nils-herrmann/clean_scirepeval huggingface dataset:
A novel modular compliant knee joint actuator for use in assistive and rehabilitation orthoses

Despite significant advancements in the field of wearable robots (WRs), commercial WRs still use traditional direct-drive actuation units to power their joints. On the other hand, in research prototypes compliant actuators are increasingly being used to more adequately address the issues of safety, robustness, control and overall system efficiency. The advantages of mechanical compliance are exploited in a novel modular actuator prototype designed for the knee joint. Due to its modularity, the actuator can be implemented in a knee joint of a standalone or a multi-joint lower-limbs orthosis, for use in gait rehabilitation and/or walking assistance. Differently from any other actuator used in orthotic research prototypes, it combines a Variable Stiffness Actuator (VSA) and a Parallel Elasticity Actuation (PEA) unit in a single modular system. Although independent, the units are designed to work together in order to fully mimic dynamic behavior of the human knee joint. In this paper, design aspects and functional evaluation of the new actuator are presented and a rationale for such a design in biomechanics of the human knee joint is given. The VSA subsystem is characterized in a quasi-static benchmarking environment and the results showing main performance indicators are presented.
Similarity of binaries through re-optimization

We present a scalable approach for establishing similarity between stripped binaries (with no debug information). The main challenge in binary similarity, is to establish similarity even when the code has been compiled using different compilers, with different optimization levels, or targeting different architectures. Overcoming this challenge, while avoiding false positives, is invaluable to the process of reverse engineering and the process of locating vulnerable code. 
We present a technique that is scalable and precise, as it alleviates the need for heavyweight semantic comparison by performing out-of-context re-optimization of procedure fragments. It works by decomposing binary procedures to comparable fragments and transforming them to a canonical, normalized form using the compiler optimizer, which enables finding equivalent fragments through simple syntactic comparison. We use a statistical framework built by analyzing samples collected âin the wildâ to generate a global context that quantifies the significance of each pair of fragments, and uses it to lift pairwise fragment equivalence to whole procedure similarity. 
We have implemented our technique in a tool called <pre>GitZ</pre> and performed an extensive evaluation. We show that <pre>GitZ</pre> is able to perform millions of comparisons efficiently, and find similarity with high accuracy.
Recover Canonical-View Faces in the Wild with Deep Neural Networks

Face images in the wild undergo larg巳 intra-p巳rsonal variations , such as poses, illuminations, occlusions, and low resolutions , causing great challenges to facerelated applications. This paper addresses this challenge by proposing a new deep learning framework that can recover the canonical view of face images. It dramatically reduces the intra-person variances, while maintaining the inter-person discriminativeness. Unlike the existing face reconstruction methods that were either evaluated in controlled 2D environment or employed 3D information, our approach directly learns the transformation from the face images with a complex set of variations to their canonical views. At the training stage, to avoid the costly process of labeling canonical-view images from the training set by hand, we have devised a new measurement to automatically select or synthesize a canonical-view image for each identity. As an application, this face recovery approach is used for face v巳rification. Facial features are learned from the recovered canonical-view face images by using a facial component-based convolutional neural network. Our approach achieves the state-of-the-art performance on the LFW dataset
Advancing Land-Sea Conservation Planning: Integrating Modelling of Catchments, Land-Use Change, and River Plumes to Prioritise Catchment Management and Protection

Human-induced changes to river loads of nutrients and sediments pose a significant threat to marine ecosystems. Ongoing land-use change can further increase these loads, and amplify the impacts of land-based threats on vulnerable marine ecosystems. Consequently, there is a need to assess these threats and prioritise actions to mitigate their impacts. A key question regarding prioritisation is whether actions in catchments to maintain coastal-marine water quality can be spatially congruent with actions for other management objectives, such as conserving terrestrial biodiversity. In selected catchments draining into the Gulf of California, Mexico, we employed Land Change Modeller to assess the vulnerability of areas with native vegetation to conversion into crops, pasture, and urban areas. We then used SedNet, a catchment modelling tool, to map the sources and estimate pollutant loads delivered to the Gulf by these catchments. Following these analyses, we used modelled river plumes to identify marine areas likely influenced by land-based pollutants. Finally, we prioritised areas for catchment management based on objectives for conservation of terrestrial biodiversity and objectives for water quality that recognised links between pollutant sources and affected marine areas. Our objectives for coastal-marine water quality were to reduce sediment and nutrient discharges from anthropic areas, and minimise future increases in coastal sedimentation and eutrophication. Our objectives for protection of terrestrial biodiversity covered species of vertebrates. We used Marxan, a conservation planning tool, to prioritise interventions and explore spatial differences in priorities for both objectives. Notable differences in the distributions of land values for terrestrial biodiversity and coastal-marine water quality indicated the likely need for trade-offs between catchment management objectives. However, there were priority areas that contributed to both sets of objectives. Our study demonstrates a practical approach to integrating models of catchments, land-use change, and river plumes with conservation planning software to inform prioritisation of catchment management.
Unconscious effects of language-specific terminology on preattentive color perception.

It is now established that native language affects one's perception of the world. However, it is unknown whether this effect is merely driven by conscious, language-based evaluation of the environment or whether it reflects fundamental differences in perceptual processing between individuals speaking different languages. Using brain potentials, we demonstrate that the existence in Greek of 2 color terms--ghalazio and ble--distinguishing light and dark blue leads to greater and faster perceptual discrimination of these colors in native speakers of Greek than in native speakers of English. The visual mismatch negativity, an index of automatic and preattentive change detection, was similar for blue and green deviant stimuli during a color oddball detection task in English participants, but it was significantly larger for blue than green deviant stimuli in native speakers of Greek. These findings establish an implicit effect of language-specific terminology on human color perception.
Low-Voltage Super class AB CMOS OTA cells with very high slew rate and power efficiency

A simple technique to achieve low-voltage power-efficient class AB operational transconductance amplifiers (OTAs) is presented. It is based on the combination of class AB differential input stages and local common-mode feedback (LCMFB) which provides additional dynamic current boosting, increased gain-bandwidth product (GBW), and near-optimal current efficiency. LCMFB is applied to various class AB differential input stages, leading to different class AB OTA topologies. Three OTA realizations based on this technique have been fabricated in a 0.5-/spl mu/m CMOS technology. For an 80-pF load they show enhancement factors of slew rate and GBW of up to 280 and 3.6, respectively, compared to a conventional class A OTA with the same 10-/spl mu/A quiescent currents and /spl plusmn/1-V supply voltages. In addition, the overhead in terms of common-mode input range, output swing, silicon area, noise, and static power consumption, is minimal.
Voice Activation Control with Digital Assistant for Humanoid Robot Torso

Digital Voice Assistants are an emerging technology due to improvements on mobile communication and computing technologies and are becoming more popular in recent years due to growing marketing strategies on new smart home devices by cloud service providers. Most of the applications on smart environments and assistive robotics are relying on these digital assistants, or Internet of Things (IoT) devices, based on the nature of the system, namely voice activation and control. Smart home assistants, such as Amazon Echo with Alexa and Google Home are the most well-known examples on this manner, relying on the base of processing verbal requests by looking for key words in the conversation as well as the structure of a natural language source of communication. Later, these key words are used to trigger the predefined skills for fulfilling the users’ request. A simple structure of the process works both ways between the user and the device by providing a verbal request/order and verbal feedback. In this project, we have built a system, a humanoid robot torso and an IoT device, to control and simulate the process of an interactive functioning assistive robot and tried to improve the effects of Human Robot Interactions.
Tagging Ingush - Language Technology For Low-Resource Languages Using Resources From Linguistic Field Work

This paper presents on-going work on creating NLP tools for under-resourced languages from very sparse training data coming from linguistic field work. In this work, we focus on Ingush, a Nakh-Daghestanian language spoken by about 300,000 people in the Russian republics Ingushetia and Chechnya. We present work on morphosyntactic taggers trained on transcribed and linguistically analyzed recordings and dependency parsers using English glosses to project annotation for creating synthetic treebanks. Our preliminary results are promising, supporting the goal of bootstrapping efficient NLP tools with limited or no task-specific annotated data resources available.
Predictors of physical restraint use in Canadian intensive care units

Physical restraint (PR) use in the intensive care unit (ICU) has been associated with higher rates of self-extubation and prolonged ICU length of stay. Our objectives were to describe patterns and predictors of PR use.



We conducted a secondary analysis of a prospective observational study of analgosedation, antipsychotic, neuromuscular blocker, and PR practices in 51 Canadian ICUs. Data were collected prospectively for all mechanically ventilated adults admitted during a two-week period. We tested for patient, treatment, and hospital characteristics that were associated with PR use and number of days of use, using logistic and Poisson regression respectively.



PR was used on 374 out of 711 (53%) patients, for a mean number of 4.1 (standard deviation (SD) 4.0) days. Treatment characteristics associated with PR were higher daily benzodiazepine dose (odds ratio (OR) 1.05, 95% confidence interval (CI) 1.00 to 1.11), higher daily opioid dose (OR 1.04, 95% CI 1.01 to 1.06), antipsychotic drugs (OR 3.09, 95% CI 1.74 to 5.48), agitation (Sedation-Agitation Scale (SAS) >4) (OR 3.73, 95% CI 1.50 to 9.29), and sedation administration method (continuous and bolus versus bolus only) (OR 3.09, 95% CI 1.74 to 5.48). Hospital characteristics associated with PR indicated patients were less likely to be restrained in ICUs from university-affiliated hospitals (OR 0.32, 95% CI 0.17 to 0.61). Mainly treatment characteristics were associated with more days of PR, including: higher daily benzodiazepine dose (incidence rate ratio (IRR) 1.07, 95% CI 1.01 to 1.13), daily sedation interruption (IRR 3.44, 95% CI 1.48 to 8.10), antipsychotic drugs (IRR 15.67, 95% CI 6.62 to 37.12), SAS <3 (IRR 2.62, 95% CI 1.08 to 6.35), and any adverse event including accidental device removal (IRR 8.27, 95% CI 2.07 to 33.08). Patient characteristics (age, gender, Acute Physiology and Chronic Health Evaluation II score, admission category, prior substance abuse, prior psychotropic medication, pre-existing psychiatric condition or dementia) were not associated with PR use or number of days used.



PR was used in half of the patients in these 51 ICUs. Treatment characteristics predominantly predicted PR use, as opposed to patient or hospital/ICU characteristics. Use of sedative, analgesic, and antipsychotic drugs, agitation, heavy sedation, and occurrence of an adverse event predicted PR use or number of days used.
Ontology-Based Data Access: Ontop of Databases

We present the architecture and technologies underpinning the OBDA system Ontop and taking full advantage of storing data in relational databases. We discuss the theoretical foundations of Ontop: the tree-witness query rewriting, T -mappings and optimisations based on database integrity constraints and SQL features. We analyse the performance of Ontop in a series of experiments and demonstrate that, for standard ontologies, queries and data stored in relational databases, Ontop is fast, efficient and produces SQL rewritings of high quality.
Introduction to Support Vector Machines

Support Vector Machines (SVM’s) are a relatively new learning method used for binary classification. The basic idea is to find a hyperplane which separates the d-dimensional data perfectly into its two classes. However, since example data is often not linearly separable, SVM’s introduce the notion of a “kernel induced feature space” which casts the data into a higher dimensional space where the data is separable. Typically, casting into such a space would cause problems computationally, and with overfitting. The key insight used in SVM’s is that the higher-dimensional space doesn’t need to be dealt with directly (as it turns out, only the formula for the dot-product in that space is needed), which eliminates the above concerns. Furthermore, the VC-dimension (a measure of a system’s likelihood to perform well on unseen data) of SVM’s can be explicitly calculated, unlike other learning methods like neural networks, for which there is no measure. Overall, SVM’s are intuitive, theoretically wellfounded, and have shown to be practically successful. SVM’s have also been extended to solve regression tasks (where the system is trained to output a numerical value, rather than “yes/no” classification).
A knowledge-based approach in designing combinatorial or medicinal chemistry libraries for drug discovery. 1. A qualitative and quantitative characterization of known drug databases.

The discovery of various protein/receptor targets from genomic research is expanding rapidly. Along with the automation of organic synthesis and biochemical screening, this is bringing a major change in the whole field of drug discovery research. In the traditional drug discovery process, the industry tests compounds in the thousands. With automated synthesis, the number of compounds to be tested could be in the millions. This two-dimensional expansion will lead to a major demand for resources, unless the chemical libraries are made wisely. The objective of this work is to provide both quantitative and qualitative characterization of known drugs which will help to generate "drug-like" libraries. In this work we analyzed the Comprehensive Medicinal Chemistry (CMC) database and seven different subsets belonging to different classes of drug molecules. These include some central nervous system active drugs and cardiovascular, cancer, inflammation, and infection disease states. A quantitative characterization based on computed physicochemical property profiles such as log P, molar refractivity, molecular weight, and number of atoms as well as a qualitative characterization based on the occurrence of functional groups and important substructures are developed here. For the CMC database, the qualifying range (covering more than 80% of the compounds) of the calculated log P is between -0.4 and 5.6, with an average value of 2.52. For molecular weight, the qualifying range is between 160 and 480, with an average value of 357. For molar refractivity, the qualifying range is between 40 and 130, with an average value of 97. For the total number of atoms, the qualifying range is between 20 and 70, with an average value of 48. Benzene is by far the most abundant substructure in this drug database, slightly more abundant than all the heterocyclic rings combined. Nonaromatic heterocyclic rings are twice as abundant as the aromatic heterocycles. Tertiary aliphatic amines, alcoholic OH and carboxamides are the most abundant functional groups in the drug database. The effective range of physicochemical properties presented here can be used in the design of drug-like combinatorial libraries as well as in developing a more efficient corporate medicinal chemistry library.
FRPAs and High-Gain Directional Antennas

Many types of GNSS antennas have been developed in recent years to make them suitable for different applications. Since their designs and performance requirements vary depending on their application, they have been grouped into six different categories in this book: 1. The design and performance of each type of antenna will be described here and throughout the rest of the book. This chapter discusses the design of the first two varieties: FRPAs and high-gain directional antennas. Figure 2.1 shows a representative sample of these antennas. FRPAs are the most popular and widely used of all GNSS antennas. There are many different types of these antennas; hence they will need two chapters—this chapter and Chapter 3—to fully cover all the important types. This chapter will discuss the following FRPA designs: microstrip patch antennas, which are the most ubiquitous of all GNSS antennas, and quadrifilar helix antennas (QHAs), which are also popular for handheld receivers and crossed " drooping " bow-type dipoles, which provide relatively wider bandwidths and good circular polarization. Spiral antennas such as the Archimedean spiral antenna will be discussed in Chapter 3 under multiband antennas since they are ultrawideband and can cover the entire GNSS band from 1.1 to 1.6 GHz. The conical spiral antenna is also a high-gain di
How Not to Do a Mindset Intervention: Learning from a Mindset Intervention among Students with Good Grades

The present study examined the effectiveness of a Growth Mindset intervention based on Dweck et al.'s (1995) theory in the Hungarian educational context. A cluster randomized controlled trial classroom experiment was carried out within the framework of a train-the-trainer intervention among 55 Hungarian 10th grade students with high Grade Point Average (GPA). The results suggest that students' IQ and personality mindset beliefs were more incremental in the intervention group than in the control group 3 weeks after the intervention. Furthermore, compared to both the baseline measure and the control group, students' amotivation decreased. However, no intrinsic and extrinsic motivation change was found. Students with low grit scores reported lower amotivation following the intervention. However, in the second follow-up measurement-the end of the semester-all positive changes disappeared; and students' GPA did not change compared to the previous semester. These results show that mindset beliefs are temporarily malleable and in given circumstances, they can change back to their pre-intervention state. The potential explanation is discussed in the light of previous mindset intervention studies and recent findings on wise social psychological interventions.
Distributed Recurrent Neural Forward Models with Synaptic Adaptation for Complex Behaviors of Walking Robots

Walking animals, like stick insects, cockroaches or ants, demonstrate a fascinating range of locomotive abilities and complex behaviors. The locomotive behaviors can consist of a variety of walking patterns along with adaptation that allow the animals to deal with changes in environmental conditions, like uneven terrains, gaps, obstacles etc. Biological study has revealed that such complex behaviors are a result of a combination of biomechanics and neural mechanism thus representing the true nature of embodied interactions. While the biomechanics helps maintain flexibility and sustain a variety of movements, the neural mechanisms generate movements while making appropriate predictions crucial for achieving adaptation. Such predictions or planning ahead can be achieved by way of internal models that are grounded in the overall behavior of the animal. Inspired by these findings, we present here, an artificial bio-inspired walking system which effectively combines biomechanics (in terms of the body and leg structures) with the underlying neural mechanisms. The neural mechanisms consist of 1) central pattern generator based control for generating basic rhythmic patterns and coordinated movements, 2) distributed (at each leg) recurrent neural network based adaptive forward models with efference copies as internal models for sensory predictions and instantaneous state estimations, and 3) searching and elevation control for adapting the movement of an individual leg to deal with different environmental conditions. Using simulations we show that this bio-inspired approach with adaptive internal models allows the walking robot to perform complex locomotive behaviors as observed in insects, including walking on undulated terrains, crossing large gaps as well as climbing over high obstacles. Furthermore we demonstrate that the newly developed recurrent network based approach to online forward models outperforms the adaptive neuron forward models, which have hitherto been the state of the art, to model a subset of similar walking behaviors in walking robots. ∗Correspondence: sakyasingha.dasgupta@riken.jp Current address: Riken Brain Science Institute, 2-1 Hirosawa, Wako, Saitama, Japan 1 ar X iv :1 50 6. 03 59 9v 1 [ cs .N E ] 1 1 Ju n 20 15
The moderating effects of performance ambiguity on the relationship between self-efficacy and performance.

Recent research (e.g., Vancouver & Kendall, 2006; Vancouver, Thompson, Tischner, & Putka, 2002; Vancouver, Thompson, & Williams, 2001) has challenged the conventional view of self-efficacy as a positive influence on performance, finding a negative within-person relationship between self-efficacy and performance. In the current study, performance ambiguity is examined as a potential boundary condition for this negative self-efficacy effect. As hypothesized, self-efficacy was negatively related to subsequent performance under conditions of high ambiguity but was positively related to performance when performance ambiguity was low. Additionally, the study evaluates key mediating processes underlying the relationship between self-efficacy and performance, finding support for the role of performance perceptions and effort allocation. The results of this study help to establish the scope of the phenomenon and suggest potential means of inhibiting the negative self-efficacy effects.