gebhart/patrepeval huggingface dataset:
Contact Pose Identification for Peg-in-Hole Assembly under Uncertainties (2021)

Peg-in-hole assembly is a challenging contact-rich manipulation task. There is no general solution to identify the relative position and orientation between the peg and the hole. In this paper, we propose a novel method to classify the contact poses based on a sequence of contact measurements. When the peg contacts the hole with pose uncertainties, a tilt-then-rotate strategy is applied, and the contacts are measured as a group of patterns to encode the contact pose. A convolutional neural network (CNN) is trained to classify the contact poses according to the patterns. In the end, an admittance controller guides the peg towards the error direction and finishes the peg-in-hole assembly. Simulations and experiments are provided to show that the proposed method can be applied to the peg-in-hole assembly of different geometries. We also demonstrate the ability to alleviate the sim-to-real gap.
Spoked-ring microcavities: enabling seamless integration of nanophotonics in unmodified advanced CMOS microelectronics chips (2014)

We present the spoked-ring microcavity, a nanophotonic building block enabling energy-efficient, active photonics in unmodified, advanced CMOS microelectronics processes. The cavity is realized in the IBM 45nm SOI CMOS process – the same process used to make many commercially available microprocessors including the IBM Power7 and Sony Playstation 3 processors. In advanced SOI CMOS processes, no partial etch steps and no vertical junctions are available, which limits the types of optical cavities that can be used for active nanophotonics. To enable efficient active devices with no process modifications, we designed a novel spoked-ring microcavity which is fully compatible with the constraints of the process. As a modulator, the device leverages the sub-100nm lithography resolution of the process to create radially extending p-n junctions, providing high optical fill factor depletion-mode modulation and thereby eliminating the need for a vertical junction. The device is made entirely in the transistor active layer, low-loss crystalline silicon, which eliminates the need for a partial etch commonly used to create ridge cavities. In this work, we present the full optical and electrical design of the cavity including rigorous mode solver and FDTD simulations to design the Qlimiting electrical contacts and the coupling/excitation. We address the layout of active photonics within the mask set of a standard advanced CMOS process and show that high-performance photonic devices can be seamlessly monolithically integrated alongside electronics on the same chip. The present designs enable monolithically integrated optoelectronic transceivers on a single advanced CMOS chip, without requiring any process changes, enabling the penetration of photonics into the microprocessor.
A novel double layer NCF for highly reliable micro-bump interconnection (2014)

40 μm pitch Cu-pillar/Sn-Ag bump to Ni pad thermo-compression bonding was performed using non-conductive films (NCFs) with different curing agents. The joint morphology of Cu-pillar/Sn-Ag bump/Ni pad was dependent on the viscosity and curing speed of NCFs. Imidazole NCF with high viscosity and fast curing speed showed no solder wetting on both Cu-pillar and Ni pad. However, anhydride NCF with low viscosity and slow curing speed showed both solder wetting on Cu-pillar and Ni pad. Double layer NCF consisting of imidazole NCF as top layer and anhydride NCF as bottom layer was designed and optimized to eliminate solder wetting on Cu-pillar. Joints bonded using double layer NCF showed ideal joint shape with no solder wetting on Cu pillar and good wetting on pad. Thermal aging at 150 C was performed and IMC growth rate of Cu <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">6</sub> Sn <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">5</sub> and Cu <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sub> Sn was slower for double layer NCF compared to single layer NCF due to reduced reacting area for Cu and Sn.
Axiomatizing Congestion Control (2019)

Recent years have witnessed a revival of both industrial and academic interest in improving congestion control designs. The quest for better congestion control is complicated by the extreme diversity and range of (i) the design space (as exemplified by the stark conceptual and operational differences between recent proposals [2, 4, 6]), (ii) the desired properties (ranging from high performance to fairness to TCP-friendliness), (iii) the envisioned operational setting (inter- and intra-datacenter, wireless, the commercial Internet, satellite), and (iv) the application loads and requirements (small vs. large traffic demands, latency- vs. bandwidth-sensitive). Most congestion control research uses simulation and experiments under a limited range of network conditions. This is extremely important for understanding the detailed performance of particular schemes in specific settings, but provides limited insight into the more general properties of these schemes and no information about the inherent limits (such as, which properties are simultaneously achievable and which are mutually exclusive). In contrast, traditional theoretical approaches are typically focused on the design of protocols that achieve specific, predetermined objectives (e.g., network utility maximization [7]), or the analysis of specific protocols (e.g., from control-theoretic perspectives [12]), as opposed to exploring the inherent tensions/derivations between desired properties. We advocate an axiomatic approach to congestion control, which is complementary to the experimental and theoretical work currently being pursued. Our approach, modeled on similar efforts in social choice theory and game theory [1], identifies a set of requirements ("axioms") and then identifies (i) which of its subsets of requirements can coexist (i.e., there are designs that achieve all of them) and which subsets cannot be met simultaneously (i.e., no design can simultaneously achieve all of them), and (ii) whether some requirements immediately follow from satisfying other requirements. Thus, the axiomatic approach can shed light on the inherent tradeoffs involved in congestion control protocol design, and can be leveraged to classify existing and proposed solutions according to the properties they satisfy.
A Case of Medullary Thyroid Carcinoma with Ectopic ACTH Syndrome (1977)

A 53-year-old male with Cushing's syndrome due to ectopic ACTH production from medullary carcinoma of the thyroid was reported. The clinical course and results of detailed endocrinological studies and immunohistochemical findings about the cancer tissue were described. An abnormally high concentration of calcitonin, ACTH and beta-MSH in both plasma and cancer tissue (thyroid, lymph nodes and liver) were documented by radioimmunoassay. Urinary 17-OHCS was as high as 38.4 mg/day and showed no supression following dexamethasone 8 mg/day administration. ORAL METYRAPONE (3 G/DAY) CAUSED NO RESPONSE IN URINARY 17-OHCS. Parallel increments in plasma calcitonin, ACTH and beta-MSH were observed following calcium and gastrin loading. Total thyroidectomy with modified radical neck dissection caused minimal changes of plasma levels of calcitonin, ACTH and beta-MSH and no improvement in the clinical manifestations of Cushing's syndrome. An aortogram revealed metastatic tumors in the liver. A second operation, total adrenalectomy, resulted in an improvement of the clinical and laboratory findings such as hypokalemia, high blood pressure, muscle atrophy and moon face. Immunofluorescent study showed different distribution patterns in calcitonin- and ACTH-positive cells in the primary focus but similar patterns in the liver metastasis.
High voltage research (breakdown strengths of gaseous and liquid insulators) and environmental effects of dielectric gases. Semiannual report, October 1, 1978--March 31, 1979 (1979)

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Sistema de Telemonitoramento de Baixo Custo Usando IoT (2020)

O avanço da tecnologia proporcionou o surgimento do conceito de Internet das Coisas, que está cada vez mais presente no cotidiano de pessoas, empresas e indústrias. Produtos conectados oferecem uma experiência diferenciada ao usuário, que pode interagir e receber informações e funcionalidades adaptadas para seu consumo e padrão. Este trabalho propõe um sistema de monitoramento por vídeo utilizando Internet das Coisas, com foco no monitoramento de crianças para detecção de movimento. O projeto utiliza uma Raspberry Pi Zero W, uma cãmera e a biblioteca OpenCV para monitorar, processar e enviar o vídeo e suas informações para outros dispositivos conectados na mesma rede WiFi. Além disso, o projeto também visa trazer uma alternativa simples e barata para que pais possam monitorar crianças através de qualquer aparelho conectado.
ChemInform Abstract: Functionalized Perfluorophenyl Azides: New Reagents for Photoaffinity Labeling. (1989)

Abstract Nucleophilic aromatic substitution of the pentafluorobenzenes (I) with sodium azide (II) produces the 4‐azido‐substituted compounds (III).
Corticotropin Releasing Factor (CRF) and Urocortins (Ucns) Chimeras (2013)

We extend to you a warm and sunny Aloha in celebration of the 23 rd American Peptide Symposium and the 6 th International Symposium. The meeting theme, Peptides Across the Pacific, embraced the spirit of the scientific and social program. Peptides Across the Pacific encompassed the important role that peptide science currently plays in so many disciplines and explored the potential impact peptides can make in scientific fields that have yet to realize the utility of these wonderful molecules.
ChemInform Abstract: A STEREOSPECIFIC, TOTAL SYNTHESIS OF THROMBOXANE B2 (1977)

Abstract Das aus dem ribo‐Hexopyranosid (Ia) zugängliche Benzoat (Ib), wird katalytisch hydriert und anschließend mit dem Reagenz (II) zu dem Derivat (III) silyliert.
Using a Treebank Grammar for the Syntactical Annotation of German Lexical Phrases (2007)

The aim of this paper is to investigate whether a treebank grammar can be used to automatically classify and annotate German phrases contained in a MT lexicon. Phrases from the lexicon appear in their citation form and may differ structurally from the phrase tokens found in the corpus. We describe the grammar extraction process for a formalism called Tree-Generating Binary Grammar and evaluate the performance of subsets of the obtained grammar on a set of four types of lexical phrases.
A chimeric T cell receptor with super-signaling properties (2004)

A key question yet to be resolved concerns the structure and function relationship of the TCR complex. How does antigen recognition by the TCR-alphabeta chains result in the activation of distinct signal transduction pathways by the CD3-gammadeltaepsilon/zeta complex? To investigate which part of the TCR-beta chain is involved in TCR signaling, we exchanged different domains of the constant regions of the TCR-beta chain with the corresponding TCR-gamma chain domains. We show here that hybridoma cells expressing a chimeric TCR-beta chain (betaIII) containing intracellular and transmembrane TCR-gamma amino acids, together with a wild-type TCR-alpha (alphawt) chain, were 10 times more sensitive to antigenic stimulation compared to cells expressing TCR-alphawt/betawt chains. This super-signaling phenotype of the betaIII chain was observed in two different TCRs. One specific for an alloantigen (I-A(bm12)) and one for an autoantigen (I-A(b)/MOG(35-55)). We found that this chimeric alphawt/betaIII TCR had normal association with CD3-gammadeltaepsilon and zeta chains. To investigate the effect of the chimeric betaIII chain in transgenic T cells, we made MOG(35-55)-specific TCR transgenic mice expressing either the alphawt/betawt or chimeric alphawt/betaIII TCR. Similar to what was observed in hybridoma cells, transgenic alphawt/betaIII T cells showed a super-signaling phenotype upon antigenic stimulation. Further studies may help us understand the effect of increased TCR signaling on autoimmunity and may lead to the identification of signaling molecules that can be targeted to stop the progression of autoimmune disorders such as multiple sclerosis.
Aryl hydrocarbon receptor ligand production by the gut microbiota is decreased in celiac disease leading to intestinal inflammation (2020)

Metabolism of tryptophan by the gut microbiota into derivatives that activate the aryl hydrocarbon receptor (AhR) contributes to intestinal homeostasis. Many chronic inflammatory conditions, including celiac disease involving a loss of tolerance to dietary gluten, are influenced by cues from the gut microbiota. We investigated whether AhR ligand production by the gut microbiota could influence gluten immunopathology in nonobese diabetic (NOD) mice expressing DQ8, a celiac disease susceptibility gene. NOD/DQ8 mice, exposed or not exposed to gluten, were subjected to three interventions directed at enhancing AhR pathway activation. These included a high-tryptophan diet, gavage with <i>Lactobacillus reuteri</i> that produces AhR ligands or treatment with an AhR agonist. We investigated intestinal permeability, gut microbiota composition determined by 16<i>S</i> rRNA gene sequencing, AhR pathway activation in intestinal contents, and small intestinal pathology and inflammatory markers. In NOD/DQ8 mice, a high-tryptophan diet modulated gut microbiota composition and enhanced AhR ligand production. AhR pathway activation by an enriched tryptophan diet, treatment with the AhR ligand producer <i>L. reuteri</i>, or pharmacological stimulation using 6-formylindolo (3,2-b) carbazole (Ficz) decreased immunopathology in NOD/DQ8 mice exposed to gluten. We then determined AhR ligand production by the fecal microbiota and AhR activation in patients with active celiac disease compared to nonceliac control individuals. Patients with active celiac disease demonstrated reduced AhR ligand production and lower intestinal AhR pathway activation. These results highlight gut microbiota-dependent modulation of the AhR pathway in celiac disease and suggest a new therapeutic strategy for treating this disorder.
SP Education Laboratory (1993)

The SP (signal processing) Education Laboratory (an educational project at the University of Michigan) is a software package designed to provide a highly interactive, flexible environment within which students can explore basic concepts of signal processing. The authors summarize the basic features of this software, some of the reasoning behind certain design decisions, and experience in using this software as a teaching tool.< <ETX>&gt;</ETX>
A Practical Approach for Enantio- and Diastereocontrol in the Synthesis of 2,3-Disubstituted Succinic Acid Esters: Synthesis of the pan-Notch Inhibitor BMS-906024 (2016)

An oxidative intermolecular enolate heterocoupling reaction was employed for the synthesis of <i>anti</i>-2,3-disubstituted succinic acid mono- and differentially protected diesters. Tactical approaches to access all the diastereomers are discussed. The method was applied to the synthesis of a potent anticancer agent, BMS-906024.
CCND2 Modified mRNA Activates Cell Cycle of Cardiomyocytes in Hearts With Myocardial Infarction in Mice and Pigs (2023)

Intramyocardial injections of the CCND2-cardiomyocyte SMRTs promoted cardiomyocyte proliferation, reduced infarct size, and improved cardiac performance in small and large mammalian hearts with MI.
SST-Calib: Simultaneous Spatial-Temporal Parameter Calibration between LIDAR and Camera (2022)

With information from multiple input modalities, sensor fusion-based algorithms usually out-perform their single-modality counterparts in robotics. Camera and LIDAR, with complementary semantic and depth information, are the typical choices for detection tasks in complicated driving environments. For most camera-LIDAR fusion algorithms, however, the calibration of the sensor suite will greatly impact the performance. More specifically, the detection algorithm usually requires an accurate geometric relationship among multiple sensors as the input, and it is often assumed that the contents from these sensors are captured at the same time. Preparing such sensor suites involves carefully designed calibration rigs and accurate synchronization mechanisms, and the preparation process is usually done offline. In this work, a segmentation-based framework is proposed to jointly estimate the geometrical and temporal parameters in the calibration of a camera-LIDAR suite. A semantic segmentation mask is first applied to both sensor modalities, and the calibration parameters are optimized through pixel-wise bidirectional loss. We specifically incorporated the velocity information from optical flow for temporal parameters. Since supervision is only performed at the segmentation level, no calibration label is needed within the framework. The proposed algorithm is tested on the KITTI dataset, and the result shows an accurate real-time calibration of both geometric and temporal parameters.
Fasitibant chloride, a kinin B2 receptor antagonist, and dexamethasone interact to inhibit carrageenan‐induced inflammatory arthritis in rats (2012)

Bradykinin-mediated inflammatory responses to intra-articular carrageenan were not controlled by steroids, which were not capable of preventing bradykinin effects either by direct activation of the B₂ receptor, or through the indirect effects mediated by release of eicosanoids and cytokines.
Mololipids, A New Series of Anti-HIV Bromotyramine-Derived Compounds from a Sponge of the Order Verongida (2000)

A new series of lipids called mololipids have been identified from an Hawaiian sponge of the order Verongida. The structures of these lipids was deduced from spectroscopic data of the lipid mixture combined with GC-MS analysis. The core of this novel series of lipids is a bromotyramine homoserine-derived moiety known as moloka'iamine (1) which is found in many Verongid sponge metabolites. Moloka'iamine forms bisamides with a diverse series of fatty acids and the mololipids mixture (2) was active against HIV-1 with an EC(50) of 52.2 microM without cytotoxicity in human lymphocytes (IC(50) > 100 microM).
Using Stochastic Colored Petri nets for Designing Multi-Purpose Plants (2012)

Designing of a multi-purpose plant as one of the well-known manufacturing systems is more challenging than other manufacturing systems. This paper applies a stochastic colored Petri net (CPN) to design and analyze multi-purpose plants. A simple approach is proposed to determine the utilization of shared resources and to reduce the equipment's idle times. Three scenarios are presented to describe the proposed model. Generally, according to desire of a decision maker, different scenarios can be considered in the model to achieve to the expected design or plant configuration. The main characteristics of the proposed model are flexibility, the easiness of practical application and the simulation of the model in an easy way.
A New Technique for Mismatched Nerve Suture in Direct Intercostal Nerve Transfers (1993)

We introduce a new suturing technique for intercostal nerve transfer in brachial plexus injuries. This method allows the anastomosis of nerves of unequal diameter.
Heterodimerization of CCR2 Chemokines and Regulation by Glycosaminoglycan Binding (2006)

Despite the wide range of sequence diversity among chemokines, their tertiary structures are remarkably similar. Furthermore, many chemokines form dimers or higher order oligomers, but all characterized oligomeric structures are based primarily on two dimerization motifs represented by CC-chemokine or CXC-chemokine dimer interfaces. These observations raise the possibility that some chemokines could form unique hetero-oligomers using the same oligomerization motifs. Such interactions could modulate the overall signaling response of the receptors, thereby providing a general mechanism for regulating chemokine function. For some chemokines, homo-oligomerization has also been shown to be coupled to glycosaminoglycan (GAG)-binding. However, the effect of GAG binding on chemokine hetero-oligomerization has not yet been demonstrated. In this report, we characterized the heterodimerization of the CCR2 ligands MCP-1 (CCL2), MCP-2 (CCL8), MCP-3 (CCL7), MCP-4 (CCL13), and eotaxin (CCL11), as well as the effects of GAG binding, using electrospray ionization Fourier transform ion cyclotron resonance (ESI-FTICR) mass spectrometry. Strong heterodimerization was observed between CCL2 and CCL8 at the expense of homodimer formation. Using NMR, we showed that the heterodimer is predominant in solution and forms a specific CC chemokine-like dimer. By contrast, only moderate heterodimer formation was observed between CCL2.CCL13, CCL2.CCL11 and CCL8.CCL13, and no heterodimerization was observed when any other CCR2 ligand was added to CCL7. To investigate the effect of a highly sulfated GAG on the formation of heterodimers, each chemokine pair was mixed with the heparin pentasaccharide, Arixtra, and assayed by ESI-FTICR mass spectrometry. Although no CCL8.CCL11 heterodimer was observed in the absence of GAG, abundant ions corresponding to the ternary complex, CCL8.CCL11.Arixtra, were observed upon addition of Arixtra. Heterodimerization between CCL2 and CCL11 was also enhanced in the presence of Arixtra. In summary, these results indicate that some CCR2 ligands can form stable heterodimers in preference to homodimers and that these interactions, like those of homo-oligomers, can be influenced by some GAGs.
Object-oriented concurrent programming in CST (1988)

CST is a programming language based on Smalltalk-80 that supports concurrency using locks, asynchronous messages, and distributed objects. Distributed objects have their state distributed across many nodes of a machine, but are referred to by a single name. Distributed objects are capable of processing many messages simultaneously and can be used to efficiently connect together large collections of objects. They can be used to construct a number of useful abstractions for concurrency. We describe describe the CST language and give examples of its use.
Functional near-infrared spectroscopy for adaptive human-computer interfaces (2015)

We present a brain-computer interface (BCI) that detects, analyzes and responds to user cognitive state in real-time using machine learning classifications of functional near-infrared spectroscopy (fNIRS) data. Our work is aimed at increasing the narrow communication bandwidth between the human and computer by implicitly measuring users' cognitive state without any additional effort on the part of the user. Traditionally, BCIs have been designed to explicitly send signals as the primary input. However, such systems are usually designed for people with severe motor disabilities and are too slow and inaccurate for the general population. In this paper, we demonstrate with previous work<sup>1</sup> that a BCI that implicitly measures cognitive workload can improve user performance and awareness compared to a control condition by adapting to user cognitive state in real-time. We also discuss some of the other applications we have used in this field to measure and respond to cognitive states such as cognitive workload, multitasking, and user preference.