gebhart/patrepeval huggingface dataset:
Full-Body Compliant Human–Humanoid Interaction: Balancing in the Presence of Unknown External Forces (2007)

This paper proposes an effective framework of human-humanoid robot physical interaction. Its key component is a new control technique for full-body balancing in the presence of external forces, which is presented and then validated empirically. We have adopted an integrated system approach to develop humanoid robots. Herein, we describe the importance of replicating human-like capabilities and responses during human-robot interaction in this context. Our balancing controller provides gravity compensation, making the robot passive and thereby facilitating safe physical interactions. The method operates by setting an appropriate ground reaction force and transforming these forces into full-body joint torques. It handles an arbitrary number of force interaction points on the robot. It does not require force measurement at interested contact points. It requires neither inverse kinematics nor inverse dynamics. It can adapt to uneven ground surfaces. It operates as a force control process, and can therefore, accommodate simultaneous control processes using force-, velocity-, or position-based control. Forces are distributed over supporting contact points in an optimal manner. Joint redundancy is resolved by damping injection in the context of passivity. We present various force interaction experiments using our full-sized bipedal humanoid platform, including compliant balance, even when affected by unknown external forces, which demonstrates the effectiveness of the method.
Mirtazepine: Heir apparent to amitriptyline? (2001)

"What's new in therapeutics?" will examine and evaluate drugs that may have a place in hospice, palliative, and long-term care. Mirtazepine will be examined and evaluated. Mirtazepine is a potential alternative anti-depressant with multiple additional benefits. It is an atypical anti-depressant, which has both noradrenergic and specific serotonergic receptor antagonism (NaSSa), and a unique pharmacological profile. Mirtazepine appears to be a "designer drug" for palliative medicine with a number of benefits, but cost may be a drawback.
Source projection analytic nodal S{sub N} method for hexagonal geometry with reentering vacuum boundary (1996)

Recently, authors developed the Source Projection Analytic Nodal Discrete Ordinates Method (SPANDOM), which does not invoke the transverse integration but instead directly solves the two-dimensional S{sub N} equation after the source distribution is represented in high-order polynomials and/or exponential functions. SPANDOM was successfully applied to the triangular (SPANDOM-TA) and half-hexagonal geometry. In this paper, SPANDOM is extended to full-hexagonal geometry (SPANDOM-FH), and the effect of reentering the vacuum boundary is discussed.
A Series of Double Well Semiconductor Quantum Dots (2001)

Five-layered nanocrystals have been prepared that consist of a CdS core covered by a shell of HgS followed by several monolayers of CdS that are covered by again a shell of HgS and an outer cladding layer of CdS. The resulting quantum dots, thus, contain a double well electronic structure. Both HgS wells are either as thick as a monolayer or as two monolayers. The wells are separated by a wall of two to three monolayers of CdS giving rise to a family of double well semiconductor quantum dots. Absorption spectra of eight members of this family are presented together with some first results from TEM measurements.
Metabolic modeling of a mutualistic microbial community (2007)

The rate of production of methane in many environments depends upon mutualistic interactions between sulfate-reducing bacteria and methanogens. To enhance our understanding of these relationships, we took advantage of the fully sequenced genomes of Desulfovibrio vulgaris and Methanococcus maripaludis to produce and analyze the first multispecies stoichiometric metabolic model. Model results were compared to data on growth of the co-culture on lactate in the absence of sulfate. The model accurately predicted several ecologically relevant characteristics, including the flux of metabolites and the ratio of D. vulgaris to M. maripaludis cells during growth. In addition, the model and our data suggested that it was possible to eliminate formate as an interspecies electron shuttle, but hydrogen transfer was essential for syntrophic growth. Our work demonstrated that reconstructed metabolic networks and stoichiometric models can serve not only to predict metabolic fluxes and growth phenotypes of single organisms, but also to capture growth parameters and community composition of simple bacterial communities.
Multigene Panel Testing Provides a New Perspective on Lynch Syndrome (2017)

Purpose Most existing literature describes Lynch syndrome (LS) as a hereditary syndrome leading to high risks of colorectal cancer (CRC) and endometrial cancer mainly as a result of mutations in MLH1 and MSH2. Most of these studies were performed on cohorts with disease suggestive of hereditary CRC and population-based CRC and endometrial cancer cohorts, possibly biasing results. We aimed to describe a large cohort of mismatch repair (MMR) mutation carriers ascertained through multigene panel testing, evaluate their phenotype, and compare the results with those of previous studies. Methods We retrospectively reviewed clinical histories of patients who had multigene panel testing, including the MMR and EPCAM genes, between March 2012 and June 2015 (N = 34,981) and performed a series of statistical comparisons. Results Overall, MSH6 mutations were most frequent, followed by PMS2, MSH2, MLH1, and EPCAM mutations, respectively. Of 528 patients who had MMR mutations, 63 (11.9%) had breast cancer only and 144 (27.3%) had CRC only. When comparing those with breast cancer only to those with CRC only, MSH6 and PMS2 mutations were more frequent than MLH1 and MSH2 mutations ( P = 2.3 × 10<sup>-5</sup>). Of the 528 patients, 22.2% met BRCA1 and BRCA2 ( BRCA1/2) testing criteria and not LS criteria, and 5.1% met neither BRCA1/2 nor LS testing criteria. MSH6 and PMS2 mutations were more frequent than MLH1 and MSH2 mutations among patients who met BRCA1/2 testing criteria but did not meet LS testing criteria ( P = 4.3 × 10<sup>-7</sup>). Conclusion These results provide a new perspective on LS and suggest that individuals with MSH6 and PMS2 mutations may present with a hereditary breast and ovarian cancer phenotype. These data also highlight the limitations of current testing criteria in identifying these patients, as well as the need for further investigation of cancer risks in patients with MMR mutations.
Transition temperatures of superconductor-ferromagnet superlattices (1991)

The transition temperature ${\mathit{T}}_{\mathit{c}}$ of superconductor-ferromagnet superlattices is calculated by solving exactly the Usadel equations. Characteristic ground-state configurations are predicted with nontrivial phase difference 0cphi\ensuremath{\le}\ensuremath{\pi} between neighboring superconducting layers. An unusual oscillatory dependence of ${\mathit{T}}_{\mathit{c}}$ on the ferromagnetic-layer thickness is obtained. For short-period superlattices it is found that the transition changes from second to first order. A comparison of theoretical results with experimental data for V/Fe superlattices is given.
Skating by: low energetic costs of swimming in a batoid fish (2016)

We quantify the oxygen consumption rates and cost of transport (COT) of a benthic batoid fish, the little skate, Leucoraja erinacea, at three swimming speeds. We report that this species has the lowest mass-adjusted swimming metabolic rate measured for any elasmobranch; however, this species incurs a much higher COT at approximately five times the lowest values recorded for some teleosts. In addition, because skates lack a propulsive caudal fin and could not sustain steady swimming beyond a relatively low optimum speed of 1.25 body lengths s(-1), we propose that the locomotor efficiency of benthic rajiform fishes is limited to the descending portion of a single COT-speed relationship. This renders these species poorly suited for long-distance translocation and, therefore, especially vulnerable to regional-scale environmental disturbances.
Performance improvement of half controlled three phase PWM boost rectifier (2003)

The potential of the half-controlled three-phase pulse-width modulated (PWM) boost rectifier is investigated based on theoretical analysis, simulations and experiments. The main advantages of this rectifier are: (1) a simpler and economical system compared to a full controlled PWM rectifier (reduced controlled switch count, single power supply for gate drives, and shoot-through free leg structure); and (2) better performance compared to a diode rectifier (actively controllable DC link voltage and lower input current total harmonic distortion (THD)). In particular, it is shown in this paper that the input current THD of this rectifier can be reduced by intentionally introducing a lagging power factor current command. Several issues for further performance improvement are pointed out for future work.
A microcontroller-based emergency ballast for fluorescent lamps (1997)

This paper presents a new emergency ballast for fluorescent lamps. The fundamental block is the microcontroller-based control circuit, which performs the supervision and control function. High-frequency electronics techniques are proposed for the high power factor battery charger and the lamp driver, which provides high luminous efficacy. In this way, size and weight have been minimized for the whole system. With the introduction of the microcontroller, the system has the capability of testing itself, checking its functional state, and displaying internal faults. Thus, the reliability of the system is improved and, concurrently, maintenance cost is decreased.
On the Reactivity of Acetylenes Coordinated to Cobalt. 9. Effects of Substitution and Coordination on the 13C-NMR Chemical Shifts of the sp Carbons of (.mu.2-R1C2R2)Co2(CO)6 Complexes. Molecular Structure of (.mu.2-PhC2SiPh3)Co2(CO)6 (1995)

ADVERTISEMENT RETURN TO ISSUEPREVArticleNEXTOn the Reactivity of Acetylenes Coordinated to Cobalt. 9. Effects of Substitution and Coordination on the 13C-NMR Chemical Shifts of the sp Carbons of (.mu.2-R1C2R2)Co2(CO)6 Complexes. Molecular Structure of (.mu.2-PhC2SiPh3)Co2(CO)6Berit Happ, Tamas Bartik, Claudia Zucchi, Maria Cecilia Rossi, Franco Ghelfi, Gyula Palyi, Gyula Varadi, Gabor Szalontai, Istvan T. Horvath, , and Carlo GuastiniCite this: Organometallics 1995, 14, 2, 809–819Publication Date (Print):February 1, 1995Publication History Published online1 May 2002Published inissue 1 February 1995https://pubs.acs.org/doi/10.1021/om00002a031https://doi.org/10.1021/om00002a031research-articleACS PublicationsRequest reuse permissionsArticle Views374Altmetric-Citations60LEARN 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 InRedditEmail Other access optionsGet e-AlertscloseSupporting Info (2)»Supporting Information Supporting Information Get e-Alerts
Neuropathogical features of a rat model for perinatal hypoxic‐ischemic encephalopathy with associated epilepsy (2007)

Hypoxic-ischemic (HI) encephalopathy is an important neurological problem of the perinatal period. Little is known of the long-term progression of HI insults or the maladaptive changes that lead to epilepsy. Using rats with unilateral carotid occlusion followed by hypoxia at postnatal day 7, this study provides an initial analysis of the epilepsy caused by a perinatal HI insult with chronic and continuous behavioral monitoring. The histopathology was investigated at postnatal day 30 and later at > or =6 months of age using cresyl violet, Timm, and rapid Golgi staining and immunocytochemistry. The resultant epilepsy showed an increase in seizure frequency over time, with a preponderance for seizure clusters and behavioral features of an ipsilateral cerebral syndrome. In addition to parasagittal infarcts and porencephalic cysts in severe lesions, columnar neuronal death was found with cytomegaly in isolated groups of dysmorphic cortical neurons. Cortical dysgenesis was seen in the form of deep laminar cell loss, microgyri, white matter hypercellularity, and blurring of the white and gray matter junction. Mossy fiber sprouting was not only detected in the atrophied ipsilateral dorsal hippocampus of HI rats with chronic epilepsy, but was also found in comparable grades in spared ipsi- and contralateral ventral hippocampi. The cortical lesions in this animal model show histological similarities with those found in humans after perinatal HI. The occurrence of cortical abnormalities that are associated with epilepsy in humans correlates with the consequent detection of spontaneous recurrent seizures.
Synthesis and physical properties of novel estolides from dicarboxylic acids and methyl ricinoleate (2015)

Castor oil is an attractive feedstock for the preparation of a variety of industrially important products due to the presence of ricinoleic acid with hydroxyl functionality up to 85–90%. Methyl ricinoleate was esterified with different dicarboxylic acids to prepare a series of a new class of estolides under solvent and catalyst‐free conditions. The products were evaluated for their physico‐chemical and lubricant properties. The estolide esters have a wide viscosity range varying from ISO VG 15 to 46. All the products exhibited excellent pour points (−48 to <−60°C) outperforming the reported estolide products. Among the estolide esters, 2‐ethyl‐1‐hexyl esters of monoacid estolides exhibited higher oxidative onset values (199°C). Dimer estolides and 2‐ethylhexyl esters of monoacid estolides exhibited better thermal stability compared to all other estolide esters. The products having low pour points can be potential base oils for low temperature lubricant applications. Practical applications: Synthesis of potential lubricant basestocks from indigenous non‐edible oil under solvent and catalyst‐free conditions. Prepared biolubricants with very low pour points, which is difficult to achieve with vegetable oil derivatives. The products are potential candidates for low temperature applications. Estolides with low pour points.
Isolation and characterization of extragenic suppressor strains of Corynebacterium diphtheriae (1978)

The isolation and characterization of two different nonsense suppressor strains of Corynebacterium diphtheriae C7 sup+(-)tox- are described. Appropriate lysogens of these strains with corynephage beta, carrying known class II tox premature polypeptide chain termination mutations [C7sup-1(betatox-30) and C7sup-2(betatox-45)], each produce a 62,000-dalton polypeptide with nicotinamide adenine dinucleotide: elongation factor-2 adenosine diphosphate ribosyltransferase activity in addition to a chain-terminated polypeptide of 30,000 or 45,000 daltons, respectively. In addition, purified protein of 62,000 daltons, resulting from the suppression of the nonsense mutations tox-30 and tox-45, will react with antisera purified against the terminal 17,000 daltons of the toxin molecule and are immunologically identical to toxin by radial immunodiffusion. The suppression pattern of lysogenic derivatives of C7sup-1(-)tox- and C7sup-2(-)tox- with other class II and III mutants of corynephage beta was determined.
P2N-1 Suppression of Spurious Responses for Ultra-Wideband and Low-Loss SAW Ladder Filter on a Cu-grating/15�YX-LiNbO3 Structure (2006)

This paper describes the development of extremely wideband and very low-loss RF SAW filters of ladder type for future communication systems. Because of its large electromechanical coupling factor for SH-type SAWs, a Cu-grating/15degYX-LiNbO <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sub> structure was employed as a substrate. At first, four-stage ladder type filter was designed and fabricated, where width/length weighted dummy electrodes were used to suppress spurious responses caused by transverse-mode resonances. In addition, a viscous film was coated on the filter surface which is effective in suppress a spurious dip caused by Rayleigh SAWs. As the result, the fractional -3dB bandwidth of 19% and minimum insertion loss of about 0.6 dB were simultaneously achieved around 1 GHz, which basically owes the high electromechanical coupling and high Q factor of SH type SAWs propagating in the structure
GA-Based H(subscript ∞) AFSM Controller for Nonlinear Systems (2008)

In this paper, the stability analysis of a GA-Based H(subscript ∞) adaptive fuzzy sliding model controller for a nonlinear system is presented. A H(subscript ∞) tracking problem is characterized to solve an eigenvalue problem (EVP), and an adaptive fuzzy sliding model controller (AFSMC) is proposed to stabilize the system and achieve H(subscript ∞) control performance.
<i>Bacillus anthracis</i> HssRS signalling to HrtAB regulates haem resistance during infection (2009)

Bacillus anthracis proliferates to high levels within vertebrate tissues during the pathogenesis of anthrax. This growth is facilitated by the acquisition of nutrient iron from host haem. However, haem acquisition can lead to the accumulation of toxic amounts of haem within B. anthracis. Here, we show that B. anthracis resists haem toxicity by sensing haem through the HssRS two-component system, which regulates expression of the haem-detoxifying transporter HrtAB. In addition, we demonstrate that B. anthracis exhibits elevated HssRS function compared with its evolutionary relative Staphylococcus aureus. Elevated haem sensing is likely required by B. anthracis due to the significant haem sensitivity exhibited by members of the genus Bacilli. We also demonstrate that B. anthracis depends on conserved residues within the previously uncharacterized sensing domain of the histidine kinase HssS for HssS function. Finally, we show that the haem- and HssRS-regulated hrtAB promoter is activated in a murine model of anthrax. These results demonstrate the evolutionary conservation of haem sensing among multiple Gram-positive bacteria and begin to provide a mechanistic explanation for the haem resistance of B. anthracis. Further, these data suggest that haem stress is experienced by bacterial pathogens during infection.
Functional expression of Rab escort protein 1 following AAV2-mediated gene delivery in the retina of choroideremia mice and human cells ex vivo (2013)

Choroideremia (CHM) is an X-linked retinal degeneration of photoreceptors, the retinal pigment epithelium (RPE) and choroid caused by loss of function mutations in the CHM/REP1 gene that encodes Rab escort protein 1. As a slowly progressing monogenic retinal degeneration with a clearly identifiable phenotype and a reliable diagnosis, CHM is an ideal candidate for gene therapy. We developed a serotype 2 adeno-associated viral vector AAV2/2-CBA-REP1, which expresses REP1 under control of CMV-enhanced chicken β-actin promoter (CBA) augmented by a Woodchuck hepatitis virus post-transcriptional regulatory element. We show that the AAV2/2-CBA-REP1 vector provides strong and functional transgene expression in the D17 dog osteosarcoma cell line, CHM patient fibroblasts and CHM mouse RPE cells in vitro and in vivo. The ability to transduce human photoreceptors highly effectively with this expression cassette was confirmed in AAV2/2-CBA-GFP transduced human retinal explants ex vivo. Electroretinogram (ERG) analysis of AAV2/2-CBA-REP1 and AAV2/2-CBA-GFP-injected wild-type mouse eyes did not show toxic effects resulting from REP1 overexpression. Subretinal injections of AAV2/2-CBA-REP1 into CHM mouse retinas led to a significant increase in a- and b-wave of ERG responses in comparison to sham-injected eyes confirming that AAV2/2-CBA-REP1 is a promising vector suitable for choroideremia gene therapy in human clinical trials.
Length of Stay at Inpatient Rehabilitation Facility and Stroke Patient Outcomes (2015)

The study provides evidence for the care of stroke patients at the IRF setting.
Synthesis of Precursors for SiC-C Fibers by Copyrolysis of Polysilane and Pitch (1987)

Precursors of carbon-containing SiC fibers (SiC-C fiber) were synthesized with high yield by the copyrolysis of poly (dimethylsilane) and 3.9-80wt% pitch. During copyrolysis the decomposition product of polysilane reacts with pitch molecule with no significant condensation among pitch molecules. SiC-C fibers were obtained by melt spinning of the precursors and heat-treatment up to 1400°C in vacuum. The tensile strength and Young's modulus of the SiC-C fiber decreased with increasing carbon content. The electric conductivity is two orders of magnitude larger than that of SiC fibers obtained from pure polycarbosilane.
Nucleophilic Catalysis with π-Bound Nitrogen Heterocycles:  Synthesis of the First Ruthenium Catalysts and Comparison of the Reactivity and the Enantioselectivity of Ruthenium and Iron Complexes (1998)

Three ruthenium complexes that bear π-bound nitrogen heterocycles have been synthesized. It is established that these complexes serve as effective nucleophilic catalysts for a range of processes, including the acylation of alcohols with diketene, the ring opening of azlactones, and the addition of alcohols to ketenes; their activity is comparable to or somewhat greater than the corresponding iron catalysts. The relative efficiency of the ruthenium complexes as asymmetric catalysts is also evaluated: in the kinetic resolution of secondary alcohols, ruthenium is markedly less effective than iron, but in the deracemization/ring opening of azlactones, ruthenium is slightly more enantioselective. This study documents for the first time the impact of the metal on the reactivity and on the enantioselectivity of nucleophilic catalysts based on π-bound nitrogen heterocycles.
Performance prediction and characterization of highly insulated microbolometers for space applications (2012)

There is a demand for increasing the spatial resolution and swath width in Earth observation applications. To improve the resolution and swath width, increased thermal isolation and decreased pitch of the microbolometer need to be achieved. This paper reports on the investigation of different structures of highly insulated 35 μm pitch microbolometers. Each structure consists of two suspended Si<sub>3</sub>N<sub>4</sub> platforms with the upper level containing the bolometer element and the lower level containing hinges of varying length. A numerical model was derived to predict the figures of merit of the structures prior to microfabrication. Experimental characterization was performed on microfabricated devices, confirming the computed results. The thermal conductance, in the range from 85 to 134 nW/K, varies inversely with the hinge length and the best responsivity was achieved on the sample with the longest hinge. The corresponding detectivity and response time were respectively 9 × 108 cmHz<sup>1/2</sup>/W and 8 ms approximately.