On the determination of boundaries to manipulator workspaces

The accumulation of two independent, broadly applicable formulations for determining the boundary to manipulator workspaces, presented elsewhere, are compared in this paper. Insights gained from one method are used to explain behavior exhibited in the other. Results are also compared and validated. A numerical formulation based on continuation methods is used to map curves that are on the boundary of a manipulator workspace. Analytical criteria based on row rank deficiency criteria of the manipulator's analytical Jacobian are used to map a family of one-dimensional solution curves on the boundary. The other formulation, based on a similar rank-deficiency criteria, yields analytic boundaries parametrized in terms of surface patches on the boundary. Results concerning the applicability of the numerical method to open- and closed-loop systems are compared with those limited to the open-loop for the analytical method. Conclusions regarding the behavior of the manipulator on geometric entities characterized by singular curves, higher-order bifurcation points, and surfaces inside the workspace are drawn. Applicability of both methods and their limitations are also addressed.     

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Cytotoxicity of aggregated fullerene C60 particles on CHO and MDCK cells

The cytotoxicity of fullerene C60 particles on two mammalian cell lines, i.e. the Chinese hamster ovary (CHO) cells and the Madin-Darby canine kidney (MDCK) cells, has been investigated. Although innate fullerene particles have a very low solubility in deionized (DI) water, these particles can be dissolved in the tetrahydrofuran (THF) solvent at a great value. Further, the dissolved fullerene particles in the THF solvent could be extracted into a DI water solution at a significantly increased solubility. The formation of fullerene particle aggregates is believed to be the cause of the increased solubility. Results presented here show that once the concentration of the fullerene aggregates reaches a certain level, the cells start to die. The lethal dosage LD50, which is defined as the lowest fullerene concentration that results in a 50% cell death within 24 h, has been determined. Furthermore, the percentage of cell mortality increased with increasing fullerene concentration and incubation time yielding a negative effect on cell viability. These results, illustrated by atomic force microscopy (AFM), dynamic light scattering (DLS) and other microscopic techniques, will help to better understand the side effects of fullerene particles in mammalian cells.     

Hybrid deep learning model for answering visual medical questions

Due to the increase in electronic documents containing medical information, the search for specific information is often complex and time-consuming. This has prompted the development of new tools designed to address this issue. Automated visual question/answer (VQA) systems are becoming more challenging to develop. These are computer programs that take images and questions as input and then combine all inputs to generate text-based answers. Due to the enormous amount of question and the limited number of specialists, many issues stay unanswered. It’s possible to solve this problem by using automatic question classifiers that guide queries to experts based on their subject preferences. For these purposes, we propose a VQA approach based on a hybrid deep learning model. The model consists of three steps: (1) the classification of medical questions based on a BERT model; (2) image and text feature extraction using a deep learning model, more specifically the extraction of medical image features by a hybrid deep learning model; and (3) text feature extraction using a Bi-LSTM model. Finally, to predict the appropriate answer, our approach uses a KNN model. Additionally, this study examines the influence of the Adam, AdaGrad, Stochastic gradient descent and RMS Prop optimization techniques on the performance of the network. As a consequence of the studies, it was shown that Adam and SGD optimization algorithms consistently produced higher outcomes. Experiments using the ImageCLEF 2019 dataset revealed that the suggested method increases BLEU and WBSS values considerably.

     

MLP bilinear separation

In this paper, we present a thorough mathematical analysis of the use of neural networks to solve a specific classification problem consisting of a bilinear boundary. The network under consideration is a three-layered perceptron with two hidden neurons having the sigmoid serving as the activation function. The analysis of the hidden space created by the outputs of the hidden neurons will provide results on the network’s capacity to isolate two classes of data in a bilinear fashion, and the importance of the value of the sigmoid parameter is highlighted. We will obtain an explicit analytical function describing the boundary generated by the network, thus providing information on the effect each parameter has on the network’s behavior. Generalizations of the results are obtained with additional neurons, and a theorem concerned with analytical reproducibility of the boundary function is established.     

Exploring the relationship between Internet ethics in university students and the big five model of personality

The widespread use of the Internet and the convenient mechanism it provides, such as easy access, easy downloads, and easy copy and paste functions have made many types of unethical behaviors easier, particularly those involving students in academic settings. Among the issues in ethics within the academic environment that can be triggered by the Internet are fraudulence, plagiarism, falsification, delinquency, unauthorized help, and facility misuse. Given these issues, the study seeks to investigate the extent to which students at a public university in Malaysia engage in such unethical behavior and their relationship with the big five personality model. This study was conducted using a survey method of 252 students in three different academic faculties. The results of factor analyses confirm and refine the reliability of the scales for both big five personality variables and unethical Internet behaviors as conceptualized through Internet triggered academic dishonesty (ITADS). The findings indicate that personality traits such as (1) agreeableness, (2) conscientiousness and (3) emotional stability are significantly and negatively correlated with unethical Internet behavior in university students. Significant differences in facility misuse are also observed between the three academic faculties investigated. This research should provide significant contributions to educators in designing the computer ethics curriculum and in allowing for educational institutions as well as other organizations in developing relevant policies and guidelines on matters pertaining to academic conduct, utilization of computers and Internet, and recruitment exercises.     

Multi-contact vertical ladder climbing with an HRP-2 humanoid

We describe the research and the integration methods we developed to make the HRP-2 humanoid robot climb vertical industrial-norm ladders. We use our multi-contact planner and multi-objective closed-loop control formulated as a QP (quadratic program). First, a set of contacts to climb the ladder is planned off-line (automatically or by the user). These contacts are provided as an input for a finite state machine. The latter builds supplementary tasks that account for geometric uncertainties and specific grasps procedures to be added to the QP controller. The latter provides instant desired states in terms of joint accelerations and contact forces to be tracked by the embedded low-level motor controllers. Our trials revealed that hardware changes are necessary, and parts of software must be made more robust. Yet, we confirmed that HRP-2 has the kinematic and power capabilities to climb real industrial ladders, such as those found in nuclear power plants and large scale manufacturing factories (e.g. aircraft, shipyard) and construction sites.     

Causality, conditional independence, and graphical separation in settable systems

We study the connections between causal relations and conditional independence within the settable systems extension of the Pearl causal model (PCM). Our analysis clearly distinguishes between causal notions and probabilistic notions, and it does not formally rely on graphical representations. As a foundation, we provide definitions in terms of suitable functional dependence for direct causality and for indirect and total causality via and exclusive of a set of variables. Based on these foundations, we provide causal and stochastic conditions formally characterizing conditional dependence among random vectors of interest in structural systems by stating and proving the conditional Reichenbach principle of common cause, obtaining the classical Reichenbach principle as a corollary. We apply the conditional Reichenbach principle to show that the useful tools of d-separation and D-separation can be employed to establish conditional independence within suitably restricted settable systems analogous to Markovian PCMs.     

Impact of the Boeing 767 Aircraft into the World Trade Center

A numerical simulation of the aircraft impact into the exterior columns of the World Trade Center (WTC) was done using LS-DYNA. For simplification, the fuselage was modeled as a thin-walled cylinder, the wings were modeled as box beams with a fuel pocket, and the engines were represented as rigid cylinders. The exterior columns of the WTC were represented as box beams. Actual masses, material properties and dimensions of the Boeing 767 aircraft and the exterior columns of the WTC were used in this analysis. It was found that about 46% of the initial kinetic energy of the aircraft was used to damage columns. The minimum impact velocity of the aircraft to just penetrate the exterior columns would be 130?m/s. It was also found that a Boeing 767 traveling at top speed would not penetrate exterior columns of the WTC if the columns were thicker than 20?mm.     

A Single Injection of NTG-101 Reduces the Expression of Pain-Related Neurotrophins in a Canine Model of Degenerative Disc Disease

Background: Tissue sources of pain emanating from degenerative discs remains incompletely understood. Canine intervertebral discs (IVDs) were needle puncture injured, 4-weeks later injected with either phosphate-buffered saline (PBS) or NTG-101, harvested after an additional fourteen weeks and then histologically evaluated for the expression of NGFr, BDNF, TrkB and CALCRL proteins. Quantification was performed using the HALO automated cell-counting scoring platform. Immunohistochemical analysis was also performed on human IVD tissue samples obtained from spinal surgery. Immunohistochemical analysis and quantification of neurotrophins and neuropeptides was performed using an in vivo canine model of degenerative disc disease and human degenerative disc tissue sections. Discs injected with NTG-101 showed significantly lower levels of Nerve Growth Factor receptor (NGFr/TrkA, p = 0.0001), BDNF (p = 0.009), TrkB (p = 0.002) and CALCRL (p = 0.008) relative to PBS injections. Human IVD tissue obtained from spinal surgery due to painful DDD show robust expression of NGFr, BDNF, TrkB and CALCRL proteins. A single intradiscal injection of NTG-101 significantly inhibits the expression of NGFr, BDNF, TrkB and CALCRL proteins in degenerative canine IVDs. These results strongly suggest that NTG-101 inhibits the development of neurotrophins that are strongly associated with painful degenerative disc disease and may have profound effects upon the management of patients living with discogenic pain.