pinecone/core-2020-05-10-deduplication huggingface dataset:
Quasi optimal sagittal gait of a biped robot with a new structure of knee joint

The design of humanoid robots has been a tricky challenge for several years. Due to the kinematic complexity of human joints, their movements are notoriously difficult to be reproduced by a mechanism. The human knees allow movements including rolling and sliding, and therefore the design of new bioinspired knees is of utmost importance for the reproduction of anthropomorphic walking in the sagittal plane. In this article, the kinematic characteristics of knees were analyzed and a mechanical solution for reproducing them is proposed. The geometrical, kinematic and dynamic models are built together with an impact model for a biped robot with the new knee kinematic. The walking gait is studied as a problem of parametric optimization under constraints. The trajectories of walking are approximated by mathematical functions for a gait composed of single support phases with impacts. Energy criteria allow comparing the robot provided with the new rolling knee mechanism and a robot equipped with revolute knee joints. The results of the optimizations show that the rolling knee brings a decrease of the sthenic criterion. The comparisons of torques are also observed to show the difference of energy distribution between the actuators. For the same actuator selection, these results prove that the robot with rolling knees can walk longer than the robot with revolute joint knees.ANR R2A
Multilayer Markov Random Field Models for Change Detection in Optical Remote Sensing Images

In this paper, we give a comparative study on three \ud
Multilayer Markov Random Field (MRF) based solutions proposed \ud
for change detection in optical remote sensing images, called \ud
Multicue MRF, Conditional Mixed Markov model, and Fusion MRF. \ud
Our purposes are twofold. On one hand, we highlight the \ud
significance of the focused model family and we set them \ud
against various state-of-the-art approaches through a \ud
thematic analysis and quantitative tests. We discuss the \ud
advantages and drawbacks of class comparison vs. direct \ud
approaches, usage of training data, various targeted \ud
application fields and different ways of Ground Truth \ud
generation, meantime informing the Reader in which roles the \ud
Multilayer MRFs can be efficiently applied. On the other hand \ud
we also emphasize the differences between the three focused \ud
models at various levels, considering the model structures, \ud
feature extraction, layer interpretation, change concept \ud
definition, parameter tuning and performance. We provide \ud
qualitative and quantitative comparison results using \ud
principally a publicly available change detection database \ud
which contains aerial image pairs and Ground Truth change \ud
masks. We conclude that the discussed models are competitive \ud
against alternative state-of-the-art solutions, if one uses \ud
them as pre-processing filters in multitemporal optical image \ud
analysis. In addition, they cover together a large range of \ud
applications, considering the different usage options of the \ud
three approaches
PARTICLE EMISSION BUT ALSO FISSION IN THE DECAY OF VERY EXCITED NUCLEI

An extension of the statistical model for the study of very excited nuclei is presented. The temperature and angular momentum dependences of the fission barriers are obtained in a liquid drop picture. It provides us with the relevant potential landscapes for some collective variables which evolve during the decay according to a generalized transport equation. The light particle evaporation during the fast fission process and the fission after compound nucleus formation is calculated and compared with some available experimental results, e.g. for 40Ar + 238U at 27 MeV/u. The competing process of particle emission (cooling) doring the thermal equilibrium prevents a complete transfer of excitation energy along the whole evolution of the system. Such nuclei should be called warm instead of hot
Robust normative comparisons of socially risky situations

International audienceIn this paper, we theoretically characterize robust empirically implementable normative criteria for evaluating socially risky situations. Socially risky situations are modeled as distributions, among individuals, of lotteries on a finite set of state-contingent pecuniary consequences. Individuals are assumed to have selfish Von Neumann-Morgenstern preferences for these socially risky situations. We provide empirically implementable criteria that coincide with the unanimity, over a reasonably large class of such individual preferences, of anonymous and Pareto-inclusive Von Neuman Morgenstern social rankings of risks. The implementable criteria can be interpreted as sequential expected poverty dominance.An illustration of the usefulness of the criteria for comparing the exposure to unemployment risk of different segments of the French and US workforce is also provided
Evaluation of the Fisher information matrix in nonlinear mixed effect models using adaptive Gaussian quadrature

International audienceNonlinear mixed effect models (NLMEM) are used in model-based drug development to analyse longitudinal data. To design these studies, the use of the expected Fisher information matrix (MF) is a good alternative to clinical trial simulation. Presently, MF in NLMEM is mostly evaluated with first-order linearisation. The adequacy of this approximation is, however, influenced by model nonlinearity. Alternatives for the evaluation of MF without linearisation are proposed, based on Gaussian quadratures. The MF, expressed as the expectation of the derivatives of the log-likelihood, can be obtained by stochastic integration. The likelihood for each simulated vector of observations is approximated by Gaussian quadrature centred at 0 (standard quadrature) or at the simulated random effects (adaptive quadrature). These approaches have been implemented in R. Their relevance was compared with clinical trial simulation and linearisation, using dose-response models, with various nonlinearity levels and different number of doses per patient. When the nonlinearity was mild, three approaches based on MF gave correct predictions of standard errors, when compared with the simulation. When the nonlinearity increased, linearisation correctly predicted standard errors of fixed effects, but over-predicted, with sparse designs, standard errors of some variability terms. Meanwhile, quadrature approaches gave correct predictions of standard errors overall, but standard Gaussian quadrature was very time-consuming when there were more than two random effects. To conclude, adaptive Gaussian quadrature is a relevant alternative for the evaluation of MF for models with stronger nonlinearity, while being more computationally efficient than standard quadrature
Positron annihilation in latex templated macroporous silica films: pore size and ortho-positronium escape

International audienceDepth profling of positron annihilation characteristics has been used to investigate the pore size distribution in macroporous PMMA latex templated SiO2 films deposited on glass or Si and prepared with 11-70% porosity. The correlation between the annihilation characteristics shows that o-Ps escape (re-emission) into vacuum occurs in all films with a porosity threshold that is pore size dependent. For 60 ± 2% porosity, the o-Ps reemission yield decreases from ~ 0:25 to ~ 0:11 as the pore size increases from 32 to 75 nm. The o-Ps reemission yield is shown to vary linearly with the specific surface area per mass unit and the slope is independent of pore size, 9:1±0:4 g cm-1. For 32 nm pores, the o-Ps annihilation lifetimes in the films, 17(2)ns and 106(5) ns, show that o-Ps annihilates from micropores with small effective size (1:4 ± 4 nm) and from macropores with large effective size (~ 32 nm). Above the porosity threshold, the o-Ps-escape model predicts the annihilation lifetime in the films to be 19±2 ns. Our results imply that o-Ps effciently detects the microporosity present in the silica walls. At low porosity, its capture into the micropores competes with its capture into the macropores. At higher porosity (when the distance between micropores and macropores become small), this capture into the micropores assists the capture into the macropores
Temporal evolution of age data under transient pumping conditions

International audienceWhile most age data derived from tracers have been analyzed in steady-state flow conditions, we determine their temporal evolution when starting a pumping. Our study is based on a model made up of a shallowly dipping aquifer overlain by a less permeable aquitard characteristic of the crystalline aquifer of Plœmeur (Brittany, France). Under a pseudo transient flow assumption (instantaneous shift between two steady-state flow fields), we solve the transport equation with a backward particle-tracking method and determine the temporal evolution of the concentrations at the pumping well of CFC-11, CFC-12, CFC-113 and SF6. Apparent ages evolve because of the modifications of the flow pattern and because of the non-linear evolution of the tracer atmospheric concentrations. To identify the respective role of these two causes, we propose two successive analyses. We first convolute residence time distributions initially arising at different times at the same sampling time. We secondly convolute one residence time distribution at various sampling times. We show that flow pattern modifications control the apparent ages evolution in the first pumping year when the residence time distribution is modified from a piston-like distribution to a much broader distribution. In the first pumping year, the apparent age evolution contains transient information that can be used to better constrain hydrogeological systems and slightly compensate for the small number of tracers. Later, the residence time distribution hardly evolves and apparent ages only evolve because of the tracer atmospheric concentrations. In this phase, apparent age time-series do not reflect any evolution in the flow pattern
Anionic living polymerization of useful monomers that can provide intermolecular chemical links

Anionic living polymerization of four new monomers that serve as intermolecular chemical links between polymer chains are described, along with the wide applications of the resultant polymer alloys. Examples of the first monomer include three tertiary aminostyrenes. The corresponding poly(tertiary aminostyrene)s (PtAS) having a desired molecular weight and narrow molecular weight distribution were prepared. Crosslinked films of PtAS with p, p'-bis(chloromethyl)azobenzene (CAB) were prepared by quaternization. Photochemical isomerization of CAB incorporated in PtAS was investigated. The second monomer discussed is N-isopropyl-N-trimethylsilyl-4-vinylbenzylamine (ISBA). ISBA was anionically polymerized and subsequent deprotection of the trimethylsilyl protecting group produced poly (N-isopropyl-4-vinylbenzylamine) (PIBA) with a secondary amino group. The non-thrombogenic behavior of the corresponding poly (aminostyrene)-graft-oligopeptide graft copolymers was evaluated. The third monomer, (4-vinylphenyl)dimethylvinylsilane (VS), contains a silylvinyl group. To carry out a
chemoselective polymerization of the styryl group of VS, a systematic study on anionic polymerization was carried out. Lithographic characterization shows the resultant polymer (PVS) acting as a negative working resist. Three (PVS-graft-polyisoprene)-block-polystyrene block-graft copolymers were prepared by a “grafting onto” process. The fourth monomer discussed is p-butoxystyrene. The deprotection of the tert-butyl protecting group from the corresponding polymer produces poly (p-hydroxystyrene) (PHSt). Two polystyrene-block-[PHSt-graft-poly (ethylene oxide)]-block-polystyrene block-graft copolymers were prepared by a “grafting from” process. Benzene-cast films formed clear and specific lamellar structures in which poly (ethylene oxide) is not crystallized
Bottom-up Synthesis of Novel Supported Thioureas and Their Use in Enantioselective Solvent-free Aza-Henry and Michael Additions

Producción CientíficaTwo sets of supported chiral thioureas, which differ in the length of the tether connecting the chiral appendage to the polymer structure and the effective functionalization, have been prepared by co-polymerization of styrene, novel styryl thioureas derived from (L)-valine, and divinylbenzene. The efficiency of these polymeric thioureas has been tested in two different enantioselective transformations such as aza-Henry and nitro-Michael reactions in neat reaction conditions. The obtained results show that it is possible to recycle, and they are able to promote the reactions with good enantioselectivity in low catalyst loading.Ministerio de Economía, Industria y Competitividad (CTQ2014-59870-P)Junta de Castilla y León (programa de apoyo a proyectos de investigación – Ref. VA064U13
Mutations in the Gene Encoding IFT Dynein Complex Component WDR34 Cause Jeune Asphyxiating Thoracic Dystrophy

Bidirectional (anterograde and retrograde) motor-based intraflagellar transport (IFT) governs cargo transport and delivery processes that are essential for primary cilia growth and maintenance and for hedgehog signaling functions. The IFT dynein-2 motor complex that regulates ciliary retrograde protein transport contains a heavy chain dynein ATPase/motor subunit, DYNC2H1, along with other less well functionally defined subunits. Deficiency of IFT proteins, including DYNC2H1, underlies a spectrum of skeletal ciliopathies. Here, by using exome sequencing and a targeted next-generation sequencing panel, we identified a total of 11 mutations in WDR34 in 9 families with the clinical diagnosis of Jeune syndrome (asphyxiating thoracic dystrophy). WDR34 encodes a WD40 repeat-containing protein orthologous to Chlamydomonas FAP133, a dynein intermediate chain associated with the retrograde intraflagellar transport motor. Three-dimensional protein modeling suggests that the identified mutations all affect residues critical for WDR34 protein-protein interactions. We find that WDR34 concentrates around the centrioles and basal bodies in mammalian cells, also showing axonemal staining. WDR34 coimmunoprecipitates with the dynein-1 light chain DYNLL1 in vitro, and mining of proteomics data suggests that WDR34 could represent a previously unrecognized link between the cytoplasmic dynein-1 and IFT dynein-2 motors. Together, these data show that WDR34 is critical for ciliary functions essential to normal development and survival, most probably as a previously unrecognized component of the mammalian dynein-IFT machinery
A fibrocontractive mechanochemical model of dermal wound closure incorporating realistic growth factor kinetics

Fibroblasts and their activated phenotype, myofibroblasts, are the primary cell types involved in the contraction associated with dermal wound healing. Recent experimental evidence indicates that the transformation from fibroblasts to myofibroblasts involves two distinct processes: the cells are stimulated to change phenotype by the combined actions of transforming growth factor β (TGFβ) and mechanical tension. This observation indicates a need for a detailed exploration of the effect of the strong interactions between the mechanical changes and growth factors in dermal wound healing. We review the experimental findings in detail and develop a model of dermal wound healing that incorporates these phenomena. Our model includes the interactions between TGFβ and collagenase, providing a more biologically realistic form for the growth factor kinetics than those included in previous mechanochemical descriptions. A comparison is made between the model predictions and experimental data on human dermal wound healing and all the essential features are well matched
Fungal microbiota from rain water and pathogenicity of Fusarium species isolated from atmospheric dust and rainfall dust

In order to determine the presence of Fusarium spp. in atmospheric dust and rainfall dust, samples were collected during September 2007, and July, August, and October 2008. The results reveal the prevalence of airborne Fusarium species coming from the atmosphere of the South East coast of Spain. Five different Fusarium species were isolated from the settling dust: Fusarium oxysporum, F. solani, F. equiseti, F. dimerum, and F. proliferatum. Moreover, rainwater samples were obtained during significant rainfall events in January and February 2009. Using the dilution-plate method, 12 fungal genera were identified from these rainwater samples. Specific analyses of the rainwater revealed the presence of three species of Fusarium: F. oxysporum, F. proliferatum and F. equiseti. A total of 57 isolates of Fusarium spp. obtained from both rainwater and atmospheric rainfall dust sampling were inoculated onto melon (Cucumis melo L.) cv. Piñonet and tomato (Lycopersicon esculentum Mill.) cv. San Pedro. These species were chosen because they are the main herbaceous crops in Almeria province. The results presented in this work indicate strongly that spores or propagules of Fusarium are able to cross the continental barrier carried by winds from the Sahara (Africa) to crop or coastal lands in Europe. Results show differences in the pathogenicity of the isolates tested. Both hosts showed root rot when inoculated with different species of Fusarium, although fresh weight measurements did not bring any information about the pathogenicity. The findings presented above are strong indications that long-distance transmission of Fusarium propagules may occur. Diseases caused by species of Fusarium are common in these areas. They were in the past, and are still today, a problem for greenhouses crops in Almería, and many species have been listed as pathogens on agricultural crops in this region. Saharan air masses dominate the Mediterranean regions. The evidence of long distance dispersal of Fusarium spp. by atmospheric dust and rainwater together with their proved pathogenicity must be taken into account in epidemiological studies
International Financial Aggregation and Index Number Theory: A Chronological Half-Century Empirical Overview

This paper comprises a survey of a half century of research on international monetary aggregate data.  We argue that since monetary assets began yielding interest, the simple sum monetary aggregates have had no foundations in economic theory and have sequentially produced one source of misunderstanding after another.  The bad data produced by simple sum aggregation have contaminated research in monetary economics, have resulted in needless “paradoxes,” and have produced decades of misunderstandings in international monetary economics research and policy.  While better data, based correctly on index number theory and aggregation theory, now exist, the official central bank data most commonly used have not improved in most parts of the world.  While aggregation theoretic monetary aggregates exist for internal use at the European Central Bank, the Bank of Japan, and many other central banks throughout the world, the only central banks that currently make aggregation theoretic monetary aggregates available to the public are the Bank of England and the St. Louis Federal Reserve Bank.  No other area of economics has been so seriously damaged by data unrelated to valid index number and aggregation theory.   In this paper we chronologically review the past research in this area and connect the data errors with the resulting policy and inference errors.  Future research on monetary aggregation and policy can most advantageously focus on extensions to exchange rate risk and its implications for multilateral aggregation over monetary asset portfolios containing assets denominated in more than one currency.   The relevant theory for multilateral aggregation with exchange rate risk has been derived by Barnett (2007) and Barnett and Wu (2005).
Capital income and income inequality: evidence from urban China

Using urban household survey data collected by National Bureau of Statistics of China from 1988-2009, this study examines the distribution, composition, and changes of capital income and its contribution to income inequality. The data shows that capital income has increased considerably in past 20 years in urban China. Although the average value of capital income is still relatively low, the dispersion of capital income is significant, and for high-income earners capital income is substantial. Compared to other forms of income, capital income is distributed the most unequally, and its contribution to total income inequality has been growing. This study also examines capital income in China’s western, central, and eastern regions separately, and finds that capital income is highest and contributes the most to income inequality in the eastern region.
Friction behavior of laser cladding magnesium alloy against AISI 52100 steel

The use of magnesium alloys in engineering applications is becoming increasingly important as a relatively low density allows savings in energy consumption and therefore reduction in air pollution. An associated reduction in inertia makes these alloys potential candidates for friction components, but they suffer from poor wear resistance. Laser surface alloying with appropriate powder mixture is an innovative technique to improve surface properties of metallic alloys. In this study, the effect of laser surface alloying using Al12%Si powder on wear resistance of a magnesium alloy ZE41 is investigated. Hardness and wear resistance of the alloy are significantly enhanced after treatment
Influence of the crystallization process on the luminescence of multilayers of SiGe nanocrystals embedded in SiO2

Multilayers of SiGe nanocrystals embedded in an oxide matrix have been fabricated by low-pressure chemical vapor deposition SiO2 onto Si wafers (in a single run at 390 ◦C and 50mTorr, using GeH4, Si2 H6 and O2) followed by a rapid thermal annealing crystallize the SiGe nanoparticles. The main emission band is located at 400 nm in both cathodoluminescence and photoluminescence at 80K and also at room temperature. The annealing conditions (temperatures ranging from 700 to 1000 ◦C and for times of 30 investigated in samples with different diameter of the nanoparticles (from ≈3 to ≥5 nm) and oxide interlayer thickness (15 and establish a correlation between the crystallization of the nanoparticles, the degradation of their composition by Ge diffusion the luminescence emission band. Structures with small nanoparticles (3–4.5 nm) separated by thick oxide barriers (≈35 nm) annealed 60 s yield the maximum intensity of the luminescence. An additional treatment at 450 ◦C in forming gas for dangling-bond the intensity of the luminescence band by 25–30%