gebhart/patrepeval huggingface dataset:
Learning and Evaluation of the Approach Vector for Automatic Grasp Generation and Planning (2007)

In this paper, we address the problem of automatic grasp generation for robotic hands where experience and shape primitives are used in synergy so to provide a basis not only for grasp generation but also for a grasp evaluation process when the exact pose of the object is not available. One of the main challenges in automatic grasping is the choice of the object approach vector, which is dependent both on the object shape and pose as well as the grasp type. Using the proposed method, the approach vector is chosen not only based on the sensory input but also on experience that some approach vectors will provide useful tactile information that finally results in stable grasps. A methodology for developing and evaluating grasp controllers is presented where the focus lies on obtaining stable grasps under imperfect vision. The method is used in a teleoperation or a programming by demonstration setting where a human demonstrates to a robot how to grasp an object. The system first recognizes the object and grasp type which can then be used by the robot to perform the same action using a mapped version of the human grasping posture.
The chemistry of acetylene on the ruthenium(001)-p(2X2)0 and ruthenium(001)-p(1X2)0 surfaces (1988)

ADVERTISEMENT RETURN TO ISSUEPREVArticleNEXTThe chemistry of acetylene on the ruthenium(001)-p(2X2)0 and ruthenium(001)-p(1X2)0 surfacesJ. E. Parmeter, M. M. Hills, and W. H. WeinbergCite this: J. Am. Chem. Soc. 1988, 110, 24, 7952–7961Publication Date (Print):November 1, 1988Publication History Published online1 May 2002Published inissue 1 November 1988https://doi.org/10.1021/ja00232a002RIGHTS & PERMISSIONSArticle Views102Altmetric-Citations17LEARN ABOUT THESE METRICSArticle Views are the COUNTER-compliant sum of full text article downloads since November 2008 (both PDF and HTML) across all institutions and individuals. These metrics are regularly updated to reflect usage leading up to the last few days.Citations are the number of other articles citing this article, calculated by Crossref and updated daily. Find more information about Crossref citation counts.The Altmetric Attention Score is a quantitative measure of the attention that a research article has received online. Clicking on the donut icon will load a page at altmetric.com with additional details about the score and the social media presence for the given article. Find more information on the Altmetric Attention Score and how the score is calculated. Share Add toView InAdd Full Text with ReferenceAdd Description ExportRISCitationCitation and abstractCitation and referencesMore Options Share onFacebookTwitterWechatLinked InReddit PDF (1 MB) Get e-Alerts Get e-Alerts
Protein Fe–S Centers as a Molecular Target of Toxicity of a Complex Transition Metal Oxide Nanomaterial with Downstream Impacts on Metabolism and Growth (2020)

Oxidative stress is frequently identified as a mechanism of toxicity of nanomaterials. However, rarely have the specific underlying molecular targets responsible for these impacts been identified. We previously demonstrated significant negative impacts of transition metal oxide (TMO) lithium-ion battery cathode nanomaterial, lithium cobalt oxide (LCO), on the growth, development, hemoglobin, and heme synthesis gene expression in the larvae of a model sediment invertebrate <i>Chironomus riparius</i>. Here, we propose that alteration of the Fe-S protein function by LCO is a molecular initiating event leading to these changes. A 10 mg/L LCO exposure causes significant oxidation of the aconitase 4Fe-4S center after 7 d as determined from the electron paramagnetic resonance spectroscopy measurements of intact larvae and a significant reduction in the aconitase activity of larval protein after 48 h (p < 0.05). Next-generation RNA sequencing identified significant changes in the expression of genes involved in 4Fe-4S center binding, Fe-S center synthesis, iron ion binding, and metabolism for 10 mg/L LCO at 48 h (FDR-adjusted, p < 0.1). We propose an adverse outcome pathway, where the oxidation of metabolic and regulatory Fe-S centers of proteins by LCO disrupts metabolic homeostasis, which negatively impacts the growth and development, a mechanism that may apply for these conserved proteins across species and for other TMO nanomaterials.
A new fuzzy system for avoiding exponential parameter growth (2002)

For standard fuzzy systems where the input membership functions are defined on a grid on the input space, and all possible combinations of rules are used, there is an exponential growth in the number of parameters of the fuzzy system as the number of input dimensions increases. This "curse of dimensionality" effect leads to problems with design of fuzzy controllers (e.g. how to tune all these parameters), training of fuzzy estimators (e.g. complexity of a gradient algorithm for training, and problems with "over parameterization" that lead to poor convergence properties), and with computational complexity in the implementation for practical problems. In this paper we introduce a new fuzzy system whose number of parameters grows linearly depending upon the number of parameters grows linearly depending upon the number of inputs, even though it is constructed by using all possible combinations of the membership functions in defining the rules. We prove that this new fuzzy system is equivalent to the standard fuzzy system as long as its parameters are specified in a certain way. Then, we show that the universal approximation property still holds, by using the Stone-Weterstrass theorem. Finally, we present the performance of the new fuzzy system with an application.
Inpatient Integrated Palliative and Transplant Care Improves Caregiver Outcomes of Patients Hospitalized for Hematopoietic Stem Cell Transplantation (HCT) (2017)

Background: Caregivers (i.e. family and close friends) of patients undergoing HCT experience substantial psychological distress as they watch their loved ones struggle with transplant toxicities. In this randomized trial, we assessed the impact of an inpatient palliative care intervention on caregivers' QOL and mood during their loved ones' hospitalization for HCT. Methods: We conducted a randomized trial of inpatient palliative care integrated with transplant care versus transplant care alone for patients hospitalized for HCT and their caregivers. Eligible caregivers were identified as a relative or a friend with regular in-person contact with the patient. Caregivers enrolled within 72 of the patient's admission for HCT. The intervention entailed at least twice weekly visits with palliative care during the transplant hospitalization, although caregivers were not required to be present for these visits. We used the CareGiver Oncology QOL Questionnaire (CarGOQOL) to examine QOL, and the Hospital Anxiety and Depression Scale (HADS) to assess caregiver mood at baseline and week-2 during HCT hospitalization. We used analysis of covariance (ANCOVA) adjusting for baseline scores to assess the intervention effects on caregivers' QOL and mood at week-2. Results: We enrolled 160 patients and 94 (58.8%) caregivers (control n = 49, intervention n = 45) between 8/2014 and 1/2016. There were no significant differences in overall caregiver QOL among the two groups. At week-2 of HCT, caregivers of patients randomized to the intervention reported improvements in some QOL domains with better coping (adjusted mean difference between groups = 1.01, 95%CI .25 to 1.77, P = .009) and handling of finances (adjusted mean difference between groups = .67, 95%CI .07 to 1.28, P = .029) compared to caregivers of patients assigned to transplant care alone. Caregivers of patients receiving the intervention also reported lower depressions symptoms compared to those receiving transplant care alone (HADS-Depression: adjusted mean difference between groups = -1.65, 95%CI -3.01 to -.29, P = .018). No differences in other CarGOQOL domains or anxiety symptoms were noted. Conclusions: Involvement of palliative care for patients hospitalized for HCT leads to improvement in caregivers' depression and some aspects of their QOL. These findings demonstrate the positive impact of inpatient integrated palliative and transplant care for caregivers of patients with hematologic malignancies undergoing HCT.
Endogenous Sex Hormones and Prostate Cancer Risk (2003)

To examine whether endogenous androgens influence the occurrence of prostate cancer, we conducted a nested case-control study among participants enrolled in the Carotene and Retinol Efficacy Trial. We analyzed serum samples of 300 cases diagnosed between 1987 and 1998, and 300 matched controls. Higher concentrations of testosterone (T) were not associated with increased prostate cancer risk. Relative to men with levels in the lowest fourth of the distribution, men in the upper fourth of total T had a risk of 0.82 [95% confidence interval (CI), 0.52–1.29]. The corresponding relative risks for free T (0.72; 95% CI, 0.45–1.14), percentage of free T (0.74; 95% CI, 0.46–1.19), and total T:sex hormone binding globulin ratio (0.52; 95% CI, 0.32–0.83) similarly were not elevated. Higher concentrations of androstenedione, dehydroepiandrosterone sulfate, and 3α-androstanediol glucuronide were weakly associated with risk. Relative risks associated with being in the highest fourth for androstenedione, dehydroepiandrosterone sulfate, and 3α-androstanediol glucuronide were 1.20 (95% CI, 0.76–1.89), 1.38 (95% CI, 0.86–2.21), and 1.27 (95% CI, 0.80–2.00), respectively. Men in the upper fourth of total estradiol (E2), free E2 and percentage of free E2 had relative risks of 0.71 (95% CI, 0.42–1.13), 0.52 (95% CI, 0.33–0.82), and 0.65 (95% CI, 0.40–1.05), respectively. The inverse association between E2 and prostate cancer risk was largely restricted to men with blood collection within 3 years of diagnosis. Our results add to the evidence that serum testosterone is unrelated to prostate cancer incidence. The suggestions that intraprostatic androgen activity may increase risk and that serum estrogens may decrease risk, warrant additional study.
Magnetic Resonance Imaging Cell-Labeling Methods (2011)

Because MRI is noninvasive and offers high spatial resolution, it provides an excellent means for in vivo cell tracking. To be able to track the administered cells by MRI, cells must be manipulated ex vivo by incorporating different MRI contrast agents that do not exhibit toxic effects in labeled cells, enable sufcient threshold detection by MRI, and do not elicit side effects in human recipients. To date, paramagnetic, superparamagnetic, and ¨uorinated MR contrast agents have been used to label different cell types (Arbab et al. 2006a; Gilad et al. 2008; Partlow et al. 2007; Wilhelm and Gazeau 2008). Superparamagnetic iron oxide (SPIO) nanoparticles are extensively used to label cells for in vivo tracking by MRI because they are readily available and biodegradable and have a higher threshold for toxicity (Bulte 2006). In this chapter, different MR contrast agents that are being used to label cells and the different methods that are employed to label cells are discussed. Details of a step-by-step labeling method using ferumoxides and protamine sulfate are also discussed.
Stimulation Therapies and the Relevance of Fractal Dynamics to the Treatment of Diseases (2014)

This paper provides an overview of the conventional therapeutic stimulation methodologies and proposes a more effective stimulation approach based on a consideration of the inherently fractal nature of normal biological dynamics. There are varying forms of physiological stimulations including the use of electrical currents, electromagnetic fields, temperature change, ultrasound, light and so forth. These stimulation therapies can be categorized into three main modalities: electrical stimulation modalities, thermal modalities, and non-thermal modalities. Electrical stimulation modalities include therapeutic techniques where electrical current is directly applied to the body of treated subject. Direct application of electrical current to the brain also falls under this category. Thermal modalities consist of stimulations that induce temperature change on the body for therapeutic effects without the direct transfer of electrical current. Non-thermal modalities functions through energy transfer without directly applying electrical current and without the effects of temperature change. A fourth miscellaneous category for stimulation techniques consists of the stimulation effects of music along with physical stimulation as in massage therapy. Common to most of these therapeutic strategies is that the stimulation is delivered at certain fixed periods or frequencies. We introduce some rudiments of fractal dynamics, and the notions of self-similarity, scale-invariance, and long-range correlation or memory in the dynamics of a system. We present evidence that fractal dynamics is commonly observed in healthy physiological systems while unhealthy systems are shown to veer away from fractal dynamics towards periodic or random motion. This difference in dynamics can be observed in many biological signals such as in neural activity, heart rate variations, and breathing patterns. We propose that an optimal stimulation technique should thus be one that encourages an unhealthy, non-fractal pathological system towards a healthy, fractal dynamic. Given the ubiquity of fractality in healthy biological dynamics, we argue that a fractal pattern of stimulation is a more optimal approach to functional restoration than the widely used conventional periodic stimulation, which may further consolidate the existing pathological dynamics.
Quantum structure and rotational dynamics of HCN in helium clusters (2001)

We present diffusion Monte Carlo calculations of ground states and rotationally excited states of HCN Hen4, using our recently developed algorithm for importance sampled rigid body diffusion Monte Carlo [Viel et al., Comput. Phys. Commun. (in press, 2001)] within the mixed frame implementation. Excited states are studied with both fixed node approximations, and the Projection Operator Imaginary Time Spectral Evolution (POITSE) method that allows nodal constraints to be circumvented. Improvements in the POITSE algorithm allow excited states of clusters with up to 80 degrees of freedom to be determined here. The results presented here show that the rotational dynamics of the HCN molecule in He4 clusters are very different from the behavior of heavier molecules such as SF6. Detailed analysis of ground state densities shows that the lighter HCN molecule induces negligible adiabatic following of the helium density as a result of its rotational motion. The excited state calculations show that for small numbers of He4 atoms the nodal structure does not correspond to that of a freely rotating molecule. Nevertheless, the POITSE calculations indicate that there is some admixture of this nodal structure in the low-lying rotational excitations. It is found that a relatively large number of He4 atoms are required to achieve saturation of the effective rotational constant at the experimental value, in contradistinction to the small numbers of atoms required to saturate the rotational constant for heavier molecules such as SF6 and OCS.
Thermostable purified endoglucanase from thermophilic bacterium acidothermus cellulolyticus (2023)

A substantially purified high molecular weight cellulase enzyme having a molecular weight of between about 156,000 to about 203,400 daltons isolated from the bacterium Acidothermus cellulolyticus (ATCC 43068) and a method of producing it are disclosed. The enzyme is water soluble, possesses both C.sub.1 and C.sub.x types of enzymatic activity, has a high degree of stability toward heat and exhibits both a high optimum temperature activity and high inactivation characteristics.
How important are sex differences in cannabinoid action? (2010)

In humans as in animals, males and females are dissimilar in their genetic and hormonally driven behaviour; they process information differently, perceive experience and emotions in different ways, display diverse attitudes, language and social skills, and show sex-related differences in the brain anatomy and organization. Drug addiction is a widespread relapsing illness that affects both men and women. Sex-dependent differences have been frequently observed in the biological and behavioural effects of substances of abuse, including cannabis. Beside sex differences observed in the cannabinoid-induced effects related to cannabis abuse and dependence, cannabinoids have been shown to exert sex-dependent effects also in other physiological and behavioural aspects, such as food intake and energy balance (more evident in males), or anxiety and depression (more evident in females). Research has just begun to identify factors which could provide a neurobiological basis for gender-based differences in cannabinoid effects, among which, gonadal hormones seem to play a crucial role. Yet, cannabinoid pharmacodynamic and pharmacokinetic may also be important, as sex differences in cannabinoid effects might be due, at least in part, to differences in muscle mass and fat tissue distribution between males and females. Here, we will review both clinical and laboratory-based research evidence revealing important sex-related differences in cannabinoid effects, and put forward some suggestions for future studies to fill the gap in our knowledge of gender-specific bias in cannabinoid pharmacology.
Collaborative multimedia scientific design in SHASTRA (1993)

Abstract We address the issue of design ofarchitectures and abstractions to implement multimediascientificmanipulationsystems, propose a model for the integra~ion ofsoftware tools into a multi-userdistributedand collaborative environment on the multimedia desktop, and briefly describe a prototype CSCWinfrastructure which we have used to implement a scientific manipulation environment. Finally, wepresent example design systems to exhibit that multimedia interfaces, incorporating text, graphics,audio and video, greatly facilitate distributed and collaborative scientific design effort.SHASTRA 1 is a distributed and collaborative geometric design and scientific manipulation envi­ronment. In this system we address the research and development of the next generation ofscientificsoftware environments where multiple users (say, a collaborative engineering design team) create, share,manipulate, analyze, simulate, and visualize complex three dimensional geometric designs over a dis­tributed heterogeneous network of workstations and supercomputers. SHASTRA consists ofa growingset ofinteroperable tools for geometric design andscientific analysis, networked into a highly extensibleenvironment. Itprovides a unified framework for collaboration, session management, multimedia com­munication, and datasharing, along with a powerful numeric, symbolic and graphics substrate, enablingthe rapid prototyping and development of efficient software tools for the creation, manipulation andvisualization ofmulti-dimensionalscientific data.The design ofSHASTRA is the embodiment of a simple idea - scientific manipulation toolkits canabstractly be thought ofas objects that provide specific functionality. At the system level, SHASTRAspecifies architectural guidelines and provides communication facilities that let toolkits cooperate toutilize the functionality they offer. At the application level, it provides collaboration and multimediafacilities that let users cooperate. A marriage of the two lets us design sophisticated problem solvingenvironments.
A comparison of the wear behaviors of six elemental wire conductors (1995)

The goal of this work is to relate properties of armature materials to observed armature performance. In simple railgun electromagnetic launchers, the wear behavior of the widely-used aluminum alloys as sliding electrical contacts on copper rail conductors leads to a progressive change on the rail conductor surface as debris from the armature/rail interaction adheres to the rail. Here, the authors compare the behavior of wires of silver, copper, aluminum, nickel, molybdenum, and tantalum as armature conductors on ETP copper rail conductors. Some of these wires were also tested on molybdenum rail conductors to assess the effects of rail hardness. The emphasis is on the effect of current/contact under current densities greater than 1 kA/mm/sup 2/ on the wear behavior and eventual failure of the armature wire conductors. Characteristics of material transfer and a descriptive model are presented. The value of temperature-dependent properties such as hardness and surface tension are related to materials transfer of the wire conductors as the contact surface deforms and flows in response to specific driving current profiles.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>
Improvement of structural stability of cathode by manganese additive in electrolyte for zinc‐ion batteries (2022)

Zinc-ion batteries (ZIBs) are considered a candidate for lithium-ion batteries owing to their low cost, eco-friendly nature, and high safety level. In particular, their energy density is high because of a two-electron transfer mechanism involving Zn ions. However, ZIBs have the demerits of low-rate capability and poor cycling life because of the dissolution of Mn in the electrolyte during charging and discharging, which prevents the high potential of ZIBs from being effectively utilized. In this study, a manganese sulfate (MnSO4) additive was introduced in the electrolyte to overcome these drawbacks. A ZIB with such an electrolyte exhibited stable capacity behavior and high cycling stability. Furthermore, the fabricated ZIBs showed a specific capacity of 289 mAh g−1 at a current density of 0.3 A g−1, improved rate-performance of 116 mAh g−1 at a current density of 2.0 A g−1, and excellent long-term stability of 72% for 200 cycles at a current density of 1.0 A g−1. These findings indicate that the use of the aforementioned additive is a promising for enhancing the electrochemical performance of manganese-based cathodes in electrolyte-optimized next-generation ZIBs.
Lipase‐Catalyzed Synthesis and Properties of Poly[(12‐hydroxydodecanoate)‐co‐(12‐hydroxystearate)] Directed towards Novel Green and Sustainable Elastomers (2007)

Novel green and sustainable elastomers having both good biodegradability and chemical recyclability properties were designed and synthesized using potentially biobased materials and lipase as an environmentally benign catalyst. High molecular weight poly[(12-hydroxydodecanoate)-co-(12-hydroxystearate)] [poly(12HD-co-12HS)] samples with varying monomer ratios were prepared by the polycondensation of 12-hydroxydodecanoic acid and methyl 12-hydroxystearate using immobilized lipase from Candida antarctica (IM-CA) in toluene in the presence of molecular sieves 4A at 90 degrees C. Although poly(12HD) is a highly crystalline polyester having a melting temperature (T(m)) of 87.6 degrees C and crystalline temperature (T(c)) of 64 degrees C, by the copolymerization of 12HD with 12HS, both the T(m) and T(c) of the copolymer decreased with increasing 12HS contents, and poly(12HD-co-12HS) containing more than 60 mol-% 12HS was a viscous liquid at room temperature. At the same time, the Young's modulus and hardness also decreased with increasing 12HS content, and poly(12HD-co-36 mol-% 12HS) exhibited an elastic behavior, having a hardness of 70 A using a durometer A. In addition, it showed an excellent biodegradability by activated sludge and chemical recyclability by lipase.