gebhart/patrepeval huggingface dataset:
Motion Analysis of Multi-Limbed Robots in Multi-Point Contact. (2001)

This paper analyzes the motion of a multi-limbed robot in contact with other objects or the ground at multiple points. A limb is defined as a serial link mechanism, such as an arm, a leg, a finger. The motion of the robot is restricted if the multiple contact points are held stationary. In general there are singular postures at which the motion of the robot has an additional degree of freedom. Contact at multiple points also causes the restriction on their sliding directions when they slide. This paper proves that when the robot is at the singular posture, the sliding directions are more restricted. We also show that the closer the robot approaches the singular posture, the more difficult the contact points slide in the directions infeasible at the singular posture. Sliding analysis is important not only for sliding control but also position and force controls of the limbs. We developed a quadruped robot which can take various postures, e.g. lying on the ground and standing on the knees. The motion of the quadruped robot is analyzed as an example of a multi-limbed robot in multi-point contact.
Training deep neural-networks using a noise adaptation layer (2017)

The availability of large datsets has enabled neural networks to achieve impressive recognition results. However, the presence of inaccurate class labels is known to deteriorate the performance of even the best classifiers in a broad range of classification problems. Noisy labels also tend to be more harmful than noisy attributes. When the observed label is noisy, we can view the correct label as a latent random variable and model the noise processes by a communication channel with unknown parameters. Thus we can apply the EM algorithm to find the parameters of both the network and the noise and to estimate the correct label. In this study we present a neural-network approach that optimizes the same likelihood function as optimized by the EM algorithm. The noise is explicitly modeled by an additional softmax layer that connects the correct labels to the noisy ones. This scheme is then extended to the case where the noisy labels are dependent on the features in addition to the correct labels. Experimental results demonstrate that this approach outperforms previous methods.
Coral reef carbonate budgets and ecological drivers in thenaturally high temperature and high total alkalinity environment of the Red Sea (2018)

Abstract. The coral structural framework is crucial for maintaining reef ecosystem function and services. Rising seawater temperatures impair the calcification capacity of reef-building organisms on a global scale, but in the Red Sea total alkalinity is naturally high and beneficial to reef growth. It is currently unknown how beneficial and detrimental factors affect the balance between calcification and erosion, and thereby overall reef growth, in the Red Sea. To provide estimates of present-day carbonate budgets and reef growth dynamics in the central Red Sea, we measured in situ net-accretion and net-erosion rates (Gnet) by deployment of limestone blocks to estimate census-based carbonate budgets (Gbudget) in four reef sites along a cross-shelf gradient (25 km). In addition, we assessed abiotic (i.e., temperature, inorganic nutrients, and carbonate system variables) and biotic (i.e., calcifier and bioeroder abundances) variables. Our data show that aragonite saturation states (Ω = 3.65–4.20) were in the upper range compared to the chemistry of other tropical reef sites. Further, Gnet and Gbudget encompassed positive (offshore) and negative (midshore-lagoon and exposed nearshore site) carbonate budgets. Notably, Gbudget maxima were lower compared to reef growth from undisturbed Indian Ocean reefs, but erosive forces for Red Sea reefs were not as strong as observed elsewhere. In line with this, a comparison with recent historical data from the northern Red Sea suggests that overall reef growth in the Red Sea has remained similar since 1995. When assessing reef sites across the shelf gradient, AT correlated well and positive with reef growth (ρ = 0.9), while temperature (ρ = −0.7), pH variation (ρ = −0.8), and pCO2 (ρ = −0.8) were weaker negative correlates. Noteworthy for this oligotrophic sea was the positive effect of PO43− (ρ = 0.7) on reef growth. In the best-fitting distance-based linear model, AT explained about 64 % of Gbudget. Interestingly, parrotfish abundances added up to 78 % of the explained variation, further corroborating recent studies that highlight the importance of parrotfish to reef ecosystem functioning. Our study provides a baseline for reef growth in the central Red Sea that will be particularly useful in assessing future trajectories of reef growth capacities under current and future ocean warming and acidification scenarios.
Radiation dose reduction and CNR enhancement in C-arm cone beam CT (2013)

In this work we applied dose reduction using the prior image constrained compress sensing (DR-PICCS) method on a C-arm cone beam CT system. DR-PICCS uses a smoothed image as the prior image. After applying DRPICCS, the final image will have noise variance inherited from the prior image and spatial resolution from the projection data. In order to investigate the dose reduction of DR-PICCS, three different dose levels were used in C-arm scans of animal subjects using a Siemens Zeego C-arm system under an IACUC protocol. Image volumes were reconstructed using the standard FBP and DR-PICCS algorithms(total of 160 images). These images were randomly mixed and presented to three experienced interventional radiologists(each having more than twenty years reading experience) to review and score using a five-point scale. After statistical significance testing, the results show that DR-PICCS can achieve more than 60% dose reduction while keeping the same image quality. And if we compare FBP and DR-PICCS at the same dose level the results show that DR-PICCS will generate higher quality images.
Individual pitch control of wind turbines: Model-based approach (2013)

Significant fore-and-aft tower vibrations of large wind turbines due to wind shear can be reduced using individual pitch control, in which the pitch angle of each blade is adjusted individually. A short survey of the existing individual pitch control strategies is presented, and a new architecture with preview measurements of the wind speeds at different heights is proposed in this article for the turbine tilt moment reduction. The approach includes look-ahead calculations of the desired blade loads and pitch angles as well as preprocessing algorithms for calculation of the derivative of the desired pitch angle. Wind speed measurement records, performed at two different heights with Risoe P2546 cup anemometer, are directly used in the turbine simulations. It is shown that the variations of tilt moment can be essentially reduced using the approach described in this article.
Immunobiology of CD28 expression on human neutrophils. I. CD28 regulates neutrophil migration by modulating CXCR-1 expression (2001)

CD28, described as a T cell costimulatory molecule so far, is expressed on human peripheral blood neutrophils, as shown by cell surface staining and immunoprecipitation with anti-CD28 monoclonal antibody, and by reverse transcription PCR. The phorbol 12-myristate 13-acetate-augmented expression of CD28 on these cells can be blocked by actinomycin D, an RNA transcription inhibitor, and staurosporin, a protein kinase inhibitor. Cross-linking of CD28 results in an early increase in IL-8 receptor A (IL-8RA or CXCR-1) expression and a concurrent increase in IL-8-induced chemotaxis. The expression of CXCR-1 is down-regulated by receptor internalization 3 h after CD28 cross-linking with concurrent decrease in IL-8-induced chemotactic migration. Thus, our results demonstrate for the first time that CD28 is expressed on human peripheral blood neutrophils and that CD28 may play an important role in the regulation of IL-8RA expression and migration of neutrophils in response to IL-8.
Symbol-intersecting codes (2003)

This paper describes an intersecting coding scheme (/spl epsiv/ : M/spl rarr/ (F/sup 2m-1/)/sup n/, D/sub 1/, D/sub 2/) where /spl epsiv/ is an encoding function and D1 and D2 are decoding functions. This paper shows that its application to broadcast channels and it can be verified that users will always be able to recover the transmitted messages if and only if there exists an intersecting coding scheme. An explicit code construction and systematic encoding procedures are also discussed.
BAS/BSCR7 Demonstration of gene expression within a thrombus: further regulation of the haemostatic response (2010)

Vascular injury and plaque rupture activate the haemostatic response, resulting in the formation of a thrombus comprising platelets, red cells and leucocytes, incorporated into a mesh of plasma proteins. Whether cells within the thrombus act simply as structural and secretory components, or have a more active role involving gene expression is unclear. To investigate this, thrombi were produced at 37°C in a Chandler loop, using re-calcified citrated blood from healthy donors (n=6). The thrombi were removed after 2, 4 and 6 h of rotational incubation, and homogenised to extract total RNA. Following in vitro transcription, samples were hybridised to Illumina WG6 beadchips, and data normalised using Illumina Beadstudio. Differences in gene expression were assessed using a Student t test, applying fdr2d correction to eliminate false positives (R Bioconductor). Genes which demonstrated significant (&gt;twofold) time-dependent increases included genes encoding proteins involved in chemotaxis (IL8, CCL2, CXCL1, CXCL2, CXCR4), cell adhesion (ITGAV, ITGA5, ITGB1, ALCAM), regulation of coagulation (THBD, PLAU, SERPINE1, ANXA5), wound healing (TGM2, ENDG, SPP1, LAMB3, PTGS2, TNFAIP6) and regulatory transcription factors (FOS, BMP6, IRAK2, KLRG1, PPARG). Whereas initiation of thrombosis is driven by plasma proteins and facilitated by the platelet surface, this study provides evidence that thrombus resolution may be driven by changes in gene expression within the thrombus that regulate the haemostatic response, thrombus growth and facilitate wound healing. This finding could have implications for individuals at risk of plaque rupture, where variation in gene expression may affect not just the formation of an occlusive thrombus but also the rate of resolution.
Supplementary Figure 1 from Activin Type II Receptor Restoration in &lt;b&gt;&lt;i&gt;ACVR2&lt;/i&gt;&lt;/b&gt;-Deficient Colon Cancer Cells Induces Transforming Growth Factor-β Response Pathway Genes (2023)

Supplementary Figure 1 from Activin Type II Receptor Restoration in &lt;b&gt;&lt;i&gt;ACVR2&lt;/i&gt;&lt;/b&gt;-Deficient Colon Cancer Cells Induces Transforming Growth Factor-β Response Pathway Genes
&lt;title&gt;Active and passive vibration control of flexible structures using a combination of magnetostrictive and ferromagnetic alloys&lt;/title&gt; (2000)

A combined passive and active damping strategy is proposed to control vibration in structures using a combination of layers of ferro-magnetic (passive) damping and smart (active) magnetostrictive material (Terfenol-D). Two types of combined damping systems are considered viz., a noninteractive system and an interactive or hybrid system. Numerical investigations on a cantilever beam model are carried out to investigate various aspects in combined damping scenario. Using variational principle, a beam Finite Element is developed to study the dynamic characteristics of a beam containing both the passive and active damping layers. It is shown that the combined system could be used effectively to dampen the structural vibration over a wide frequency range. Comparisons with only passive and only active damping schemes are also made. The influence and the mode dependence of control gain in a hybrid system is clearly brought out.
Markov Chain Monte Carlo MIMO Detection for Systems with Imperfect Channel State Information (2010)

The problem of data detection in MIMO systems is usually studied under the assumption of perfect channel knowledge at the receiver. In practice, however, only a (potentially very poor) estimate of the channel is available. It has been shown that detection algorithms which take the unreliability of the channel estimate into account can significantly outperform their mismatched counterparts (i.e., detectors which use the estimate in lieu of the true channel matrix). In this paper, we extend the Markov Chain Monte Carlo (MCMC) MIMO detector to the case of imperfect channel knowledge. Due to the low complexity of the MCMC algorithm, this technique is also applicable in systems where brute force approaches are computationally infeasible.
Mix and match overlay optimization strategy for advanced lithography tools (193i and EUV) (2012)

In state of the art production, in order to obtain the best possible overlay performance between critical layers, wafers are often dedicated to one scanner and all layers processed on that scanner, and in the case of scanners with dual stages, this often extends to stage dedication as well. Meeting the overlay performance requirements becomes even more complex with the introduction of EUV lithography into production. It will not be possible to expose all critical layers on an EUV scanner, which will only be used for some of the most critical layers, the other critical layers will remain on 193nm immersion scanners. It therefore needs to be demonstrated that the same overlay performance is achievable when tool types are mixed and matched as when we run with tool dedication. To do this it is critical that we understand the overlay matching characteristics of 193nm immersion and EUV scanners and from this learn how to control them, so that the optimum strategy can be developed and overlay errors between these tool types minimized. In this work we look at the matching performance between two generations of 193nm immersion scanner and an EUV pre-production tool. We evaluate the matching in both directions, first layer on immersion, second layer on EUV and vice-versa, and demonstrate how optimum matching can be achieved, so that insertion of an EUV scanner into production for the required imaging does not result in a degraded overlay capability. We discuss the difference in grid and intrafield signatures between the tool types and how this knowledge can be used to minimize the overlay errors between them and if there are any new concerns which impact the chosen strategy when the two tool types are mixed and matched.
A novel thermostable prokaryotic fucoidan active sulfatase PsFucS1 with an unusual quaternary hexameric structure (2021)

Fucoidans are sulfated, fucose-rich marine polysaccharides primarily found in cell walls of brown seaweeds (macroalgae). Fucoidans are known to possess beneficial bioactivities depending on their structure and sulfation degree. Here, we report the first functional characterization and the first crystal structure of a prokaryotic sulfatase, PsFucS1, belonging to sulfatase subfamily S1_13, able to release sulfate from fucoidan oligosaccharides. PsFucS1 was identified in the genome of a Pseudoalteromonas sp. isolated from sea cucumber gut. PsFucS1 (57 kDa) is Ca<sup>2+</sup> dependent and has an unusually high optimal temperature (68 °C) and thermostability. Further, the PsFucS1 displays a unique quaternary hexameric structure comprising a tight trimeric dimer complex. The structural data imply that this hexamer formation results from an uncommon interaction of each PsFucS1 monomer that is oriented perpendicular to the common dimer interface (~ 1500 Å<sup>2</sup>) that can be found in analogous sulfatases. The uncommon interaction involves interfacing (1246 Å<sup>2</sup>) through a bundle of α-helices in the N-terminal domain to form a trimeric ring structure. The high thermostability may be related to this unusual quaternary hexameric structure formation that is suggested to represent a novel protein thermostabilization mechanism.
Development of a Hausdorff distance based 3D quantification technique to evaluate the CT imaging system impact on depiction of lesion morphology (2016)

The purpose of this study was to develop a 3D quantification technique to assess the impact of imaging system on depiction of lesion morphology. Regional Hausdorff Distance (RHD) was computed from two 3D volumes: virtual mesh models of synthetic nodules or “virtual nodules” and CT images of physical nodules or “physical nodules”. The method can be described in following steps. First, the synthetic nodule was inserted into anthropomorphic Kyoto thorax phantom and scanned in a Siemens scanner (Flash). Then, nodule was segmented from the image. Second, in order to match the orientation of the nodule, the digital models of the “virtual” and “physical” nodules were both geometrically translated to the origin. Then, the “physical” was gradually rotated at incremental 10 degrees. Third, the Hausdorff Distance was calculated from each pair of “virtual” and “physical” nodules. The minimum HD value represented the most matching pair. Finally, the 3D RHD map and the distribution of RHD were computed for the matched pair. The technique was scalarized using the FWHM of the RHD distribution. The analysis was conducted for various shapes (spherical, lobular, elliptical, and speculated) of nodules. The calculated FWHM values of RHD distribution for the 8-mm spherical, lobular, elliptical, and speculated “virtual” and “physical” nodules were 0.23, 0.42, 0.33, and 0.49, respectively.
Nitrogen Inversion as a Diastereomeric Relay in Azasugar Synthesis: The First Synthesis of Adenophorine (2003)

Der temperaturabhängige Chiralitätswechsel in cyclischen Azazuckern wird durch die Inversion am Stickstoffatom ermöglicht. Eliminierung aus der Konfiguration, die bei der jeweiligen Temperatur bevorzugt vorliegt, ergibt ein cyclisches Imin. Die stereochemische Information kann bei einem anschließenden nucleophilen Angriff weitergegeben werden (siehe Schema). Supporting information for this article is available on the WWW under http://www.wiley-vch.de/contents/jc_2001/2003/z51002_s.pdf or from the author. Please note: The publisher is not responsible for the content or functionality of any supporting information supplied by the authors. Any queries (other than missing content) should be directed to the corresponding author for the article.
Fast-SCNN: Fast Semantic Segmentation Network (2019)

The encoder-decoder framework is state-of-the-art for offline semantic image segmentation. Since the rise in autonomous systems, real-time computation is increasingly desirable. In this paper, we introduce fast segmentation convolutional neural network (Fast-SCNN), an above real-time semantic segmentation model on high resolution image data (1024x2048px) suited to efficient computation on embedded devices with low memory. Building on existing two-branch methods for fast segmentation, we introduce our `learning to downsample' module which computes low-level features for multiple resolution branches simultaneously. Our network combines spatial detail at high resolution with deep features extracted at lower resolution, yielding an accuracy of 68.0% mean intersection over union at 123.5 frames per second on Cityscapes. We also show that large scale pre-training is unnecessary. We thoroughly validate our metric in experiments with ImageNet pre-training and the coarse labeled data of Cityscapes. Finally, we show even faster computation with competitive results on subsampled inputs, without any network modifications.
Polycyclic Azoalkanes <i>via</i> Dipolar Cycloaddition of 4‐Phenyl‐1,2,4‐triazoline‐3,5‐dione with Strained Bicyclic Olefins (1979)

Polycyclic hydrocarbons containing the NN structural unit are of interest as precursors of diradicals. (1) and similar compounds can be conveniently prepared by the unusual cycloaddition shown below.
New Surgical Mesh (2000)

University of Washington, Seattle, Washington Correspondence: Dee E. Fenner, MD, Department of Obstetrics and Gynecology, University of Washington, P.O. Box 356460, Seattle, WA 98195-6460.
Direct Integration of Pervaporation as a Sample Preparation Method for a Dedicated “Electronic Nose” (2005)

The present study investigates the possibility of monitoring the bioproduction of a complex aroma profile with an analytical electronic aroma-sensing technique, the so-called "electronic nose", combined with a pervaporative sample enrichment method necessary to overcome the ethanol interference on the sensors' response. It presents in detail the development of a direct integrated pervaporation-electronic nose unit for a simple and fast analysis, which are key criteria for this technique to be broadly implemented. The system developed was investigated using model solutions simulating the muscatel wine must fermentation. It proved to be able to evaluate different relevant aroma compounds in solutions of varying degree of complexity, and also in the presence of ethanol, which is a major interference on the sensors' response to the aromas. The transient sensors' response was investigated in detail, revealing information for sample discrimination and reducing the analysis time. The system developed allowed a simple, fast, and selective analysis, therefore permitting a high sample throughput over time, with the possibility of fully automation.
Towards automated surgical robotics: A requirements engineering approach (2012)

The paper describes a design specification process for the development of novel and intelligent surgical robots. Nowadays, surgical robots are usually controlled by the surgeons manually by using teleoperation. The possibility to carry out simple surgical actions automatically has been the subject of academical research, but very few real-world applications exist. The main objective of this research is to address realistic case studies and develop systems and methods to provide surgeons with autonomous robotic assistants, performing basic surgical actions by combining sensing, dexterity and cognitive capabilities. This goal can only be achieved by means of a formal and rigorous assesment of surgical requirements, so that they can be analysed and translated into behavioral specifications for an autonomous robotic system. Therefore, the paper describes the application of Requirements Engineering to surgical knowledge formalization and propose a methodology for the transformation of requirements into formal models of robotic tasks.
Biomedical Applications of Nanodiamonds: An Overview (2014)

Nanodiamonds are a novel class of nanomaterials which have raised much attention for application in biomedical field, as they combine the possibility of being produced on large scale using relatively inexpensive synthetic processes, of being fluorescent as a consequence of the presence of nitrogen vacancies, of having their surfaces functionalized, and of having good biocompatibility. Among other applications, we mainly focus on drug delivery, including cell interaction, targeting, cancer therapy, gene and protein delivery. In addition, nanodiamonds for bone and dental implants and for antibacterial use is discussed. Techniques for detection and imaging of nanodiamonds in biological tissues are also reviewed, including electron microscopy, fluorescence microscopy, Raman mapping, atomic force microscopy, thermal imaging, magnetic resonance imaging, and positron emission tomography, either in vitro, in vivo, or ex vivo. Toxicological aspects related to the use of nanodiamonds are also discussed. Finally, patents, preclinical and clinical trials based on the use of nanodiamonds for biomedical applications are reviewed.