gebhart/patrepeval huggingface dataset:
Where to go Next: Learning a Subgoal Recommendation Policy for Navigation in Dynamic Environments (2021)

Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the environment conditions are continuously changing. Local trajectory optimization methods, such as model predictive control (MPC), can deal with those changes but require global guidance, which is not trivial to obtain in crowded scenarios. This letter proposes to learn, via deep Reinforcement Learning (RL), an interaction-aware policy that provides long-term guidance to the local planner. In particular, in simulations with cooperative and non-cooperative agents, we train a deep network to recommend a subgoal for the MPC planner. The recommended subgoal is expected to help the robot in making progress towards its goal and accounts for the expected interaction with other agents. Based on the recommended subgoal, the MPC planner then optimizes the inputs for the robot satisfying its kinodynamic and collision avoidance constraints. Our approach is shown to substantially improve the navigation performance in terms of number of collisions as compared to prior MPC frameworks, and in terms of both travel time and number of collisions compared to deep RL methods in cooperative, competitive and mixed multiagent scenarios.
A role for mel-18, a Polycomb group-related vertebrate gene, during the anteroposterior specification of the axial skeleton (1996)

Segment identity in both invertebrates and vertebrates is conferred by spatially restricted distribution of homeotic gene products. In Drosophila, the expression of Homeobox genes during embryogenesis is initially induced by segmentation gene products and then maintained by Polycomb group and Trithorax group gene products. Polycomb group gene homologs are conserved in vertebrates. Murine mel-18 and closely related bmi-1 are homologous to posterior sex combs and suppressor two of zeste. Mel-18 protein mediates a transcriptional repression via direct binding to specific DNA sequences. To gain further insight into the function of Mel-18, we have inactivated the mel-18 locus by homologous recombination. Mice lacking mel-18 survive to birth and die around 4 weeks after birth after exhibiting strong growth retardation. Similar to the Drosophila posterior sex combs mutant, posterior transformations of the axial skeleton were reproducibly observed in mel-18 mutants. The homeotic transformations were correlated with ectopic expression of Homeobox cluster genes along the anteroposterior axis in the developing paraxial mesoderm. Surprisingly, mel-18-deficient phenotypes are reminiscent of bmi-1 mutants. These results indicate that the vertebrate Polycomb group genes mel-18 and bmi-1, like Drosophila Polycomb group gene products, might play a crucial role in maintaining the silent state of Homeobox gene expression during paraxial mesoderm development.
A quick transition electronic winding changeover technique for extended speed ranges (2004)

In many applications it is often needed to extend the constant power range of an induction motor. In order to extend the constant power range without sacrificing the torque capability at higher speeds, the wye/delta switchover method was adopted and still remains popular in spindle drives for machine tools. Other techniques for extending the constant power range include use of modified machines with taps that are selected to achieve the desired speed-torque characteristic. All techniques that employ mechanical contactors have limited life and are associated with dead time in the range of tens to hundreds of milliseconds due to mechanical constraints. Power electronic versions for the contactors have been proposed but most methods are rather complicated and involve many switching devices. Pole amplitude modulation (PAM) and pole phase modulation (PPM) have also been proposed but these techniques require additional inverters. This paper describes a novel and simple switching technique involving only two three-phase diode bridges and two IGBT switches to extend the constant power range of induction motors. The proposed method requires a center tap to be placed in each phase of the motor and access to the ends and the center tap making the motor a nine-lead machine. The proposed method and the circuit used to extend the constant power range is described and supported by experimental results.
Androgen receptor-induced tumor suppressor, KLLN, inhibits breast cancer growth and transcriptionally activates p53/p73-mediated apoptosis in breast carcinomas (2013)

Androgen receptor (AR) expression by immunohistochemistry correlates with better prognosis and survival among breast cancer patients. We and others have shown that AR inhibits proliferation and induces apoptosis in breast cancer cells. However, the mechanism of AR's anti-tumor effect in breast cancer is still not fully understood. Our recent study indicates that AR upregulates expression of tumor suppressor gene PTEN by promoter activation in breast cancer. KLLN, encoding KLLN protein, is a newly identified gene, which shares a bidirectional promoter with PTEN and is transcribed in the opposite direction. So far, the function of KLLN has never been studied in tumorigenesis. Here, we define KLLN as a tumor suppressor in breast carcinomas, which inhibits tumor growth and invasiveness. After analyzing 188 normal breast and 1247 malignant breast cancer tissues, we observed the loss of KLLN in multiple breast cancer subtypes and this decreased KLLN expression associates with tumor progression and increasing histological grade in invasive carcinomas. We characterize KLLN, for the first time, as a transcription factor, directly promoting the expression of TP53 and TP73, with consequent elevated apoptosis and cell cycle arrest in breast cancer cells. We demonstrate, in vitro and in murine xenograph models, that both KLLN and PTEN are AR-target genes, mediating androgen-induced growth inhibition and apoptosis in breast cancer cells. Our observations suggest that KLLN might be used as a potential prognostic marker and novel therapy target for breast carcinomas.
Lack of miRNA Misregulation at Early Pathological Stages in Drosophila Neurodegenerative Disease Models (2012)

Late onset neurodegenerative diseases represent a major public health concern as the population in many countries ages. Both frequent diseases such as Alzheimer disease (AD, 14% incidence for 80-84 year-old Europeans) or Parkinson disease (PD, 1.4% prevalence for >55 years old) share, with other low-incidence neurodegenerative pathologies such as spinocerebellar ataxias (SCAs, 0.01% prevalence) and frontotemporal lobar degeneration (FTLD, 0.02% prevalence), a lack of efficient treatment in spite of important research efforts. Besides significant progress, studies with animal models have revealed unexpected complexities in the degenerative process, emphasizing a need to better understand the underlying pathological mechanisms. Recently, microRNAs (miRNAs), a class of small regulatory non-coding RNAs, have been implicated in some neurodegenerative diseases. The current data supporting a role of miRNAs in PD, tauopathies, dominant ataxias, and FTLD will first be discussed to emphasize the different levels of the pathological processes which may be affected by miRNAs. To investigate a potential involvement of miRNA dysregulation in the early stages of these neurodegenerative diseases we have used Drosophila models for seven diseases (PD, 3 FTLD, 3 dominant ataxias) that recapitulate many features of the human diseases. We performed deep sequencing of head small RNAs after 3 days of pathological protein expression in the fly head neurons. We found no evidence for a statistically significant difference in miRNA expression in this early stage of the pathological process. In addition, we could not identify small non-coding CAG repeat RNAs (sCAG) in polyQ disease models. Thus our data suggest that transcriptional deregulation of miRNAs or sCAG is unlikely to play a significant role in the initial stages of neurodegenerative diseases.
Quantitative polarized Raman spectroscopy in highly turbid bone tissue (2010)

Polarized Raman spectroscopy allows measurement of molecular orientation and composition and is widely used in the study of polymer systems. Here, we extend the technique to the extraction of quantitative orientation information from bone tissue, which is optically thick and highly turbid. We discuss multiple scattering effects in tissue and show that repeated measurements using a series of objectives of differing numerical apertures can be employed to assess the contributions of sample turbidity and depth of field on polarized Raman measurements. A high numerical aperture objective minimizes the systematic errors introduced by multiple scattering. We test and validate the use of polarized Raman spectroscopy using wild-type and genetically modified (oim/oim model of osteogenesis imperfecta) murine bones. Mineral orientation distribution functions show that mineral crystallites are not as well aligned (p<0.05) in oim/oim bones (28+/-3 deg) compared to wild-type bones (22+/-3 deg), in agreement with small-angle X-ray scattering results. In wild-type mice, backbone carbonyl orientation is 76+/-2 deg and in oim/oim mice, it is 72+/-4 deg (p>0.05). We provide evidence that simultaneous quantitative measurements of mineral and collagen orientations on intact bone specimens are possible using polarized Raman spectroscopy.
Chlorophyll-Based Self-Assembled Nanostructures for Fluorescent Sensing of Aminoglycoside Antibiotics (2021)

Methods of selective fluorescent sensing of small organic molecules require the use of biomolecules or complicated synthesis of artificial probes. An alternative technique is aggregation-based sensing based on the response generated due to self-assembly effects rather than by direct analyte–probe interaction. We have found that far red/near IR emission of spinach chlorophyll a at 680 nm is selectively enhanced by multiply charged aminoglycoside cations in the presence of anionic surfactants, whereas such an effect is not observed for smaller species. Selectivity of the detection is controlled by a positive charge of the drug and its ability to form multiple noncovalent bonds, as well as by the nature of the surfactant (n-dodecyl sulfate or lauroyl sarcosinate is preferable). Fluorescence of chlorophyll is enhanced due to its solubilization in the drug–surfactant aggregate. We have developed a simple and selective method for the detection of aminoglycoside antibiotic neomycin in urine samples with a limit of detection of 6 μM. The development path for aggregation-based analysis of other systems using chlorophyll is outlined.
Energy Dispersive X-Ray Diffraction Imaging (2013)

Position resolved structural information from polycrystalline materials is usually obtained via micro beam techniques illuminating only a single spot of the specimen. Multiplexing in reciprocal space is achieved either by the use of an area detector or an energy dispersive device. Alternatively spatial information may be obtained simultaneously from a large part of the sample by using an array of parallel collimators between the sample and a position sensitive detector which suppresses crossfire of radiation scattered at different positions in the sample. With the introduction of an X-ray camera based on an energy resolving area detector (pnCCD) we could combine this with multiplexing in reciprocal space.
Computing motion using analog and binary resistive networks (1988)

The authors describe recent developments in the theory of early vision that led from the formulation of the motion problem as an ill-posed one to its solution by minimizing certain 'cost' functions. These cost or energy functions can be mapped onto simple analog and digital resistive networks. The optical flow is computed by injecting currents into resistive networks and recording the resulting stationary voltage distribution at each node. The authors believe that these networks, which they implemented in complementary metal-oxide-semiconductor (CMOS) very-large-scale integrated (VLSI) circuits, represent plausible candidates for biological vision systems.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>
Robust and Fast Vehicle Turn-counts at Intersections via an Integrated Solution from Detection, Tracking and Trajectory Modeling (2020)

In this paper, we address the problem of vehicle turn-counts by class at multiple intersections, which is greatly challenged by inaccurate detection and tracking results caused by heavy weather, occlusion, illumination variations, background clutter, etc. Therefore, the complexity of the problem calls for an integrated solution that robustly extracts as much visual information as possible and efficiently combines it through sequential feedback cycles. We propose such an algorithm, which effectively combines detection, background modeling, tracking, trajectory modeling and matching in a sequential manner. Firstly, to improve detection performances, we design a GMM like background modeling method to detect moving objects. Then, the proposed GMM like background modeling method is combined with an effective yet efficient deep learning based detector to achieve high-quality vehicle detection. Based on the detection results, a simple yet effective multi-object tracking method is proposed to generate each vehicle's movement trajectory. Conditioned on each vehicle's trajectory, we then propose a trajectory modeling and matching schema which leverages the direction and speed of a local vehicle's trajectory to improve the robustness and accuracy of vehicle turn-counts. Our method is validated on the AICity Track1 dataset A, and has achieved 91.40% in effectiveness, 95.4% in efficiency, and 92.60% S1-score, respectively. The experimental results show that our method is not only effective and efficient, but also can achieve robust counting performance in real-world scenes.
Harmonic and Random Vibration Durability of SAC305 and Sn37Pb Solder Alloys (2010)

In this paper, durability tests were conducted on both SAC305 and Sn37Pb solder interconnects using both harmonic and random vibration. The test specimens consist of daisy-chained printed wiring boards (PWBs) with several different surface-mount component styles. Modal testing was first conducted on a test PWB to determine the natural frequencies and mode shapes. The PWB was then subjected to narrow-band excitation at its first natural frequency. Electrical continuity of the daisy-chain nets was monitored to measure the time-to-failure (and hence cycles-to-failure) of the interconnects. The response history of the PWB was recorded with strain gages located near the components of interest. Finite element analysis (FEA) was conducted for each component type, to estimate the transfer function between the flexural strain of the PWB and the strain in the critical solder joint. The predicted strain transfer function was then combined with the measured PWB strain response history to estimate the strain history in the critical solder joints. The solder strain history was used, in conjunction with the failure history, to estimate lower bounds for the fatigue durability (S-N curves) of the solder interconnects. In the first part of this paper, the results show that the SAC305 interconnects are marginally less durable than Sn37Pb interconnects for the harmonic excitation range used in this paper. The durability model constants are found to be very sensitive to the solder stress-strain curve assumed in the FEA. Since the stress-strain properties reported in the literature for these solder alloys vary significantly, the solder stress-strain curves were parametrically varied in the FEA, to assess the resulting effect on the estimated S-N curves. In the second part of this paper, random-vibration tests were conducted to assess durability under step-stress, broad-band excitation. Conventional cycle counting techniques were used to quantify the random excitation histories in terms of range distribution functions. Using the same time-domain vibration fatigue analysis used earlier for narrow-band excitation, the durability trend for the corresponding SAC305 and Sn37Pb solder interconnects under broad-band excitation was found to be similar to that found earlier under harmonic vibration excitation. Comparison between the durability prediction and test results provides a good understanding of the effect of stress-strain behavior on the fatigue constants of these solder materials. The best set of material properties was then used to verify the durability of leadless chip resistor interconnects under quasi-static mechanical cycling.
Highly miniaturized RF bandpass filter based on thin-film bulk acoustic-wave resonator for 5-GHz-band application (2006)

Highly miniaturized RF bandpass filter using a thin-film bulk acoustic wave resonator (TFBAR) is designed and fabricated for 5-GHz-band application. The topology of the fabricated filter is based on a ladder-type configuration that has a common trimming inductor connected concurrently with two shunt TFBARs and the trimming inductor is directly connected to the ground. The role of unit the TFBAR's physical characteristics such as the size and thickness of the TFBAR determine the performance of the TFBAR filter, including the effect of the electrical impedance-matching characteristics of the TFBAR filter. The shape of the fabricated TFBARs are tetragons with unparallel sides and the sizes of resonator are smaller than 70/spl times/70 /spl mu/m/sup 2/ to ensure the ranges of impedance-matched filter performance. The insertion loss and bandwidth of fabricated TFBAR filters are less than 2.8 dB and 160 MHz at 3 dB. The out-of-band rejection is over 30 dB. The actual size of filter is smaller than 700/spl times/600 /spl mu/m/sup 2/, including signal and ground pad sizes.
Nanoindentation of injection molded PLA and self‐reinforced composite PLA after in vitro conditioning for three months (2005)

Poly(lactic acid) (PLA) is used for medical devices such as sutures or orthopedic screws. A standard way to determine the loss of mechanical properties of a degradable polymer would be to soak the polymer in phosphate buffered saline (PBS) and test the desired property as a function of immersion time. This method is not sensitive enough to discern changes in mechanical properties through the cross-section of the polymer and neglects the degradation that is occurring at the molecular level. This article presents results of a nanoindentation study carried out with PLA. The modulus and hardness of PLA is characterized as a function of processing method, immersion time in PBS, and location of the indent. Measuring local properties with the nanoindenter allowed detection of differences in material properties as a function of all three of these variables. The mechanical properties on the edge were lower than the interior of the sample after in vitro degradation, and changes were seen earlier for nanoindentation than for traditional flexural or tensile tests. The nanoindenter is a valuable tool for quantifying changes in material properties and may have applicability for accelerated tests to screen biomaterials.
Synthesis and Antimicrobial Properties of Some Anacardic Compounds (2014)

A new series of anacardic compounds from cashewnut shell liquid phenol, anacardol, have been synthesised and screened for antibacterial and antifungal activity. All the anacardic compounds have been found active against S. Typhosa in dilutions varying from 1: 10,000 to 1 : 1,000,000. The only compound found active against A. Niger is chloro-mercuri-tetrahydroanacardol.
Nucleic Acid Related Compounds. 118. Nonaqueous Diazotization of Aminopurine Derivatives. Convenient Access to 6-Halo- and 2,6-Dihalopurine Nucleosides and 2‘-Deoxynucleosides with Acyl or Silyl Halides1 (2002)

Treatment of 9-(2,3,5-tri-O-acetyl-beta-d-ribofuranosyl)-2-amino-6-chloropurine (1) with TMS-Cl and benzyltriethylammonium nitrite (BTEA-NO2) in dichloromethane gave the crystalline 2,6-dichloropurine nucleoside 2, and acetyl chloride/BTEA-NO2 was equally effective ( approximately 85%, without chromatography). TMS-Br/tert-butyl nitrite/dibromomethane gave crystalline 2-bromo-6-chloro analogue 3 (85%). (Chloro or bromo)-dediazoniation of 3',5'-di-O-acetyl-2'-deoxyadenosine (4) gave the 6-[chloro (5, 63%) or bromo (6, 80%)]purine deoxynucleosides, and 2',3',5'-tri-O-acetyladenosine (8) was converted into the 6-chloropurine nucleoside 9 (71%).
Design of Deployable Soft Robots Through Plastic Deformation of Kirigami Structures (2020)

Kirigami-patterned mechanisms are an emergent class of deployable structure that are easy to fabricate and offer the potential to be integrated into deployable robots. In this letter, we propose a design methodology for robotic kirigami structures that takes into consideration the deformation, loading, and stiffness of the structure under typical use cases. We show how loading-deformation behavior of a kirigami structure can be mechanically programmed by imposing plastic deformation. We develop a model for plasticity in the stretching of a kirigami structure. We show the creation of kirigami structures that have an increased elastic region, and specified stiffness, in their deployed states. We demonstrate the benefits of such a plastically-deformed structure by integrating it into a soft deployable crawling robot: the kirigami structure matches the stiffness of the soft actuator such that the deployed, coupled behavior serves to mechanically program the gait step size.