gebhart/patrepeval huggingface dataset:
The Role of Stiffness in Versatile Robotic Grasping (2022)

Traditionally, robotic grippers are based on stiff materials, enabling end effectors with high load capacity and precision for industrial applications. Recent advances in soft robotics have led to a proliferation of novel gripper designs with increased conformability to accommodate objects of varying shape, size, material, and surface properties, allowing for grippers that can safely manipulate a wide range of objects. While compliant materials offer noted advantages for robotic grasping, their ability to deform limits their load capacity. Therefore, stiffness selection is critical in gripper design, and the use of materials with tunable stiffness can be exploited for new functionality. Here, we present a mechanics-based investigation of the design of versatile grippers that can accommodate both soft and stiff grasping modalities. We examine the ability to form contact and how different types of gripping forces, including frictional, normal, and adhesive interactions, can be leveraged and controlled. We use analytical models based on elastic beam theory and contact mechanics to quantify the relationship between gripper deflection, contact area, contact pressure, and load capacity. We then use these models to define quantitative conditions for successful grasping as a function of the geometry of the object and the stiffness and geometry of the gripper. Finally, we conclude with an experimental case study and a discussion of how stiffness can be selected and modulated to realize successful grasping for different classes of objects.
O5C.4 The armed services trauma rehabilitation outcome study (ADVANCE): a cohort study of physical battlefield trauma casualties (2019)

The recent Iraq and Afghanistan conflicts represent a unique time in UK battlefield medicine; with more service personnel surviving complex traumas than any previous time. During these recent conflicts, approximately 830 UK service personnel were very seriously or seriously injured, and over 9000 were aero-medially evacuated. Little is known about the long-term health of these injured personnel. The Armed Services Trauma Rehabilitation Outcome Study (ADVANCE) is a longitudinal cohort study investigating the long-term medical and psychosocial outcomes of physical battlefield trauma casualties. 1200 male subjects who deployed to Afghanistan (600 injured and 600 non-injured individuals’ frequency-matched by age, rank, service and role-in-theatre) will be followed up over a 20 year period. Primary objectives are to assess cardiovascular risk, cardiovascular events and osteoarthritis of the hip and knee. Secondary objectives are: musculoskeletal disease; pain; mental health; employment outcomes; functional status; quality of life; relationship status; sexual functioning; lung function; hearing loss and all-cause mortality. Data collection started in August 2015 and 705 participants have been recruited (376 non-injured and 329 injured). Most common injuries include single leg amputation, bilateral leg amputation (below knee), genital injuries and shrapnel injuries. Approximately 83% of participants are from the Army, 14% from Naval Services (including Royal Marines) and 3% from the Royal Air Force. The sample overall is comprised of approximately 14% Officers – with the other 86% holding lower ranks. Median age of the sample is 33 years at point of recruitment. Baseline data collection is due to be completed by the end of 2019, when follow data collection will commence. There are no other studies of this type currently being conducted and the results will have far reaching implications for the military and veteran community but also for members of the general population who have experienced a severe physical trauma.
<title>Determination of ammonia in a flow injection cell using the diode laser fiber optic colorimetric spectrometer</title> (2000)

The determination of ammonia has been studied using a compact diode laser/fiber optic colorimetric spectrometer combined with a flow injection cell. This system is mainly based on the diode laser at 638 nm. The flow rate and the molar concentration of reagents for indophenol formation in flows were specified through the experiment of optimization. The relationship between the colorimetric absorption signal and the concentration of injected ammonia was found to be linear over the three orders of magnitude indicating a practical dynamic range of the system. In the linear region, a correlation coefficient was 0.9996 and the detection limit was 4 (mu) g/L. This spectrometer as an ammonia analyzer is appropriate for environmental and industrial monitoring applications.
Discovery of 4-Aryl-5,6,7,8-tetrahydroisoquinolines as Potent, Selective, and Orally Active Aldosterone Synthase (CYP11B2) Inhibitors: In Vivo Evaluation in Rodents and Cynomolgus Monkeys (2015)

Inappropriately high levels of aldosterone are associated with many serious medical conditions, including renal and cardiac failure. A focused screen hit has been optimized into a potent and selective aldosterone synthase (CYP11B2) inhibitor with in vitro activity against rat, mouse, human, and cynomolgus monkey enzymes, showing a selectivity factor of 160 against cytochrome CYP11B1 in the last species. The novel tetrahydroisoquinoline compound (+)-(R)-6 selectively reduced aldosterone plasma levels in vivo in a dose-dependent manner in db/db mice and cynomolgus monkeys. The selectivity against CYP11B1 as predicted by cellular inhibition data and free plasma fraction translated well to Synacthen challenged cynomolgus monkeys up to a dose of 0.1 mg kg(-1). This compound, displaying good in vivo potency and selectivity in mice and monkeys, is ideally suited to perform mechanistic studies in relevant rodent models and to provide the information necessary for translation to non-human primates and ultimately to man.
Kinetics of substitution reactions of binuclear platinum(III) pyrophosphito- and sulfato-bridged complexes (1989)

ADVERTISEMENT RETURN TO ISSUEPREVArticleNEXTKinetics of substitution reactions of binuclear platinum(III) pyrophosphito- and sulfato-bridged complexesChi Ming Che, Chang Fan Lo, Tai Chu Lau, Chung Kwong Poon, and Harry B. GrayCite this: Inorg. Chem. 1989, 28, 16, 3270–3272Publication Date (Print):August 1, 1989Publication History Published online1 May 2002Published inissue 1 August 1989https://doi.org/10.1021/ic00315a040RIGHTS & PERMISSIONSArticle Views86Altmetric-Citations6LEARN ABOUT THESE METRICSArticle Views are the COUNTER-compliant sum of full text article downloads since November 2008 (both PDF and HTML) across all institutions and individuals. These metrics are regularly updated to reflect usage leading up to the last few days.Citations are the number of other articles citing this article, calculated by Crossref and updated daily. Find more information about Crossref citation counts.The Altmetric Attention Score is a quantitative measure of the attention that a research article has received online. Clicking on the donut icon will load a page at altmetric.com with additional details about the score and the social media presence for the given article. Find more information on the Altmetric Attention Score and how the score is calculated. Share Add toView InAdd Full Text with ReferenceAdd Description ExportRISCitationCitation and abstractCitation and referencesMore Options Share onFacebookTwitterWechatLinked InReddit PDF (401 KB) Get e-Alerts Get e-Alerts
OrchestRAN: Network Automation through Orchestrated Intelligence in the Open RAN (2022)

The next generation of cellular networks will be characterized by softwarized, open, and disaggregated architectures exposing analytics and control knobs to enable network intelligence via innovative data-driven algorithms. How to practically realize this vision, however, is largely an open problem. For a given network optimization/automation objective, it is currently unknown how to select which data-driven models should be deployed and where, which parameters to control, and how to feed them appropriate inputs. In this paper, we take a decisive step forward by presenting and prototyping OrchestRAN, a novel orchestration framework for next generation systems that embraces and builds upon the Open Radio Access Network (RAN) paradigm to provide a practical solution to these challenges. OrchestRAN has been designed to execute in the non-Real-time (RT) RAN Intelligent Controller (RIC) and allows Network Operators (NOs) to specify high-level control/inference objectives (i.e., adapt scheduling, and forecast capacity in near-RT, e.g., for a set of base stations in Downtown New York). OrchestRAN automatically computes the optimal set of data-driven algorithms and their execution location (e.g., in the cloud, or at the edge) to achieve intents specified by the NOs while meeting the desired timing requirements and avoiding conflicts between different data-driven algorithms controlling the same parameters set. We show that the intelligence orchestration problem in Open RAN is NP-hard, and design low-complexity solutions to support real-world applications. We prototype OrchestRAN and test it at scale on Colosseum, the world’s largest wireless network emulator with hardware in the loop. Our experimental results on a network with 7 base stations and 42 users demonstrate that OrchestRAN is able to instantiate data-driven services on demand with minimal control overhead and latency.
Theory and experimental analysis of scratch resistant coating for ultrasonic fingerprint sensors (2015)

Ultrasonic imaging for fingerprint applications offers better tolerance of external conditions and high spatial resolution compared to typical optical and solid state sensors respectively. Similar to existing fingerprint sensors, the performance of ultrasonic imagers is sensitive to physical damage. Therefore it is important to understand the theory behind transmission and reflection effects of protective coatings for ultrasonic fingerprint sensors. In this work, we present the analytical theory behind effects of transmitting ultrasound through a thin film of scratch resistant material. Experimental results indicate transmission through 1 μm of Al <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> O <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sub> is indistinguishable from the non-coated cover substrate. Furthermore, pulse echo measurements of 5 μm thick Al <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sub> O <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sub> show ultrasound pressure reflection increases in accordance with both theory and finite element simulation. Consequently, feasibility is demonstrated of ultrasonic transmission through a protective layer with greatly mismatched acoustic impedance when sufficiently thin. This provides a guide for designing sensor protection when using materials of vastly different acoustic impedance values.
Mechanisms of porous dielectric film modification induced by reducing and oxidizing ash plasmas (2007)

This work focuses on the impact of oxidizing and reducing ash chemistries on the modifications of two porous SiOCH films with varied porosities (8% [low porosity (lp)-SiOCH] and 45% [high porosity (hp)-SiOCH]). The ash processes have been performed on SiOCH blanket wafers in either reactive ion etching (RIE) or downstream (DS) reactors. The modifications of the remaining film after plasma exposures have been investigated using different analysis techniques such as x-ray photoelectron spectroscopy, Fourier transform infrared spectroscopy (FTIR), x-ray reflectometry, mercury probe capacitance measurement (C-V), and spectroscopic ellipsometry (SE). FTIR analyses show that the lp-SiOCH film is not significantly altered by any of the ash processes investigated (DS-H2∕He, RIE-O2, and RIE-NH3), except by downstream oxidizing plasmas (DS-O2 or DS-N2∕O2) which induce some carbon depletion and moisture uptake, resulting in a slight increase of the k value. The porosity amplifies the sensitivity of the material to plasma treatments. Indeed, hp-SiOCH is fully modified (moisture uptake and carbon depletion) under oxidizing downstream plasma exposures (DS-O2 and DS-N2∕O2), while it is partially altered with the formation of a denser and modified layer (40–60nm thick), which is carbon depleted, hydrophilic, and composed of SiOxNyHz with RIE-NH3 and DS-N2∕H2 plasmas and SiOxHy with RIE-O2 plasma. In all the cases, the k value increase is mainly attributed to the moisture uptake rather than methyl group consumption. hp-SiOCH material is not altered using reducing DS chemistries (H2∕He and H2∕Ar). The porous SiOCH film degradation is presented and discussed with respect to chemistry, plasma parameters, and plasma mode in terms of film modification mechanism.
Learning-Based Human Segmentation and Velocity Estimation Using Automatic Labeled LiDAR Sequence for Training (2020)

In this paper, we propose an automatic labeled sequential data generation pipeline for human segmentation and velocity estimation with point clouds. Considering the impact of deep neural networks, state-of-the-art network architectures have been proposed for human recognition using point clouds captured by Light Detection and Ranging (LiDAR). However, almost all conventional datasets are either a collection of single LiDAR scanning with label information or sequential LiDAR scanning without label information. This limitation has disturbed the progress of research to date. Therefore, we have developed an automatic labeled sequential data generation pipeline, in which we can control any parameter or data generation environment with pixel-wise and per-frame ground truth segmentation and pixel-wise velocity information for human recognition. Our approach uses a precise human model and reproduces a precise motion to generate realistic artificial data. We present more than 7K sequences, where each sequence consists of 32 frames generated by the proposed pipeline. With the proposed sequence generator, we confirm that human segmentation performance is improved when using the sequential data compared to when using the data from a single LiDAR scan. We also evaluate our data by comparing with data generated under different conditions. In addition, we estimate pedestrian velocity with LiDAR by only utilizing data generated by the proposed pipeline.
Controlling Inrush Currents in Inductively Coupled Power Systems (2006)

In an Inductively Coupled Power Transfer (ICPT) system, a multiplicity of (moving) loads take power from an elongated conductive loop (track) excited by a current in the range of 15-125A by magnetic induction at a VLF frequency of between 5-50kHz. In this application, the track performs the same function as a distribution line in a power system. However, frequency deviations cannot be tolerated in ICPT systems and therefore there are difficulties with inrush power surges as loads switch on. In severe cases, the inrush surge may compromise the security of the whole system.This paper proposes a solution to this problem using an ICPT pickup controller with input shaping where the poles that can cause an inrush are not excited. The paper is supported by theoretical analysis and experimental measurements and is applicable across a wide range of ICPT sizes and applications. The solution reduces the inrush effects to 10% of an uncontrolled system.
First Human Brain Imaging by the jPET-D4 Prototype With a Pre-Computed System Matrix (2008)

The jPET-D4 is a novel brain PET scanner which aims to achieve not only high spatial resolution but also high scanner sensitivity by using 4-layer depth-of-interaction (DOI) information. The dimensions of a system matrix for the jPET-D4 are 3.3 billion (lines-of-response) times 5 million (image elements) when a standard field-of-view (FOV) of 25 cm diameter is sampled with a (1.5 mm) <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> voxel . The size of the system matrix is estimated as 117 petabytes (PB) with the accuracy of 8 bytes per element. An on-the-fly calculation is usually used to deal with such a huge system matrix. However we cannot avoid extension of the calculation time when we improve the accuracy of system modeling. In this work, we implemented an alternative approach based on pre-calculation of the system matrix. A histogram-based 3D OS-EM algorithm was implemented on a desktop workstation with 32 GB memory installed. The 117 PB system matrix was compressed under the limited amount of computer memory by (1) eliminating zero elements, (2) applying the DOI compression (DOIC) method and (3) applying rotational symmetry and an axial shift property of the crystal arrangement. Spanning, which degrades axial resolution, was not applied. The system modeling and the DOIC method, which had been validated in 2D image reconstruction, were expanded into 3D implementation. In particular, a new system model including the DOIC transformation was introduced to suppress resolution loss caused by the DOIC method. Experimental results showed that the jPET-D4 has almost uniform spatial resolution of better than 3 mm over the FOV. Finally the first human brain images were obtained with the jPET-D4.
Processing of Anti-Mullerian Hormone Regulates Receptor Activation by a Mechanism Distinct from TGF-β (2010)

TGF-β family ligands are translated as prepropeptide precursors and are processed into mature C-terminal dimers that signal by assembling a serine/threonine kinase receptor complex containing type I and II components. Many TGF-β ligands are secreted in a latent form that cannot bind their receptor, due to the pro-region remaining associated with the mature ligand in a noncovalent complex after proteolytic cleavage. Here we show that anti-Müllerian hormone (AMH), a TGF-β family ligand involved in reproductive development, must be cleaved to bind its type II receptor (AMHRII), but dissociation of the pro-region from the mature C-terminal dimer is not required for this initial interaction. We provide direct evidence for this interaction by showing that the noncovalent complex binds to a soluble form of AMHRII in an ELISA format and to AMHRII immobilized on Sepharose. Binding of the noncovalent complex to Sepharose-coupled AMHRII induces dissociation of the pro-region from the mature C-terminal dimer, whereas no dissociation occurs after binding to immobilized AMH antibodies. The pro-region cannot be detected after binding of the AMH noncovalent complex to AMHRII expressed on COS cells, indicating that pro-region dissociation may occur as a natural consequence of receptor engagement on cells. Moreover, the mature C-terminal dimer is more active than the noncovalent complex in stimulating Sma- and Mad-related protein activation, suggesting that pro-region dissociation contributes to the assembly of the active receptor complex. AMH thus exemplifies a new mechanism for receptor engagement in which interaction with the type II receptor promotes pro-region dissociation to generate mature ligand.
A new transport detector for high-performance liquid chromatography based on thermospray vaporization (1984)

ADVERTISEMENT RETURN TO ISSUEPREVArticleNEXTA new transport detector for high-performance liquid chromatography based on thermospray vaporizationLily. Yang, G. J. Fergusson, and Marvin L. VestalCite this: Anal. Chem. 1984, 56, 14, 2632–2636Publication Date (Print):December 1, 1984Publication History Published online1 May 2002Published inissue 1 December 1984https://pubs.acs.org/doi/10.1021/ac00278a004https://doi.org/10.1021/ac00278a004research-articleACS PublicationsRequest reuse permissionsArticle Views56Altmetric-Citations19LEARN 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-Alertsclose Get e-Alerts
Data from Patients with Rare Cancers in the Drug Rediscovery Protocol (DRUP) Benefit from Genomics-Guided Treatment (2023)

&lt;div&gt;AbstractPurpose:&lt;p&gt;Patients with rare cancers (incidence less than 6 cases per 100,000 persons per year) commonly have less treatment opportunities and are understudied at the level of genomic targets. We hypothesized that patients with rare cancer benefit from approved anticancer drugs outside their label similar to common cancers.&lt;/p&gt;Experimental Design:&lt;p&gt;In the Drug Rediscovery Protocol (DRUP), patients with therapy-refractory metastatic cancers harboring an actionable molecular profile are matched to FDA/European Medicines Agency–approved targeted therapy or immunotherapy. Patients are enrolled in parallel cohorts based on the histologic tumor type, molecular profile and study drug. Primary endpoint is clinical benefit (complete response, partial response, stable disease ≥ 16 weeks).&lt;/p&gt;Results:&lt;p&gt;Of 1,145 submitted cases, 500 patients, including 164 patients with rare cancers, started one of the 25 available drugs and were evaluable for treatment outcome. The overall clinical benefit rate was 33% in both the rare cancer and nonrare cancer subgroup. Inactivating alterations of &lt;i&gt;CDKN2A&lt;/i&gt; and activating &lt;i&gt;BRAF&lt;/i&gt; aberrations were overrepresented in patients with rare cancer compared with nonrare cancers, resulting in more matches to CDK4/6 inhibitors (14% vs. 4%; &lt;i&gt;P&lt;/i&gt; ≤ 0.001) or BRAF inhibitors (9% vs. 1%; &lt;i&gt;P&lt;/i&gt; ≤ 0.001). Patients with rare cancer treated with small-molecule inhibitors targeting &lt;i&gt;BRAF&lt;/i&gt; experienced higher rates of clinical benefit (75%) than the nonrare cancer subgroup.&lt;/p&gt;Conclusions:&lt;p&gt;Comprehensive molecular testing in patients with rare cancers may identify treatment opportunities and clinical benefit similar to patients with common cancers. Our findings highlight the importance of access to broad molecular diagnostics to ensure equal treatment opportunities for all patients with cancer.&lt;/p&gt;&lt;/div&gt;