlou , Shi Jianlin , Hua Zile , Xiong Liangming , Zhang Lingxia , Li Lei 
Published: December 2004

Abstract
Combined a surface modification scheme with a neutralization reaction, accompanied with reduction procedure, highly dispersed gold nanowires within the pore channels of mesoporous silica thin films were prepared from organic–inorganic hybrid films modified with basic moieties.
Diagonal Cracking and Ultimate Shear Strength of Slender High Strength Concrete Deep Beams
Authors: Chemrouk M. , Kong F. K. 
Published: December 2004

To provide more information on the diagonal cracking in slender concrete deep beams and their design implications, loading tests were carried out on fifteen (15) slender concrete deep beams having height/thickness ratio in the range of twenty (20) to fifty (50). Due to the slenderness of the specimens, high strength concrete was used together with different arrangements and quantities of web reinforcement. Observations and measurements were made on the nature of cracking in general and on the diagonal cracks in particular and comparisons were made with those of stocky deep beams as reported in the literature. The effectiveness of web reinforcement in controlling diagonal cracks and enhancing the ultimate stength is discussed. The failure modes were described and both the diagonal cracking load and the failure load were recorded for comparison with those predicted by the CIRIA guide and by the ACI building code. Using the test results and the observations made during the testing, a modification of the CIRIA shear equation is proposed so that it can be used to predict safely the diagonal cracking loads and the shear strengths of slender concrete deep beams. With this modification, the safety factor (Vmeasured/Vpredicted) approches the value of 2.0 which is what one would expect against a shear failure, particularly that high strength concrete tends to be a fairly brittle material. The CIRIA equation in its original form gives a safety factor just above 1.0, thus unsufficient against such failure. Indeed, the test results show that it may even be unsafe for the design of slender high strength concrete deep beams against shear.
High Strength Concrete Continuous Deep Beams — With Web Reinforcement and Shear-Span Variations
Authors: Chemrouk M. , Kong F. K. 
Published: December 2004

Tests under two-point loads were carried out to destruction on 12 reinforced concrete two-span continuous deep beams. The beams were tested for two shear-span/depth ratios of 0.45 and 0.24 giving clear shear-span/depth ratio of 0.21 and 0.00 respectively. Various arrangements of web reinforcement were used such as minimum and maximum vertical bars, minimum and maximum horizontal bars and minimum and maximum inclined bars. Sagging and hogging tensile steel was used in accordance with the shallow beam bending moment distribution and was kept constant for all the beams. The results of the present tests are compared with those of the moderately deep beams reported in the litterature by Rogowsky et al. and with the two-beam tests of Leonhardth and Walther. The present tests show that the current codes and design manuals covering continuous deep beams could lead to severe cracking and may be unsafe for this type of structural members. The actual bending moment distribution is completely different from that recommended by these documents, with moments at spans higher and those at internal supports lower. The tests also showed that the CIRIA guide may be too tolerant and hence unsafe towards bearing failure which, in the presence of an effective pattern of web reinforcement, is the dominant type of failure of reinforced concrete continuous deep beams.
Rapid Method for β2-Transferrin in Cerebrospinal Fluid Leakage Using an Automated Immunofixation Electrophoresis System
Authors: Papadea Christine , Schlosser Rodney J 
Published: December 2004

Abstract
Background: β2-Transferrin (β-2 trf) is a desialated isoform of transferrin found only in cerebrospinal fluid (CSF), ocular fluids, and perilymph. In aural, nasal, and wound drainages, this protein is an important marker of CSF leakage. Immunofixation electrophoresis (IFE) on agarose gels is a widely accepted qualitative technique for detection of small amounts of β-2 trf, but disadvantages include lengthy transfer immunoblotting techniques or the requirement of at least 2 mL of sample.
Methods: Using eight applications of unconcentrated sample on high-resolution agarose gels with an automated electrophoresis system (Helena SPIFE 3000), we developed a rapid method for β-2 trf. Evaluation studies included reproducibility of migration distance (mm), limit of detection, specificity, and concordance of results compared with those reported by a reference laboratory. Neuraminidase-treated serum was the source of β-2 trf for our sensitivity and specificity studies. Transferrin was measured by rate nephelometry.
Results: The 2.5-h procedure demonstrated reproducible migration (CV &lt;2.5%) on five lots of gels. Detection of β-2 trf at 0.002 g/L in an unconcentrated sample was attributed to reproducible application, quality of the anti-trf antiserum, and a sensitive acid violet stain. Our β-2 trf findings (two negative and five positive) in seven available clinical samples agreed with the reference laboratory results. In 12 months after its inception, this test was ordered 48 times vs 13 in the previous year when testing was sent out.
Conclusion: This method provides physicians with a rapid, reliable aid in the diagnosis of suspected CSF leakage, as described in a case report.
Accurate and Robust Quantification of Circulating Fetal and Total DNA in Maternal Plasma from 5 to 41 Weeks of Gestation
Authors: Birch Lyndsey , English Claire A , O’Donoghue Keelin , Barigye Olivia , Fisk Nicholas M , Keer Jacquie T 
Published: December 2004

Abstract
Background: Detection of fetal DNA in maternal plasma is achievable at 5 weeks of gestation, but few large-scale studies have reported circulating fetal and maternal DNA across all trimesters.
Methods: Blood samples were collected from 201 women between 5 and 41 weeks of pregnancy. Quantitative PCR was used to assess total and fetal DNA concentrations, and allelic discrimination analysis was investigated as a route to detecting specifically fetal DNA.
Results: Male fetuses were detectable from 5 weeks amenorrhea with increasing fetal DNA concentrations across gestation. The sensitivity of fetal male gender determination in pregnancies with live birth confirmation was 99%, with 100% specificity. Total DNA concentrations did not correlate with gestational age, but appeared slightly higher in the first and third trimesters than in mid-pregnancy. Analysis of short tandem repeats demonstrated that significant improvements in the detection limit are required for specific detection of fetal DNA.
Conclusions: The high sensitivity of PCR-based detection, together with quantification provided by real-time DNA analysis, has clear potential for clinical application in noninvasive prenatal diagnosis. However, accurate quantification using best-fit data analysis, standardization of methods, and performance control indicators are necessary for robust routine noninvasive diagnostics.
Developments in genetic algorithm techniques for structure solution from powder diffraction data
Authors: Harris Kenneth D. M. , Habershon Scott , Cheung Eugene Y. , Johnston Roy L. 
Published: December 2004

Abstract
This paper presents an overview of developments that have taken place in recent years in the genetic algorithm technique for structure solution from powder diffraction data. After a brief resumé, of the essential features of the genetic algorithm technique for structure solution, the paper highlights recent developments in fundamental aspects of the technique, including the development of parallel computing concepts, the analysis of the evolutionary history in genetic algorithm structure solution calculations and the combination of energy information together with the powder diffraction data in structure solution. Several examples are also given to illustrate the application of the genetic algorithm technique to solve crystal structures of different types of organic molecular materials, including oligopeptides and multi-component co-crystals.
Association Test Algorithm Between a Qualitative Phenotype and a Haplotype or Haplotype Set Using Simultaneous Estimation of Haplotype Frequencies, Diplotype Configurations and Diplotype-Based Penetrances
Authors: Ito Toshikazu , Inoue Eisuke , Kamatani Naoyuki 
Published: December 2004

Abstract
Analysis of the association between haplotypes and phenotypes is becoming increasingly important. We have devised an expectation-maximization (EM)-based algorithm to test the association between a phenotype and a haplotype or a haplotype set and to estimate diplotype-based penetrance using individual genotype and phenotype data from cohort studies and clinical trials. The algorithm estimates, in addition to haplotype frequencies, penetrances for subjects with a given haplotype and those without it (dominant mode). Relative risk can thus also be estimated. In the dominant mode, the maximum likelihood under the assumption of no association between the phenotype and presence of the haplotype (L0max) and the maximum likelihood under the assumption of association (Lmax) were calculated. The statistic −2 log(L0max/Lmax) was used to test the association. The present algorithm along with the analyses in recessive and genotype modes was implemented in the computer program PENHAPLO. Results of analysis of simulated data indicated that the test had considerable power under certain conditions. Analyses of two real data sets from cohort studies, one concerning the MTHFR gene and the other the NAT2 gene, revealed significant associations between the presence of haplotypes and occurrence of side effects. Our algorithm may be especially useful for analyzing data concerning the association between genetic information and individual responses to drugs.
Decreased Diversity but Increased Substitution Rate in Host mtDNA as a Consequence of Wolbachia Endosymbiont Infection
Authors: Shoemaker D DeWayne , Dyer Kelly A , Ahrens Mike , McAbee Kevin , Jaenike John 
Published: December 2004

AbstractA substantial fraction of insects and other terrestrial arthropods are infected with parasitic, maternally transmitted endosymbiotic bacteria that manipulate host reproduction. In addition to imposing direct selection on the host to resist these effects, endosymbionts may also have indirect effects on the evolution of the mtDNA with which they are cotransmitted. Patterns of mtDNA diversity and evolution were examined in Drosophila recens, which is infected with the endosymbiont Wolbachia, and its uninfected sister species D. subquinaria. The level of mitochondrial, but not nuclear, DNA diversity is much lower in D. recens than in D. subquinaria, consistent with the hypothesized diversity-purging effects of an evolutionarily recent Wolbachia sweep. The dN/dS ratio in mtDNA is significantly greater in D. recens, suggesting that Muller's ratchet has brought about an increased rate of substitution of slightly deleterious mutations. The data also reveal elevated rates of synonymous substitutions in D. recens, suggesting that these sites may experience weak selection. These findings show that maternally transmitted endosymbionts can severely depress levels of mtDNA diversity within an infected host species, while accelerating the rate of divergence among mtDNA lineages in different species.
Differential Activation of eIF2 Kinases in Response to Cellular Stresses in Schizosaccharomyces pombe
Authors: Zhan Ke , Narasimhan Jana , Wek Ronald C 
Published: December 2004

Abstract
Phosphorylation of eukaryotic initiation factor-2 (eIF2) is an important mechanism mitigating cellular injury in response to diverse environmental stresses. While all eukaryotic organisms characterized to date contain an eIF2 kinase stress response pathway, the composition of eIF2 kinases differs, with mammals containing four distinct family members and the well-studied lower eukaryote Saccharomyces cerevisiae expressing only a single eIF2 kinase. We are interested in the mechanisms by which multiple eIF2 kinases interface with complex stress signals and elicit response pathways. In this report we find that in addition to two previously described eIF2 kinases related to mammalian HRI, designated Hri1p and Hri2p, the yeast Schizosaccharomyces pombe expresses a third eIF2 kinase, a Gcn2p ortholog. To delineate the roles of each eIF2 kinase, we constructed S. pombe strains expressing only a single eIF2 kinase gene or deleted for the entire eIF2 kinase family. We find that Hri2p is the primary activated eIF2 kinase in response to exposure to heat shock, arsenite, or cadmium. Gcn2p serves as the primary eIF2 kinase induced during a nutrient downshift, treatment with the amino acid biosynthetic inhibitor 3-aminotriazole, or upon exposure to high concentrations of sodium chloride. In one stress example, exposure to H2O2, there is early tandem activation of both Hri2p and Gcn2p. Interestingly, with extended stress conditions there is activation of alternative secondary eIF2 kinases, suggesting that eukaryotes have mechanisms of coordinate activation of eIF2 kinase in their stress remediation responses. Deletion of these eIF2 kinases renders S. pombe more sensitive to many of these stress conditions.
Genetic Architecture of Flowering Time in Maize As Inferred From Quantitative Trait Loci Meta-analysis and Synteny Conservation With the Rice Genome
Authors: Chardon Fabien , Virlon Bérangère , Moreau Laurence , Falque Matthieu , Joets Johann , Decousset Laurent , Murigneux Alain , Charcosset Alain 
Published: December 2004

AbstractGenetic architecture of flowering time in maize was addressed by synthesizing a total of 313 quantitative trait loci (QTL) available for this trait. These were analyzed first with an overview statistic that highlighted regions of key importance and then with a meta-analysis method that yielded a synthetic genetic model with 62 consensus QTL. Six of these displayed a major effect. Meta-analysis led in this case to a twofold increase in the precision in QTL position estimation, when compared to the most precise initial QTL position within the corresponding region. The 62 consensus QTL were compared first to the positions of the few flowering-time candidate genes that have been mapped in maize. We then projected rice candidate genes onto the maize genome using a synteny conservation approach based on comparative mapping between the maize genetic map and japonica rice physical map. This yielded 19 associations between maize QTL and genes involved in flowering time in rice and in Arabidopsis. Results suggest that the combination of meta-analysis within a species of interest and synteny-based projections from a related model plant can be an efficient strategy for identifying new candidate genes for trait variation.