nils-herrmann/clean_scirepeval huggingface dataset:
Whole arm planning for a soft and highly compliant 2D robotic manipulator

Soft continuum manipulators have the advantage of being more compliant and having more degrees of freedom than rigid redundant manipulators. This attribute should allow soft manipulators to autonomously execute highly dexterous tasks. However, current approaches to motion planning, inverse kinematics, and even design limit the capacity of soft manipulators to take full advantage of their inherent compliance. We provide a computational approach to whole arm planning for a soft planar manipulator that advances the arm's end effector pose in task space while simultaneously considering the arm's entire envelope in proximity to a confined environment. The algorithm solves a series of constrained optimization problems to determine locally optimal inverse kinematics. Due to inherent limitations in modeling the kinematics of a highly compliant soft robot and the local optimality of the planner's solutions, we also rely on the increased softness of our newly designed manipulator to accomplish the whole arm task, namely the arm's ability to harmlessly collide with the environment. We detail the design and fabrication of the new modular manipulator as well as the planner's central algorithm. We experimentally validate our approach by showing that the robotic system is capable of autonomously advancing the soft arm through a pipe-like environment in order to reach distinct goal states.
Maximizing acquisition functions for Bayesian optimization

Bayesian optimization is a sample-efficient approach to global optimization that relies on theoretically motivated value heuristics (acquisition functions) to guide its search process. Fully maximizing acquisition functions produces the Bayes’ decision rule, but this ideal is difficult to achieve since these functions are frequently non-trivial to optimize. This statement is especially true when evaluating queries in parallel, where acquisition functions are routinely non-convex, highdimensional, and intractable. We first show that acquisition functions estimated via Monte Carlo integration are consistently amenable to gradient-based optimization. Subsequently, we identify a common family of acquisition functions, including EI and UCB, whose properties not only facilitate but justify use of greedy approaches for their maximization.
Improvement of Torque Capability of Permanent-Magnet Motor by Using Hybrid Rotor Configuration

This paper proposes a novel hybrid rotor permanent-magnet (HRPM) motor to improve torque capability, including average torque and torque ripple. The key of the proposed motor is that it can utilize high PM torque of surface-inserted PM (SPM) rotor module and high reluctance torque of interior PM (IPM) rotor module at the same time. Meanwhile, the shifting angle of SPMs and open angle of air barriers are introduced to improve the average torque and reduce the torque ripple, respectively. The two variables are employed to create circumferential asymmetry of the rotor for generating an angular difference of the electromagnetic torque between adjacent N-pole and S-pole, thus minimizing torque ripple. In order to evaluate the proposed motor, an IPM motor and a SPM motor with the same dimension and volume of PM are used as benchmarks. Through theoretical analysis and experimental test, it is verified that the proposed HRPM motor can offer higher torque density and lower torque ripple simultaneously.
Keyword clustering for user interest profiling refinement within paper recommender systems

To refine user interest profiling, this paper focuses on extending scientific subject ontology via keyword clustering and on improving the accuracy and effectiveness of recommendation of the electronic academic publications in online services. A clustering approach is proposed for domain keywords for the purpose of the subject ontology extension. Based on the keyword clusters, the construction of user interest profiles is presented on a rather fine granularity level. In the construction of user interest profiles, we apply two types of interest profiles: explicit profiles and implicit profiles. The explicit eighted keyword graph
Influence of power converters on PV maximum power point tracking efficiency

Photovoltaic maximum power point tracker (MPPT) systems are commonly employed to maximize the photovoltaic output power, since it is strongly affected in accordance to the incident solar radiation, surface temperature and load-type changes. Basically, a MPPT system consists on a dc-dc converter (hardware) controlled by a tracking algorithm (software) and the combination of both, hardware and software, defines the tracking efficiency. This paper shows that even when the most accurate algorithm is employed, the maximum power point cannot be found, since its imposition as operation point depends on the dc-dc converter static feature and the load-type connected to the system output. For validating the concept, the main dc-dc converters, i.e., Boost, Buck-Boost, Cuk, SEPIC and Zeta are analyzed considering two load-types: resistive voltage regulated dc bus. Simulation and experimental results are included for validating the theoretical analysis.
On the power of quantum fingerprinting

In the simultaneous message model, two parties holding <i>n</i>-bit integers <i>x,y</i> send messages to a third party, the <i>referee</i>, enabling him to compute a boolean function <i>f(x,y)</i>. Buhrman et al  proved the remarkable result that, when <i>f</i> is the equality function, the referee can solve this problem by comparing short "quantum fingerprints" sent by the two parties, i.e., there exists a quantum protocol using only <i>O</i>(log <i>n</i>) bits. This is in contrast to the well-known classical case for which Ω(<i>n</i><sup>1/2</sup>) bits are provably necessary for the same problem even with randomization. In this paper we show that short quantum fingerprints can be used to solve the problem for a much larger class of functions. Let <i>R</i><sup><??par line>,<i>pub</i></sup>(<i>f</i>) denote the number of bits needed in the classical case, assuming in addition a common sequence of random bits is known to all parties (the <i>public coin</i> model). We prove that, if <i>R</i><sup><??par line>,<i>pub</i></sup>(<i>f</i>)=<i>O</i>(1), then there exists a quantum protocol for <i>f</i> using only <i>O</i>(log <i>n</i>) bits. As an application we show that <i>O</i>(log <i>n</i>) quantum bits suffice for the bounded Hamming distance function, defined by <i>f(x,y)</i>=1 if and only if <i>x</i> and <i>y</i> have a constant Hamming distance <i>d</i> or less.
Theoretical and Experimental Modeling of Air Muscle

In robotics, Air Muscle is used as the analogy of the biological motor for locomotion or manipulation. It has advantages like the passive Damping, good power-weight ratio and usage in rough environments. An experimental test set up is designed to test both contraction and volume trapped in Air Muscle. This paper gives the characteristics of Air Muscle in terms of contraction of Air Muscle with variation of pressure at different loads and also in terms of volume of air trapped in it with variation in pressure at different loads. Braid structure of the Muscle has been described and its theoretical and experimental aspects of the characteristics of an Air Muscle are analysed.
The technology acceptance model and the World Wide Web

Ž . The technology acceptance model TAM proposes that ease of use and usefulness predict applications usage. The current research investigated TAM for work-related tasks with the World Wide Web as the application. One hundred and sixty-three subjects responded to an e-mail survey about a Web site they access often in their jobs. The results support TAM. They also Ž . Ž . demonstrate that 1 ease of understanding and ease of finding predict ease of use, and that 2 information quality predicts usefulness for revisited sites. In effect, the investigation applies TAM to help Web researchers, developers, and managers understand antecedents to users’ decisions to revisit sites relevant to their jobs. q 2000 Elsevier Science B.V. All rights reserved.
Top-down control of visual attention

Top-down visual attention improves perception of selected stimuli and that improvement is reflected in the neural activity at many stages throughout the visual system. Recent studies of top-down attention have elaborated on the signatures of its effects within visual cortex and have begun identifying its causal basis. Evidence from these studies suggests that the correlates of spatial attention exhibited by neurons within the visual system originate from a distributed network of structures involved in the programming of saccadic eye movements. We summarize this evidence and discuss its relationship to the neural mechanisms of spatial working memory.
Serologic detection of Toxoplasma gondii infection in stray and household cats and its hematologic evaluation Detecção sorológica da infecção por Toxoplasma gondii em gatos errantes e domiciliados e sua avaliação hematológica

This study focused on the serologic detection of Toxoplasma gondii infection in two groups of cats: stray and household groups. In addition, hematologic assessment of seropositive and seronegative cats was done.  Sixty cats were serologically tested for anti-Toxoplasma gondii antibodies using the latex agglutination test. Six collection sites for each group of cats were identified in the urban communities of Sta Rosa and San Pedro, Laguna, Philippines. The 60 cats collected were divided into 30 stray and 30 household cats.  Results revealed that 28 (46.67%) of the 60 cats were seropositive. There were more household cats (28.33%) which showed seropositivity compared to stray cats (18.33%), however the difference was statistically insignificant (p>0.05) . Hematologic tests through complete blood count showed significantly (p<0.05) higher number of seropositive cats with abnormalities on hemoglobin level, red blood cell count, segmenter (neutrophil) and monocyte counts compared to the control. Other parameters such as percent packed cell volume, white blood cell count, eosinophil and lymphocyte counts showed insignificant (p>0.05) results across seropositive cats and the control. Blood chemistry analysis showed significantly higher (p<0.05) potassium level irregularities in seropositive cats relative to the seronegative cats. Other parameters such as amylase, blood sugar, blood uric acid, creatinine and blood urea nitrogen were statistically insignificant (p>0.05).  Although Toxoplasma gondii infection suggests possible cause of hematologic abnormalities, it is recommended that further studies on this aspect be done to provide more basic and clinical research information that would improve cat health management.
Content-based image retrieval by clustering

In a typical content-based image retrieval (CBIR) system, query results are a set of images sorted by feature similarities with respect to the query. However, images with high feature similarities to the query may be very different from the query in terms of semantics. This is known as the semantic gap. We introduce a novel image retrieval scheme, CLUster-based rEtrieval of images by unsupervised learning (CLUE), which tackles the semantic gap problem based on a hypothesis: semantically similar images tend to be clustered in some feature space. CLUE attempts to capture semantic concepts by learning the way that images of the same semantics are similar and retrieving image clusters instead of a set of ordered images. Clustering in CLUE is dynamic. In particular, clusters formed depend on which images are retrieved in response to the query. Therefore, the clusters give the algorithm as well as the users semantic relevant clues as to where to navigate. CLUE is a general approach that can be combined with any real-valued symmetric similarity measure (metric or nonmetric). Thus it may be embedded in many current CBIR systems. Experimental results based on a database of about 60, 000 images from COREL demonstrate improved performance.
Optimizing human-interpretable dialog management policy using genetic algorithm

Automatic optimization of spoken dialog management policies that are robust to environmental noise has long been the goal for both academia and industry. Approaches based on reinforcement learning have been proved to be effective. However, the numerical representation of dialog policy is human-incomprehensible and difficult for dialog system designers to verify or modify, which limits its practical application. In this paper we propose a novel framework for optimizing dialog policies specified in domain language using genetic algorithm. The human-interpretable representation of policy makes the method suitable for practical employment. We present learning algorithms using user simulation and real human-machine dialogs respectively. Empirical experimental results are given to show the effectiveness of the proposed approach.
Functional anatomy of thalamus and basal ganglia

Thalamus.The human thalamus is a nuclear complex located in the diencephalon and comprising of four parts (the hypothalamus, the epythalamus, the ventral thalamus, and the dorsal thalamus). The thalamus is a relay centre subserving both sensory and motor mechanisms. Thalamic nuclei (50–60 nuclei) project to one or a few well-defined cortical areas. Multiple cortical areas receive afferents from a single thalamic nucleus and send back information to different thalamic nuclei. The corticofugal projection provides positive feedback to the "correct" input, while at the same time suppressing irrelevant information. Topographical organisation of the thalamic afferents and efferents is contralateral, and the lateralisation of the thalamic functions affects both sensory and motoric aspects. Symptoms of lesions located in the thalamus are closely related to the function of the areas involved. An infarction or haemorrhage thalamic lesion can develop somatosensory disturbances and/or central pain in the opposite hemibody, analgesic or purely algesic thalamic syndrome characterised by contralateral anaesthesia (or hypaesthesia), contralateral weakness, ataxia and, often, persistent spontaneous pain. Basal ganglia.Basal ganglia form a major centre in the complex extrapyramidal motor system, as opposed to the pyramidal motor system (corticobulbar and corticospinal pathways). Basal ganglia are involved in many neuronal pathways having emotional, motivational, associative and cognitive functions as well. The striatum (caudate nucleus, putamen and nucleus accumbens) receive inputs from all cortical areas and, throughout the thalamus, project principally to frontal lobe areas (prefrontal, premotor and supplementary motor areas) which are concerned with motor planning. These circuits: (i) have an important regulatory influence on cortex, providing information for both automatic and voluntary motor responses to the pyramidal system; (ii) play a role in predicting future events, reinforcing wanted behaviour and suppressing unwanted behaviour, and (iii) are involved in shifting attentional sets and in both high-order processes of movement initiation and spatial working memory. Basal ganglia-thalamo-cortical circuits maintain somatotopic organisation of movement-related neurons throughout the circuit. These circuits reveal functional subdivisions of the oculomotor, prefrontal and cingulate circuits, which play an important role in attention, learning and potentiating behaviour-guiding rules. Involvement of the basal ganglia is related to involuntary and stereotyped movements or paucity of movements without involvement of voluntary motor functions, as in Parkinson’s disease, Wilson’s disease, progressive supranuclear palsy or Huntington’s disease. The symptoms differ with the location of the lesion. The commonest disturbances in basal ganglia lesions are abulia (apathy with loss of initiative and of spontaneous thought and emotional responses) and dystonia, which become manifest as behavioural and motor disturbances, respectively.
Maternal Body Mass Index and Self-Reported Postpartum Depressive Symptoms

The association between extremes of body mass index (BMI) and depression in women has been documented, yet little is known about the relationship between obesity and postpartum depression (PPD). This study seeks to characterize the association between BMI and PPD.  The 2000–2001 Utah data from Pregnancy Risk Assessment Monitoring System (PRAMS) were used to determine the proportion of women, stratified by prepregnancy body mass index, reporting postpartum depressed mood and stressors during pregnancy.  The prevalence of self-reported moderate or greater depressive symptoms was 27.7% (S.E. ±2.2) in underweight, 22.8% (±1.2) in normal weight, 24.8% (±2.9) in overweight and 30.8% (±2.5) in obese women. After controlling for marital status and income, normal BMI (19.8–25.9) was associated with the lowest rate of self-reported postpartum depressive symptoms. There was a two-fold increase in self-reported depressive symptoms requiring assistance among overweight and obese women compared to normal weight women (1.53% normal, 2.99% overweight, and 3.10% obese [p < 0.001]). Obese women were significantly more likely to report emotional and traumatic stressors during pregnancy than normal weight women.  This population-based survey suggests a potential association between prepregnancy body mass index and self-reported postpartum depressive symptoms. Prospective studies of association between obesity and PPD, with improved diagnostic precision are warranted.
Psychotherapy for generalized anxiety disorder.

The present article describes the basic therapeutic techniques used in the cognitive-behavioral therapy (CBT) of generalized anxiety disorders and reviews the methodological characteristics and outcomes of 13 controlled clinical trials. The studies in general display rigorous methodology, and their outcomes are quite consistent. CBT has been shown to yield clinical improvements in both anxiety and depression that are superior to no treatment and nonspecific control conditions (and at times to either cognitive therapy alone or behavioral therapy alone) at both posttherapy and follow-up. CBT is also associated with low dropout rates, maintained long-term improvements, and the largest within-group and between-group effect sizes relative to all other comparison conditions.
Device complication and failure management in neuromodulation.

Neuromodulation, currently a device-dependent specialty, faces a potential crisis that may threaten its very future. Frequently discussed are the critical issues of the inadequate volume of evidence based and mechanism based evidence supporting the efficacy of various neuromodulation procedures, although there has been much recent work to address these problems (1–3). The worldwide economic downturn, imminent changes in the U.S. health care system, and the relatively high initial costs of most neuromodulation therapies have also been discussed at length (4). What is less often a focus of our attention, however, is the high device and procedure based failure rates that plague our specialty. The impact of device and procedural failures on therapeutic efficacy and patient satisfaction are obvious; the effect of their economic costs, however, may be even more impactful. The economic costs resulting from these failures, as measured by the very cost-benefit analyses that are used to justify their reimbursement, could lead to a“perfect storm”, the result of which could well be the elimination of neuromodulation therapies as a therapeutic option for our patients. Those of us in the clinical practice of neuromodulation regularly encounter device failures and their impact upon patient satisfaction and outcomes. When these issues arise as a result of the use of the devices within FDA approved indications and guidelines, these failures clearly fall into the realm of those requiring the attention and improvement by industry. Some of these failures, however, occur following the off label use of devices, such as using spinal cord stimulation leads for peripheral nerve stimulation of the head and face or for peripheral nerve field stimulation (PNfS) for localized somatic pain. In these cases, the clinician user shares the ethical burden of device failure. Regardless of relative liability, clinicians and manufacturers must work together to deal with quality control problems involving neuromodulation procedures and devices for the sake of our patients and of our field. Historically, when we consider quality control, device and procedural reliability, we focus on the narrow areas of device design, manufacturing, and distribution. This remains an important area that requires greater attention. I would propose, however, that the consumers of health care services, on the other hand, tend to view these issues much more globally. Thus, any failure which results from defects in the devices themselves or their clinical use are grouped together as the efficacy and reliability of the therapy are considered. The negative impact of improper patient selection, suboptimal implantation technique, and poor postoperative device and therapy maintenance must be included as part of a global assessment of the therapy. As we evaluate therapy outcomes, it becomes clear that device manufacturers and clinicians both bear significant and profound responsibility for quality control in neuromodulation.
Quantum computing in molecular magnets

Shor and Grover demonstrated that a quantum computer can outperform any classical computer in factoring numbers and in searching a database by exploiting the parallelism of quantum mechanics. Whereas Shor's algorithm requires both superposition and entanglement of a many-particle system, the superposition of single-particle quantum states is sufficient for Grover's algorithm. Recently, the latter has been successfully implemented using Rydberg atoms. Here we propose an implementation of Grover's algorithm that uses molecular magnets, which are solid-state systems with a large spin; their spin eigenstates make them natural candidates for single-particle systems. We show theoretically that molecular magnets can be used to build dense and efficient memory devices based on the Grover algorithm. In particular, one single crystal can serve as a storage unit of a dynamic random access memory device. Fast electron spin resonance pulses can be used to decode and read out stored numbers of up to 105, with access times as short as 10-10 seconds. We show that our proposal should be feasible using the molecular magnets Fe8 and Mn12.
Innovative T/R module in state-of-the-art GaN technology

In this paper a first iteration X-band T/R module based on a GaN-HEMT MMIC front-end chip-set, comprising a power amplifier, robust low-noise amplifier and power switch will be presented. Even though ultimate T/R module performance cannot be achieved with current GaN-HEMT technological maturity the impact that this technology can have at systems level in terms of performance/cost trade-off will be illustrated by means of a preliminary innovative module architecture which foresees the elimination of more traditional T7R module components such as ferrite circulator and limiter for front-end signal routing and protection.