nils-herrmann/clean_scirepeval huggingface dataset:
A Robust Quadruped Walking Gait for Traversing Rough Terrain

Legged locomotion excels when terrains become too rough for wheeled systems or open-loop walking pattern generators to succeed, i.e., when accurate foot placement is of primary importance in successfully reaching the task goal. In this paper we address the scenario where the rough terrain is traversed with a static walking gait, and where for every foot placement of a leg, the location of the foot placement was selected irregularly by a planning algorithm. Our goal is to adjust a smooth walking pattern generator with the selection of every foot placement such that the COG of the robot follows a stable trajectory characterized by a stability margin relative to the current support triangle. We propose a novel parameterization of the COG trajectory based on the current position, velocity, and acceleration of the four legs of the robot. This COG trajectory has guaranteed continuous velocity and acceleration profiles, which leads to continuous velocity and acceleration profiles of the leg movement, which is ideally suited for advanced model-based controllers. Pitch, yaw, and ground clearance of the robot are easily adjusted automatically under any terrain situation. We evaluate our gait generation technique on the Little-Dog quadruped robot when traversing complex rocky and sloped terrains.
An ultrasonic piezoelectric motor utilizing axial-torsional coupling in a pretwisted non-circular cross-sectioned prismatic beam

A rotary piezoelectric motor design with simple structural components and the potential for miniaturization using a pretwisted beam stator is demonstrated in this paper. The beam acts as a vibration converter to transform axial vibration input from a piezoelectric element into combined axial-torsional vibration. The axial vibration of the stator modulates the torsional friction forces transmitted to the rotor. Prototype stators measuring 6.5 times 6.5 times 67.5 mm were constructed using aluminum (2024-T6) twisted beams with rectangular cross-section and multilayer piezoelectric actuators. The stall torque and no-load speed attained for a rectangular beam with an aspect ratio of 1.44 and pretwist helix angle of 17.7deg were 0.17 mNm and 840 rpm with inputs of 184.4 kHz and 149 mW, respectively. Operation in both clockwise and counterclockwise directions was obtained by choosing either 70.37 or 184.4 kHz for the operating frequency. The effects of rotor preload and power input on motor performance were investigated experimentally. The results suggest that motor efficiency is higher at low power input, and that efficiency increases with preload to a maximum beyond which it begins to drop.
Proton conduction in crystalline and porous covalent organic frameworks.

Progress over the past decades in proton-conducting materials has generated a variety of polyelectrolytes and microporous polymers. However, most studies are still based on a preconception that large pores eventually cause simply flow of proton carriers rather than efficient conduction of proton ions, which precludes the exploration of large-pore polymers for proton transport. Here, we demonstrate proton conduction across mesoporous channels in a crystalline covalent organic framework. The frameworks are designed to constitute hexagonally aligned, dense, mesoporous channels that allow for loading of N-heterocyclic proton carriers. The frameworks achieve proton conductivities that are 2-4 orders of magnitude higher than those of microporous and non-porous polymers. Temperature-dependent and isotopic experiments revealed that the proton transport in these channels is controlled by a low-energy-barrier hopping mechanism. Our results reveal a platform based on porous covalent organic frameworks for proton conduction.
A Survey of Traffic Issues in Machine-to-Machine Communications Over LTE

Machine-to-machine (M2M) communication, also referred to as Internet of Things (IoT), is a global network of devices such as sensors, actuators, and smart appliances which collect information, and can be controlled and managed in real time over the Internet. Due to their universal coverage, cellular networks and the Internet together offer the most promising foundation for the implementation of M2M communication. With the worldwide deployment of the fourth generation (4G) of cellular networks, the long-term evolution (LTE) and LTE-advanced standards have defined several quality-of-service classes to accommodate the M2M traffic. However, cellular networks are mainly optimized for human-to-human (H2H) communication. The characteristics of M2M traffic are different from the human-generated traffic and consequently create sever problems in both radio access and the core networks (CNs). This survey on M2M communication in LTE/LTE-A explores the issues, solutions, and the remaining challenges to enable and improve M2M communication over cellular networks. We first present an overview of the LTE networks and discuss the issues related to M2M applications on LTE. We investigate the traffic issues of M2M communications and the challenges they impose on both access channel and traffic channel of a radio access network and the congestion problems they create in the CN. We present a comprehensive review of the solutions for these problems which have been proposed in the literature in recent years and discuss the advantages and disadvantages of each method. The remaining challenges are also discussed in detail.
Bidirectional feedback in motor imagery BCIs: learn to control a drone within 5 minutes

Brain Computer Interface systems rely on lengthy training phases that can last up to months due to the inherent variability in brainwave activity between users. We propose a BCI architecture based on the co-learning between the user and the system through different feedback strategies. Thus, we achieve an operational BCI within minutes. We apply our system to the piloting of an AR.Drone 2.0 quadricopter. We show that our architecture provides better task performance than traditional BCI paradigms within a shorter time frame. We further demonstrate the enthusiasm of users towards our BCI-based interaction modality and how they find it much more enjoyable than traditional interaction modalities.
A Theory of Object Recognition: Computations and Circuits in the Feedforward Path of the Ventral Stream in Primate Visual Cortex

We describe a quantitative theory to account for the computations performed by the feedforward path of the ventral stream of visual cortex and the local circuits implementing them. We show that a model instantiating the theory is capable of performing recognition on datasets of complex images at the level of human observers in rapid categorization tasks. We also show that the theory is consistent with (and in some case has predicted) several properties of neurons in V1, V4, IT and PFC. The theory seems sufficiently comprehensive, detailed and satisfactory to represent an interesting challenge for physiologists and modelers: either disprove its basic features or propose alternative theories of equivalent scope. The theory suggests a number of open questions for visual physiology and psychophysics. This version replaces the preliminary “Halloween” CBCL paper from Nov. 2005. This report describes research done within the Center for Biological & Computational Learning in the Department of Brain & Cognitive Sciences and in the Computer Science and Artificial Intelligence Laboratory at the Massachusetts Institute of Technology. This research was sponsored by grants from: Office of Naval Research (DARPA) under contract No. N00014-00-1-0907, National Science Foundation (ITR) under contract No. IIS-0085836, National Science Foundation (KDI) under contract No. DMS-9872936, and National Science Foundation under contract No. IIS-9800032 Additional support was provided by: Central Research Institute of Electric Power Industry, Center for e-Business (MIT), Eastman Kodak Company, DaimlerChrysler AG, Compaq, Honda R&D Co., Ltd., Komatsu Ltd., Merrill-Lynch, NEC Fund, Nippon Telegraph & Telephone, Siemens Corporate Research, Inc., The Whitaker Foundation, and the SLOAN Foundations. 1To whom correspondence should be addressed.
The Role of Renal Replacement Therapy in the Management of Pharmacologic Poisonings

Pharmacologic toxicities are common and range from mild to life-threatening. The aim of this study is to review and update the data on the role of renal replacement therapy (RRT) in the management of various pharmacologic poisonings. We aim to provide a focused review on the role of RRT in the management of pharmacological toxicities. Relevant publications were searched in MEDLINE with the following search terms alone or in combination: pharmacologic toxicity, hemodialysis, hemofiltration, renal replacement therapy, toxicology, poisonings, critical illness, and intensive care. The studies showed that a pharmacologic substance should meet several prerequisites to be deemed dialyzable. These variables include having a low molecular weight (<500 Da) and low degree of protein binding (<80%), being water-soluble, and having a low volume of distribution (<1 L/kg). RRT should be strongly considered in critically ill patients presenting with toxic alcohol ingestion, salicylate overdose, severe valproic acid toxicity, metformin overdose, and lithium poisoning. The role of RRT in other pharmacologic toxicities is less certain and should be considered on a case-by-case basis.
Negotiating presence-in-absence: contact, content and context

On the basis of a longitudinal field study of domestic communication, we report some essential constituents of the user experience of awareness of others who are distant in space or time, i.e. presence-in-absence. We discuss presence-in-absence in terms of its social (Contact) and informational (Content) facets, and the circumstances of the experience (Context). The field evaluation of a prototype, 'The Cube', designed to support presence-in-absence, threw up issues in the interrelationships between contact, content and context; issues that the designers of similar social artifacts will need to address.
A stable compensation scheme for low dropout regulator in the absence of ESR

A new compensation scheme for low dropout regulator (LDR) in relaxing the constraint on the equivalent series resistance (ESR) down to the value of zero from no load to full load current condition is presented. This is achieved by introducing a load-tracking zero that tracks with the moving output pole as the load current varies, and a level shift buffer reduces the size and capacitance of the power transistor. The load-tracking circuit ensures the stability in full load current range even in the absence of ESR. The proposed LDR is fabricated with a standard 0.35 mum CMOS technology. Measurement results at very small value ESR (10 mOmega) and output capacitor (0.47 muF), where this equivalent ESR zero is far beyond the compensation region of LDR, confirm the stability at ESR equivalent value to be zero. Also the proposed compensation scheme allows a wide range of ESR from equivalent 0 Omega to 20 Omega and load capacitor from 0.47 muF to 22 muF with a load current of 0 muA to 100 mA at dropout voltage of 0.2 V.
USING FAUST FOR FPGA PROGRAMMING

In this paper we show the possibility of using FAUST (a programming language for function based block oriented programming) to create a fast audio processor in a single chip FPGA environment. The produced VHDL code is embedded in the on-chip processor system and utilizes the FPGA fabric for parallel processing. For the purpose of implementing and testing the code a complete System-On-Chip framework has been created. We use a Digilent board with a XILINX Virtex 2 Pro FPGA. The chip has a PowerPC 405 core and the framework uses the on chip peripheral bus to interface the core. The content of this paper presents a proof-of-concept implementation using a simple two pole IIR filter. The produced code is working, although more work has to be done for implementing complex arithmetic operations support.
Automatic detection of DNS manipulations

The DNS is a fundamental service that has been repeatedly attacked and abused. DNS manipulation is a prominent case: Recursive DNS resolvers are deployed to explicitly return manipulated answers to users' queries. While DNS manipulation is used for legitimate reasons too (e.g., parental control), rogue DNS resolvers support malicious activities, such as malware and viruses, exposing users to phishing and content injection. We introduce REMeDy, a system that assists operators to identify the use of rogue DNS resolvers in their networks. REMeDy is a completely automatic and parameter-free system that evaluates the consistency of responses across the resolvers active in the network. It operates by passively analyzing DNS traffic and, as such, requires no active probing of third-party servers. REMeDy is able to detect resolvers that manipulate answers, including resolvers that affect unpopular domains. We validate REMeDy using large-scale DNS traces collected in ISP networks where more than 100 resolvers are regularly used by customers. REMeDy automatically identifies regular resolvers, and pinpoint manipulated responses. Among those, we identify both legitimate services that offer additional protection to clients, and resolvers under the control of malwares that steer traffic with likely malicious goals.
Management of the critically ill patient with severe acute pancreatitis.

Acute pancreatitis represents a spectrum of disease ranging from a mild, self-limited course requiring only brief hospitalization to a rapidly progressive, fulminant illness resulting in the multiple organ dysfunction syndrome (MODS), with or without accompanying sepsis. The goal of this consensus statement is to provide recommendations regarding the management of the critically ill patient with severe acute pancreatitis (SAP).



An international consensus conference was held in April 2004 to develop recommendations for the management of the critically ill patient with SAP. Evidence-based recommendations were developed by a jury of ten persons representing surgery, internal medicine, and critical care after conferring with experts and reviewing the pertinent literature to address specific questions concerning the management of patients with severe acute pancreatitis.



There were a total of 23 recommendations developed to provide guidance to critical care clinicians caring for the patient with SAP. Topics addressed were as follows. 1) When should the patient admitted with acute pancreatitis be monitored in an ICU or stepdown unit? 2) Should patients with severe acute pancreatitis receive prophylactic antibiotics? 3) What is the optimal mode and timing of nutritional support for the patient with SAP? 4) What are the indications for surgery in acute pancreatitis, what is the optimal timing for intervention, and what are the roles for less invasive approaches including percutaneous drainage and laparoscopy? 5) Under what circumstances should patients with gallstone pancreatitis undergo interventions for clearance of the bile duct? 6) Is there a role for therapy targeting the inflammatory response in the patient with SAP? Some of the recommendations included a recommendation against the routine use of prophylactic systemic antibacterial or antifungal agents in patients with necrotizing pancreatitis. The jury also recommended against pancreatic debridement or drainage for sterile necrosis, limiting debridement or drainage to those with infected pancreatic necrosis and/or abscess confirmed by radiologic evidence of gas or results or fine needle aspirate. Furthermore, the jury recommended that whenever possible, operative necrosectomy and/or drainage be delayed at least 2-3 wk to allow for demarcation of the necrotic pancreas.



This consensus statement provides 23 different recommendations concerning the management of patients with SAP. These recommendations differ in several ways from previous recommendations because of the release of recent data concerning the management of these patients and also because of the focus on the critically ill patient. There are a number of important questions that could not be answered using an evidence-based approach, and areas in need of further research were identified.
The tourist loyalty index : A new indicator for measuring tourist destination loyalty ?

The measurement of loyalty is a topic of great interest for the marketing academic literature. The relation that loyalty has with the results of organizations has been tested by numerous studies and the search to retain profitable customers has become a maxim in firm management. Tourist destinations have not remained oblivious to this trend. However, the difficulty involved in measuring the loyalty of a tourist destination is a brake on its adoption by those in charge of destination management. The usefulness of measuring loyalty lies in being able to apply strategies which enable improving it, but that also impact on the enhancement of the organization’s results. The study of tourists’ loyalty to a destination is considered relevant for the literature and from the point of view of the management of the multiple actors involved in the tourist activity. Based on these considerations, this work proposes a synthetic indictor that allows the simple measurement of the tourist’s loyalty. To do so, we used as a starting point Best’s (2007) customer loyalty index adapted to the case of tourist destinations. We also employed a variable of results – the tourist’s overnight stays in the destination – to create a typology of customers according to their levels of loyalty and the number of their overnight stays. The data were obtained from a survey carried out with 2373 tourists of the city of Seville. In accordance with the results attained, the proposal of the synthetic indicator to measure tourist loyalty is viable, as it is a question of a simple index constructed from easily obtainable data. Furthermore, four groups of tourists have been identified, according to their degree of loyalty and profitability, using the number of overnight stays of the tourists in their visit to the destination. The study’s main contribution stems from the possibility of simply measuring loyalty and from establishing four profiles of tourists for which marketing strategies of differentiated relations can be put into practice and that contribute to the improvement of the destination’s results.
Heart sound anomaly and quality detection using ensemble of neural networks without segmentation

Phonocardiogram (PCG) signal is used as a diagnostic test in ambulatory monitoring in order to evaluate the heart hemodynamic status and to detect a cardiovascular disease. The objective of this study is to develop an automatic classification method for anomaly (normal vs. abnormal) and quality (good vs. bad) detection of PCG recordings without segmentation. For this purpose, a subset of 18 features is selected among 40 features based on a wrapper feature selection scheme. These features are extracted from time, frequency, and time-frequency domains without any segmentation. The selected features are fed into an ensemble of 20 feedforward neural networks for classification task. The proposed algorithm achieved the overall score of 91.50% (94.23% sensitivity and 88.76% specificity) and 85.90% (86.91% sensitivity and 84.90% specificity) on the train and unseen test datasets, respectively. The proposed method got the second best score in the PhysioNet/CinC Challenge 2016.
Giant Penile Lymphedema Caused by Chronic Penile Strangulation with Rubber Band: A Case Report and Review of the Literature

We treated a 65-year-old Japanese man with a giant penile lymphedema due to chronic penile strangulation with a rubber band. He was referred to our hospital with progressive penile swelling that had developed over a period of 2 years from chronic use of a rubber band placed around the penile base for prevention of urinary incontinence. Under a diagnosis of giant penile lymphedema, we performed resection of abnormal penile skin weighing 4.8 kg, followed by a penile plasty procedure. To the best of our knowledge, this is only the seventh report of such a case worldwide, with the present giant penile lymphedema the most reported.
MV-FTL: An FTL That Provides Page-Level Multi-Version Management

In this paper, we propose MV-FTL, a multi-version flash transition layer (FTL) that provides page-level multi-version management. By extending a unique characteristic of solid-state drives (SSDs), the out-of-place (OoP) update to multi-version management, MV-FTL can both guarantee atomic page updates from each transaction and provide concurrency without requiring redundant log data writes as well. For evaluation, we first modified SQLite, a lightweight database management system (DBMS), to cooperate with MV-FTL. Owing to the architectural simplicity of SQLite, we clearly show that MV-FTL improves both the performance and the concurrency aspects of the system. In addition, to prove the effectiveness in a full-fledged enterprise-level DBMS, we modified MyRocks, a MySQL variant by Facebook, to use our new Patch Compaction algorithm, which deeply relies on MV-FTL. The TPC-C and LinkBench benchmark tests demonstrated that MV-FTL reduces the overall amount of writes, implying that MV-FTL can be effective in such DBMSs.
Lesion detection and Grading of Diabetic Retinopathy via Two-stages Deep Convolutional Neural Networks

We propose an automatic diabetic retinopathy (DR) analysis algorithm based on two-stages deep convolutional neural networks (DCNN). Compared to existing DCNN-based DR detection methods, the proposed algorithm have the following advantages: (1) Our method can point out the location and type of lesions in the fundus images, as well as giving the severity grades of DR. Moreover, since retina lesions and DR severity appear with different scales in fundus images, the integration of both local and global networks learn more complete and specific features for DR analysis. (2) By introducing imbalanced weighting map, more attentions will be given to lesion patches for DR grading, which significantly improve the performance of the proposed algorithm. In this study, we label 12, 206 lesion patches and re-annotate the DR grades of 23, 595 fundus images from Kaggle competition dataset. Under the guidance of clinical ophthalmologists, the experimental results show that our local lesion detection net achieve comparable performance with trained human observers, and the proposed imbalanced weighted scheme also be proved to significantly improve the capability of our DCNN-based DR grading algorithm.
Widening the Data Pipeline: A Carrier Aggregation BAW Quadplexer Module

A better user experience for broadband multimedia applications and a robust "alwayson" high-speed Internet connection drive operators to meet many challenges in terms of data capacity. As illustrated by Shannon?s theorem, the upper bound for the capacity of a data link in bits per second (b/s) is a function of the available bandwidth and the link's signal-to-noise ratio. Even before 5G mobile networks are deployed and wider bandwidth is available, the demand for mobile data consumption is not slowing down, and requirements for user equipment data throughput continue to increase.
BROADBAND MICROSTRIP ANTENNAS USING COPLANAR FEEDLINE

This paper proposes two novel broadband microstrip antennas using coplanar feed-line. By feeding the patch with a suitable shape of the coplanar line in the slot of the patch, the broadband character is achieved. Compared with the antenna fed by a U-shaped feed-line, the antenna with L-shaped feed-line not only has wider bandwidth but also achieves the circular polarization character. The measured bandwidths of 25% and 34% are achieved, and both of the antennas have good radiation characteristics in the work band.