gebhart/patrepeval huggingface dataset:
The Role of Tactile Sensing in Learning and Deploying Grasp Refinement Algorithms (2021)

A long-standing question in robot hand design is how accurate tactile sensing must be. This paper uses simulated tactile signals and the reinforcement learning (RL) framework to study the sensing needs in grasping systems. Our first experiment investigates the need for rich tactile sensing in the rewards of RL-based grasp refinement algorithms for multi-fingered robotic hands. We systematically integrate different levels of tactile data into the rewards using analytic grasp stability metrics. We find that combining information on contact positions, normals, and forces in the reward yields the highest average success rates of 95.4% for cuboids, 93.1% for cylinders, and 62.3% for spheres across wrist position errors between 0 and 7 centimeters and rotational errors between 0 and 14 degrees. This contact-based reward outperforms a non-tactile binary-reward baseline by 42.9%. Our follow-up experiment shows that when training with tactile-enabled rewards, the use of tactile information in the control policy's state vector is drastically reducible at only a slight performance decrease of at most 6.6% for no tactile sensing in the state. Since policies do not require access to the reward signal at test time, our work implies that models trained on tactile-enabled hands are deployable to robotic hands with a smaller sensor suite, potentially reducing cost dramatically.
A Class of Amide Ligands Enable Cu-Catalyzed Coupling of (Hetero)aryl Halides with Sulfinic Acid Salts under Mild Conditions (2018)

The amide derived from 4-hydroxy-l-proline and 2,6-dimethylaniline is a powerful ligand for Cu-catalyzed coupling of (hetero)aryl halides with sulfinic acid salts, allowing the formation of a wide range of (hetero)aryl sulfones from the corresponding (hetero)aryl halides at considerably low catalytic loadings. The coupling of (hetero)aryl iodides and sodium methanesulfinate proceeds at room temperature with only 0.5 mol % CuI and ligand, representing the first example for Cu-catalyzed arylation at both low catalytic loading and room temperature.
Discrimination of dynamically and post‐dynamically recrystallized grains based on EBSD data: application to Inconel 718 (2018)

The importance of angular resolution in EBSD analyses is discussed based on an Inconel 718 sample containing several populations of recrystallized grains, with subtle differences in dislocation contents. Classical EBSD analyses (with angular resolution in the range of 0.5-1°) do not allow for distinguishing recrystallized grains grown dynamically or post-dynamically. The angular resolution of EBSD orientation and misorientation data can be significantly improved (down to about 0.1-0.2°) either using more sophisticated Kikuchi pattern indexing methods and/or using the recently proposed LLASS denoising filter (Local Linear Automatic Smoothing Splines). Then the coexistence of both dynamically and post-dynamically recrystallized grains in the sample can be confirmed and quantified. ECCI images unambiguously confirm the conclusions drawn from the analysis of improved angular resolution EBSD data, and furthermore reveal the presence of thermal stress induced dislocations with typical patterns in water quenched Inconel 718 recrystallized grains. LAY DESCRIPTION: EBSD is widely used to study recrystallization phenomena. Conventional EBSD is nevertheless not able to distinguish dynamic recrystallized grains from post-dynamic recrystallized grains which differ by subtitle differences in dislocation contents. In this paper, we show that improving the orientation precision of EBSD data by means of different methods allows distinguishing these two recrystallized grains populations. Analyses and discussion are based on an Inconel 718, a famous Nickel-based superalloy in aeronautic.
Los informes y documentos incorporados como anexos del plan urbanístico no revisten naturaleza reglamentaria (a propósito de la STS de 24 de octubre de 2016 [RC 53/2016] (RJ 2016, 5069) (2017)

espanolLa tesis de la naturaleza reglamentaria de los planes urbanisticos no puede formularse de forma indiscriminada con relacion a toda clase de documentos insertos en los planes. En efecto, como ilustra la sentencia del Tribunal Supremo que se trae a colacion en este comentario, no revisten valor normativo los documentos que expresan un juicio tecnico. No obstante, sirven para la interpretacion de las prescripciones normativas contenidas en el plan urbanistico EnglishThe thesis of the regulatory nature conferred to the urban planning cannot be set indiscriminately regarding every document incorporated in the plans. In fact, as the ruling court commented upon illustrates, the documents containing a technical opinion have no regulatory nature. However, shall serve the interpretation of the legal requirements included in the urban planning
Advanced power converters for universal and flexible power management in future electricity network - Report on Control Strategies (2008)

The present document summarizes the work that has been done in Work Package 5 (WP5) where the focus is on modelling and control of the Uniflex-PM system. The models used in the WP5 are described in detail. Since the grid synchronization and monitoring techniques play an important role in the control of the Uniflex-PM system, a special attention is paid to this topic. The events in the electrical networks are treated in detail in terms of definitions and classifications from standards, origins, and surveys in different countries. A summary of the grid synchronization and monitoring methods is also given with a special focus on Phase Locked Loop systems. The response of the single and three phase PLLs is analyzed under different grid events. Four control strategies are studied in the WP5, namely: synchronous reference frame control, predictive control stationary reference frame control with Proportional Resonant current controllers and natural reference frame control with Proportional Resonant current controllers. These control strategies are evaluated under different grid conditions such as voltage excursions, voltage unbalances, phase jumps and shortcircuits in the Point of Common Coupling. Finally, some conclusions and recommendations for future work are given.
A State-of-the-Art Review on Solid-State Metal Joining (2018)

This paper aims at providing a state-of-the-art review of an increasingly important class of joining technologies called solid-state welding. Among many other advantages such as low heat input, solid-state processes are particularly suitable for dissimilar materials joining. In this paper, major solid-state joining technologies such as the linear and rotary friction welding, friction stir welding, ultrasonic welding, impact welding, are reviewed, as well as diffusion and roll bonding. For each technology, the joining process is first depicted, followed by the process characterization, modeling and simulation, monitoring/diagnostics/NDE, and ended with concluding remarks. A discussion section is provided after reviewing all the technologies on the common critical factors that affect the solid-state processes such as the joining mechanisms, chemical and materials compatibility, surface properties, and process conditions. Finally, the future outlook is presented.
Biofunctionalization of patterned PLLA surfaces with RGD, REDV and YIGSR peptides to promote endothelial cells adhesion and migration (2016)

Angioplasty and stent implantation open the blocked artery and restore proper blood flow after atherosclerosis disease. Despite their utility, intracoronary stents induce two types of complications: in-stent restenosis and thrombosis. Recently, biodegradable poly-L-lactic acid (PLLA) stents have been inserted to restore the healed artery, reabsorb and consequently avoid late stent thrombosis [1]. Moreover, rapid stent endothelialisation is one of the main goals in order to heal the damaged tissue and decrease in-stent restenosis [2]. The present work combines topographical modification and peptide functionalization of PLLA surfaces to increase endothelial cells adhesion and migration, and thus enhance endothelialization.
Molecular Imaging with Macrophage CRIg-Targeting Nanobodies for Early and Preclinical Diagnosis in a Mouse Model of Rheumatoid Arthritis (2014)

SPECT/CT imaging with (99m)Tc-NbV4m119 visualizes joint inflammation in CIA. Furthermore, imaging could predict which mice will develop clinical symptoms during CIA. Consequently, imaging of joint inflammation with CRIg-specific Nanobodies offers perspectives for clinical applications in RA patients.
Structure anomaly and electronic transition inRNiO3(R=La,Pr,…,Gd) (2004)

With the increasing size of the rare-earth ion in the $R{\mathrm{NiO}}_{3}$ perovskites, the room-temperature (RT) orthorhombic distortion shows an unusual collapse and restoration before transforming to the rhombohedral structure. We have studied the orthorhombic distortions under pressure of the RT structure of $R{\mathrm{NiO}}_{3}$ for $R=\mathrm{La},\mathrm{Pr},\dots{},\mathrm{Gd}$. The pressure dependence of the orthorhombic distortion reflects a component that opposes the influence of a cooperative rotation of the octahedra. An unusually low bulk modulus has been interpreted with a model at the crossover from localized to itinerant electronic behavior.
Mucosal Shedding and Cellular Immune Response After First Episode Genital Herpes Simplex Virus Type 1 Infection (2017)

Herpes simplex virus type 1 (HSV-1) is the leading cause of first episode genital herpes in the USA. Despite an often severe primary episode, recurrences and viral shedding are less frequent in genital HSV-1 than in genital HSV-2 infection. We sought to understand the relationship between mucosal shedding patterns and the development of the cellular immune response during the first year of genital HSV-1 infection. Following laboratory documented first episode genital HSV-1 infection, participants obtained daily self-collected genital and oral swabs for two 30-day sessions at 2 months and 11 months post infection. HSV was detected in swabs using real-time quantitative HSV PCR. Blood collected at 12 months was tested for T-cell responses to known CD8+ T-cell HSV-1 peptides by ex vivo IFN-γ ELISpot. Twenty-five persons with documented first episode genital HSV-1 acquisition completed the one year follow-up. Genital HSV-1 shedding was detected in 176 (12.2%) of 1438 swabs from the first shedding session, and declined to 46 (7.1%) of 645 swabs in the second session. There was a trend toward decreased genital shedding in the second compared with the first session among those with primary genital HSV-1 infection (RR = 0.44, 95% CI = 0.12–1.56, P = 0.19). Similarly, genital lesions were detected on 3.8% of days in the first session, and 1.6% of days in the second session. Twenty (80%) of 25 persons had detectable HSV-1-specific T-cell responses, with a median of 2 (range: 1–9) HSV-1epitopes detected per person. Several proteins, including tegument protein VP16 (UL48), ribonucleotide reductase small subunit (UL40), ICP0 (RL2), gB (UL27), and tegument protein VP22 (UL49) stimulated T-cell responses. Genital HSV-1 shedding and lesions appear to decline in the first year after genital HSV-1 acquisition. HSV-1 specific CD8+ T-cells are detectable up to 1 year post infection, despite low recurrence rates. Further characterization of the phenotype of these T-cells will elucidate effective immune responses to genital herpes infection. D. M. Koelle, University of Washingotn: Patent Holder, Patent holder
A hybrid silicon/III-V semiconductor laser with sub-kHz quantum linewidth (2015)

We report a semiconductor laser on a hybrid silicon/III-V platform with a record-low sub-kHz quantum noise-limited linewidth, based on the control of spontaneous emission into the lasing mode.
Dendritic−Linear AxBx Block Copolymers Prepared via Controlled Ring-Opening Polymerization of Lactones from Orthogonally Protected Multifunctional Initiators (2001)

A new concept in initiator design using orthogonal protecting groups provides a versatile synthetic route to novel dendritic−linear AB, A2B, AB2, A2B2, and A3B3 amphiphilic block copolymers. The A blocks are composed of the first- through third-generation dendrons from 2,2-bis(hydroxymethyl)propionic acid (bis-MPA), and the B blocks are poly(ε-caprolactone) prepared by living ring-opening polymerization (ROP). The enabling feature in the preparation of these dendritic−linear block copolymers is the synthesis of orthogonally protected multifunctional initiators. These initiators allow for the selective coupling of the dendritic fragments and, upon selective and quantitative deprotection of the initiating species, controlled ROP of ε-caprolactone from this central core molecule. Because of the sensitivity of the poly(ε-caprolactone) and dendrons toward hydrolysis, protection and deprotection schemes for the initiators as well as the dendrons were judiciously designed to be performed under mild conditions. Libraries of new initiators were prepared, composed of the first- through third-generation protected dendrons and hydroxyl groups protected with either benzyl ether or benzylidene acetal groups. Deprotection of these hydroxyl groups by catalytic hydrogenolysis yielded the requisite nucleophilic initiators for the controlled ROP of ε-caprolactone in the presence of a suitable organometallic promoter. Narrowly dispersed products with predictable molecular weights were obtained. NMR and GPC studies of the block copolymers confirmed the versatility of the orthogonally protected multifunctional initiator approach to dendritic−linear copolymers. Upon deprotection of the surface hydroxyl groups on the dendrons, the macromolecules became amphiphilic, with a polar, hydrophilic head and a nonpolar, hydrophobic tail. These materials provide a new class of polymeric surfactants, which might lead to novel supramolecular architectures in the constrained geometry of a monolayer film or in solution as self-assembled micelles.
Measurement of prompt J/ψ pair production in pp collisions at s $$ \sqrt{s} $$ = 7 Tev (2014)

Production of prompt J/ meson pairs in proton-proton collisions at s = 7 TeV is measured with the CMS experiment at the LHC in a data sample corresponding to an integrated luminosity of about 4.7 fb -1 . The two J/ mesons are fully reconstructed via their decays into + -pairs. This observation provides for the first time access to the high-transverse-momentum region of J/ pair production where model predictions are not yet established. The total and differential cross sections are measured in a phase space defined by the individual J/ transverse momentum (p T J/ ) and rapidity (|y J/ |):
Temperature-sensitive lethal mutant of era, a G protein in Escherichia coli (1989)

The era gene of Escherichia coli encodes a GTP-binding protein which has similarities to elongation factor Tu and the Saccharomyces cerevisiae RAS protein. To investigate its function, mutations affecting era were isolated. A mini-Tn10 insertion, which truncated 22 amino acids from the COOH end of Era, did not affect cell growth. By using this mini-Tn10 insert as a coselectable marker, a temperature-sensitive lethal era mutant was isolated by localized mutagenesis using P1 phage transduction. A single-base G to A change was found at position 23, causing a tyrosine residue to be substituted for the cysteine residue at position 8 (era-770), in addition to the COOH-terminal mini-Tn10 disruption. Both alterations were necessary for the temperature-sensitive phenotype. Purified Era-770 mutant protein exhibited reduced binding to GTP compared with that of the wild-type Era protein.
Cu dual damascene interconnects with in-situ fluorinated carbon-nitride (FCN: -C=N(F)-) barrier layers in low-k organic film (2003)

The highly reliable low-k/Cu dual damascene interconnects (DDI) with in-situ fluorinated carbon-nitride (FCN) barrier was successfully obtained in an organosiloxane film. Using C/sub x/F/sub y/N/sub 2/-base plasma, the DDI etching is achieved by sidewall-deposited fluorocarbon polymers. In addition, the etched-surface is covered with the FCN barrier, which suppresses the Cu diffusion.
Digital deterministic control of slow light in photonic crystal waveguide membranes through atomic layer deposition (2009)

We present for the first time digital and deterministic control of slow-light in photonic crystal silicon membranes through atomic layer deposition. Supported by ab initio calculations and our earlier advancements, the tuning of the slow group indices and higher-order dispersion characteristics are observed in the chip-scale Mach-Zehnder interferometers, along with control of the surface-state coupling. This deterministic control is a CMOS process that unambiguously tunes the slow-light dispersion for ultrahigh-bandwidth delay lines and nonlinear nanophotonics.
Wavelength Locking of a WDM Silicon Microring Demultiplexer using Dithering Signals (2014)

A control system utilizing dithering signals is used to demonstrate wavelength locking of WDM channels by a microring filter array. Data measurements verify that the dithering mechanism has a near-negligible effect on filtered data channels.
Ultrafast Harmonic Coherent Compound (UHCC) Imaging for High Frame Rate Echocardiography and Shear-Wave Elastography (2016)

Transthoracic shear-wave elastography (SWE) of the myocardium remains very challenging due to the poor quality of transthoracic ultrafast imaging and the presence of clutter noise, jitter, phase aberration, and ultrasound reverberation. Several approaches, such as diverging-wave coherent compounding or focused harmonic imaging, have been proposed to improve the imaging quality. In this study, we introduce ultrafast harmonic coherent compounding (UHCC), in which pulse-inverted diverging waves are emitted and coherently compounded, and show that such an approach can be used to enhance both SWE and high frame rate (FR) B-mode Imaging. UHCC SWE was first tested in phantoms containing an aberrating layer and was compared against pulse-inversion harmonic imaging and against ultrafast coherent compounding (UCC) imaging at the fundamental frequency. In vivo feasibility of the technique was then evaluated in six healthy volunteers by measuring myocardial stiffness during diastole in transthoracic imaging. We also demonstrated that improvements in imaging quality could be achieved using UHCC B-mode imaging in healthy volunteers. The quality of transthoracic images of the heart was found to be improved with the number of pulse-inverted diverging waves with a reduction of the imaging mean clutter level up to 13.8 dB when compared against UCC at the fundamental frequency. These results demonstrated that UHCC B-mode imaging is promising for imaging deep tissues exposed to aberration sources with a high FR.
Synthese, Struktur und Reaktionen clusterstabilisierter Phosphaalkene (1984)

Die Umwandlung eines Clusters mit μ 3 ‐Phosphandiyl‐Liganden in die Titelverbindung 1 , R  p ‐H 3 COC 6 H 4 , gelingt durch Reaktion mit NaNH 2 und CH 2 I 2 . In 1 ist erstmals ein Phosphaalken RPCH 2 als μ 3 ‐η 2 ‐Brücke stabilisiert; es läßt sich im Cluster zu einem neuartigen μ 3 ‐η 3 ‐Phosphino‐Liganden RPCH 3 reduzieren. magnified image
Evaluating ontology cleaning (2004)

Ontology as a discipline of Computer Science has made many claims about its usefulness, however to date there has been very little evaluation of those claims. We present the results of an experiment using a hybrid search system with a significant knowledge-based component to measure, using precision and recall, the impact of improving the quality of an ontology on overall performance. We demonstrate that improving the ontology using OntoClean (Guarino and Welty, 2002)., does positively impact performance, and that having knowledge of the search domain is more effective than domain-knowledge-free search techniques such as link analysis.
Single Transcription Factor Conversion of Human Blood Fate to NPCs with CNS and PNS Developmental Capacity (2015)

The clinical applicability of direct cell fate conversion depends on obtaining tissue from patients that is easy to harvest, store, and manipulate for reprogramming. Here, we generate induced neural progenitor cells (iNPCs) from neonatal and adult peripheral blood using single-factor OCT4 reprogramming. Unlike fibroblasts that share molecular hallmarks of neural crest, OCT4 reprogramming of blood was facilitated by SMAD+GSK-3 inhibition to overcome restrictions on neural fate conversion. Blood-derived (BD) iNPCs differentiate in vivo and respond to guided differentiation in vitro, producing glia (astrocytes and oligodendrocytes) and multiple neuronal subtypes, including dopaminergic (CNS related) and nociceptive neurons (peripheral nervous system [PNS]). Furthermore, nociceptive neurons phenocopy chemotherapy-induced neurotoxicity in a system suitable for high-throughput drug screening. Our findings provide an easily accessible approach for generating human NPCs that harbor extensive developmental potential, enabling the study of clinically relevant neural diseases directly from patient cohorts.
High-Reliability Active Integrated Power Limiter with Sharp Compression Profile in Ka-Band in 130 nm SiGe Technology (2019)

A power limiter with high input power handling (24 dB over the input compression point) and sharp compression profile (less than 1.5 dB between the output 1-dB compression point and the output saturated power) in Ka-band (17.3 GHz; 20.2 GHz) is presented in this paper. Moreover, the circuit shows a low phase distortion (<; 3°) which make it suitable for use in an analog pre-processing linearizing system. This performances are obtained thanks to a novel architecture based on a power amplifier topology. This work presents the architecture along with the design methodology. Reliability is studied at high input power condition using the safe operation area from the technology provider. Then, a prototype is designed on 130 nm BiCMOS technology from STMicroelectronics, measured and compared to the simulation and the state of art.
MOLECULAR PROGNOSTIC TUMOR PROFILING OF TYPE 1 AND TYPE 2 PAPILLARY RENAL CELL CARCINOMA: RELEVANCE TO THE DEVELOPMENT OF TUMOR-SPECIFIC TARGETED THERAPIES (2008)

You have accessJournal of Urology1 Apr 2008MOLECULAR PROGNOSTIC TUMOR PROFILING OF TYPE 1 AND TYPE 2 PAPILLARY RENAL CELL CARCINOMA: RELEVANCE TO THE DEVELOPMENT OF TUMOR-SPECIFIC TARGETED THERAPIES Tobias Klatte, Jonathan W Said, David B Seligson, Jeffrey LaRochelle, Brian Shuch, Fairooz F Kabbinavar, Amnon Zisman, Allan J Pantuck, and Arie S Belldegrun Tobias KlatteTobias Klatte More articles by this author , Jonathan W SaidJonathan W Said More articles by this author , David B SeligsonDavid B Seligson More articles by this author , Jeffrey LaRochelleJeffrey LaRochelle More articles by this author , Brian ShuchBrian Shuch More articles by this author , Fairooz F KabbinavarFairooz F Kabbinavar More articles by this author , Amnon ZismanAmnon Zisman More articles by this author , Allan J PantuckAllan J Pantuck More articles by this author , and Arie S BelldegrunArie S Belldegrun More articles by this author View All Author Informationhttps://doi.org/10.1016/S0022-5347(08)60613-8AboutPDF ToolsAdd to favoritesDownload CitationsTrack CitationsPermissionsReprints ShareFacebookLinked InTwitterEmail "MOLECULAR PROGNOSTIC TUMOR PROFILING OF TYPE 1 AND TYPE 2 PAPILLARY RENAL CELL CARCINOMA: RELEVANCE TO THE DEVELOPMENT OF TUMOR-SPECIFIC TARGETED THERAPIES." The Journal of Urology, 179(4S), p. 213 © 2008 by American Urological AssociationFiguresReferencesRelatedDetails Volume 179Issue 4SApril 2008Page: 213 Advertisement Copyright & Permissions© 2008 by American Urological AssociationMetricsAuthor Information Tobias Klatte More articles by this author Jonathan W Said More articles by this author David B Seligson More articles by this author Jeffrey LaRochelle More articles by this author Brian Shuch More articles by this author Fairooz F Kabbinavar More articles by this author Amnon Zisman More articles by this author Allan J Pantuck More articles by this author Arie S Belldegrun More articles by this author Expand All Advertisement PDF downloadLoading ...