gebhart/patrepeval huggingface dataset:
Safety Properties and Collision Behavior of Robotic Arms with Elastic Tendon Actuation (2012)

Applications with physical human-robot interaction require a high level of safety even in case of software or hardware failures. This paper highlights the advantages of combining tendon actuation with transmission elasticity to maximize safety for robotic arms sharing workspaces with humans. To this end, the collision behavior of combinations of tendon or joint and elastic or stiff actuation with geared electrical motors as reliable actuators is compared using the lightweight BioRob arm as robotic platform in simulation. For the comparison a worst case scenario is assumed in which the robot arm is accelerated with maximum supply voltage over its joint range and collides with maximum end-effector velocity. The study shows that the robot arm achieves end-effector velocities as high as 6m/s and that elastic tendon actuation reduces the end-effector impact energy and force by up to 90% compared to stiff joint actuation. A considerable reduction of the gearbox stress is also achieved. In addition, the effect of motor current fuses limiting the motor torques is evaluated. It is shown that for the given high speed scenario, torque limiting devices can be effective to prevent excessive clamping forces in case of failure, but can not reduce the impact peak force without heavily compromising the robot dynamics. The main design criterion for safety should therefore be lightweight link design and compliant actuation, which can be achieved by using elastic tendon actuation. The paper concludes with the comparison of safety properties of robotic arms in research and industry.
ChemInform Abstract: Transition Metal Free Addition of Ketones or Nitriles to 1,3‐Dienes. (2008)

Abstract ChemInform is a weekly Abstracting Service, delivering concise information at a glance that was extracted from about 200 leading journals. To access a ChemInform Abstract of an article which was published elsewhere, please select a “Full Text” option. The original article is trackable via the “References” option.
Pseudomonas--An attempt at a general classification (1961)

SUMMARY: On the basis of the characterization of 126 strains representing 46 different species of Pseudomonas and 6 species of Aeromonas obtained from different culture collections, a proposal for the taxonomy of the genus Pseudomonas is made. By using various old and new diagnostic methods some 90 different morphological and cultural characters, many obtained by modification of methods and media, were investigated. The iodoacetate test was developed to distinguish between oxidative and fermentative utilization of glucose. Results were evaluated by the use of punched cards and by the method of strips. The relationships between the established species of Pseudomonas and Aeromonas were shown by using an Adansonian principle and by taxonomic models. On the basis of the results obtained proposals for the definition of the genus Pseudomonas and for re-descriptions of Pseudomonas species are given and the relations to related genera are shown. In the definition of the genus Pseudomonas an attempt to find a more general principle for subdivision within the genus was based on the type of glucose utilization and on the relationships of the species expressed in some other features. This proposal about the taxonomy of pseudomonads is compared with that of Rhodes (1959).
Synthesis, characterization, topographical modification, and surface properties of copoly(imide siloxane)s (2012)

Novel copoly(imide siloxane)s were synthesized from commercially available aminopropyl terminated siloxane oligomers, aromatic dianhydrides, and diamines. This synthetic approach produced copolymers with well-defined siloxane blocks linked with imide units in a random fashion. The copoly(amide acid)s were characterized by solution viscosity and subsequently used to cast thin films followed by thermal imidization in an inert atmosphere. Thin films were characterized using contact angle goniometry, attenuated total reflection Fourier transform infrared spectroscopy, confocal and optical microscopy, and tensile testing. Adhesion of micron-sized particles was determined quantitatively using a sonication device. The polydimethylsiloxane moieties lowered the copolymer surface energy due to migration of siloxane moieties to the film’s surface, resulting in a notable reduction in particle adhesion. A further reduction in particle adhesion was achieved by introducing topographical features on a scale of several to tens of microns by a laser ablation technique.
Impaired nicotinamide adenine dinucleotide synthesis in pyruvate kinase- deficient human erythrocytes: a mechanism for decreased total NAD content and a possible secondary cause of hemolysis (1987)

Erythrocytes from individuals with pyruvate kinase (PK) deficiency have approximately half the total (oxidized and reduced) nicotinamide adenine dinucleotide (NAD) of normal erythrocytes. In order to elucidate the mechanism(s) for the decrease in total NAD, we examined NAD synthesis in intact erythrocytes. It is demonstrated that NAD synthesis is impaired in PK-deficient erythrocytes to a degree that is dependent on the PK activity and adenosine 5'-triphosphate (ATP) concentration of these cells. After incubation in the presence of fluoride, which simulates the characteristics of PK deficiency by inhibiting enolase, normal erythrocytes had impaired NAD synthesis and decreased ATP concentrations. Fluoride did not inhibit NAD synthesis in a hemolysate system that is not dependent on glycolysis for ATP generation. These data suggest that fluoride does not inhibit the enzymes of NAD synthesis and that impairment of NAD synthesis by fluoride is mediated by decreased ATP formation. Thus, it is concluded that impaired NAD synthesis in PK-deficient erythrocytes is caused by decreased ATP formation due to the PK deficiency. Since the rate of glycolysis is limited by the availability of NAD+, it is suggested that impaired NAD synthesis causes further ATP depletion and thereby may enhance hemolysis in PK-deficient erythrocytes.
A 16mW 78dB-SNDR 10MHz-BW CT-&#x0394;&#x03A3; ADC using residue-cancelling VCO-based quantizer (2012)

Voltage-controlled oscillator (VCO) based analog-to-digital conversion presents an attractive means of implementing high-bandwidth oversampling ADCs [1,2]. They exhibit inherent noise-shaping properties and can operate at low supply voltages and high sampling rates [1–3]. However, usage of VCO-based ADCs has been limited due to their nonlinear voltage-to-frequency (V-to-F) transfer characteristic, which severely degrades their distortion performance. Digital calibration is used to combat nonlinearity in an open-loop VCO-based ADC, but 1 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">st</sup> -order noise-shaping mandates high OSRs, thus increasing power dissipation in digital circuits, even in a nanometer-scale CMOS process [1]. In [2], nonlinearity is suppressed by embedding the VCO in a ΔΣ loop. While this technique works in principle, the need for large loop gain at high frequencies makes it very difficult to achieve high SNDR. For instance, the suppression level near the band edge is approximately 20dB for a VCO-based 2 <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">nd</sup> -order modulator operating with an over-sampling ratio (OSR) of 30. Our ADC overcomes the impact of VCO non-linearity by minimizing the input signal processed by the VCO. The prototype achieves 78.3dB SNDR in a 10MHz signal bandwidth at 600MHz sampling rate, while consuming 16mW power.
Quantized frame expansions as source-channel codes for erasure channels (1999)

Quantized frame expansions are proposed as a method for generalized multiple description coding, where each quantized coefficient is a description. Whereas previous investigations have revealed the robustness of frame expansions to additive noise and quantization, this represents a new application of frame expansions. The performance of a system based on quantized frame expansions is compared to that of a system with a conventional block channel code. The new system performs well when the number of lost descriptions (erasures on an erasure channel) is hard to predict.
SYNTHESIS OF CABLE DRIVEN ROBOTS' DYNAMIC MOTION WITH MAXIMUM LOAD CARRYING CAPACITIES: ITERATIVE LINEAR PROGRAMMING APPROACH (2010)

In this paper, the general dynamic equation of motion of Cable Driven Robots (CDRs) is
obtained from Lagrangian formulation. A computational technique is developed for obtaining an optimal
trajectory to maximize the dynamic load carrying capacity for a given point-to-point task. Dynamic
equations are organized in a closed form and are formulated in the state space form. In order to nd
the Dynamic Load Carrying Capacity (DLCC) of CDRs, joint actuators torque, and robot workspace
constraints for obtaining the positive tension in cables are considered. The problem is formulated as a
trajectory optimization problem, which fundamentally is a constrained nonlinear optimization problem.
Then, the Iterative Linear Programming (ILP) method is used to solve the optimization problem. Finally,
a numerical example involving a 6 d.o.f CDR is presented and, due to validation, the results of the ILP
method are compared with the optimal control method.
Improvement of adhesive bonding of thermoplastic polymers by different surface treatments (1998)

Abstract Injection moulded samples of six species of thermoplastic polymers were exposed to different surface treatments and successively glued together to form single lap shear joints. Lap shear strength and failure mode of these specimens were examined. The surfaces obtained after treatment were characterized by electron spectroscopy for chemical analysis, contact angle measurements and atomic force microscopy.
Detection of the insulating gap and conductive filament growth direction in resistive memories (2015)

Filament growth is a key aspect in the operation of bipolar resistive random access memory (RRAM) devices, yet there are conflicting reports in the literature on the direction of growth of conductive filaments in valence change RRAM devices. We report here that an insulating gap between the filament and the semiconductor electrode can be detected by the metal-insulator-semiconductor bipolar transistor structure, and thus provide information on the filament growth direction. Using this technique, we show how voltage polarity and electrode chemistry control the filament growth direction during electro-forming. The experimental results and the nature of a gap between the filament and an electrode are discussed in light of possible models of filament formation.
USE OF DIOCTYL SODIUM SULFOSUCCINATE (AEROSOL O. T.) FOR SEVERE CONSTIPATION (1955)

The purpose of this communication is to direct attention to the usefulness of dioctyl sodium sulfosuccinate (Aerosol O. T.), developed some 15 years ago, in the treatment of severe fecal impaction and lesser degrees of constipation. As one of the very first of the synthetic wetting agents it was originally popularly described in Life magazine without implication of medical usefulness, and readers may recall that its remarkable properties were illustrated by the cover picture of a duck sinking in water to which a small concentration of this material had been added. The effectiveness of this material for treating constipation is consequent to its ability to allow a hard fecal mass to be penetrated by water or by mineral oils so that it becomes effectively softened. Its action thus seems to be the simple physical effect one would expect From the Department of Pediatrics, University Hospital. The food absorption studies were
Schistosomiasis vaccines (2011)

Schistosomiasis is a major neglected tropical disease of public health importance to a billion people. An estimated 200 million people are currently infected; an additional 779 million individuals are at risk to acquire the infection in 74 countries. Despite many years of implementation of mass anti-parasitic drug therapy programs and other control measures, this disease has not been contained and continues to spread to new geographic areas. The discovery of a protective vaccine still remains the most potentially effective means for the control of this disease, especially if the vaccine provides long-term immunity against the infection. A vaccine would contribute to the reduction of schistosomiasis morbidity through induced immune responses leading to decrease in parasite load and reduced egg production. This vaccine could be administered to children between the ages of 3 and 12 years to prevent severe infection in a particularly high risk population. This review summarizes the current status of schistosomiasis vaccine development.
Putative DNA Quadruplex Formation within the Human <i>c-kit</i> Oncogene (2005)

The DNA sequence, d(AGGGAGGGCGCTGGGAGGAGGG), occurs within the promoter region of the c-kit oncogene. We show here, using a combination of NMR, circular dichroism, and melting temperature measurements, that this sequence forms a four-stranded quadruplex structure under physiological conditions. Variations in the sequences that intervene between the guanine tracts have been examined, and surprisingly, none of these modified sequences forms a quadruplex arrangement under these conditions. This suggests that the occurrence of quadruplex-forming sequences within the human and other genomes is less than was hitherto expected. The c-kit quadruplex may be a new target for therapeutic intervention in cancers where there is elevated expression of the c-kit gene.
Flavonoid‐Modified Surfaces: Multifunctional Bioactive Biomaterials with Osteopromotive, Anti‐Inflammatory, and Anti‐Fibrotic Potential (2014)

Flavonoids are small polyphenolic molecules of natural origin with antioxidant, anti-inflammatory, and antibacterial properties. Here, a bioactive surface based on the covalent immobilization of flavonoids taxifolin and quercitrin on titanium substrates is presented, using (3-aminopropyl)triethoxysilane (APTES) as coupling agent. FTIR and XPS measurements confirm the grafting of the flavonoids to the surfaces. Using 2-aminoethyl diphenylborinate (DPBA, a flavonoid-specific dye), the modified surfaces are imaged by fluorescence microscopy. The bioactivity of the flavonoid-modified surfaces is evaluated in vitro with human umbilical cord derived mesenchymal stem cells (hUC-MSCs) and human gingival fibroblasts (HGFs) and compared to that of simple flavonoid coatings prepared by drop casting. Flavonoid-modified surfaces show anti-inflammatory and anti-fibrotic potential on HGF. In addition, Ti surfaces covalently functionalized with flavonoids promote the differentiation of hUC-MSCs to osteoblasts--enhancing the expression of osteogenic markers, increasing alkaline phosphatase activity and calcium deposition; while drop-casted surfaces do not. These findings could have a high impact in the development of advanced implantable medical devices like bone implants. Given the broad range of bioactivities of flavonoid compounds, these surfaces are ready to be explored for other biomedical applications, e.g., as stent surface or tumor-targeted functionalized nanoparticles for cardiovascular or cancer therapies.
Characterisation of the diol dehydratase<i>pdu</i>operon of<i>Lactobacillus collinoides</i> (2002)

The three genes (pduCDE) encoding the diol dehydratase of Lactobacillus collinoides were sequenced. They exhibited strong identities with the ddrABC and pduCDE genes of Klebsiella oxytoca and Salmonella enterica, respectively. These genes are part of a putative operon with at least four other genes. An eighth open reading frame was identified as homologous to the pocR gene (encoding the operon regulatory protein). Although the enzyme was detected in exponential growth phase, PduCDE activity was increased at the end of exponential phase in presence of 1,2-propanediol.
Metadata representation in XML for Internet-based electronic XML application from business to government (2002)

In government-to-business Internet applications, as in business-to-business Internet commerce, XML (eXtensible Markup Language) is attracting attention as a format for encoding information and services with meaningful structure and semantics that computers can readily understand. We propose a model for representing metadata about a set of application documents in a resource description framework (RDF). We then introduce the Document Rules Description Language (DRDL) in order to describe the document rules of metadata. We also propose a DRDL processor, which validates whether or not a set of application documents satisfies the document rules. We have used a DRDL processor to support applicants when applying for an export license from the government in JETRAS (Japan Electronic Open Network Trade Control System). The effects of a DRDL processor are as follows: (i) improvement of development efficiency by unified management of document rules for XML processing software; (ii) support of applicants making electronic application documents by document content validation of a set of application documents.
Accurate and reliable quantification of total microalgal fuel potential as fatty acid methyl esters by in situ transesterification (2012)

In the context of algal biofuels, lipids, or better aliphatic chains of the fatty acids, are perhaps the most important constituents of algal biomass. Accurate quantification of lipids and their respective fuel yield is crucial for comparison of algal strains and growth conditions and for process monitoring. As an alternative to traditional solvent-based lipid extraction procedures, we have developed a robust whole-biomass in situ transesterification procedure for quantification of algal lipids (as fatty acid methyl esters, FAMEs) that (a) can be carried out on a small scale (using 4-7 mg of biomass), (b) is applicable to a range of different species, (c) consists of a single-step reaction, (d) is robust over a range of different temperature and time combinations, and (e) tolerant to at least 50% water in the biomass. Unlike gravimetric lipid quantification, which can over- or underestimate the lipid content, whole biomass transesterification reflects the true potential fuel yield of algal biomass. We report here on the comparison of the yield of FAMEs by using different catalysts and catalyst combinations, with the acid catalyst HCl providing a consistently high level of conversion of fatty acids with a precision of 1.9% relative standard deviation. We investigate the influence of reaction time, temperature, and biomass water content on the measured FAME content and profile for 4 different samples of algae (replete and deplete Chlorella vulgaris, replete Phaeodactylum tricornutum, and replete Nannochloropsis sp.). We conclude by demonstrating a full mass balance closure of all fatty acids around a traditional lipid extraction process.
Stability of Phosphoprotein as a Biological Marker of Tumor Signaling (2005)

Caution should be used when using phosphoprotein levels in human tumor specimens to measure intrinsic signaling activity or drug effects because of the potential for rapid dephosphorylation. Rapid processing of biopsies is essential and postoperative surgical samples may be of limited value because of the time to fixation.
Knowledge synthesis of 100 million biomedical documents augments the deep expression profiling of coronavirus receptors (2020)

The COVID-19 pandemic demands assimilation of all biomedical knowledge to decode mechanisms of pathogenesis. Despite the recent renaissance in neural networks, a platform for the real-time synthesis of the exponentially growing biomedical literature and deep omics insights is unavailable. Here, we present the nferX platform for dynamic inference from over 45 quadrillion possible conceptual associations from unstructured text, and triangulation with insights from single-cell RNA-sequencing, bulk RNA-seq and proteomics from diverse tissue types. A hypothesis-free profiling of ACE2 suggests tongue keratinocytes, olfactory epithelial cells, airway club cells and respiratory ciliated cells as potential reservoirs of the SARS-CoV-2 receptor. We find the gut as the putative hotspot of COVID-19, where a maturation correlated transcriptional signature is shared in small intestine enterocytes among coronavirus receptors (ACE2, DPP4, ANPEP). A holistic data science platform triangulating insights from structured and unstructured data holds potential for accelerating the generation of impactful biological insights and hypotheses.
Solving the problems along our corridors : FESARTA comment (2013)

Many of the problems that transporters face along the corridors are well-known and have been on the table for many years.
Comparison of the mechanical properties of simplex P, zimmer regular, and LVC bone cements (1987)

The mechanical properties of the three cement preparations most widely used in the United States were compared by conducting tensile and fatigue tests on Simplex P, LVC, and Zimmer Regular bone cements. Specimens of all three cement preparations were prepared for mechanical testing with and without centrifugation of the cement immediately after mixing. Although the results of the tensile testing revealed a few specific instances of significant differences in the tensile properties of the three cement preparations, there was no consistent evidence that one cement was superior in tension to the others. However, the fatigue properties of Simplex P were consistently and significantly superior to the fatigue properties of both LVC and Zimmer Regular bone cements. Centrifugation of the cement immediately after mixing significantly improved both the tensile and fatigue properties of all three bone cements. However, the fatigue strength of centrifuged Simplex P was substantially and significantly superior to the fatigue strength of the centrifuged LVC and Zimmer Regular bone cements. Since in total joint replacements bone cement is subjected to cyclic loading, these data suggest that centrifuged Simplex P is a preferable bone cement to LVC and to Zimmer Regular cement with or without centrifugation.
Effect of NH<sub>3</sub>plasma on thin-film composite membrane: Relationship of membrane and plasma properties (2013)

Surface modification by low-pressure ammonia (<TEX>$NH_3$</TEX>) plasma on commercial thin-film composite (TFC) membranes was investigated in this study. Surface hydrophilicity, total surface free energy, ion exchange capacity (IEC) and zeta (<TEX>${\zeta}$</TEX>)-potentials were determined for the TFC membranes. Qualitative and quantitative analyses of the membrane surface chemistry were conducted by attenuated total reflectance Fourier transform infrared (ATR FT-IR) spectroscopy. Results showed that the <TEX>$NH_3$</TEX> plasma treatment increased the surface hydrophilicity, in particular at a plasma treatment time longer than 5 min at 50 W of plasma power. Total surface free energy was influenced by the basic polar components introduced by the <TEX>$NH_3$</TEX> plasma, and isoelectric point (IEP) was shifted to higher pH region after the modification. A ten (10) min <TEX>$NH_3$</TEX> plasma treatment at 90 W was found to be adequate for the TFC membrane modification, resulting in a membrane with better characteristics than the TFC membranes without the modification for water treatment. The thin-film chemistry (i.e., fully-aromatic and semi-aromatic nature in the interfacial polymerization) influenced the initial stage of plasma modification.