Sensor-Based Integration of Full-Body Object Manipulation Based on Strategy Selection in a Life-Sized Humanoid Robot

2011 ◽  
Vol 23 (2) ◽  
pp. 239-248 ◽  
Author(s):  
Shunichi Nozawa ◽  
◽  
Ryohei Ueda ◽  
Yohei Kakiuchi ◽  
Kei Okada ◽  
...  
Keyword(s):  
Humanoid Robot ◽  
The Novel ◽  
Motion Generation ◽  
Multiple Strategies ◽  
Contact Points ◽  
Different Types ◽  
Reaction Forces ◽  
Novel Method ◽  
Manipulation Strategy ◽  
Full Body

The novel method we propose involves a humanoid robot manipulating objects of varying size and weight. How an object is manipulated is generally determined by size and weight. The motion generation system we developed 1) utilizes manipulation strategies defined by which contact points on the robot are to be used, 2) selects the adequate manipulation strategy based on the object, and 3) generates a full-body posture sequence for the humanoid robot with controlled reaction forces and full-body balance using the manipulation strategy as an initial condition. Our system enables the robot to manipulate an object of weight thanks to multiple strategies. Our method’s effectiveness is confirmed in experiments in which a humanoid robot manipulates six different types of objects.

Footwear and Elevated Heel Influence On Barbell Back Squat: a Review

2021 ◽  
Author(s):  
Aaron Michael Pangan ◽  
Matthew J Leineweber
Keyword(s):  
Ground Reaction Forces ◽  
Specific Effects ◽  
Back Squat ◽  
Running Shoes ◽  
Different Types ◽  
Reaction Forces ◽  
Joint Loads ◽  
The Impact ◽  
Kinematics And Kinetics ◽  
Full Body

Abstract The back squat is one of the most effective exercises in strengthening the muscles of the lower extremity. Understanding the impact of footwear has on the biomechanics is imperative for maximizing the exercise training potential, preventing injury, and rehabilitating from injury. This review focuses on how different types of footwear affect the full-body kinematics, joint loads, muscle activity, and ground reaction forces in athletes of varying experience performing the weighted back squat. The literature search was conducted using three databases, and fourteen full-text articles were ultimately included in the review. The majority of these studies demonstrated that the choice of footwear directly impacts kinematics and kinetics. Weightlifting shoes were shown to decrease trunk lean and generate more plantarflexion relative to running shoes and barefoot lifting. Elevating the heel through the use of external squat wedges is popular clinical exercise during rehabilitation and was shown to provide similar effects to WLS. Additional research with a broader array of populations, particularly novice and female weightlifters, should be conducted to generalize the research results to non-athlete populations. Further work is also needed to characterize the specific effects of sole stiffness and heel elevation height on squatting mechanics.

scholarly journals Emotional Speech Recognition Based on the Committee of Classifiers

Entropy ◽  
2019 ◽  
Vol 21 (10) ◽  
pp. 920 ◽  
Author(s):  
Dorota Kamińska
Keyword(s):  
Speech Recognition ◽  
Emotion Recognition ◽  
The Novel ◽  
Classification Methods ◽  
Emotional Speech ◽  
Different Types ◽  
Novel Method ◽  
Alternative Approaches ◽  
Emotional Speech Recognition ◽  
Different Content

This article presents the novel method for emotion recognition from speech based on committee of classifiers. Different classification methods were juxtaposed in order to compare several alternative approaches for final voting. The research is conducted on three different types of Polish emotional speech: acted out with the same content, acted out with different content, and spontaneous. A pool of descriptors, commonly utilized for emotional speech recognition, expanded with sets of various perceptual coefficients, is used as input features. This research shows that presented approach improve the performance with respect to a single classifier.

A novel method for the determination of linting propensity of paper

TAPPI Journal ◽  
2012 ◽  
Vol 11 (10) ◽  
pp. 9-17
Author(s):  
ALESSANDRA GERLI ◽  
LEENDERT C. EIGENBROOD
Keyword(s):  
Ash Content ◽  
The Novel ◽  
Offset Printing ◽  
Excellent Correlation ◽  
End Conditions ◽  
Bottom Side ◽  
Novel Method ◽  
Total Fraction

A novel method was developed for the determination of linting propensity of paper based on printing with an IGT printability tester and image analysis of the printed strips. On average, the total fraction of the surface removed as lint during printing is 0.01%-0.1%. This value is lower than those reported in most laboratory printing tests, and more representative of commercial offset printing applications. Newsprint paper produced on a roll/blade former machine was evaluated for linting propensity using the novel method and also printed on a commercial coldset offset press. Laboratory and commercial printing results matched well, showing that linting was higher for the bottom side of paper than for the top side, and that linting could be reduced on both sides by application of a dry-strength additive. In a second case study, varying wet-end conditions were used on a hybrid former machine to produce four paper reels, with the goal of matching the low linting propensity of the paper produced on a machine with gap former configuration. We found that the retention program, by improving fiber fines retention, substantially reduced the linting propensity of the paper produced on the hybrid former machine. The papers were also printed on a commercial coldset offset press. An excellent correlation was found between the total lint area removed from the bottom side of the paper samples during laboratory printing and lint collected on halftone areas of the first upper printing unit after 45000 copies. Finally, the method was applied to determine the linting propensity of highly filled supercalendered paper produced on a hybrid former machine. In this case, the linting propensity of the bottom side of paper correlated with its ash content.

scholarly journals CRISPR-Cas System: The Powerful Modulator of Accessory Genomes in Prokaryotes

2021 ◽  
pp. 1-16
Author(s):  
Anca Butiuc-Keul ◽  
Anca Farkas ◽  
Rahela Carpa ◽  
Dumitrana Iordache
Keyword(s):  
Nucleic Acids ◽  
Pathogenic Bacteria ◽  
The Novel ◽  
Defense System ◽  
Guide Rnas ◽  
Crispr Array ◽  
Different Types ◽  
Evolutionary Trajectories ◽  
Novel Coronavirus ◽  
Cas Proteins

Being frequently exposed to foreign nucleic acids, bacteria and archaea have developed an ingenious adaptive defense system, called CRISPR-Cas. The system is composed of the Clustered Regularly Interspaced Short Palindromic Repeats (CRISPR) array, together with CRISPR (<i>cas</i>)-associated genes. This system consists of a complex machinery that integrates fragments of foreign nucleic acids from viruses and mobile genetic elements (MGEs), into CRISPR arrays. The inserted segments (spacers) are transcribed and then used by cas proteins as guide RNAs for recognition and inactivation of the targets. Different types and families of CRISPR-Cas systems consist of distinct adaptation and effector modules with evolutionary trajectories, partially independent. The origin of the effector modules and the mechanism of spacer integration/deletion is far less clear. A review of the most recent data regarding the structure, ecology, and evolution of CRISPR-Cas systems and their role in the modulation of accessory genomes in prokaryotes is proposed in this article. The CRISPR-Cas system&apos;s impact on the physiology and ecology of prokaryotes, modulation of horizontal gene transfer events, is also discussed here. This system gained popularity after it was proposed as a tool for plant and animal embryo editing, in cancer therapy, as antimicrobial against pathogenic bacteria, and even for combating the novel coronavirus – SARS-CoV-2; thus, the newest and promising applications are reviewed as well.

scholarly journals REMAXINT: a two-mode clustering-based method for statistical inference on two-way interaction

2021 ◽  
Author(s):  
Zaheer Ahmed ◽  
Alberto Cassese ◽  
Gerard van Breukelen ◽  
Jan Schepers
Keyword(s):  
Null Hypothesis ◽  
Type I Error ◽  
Type I ◽  
The Novel ◽  
Simulation Studies ◽  
Test Statistic ◽  
Clustering Model ◽  
Novel Method ◽  
Main Effects ◽  
Empirical Case Studies

AbstractWe present a novel method, REMAXINT, that captures the gist of two-way interaction in row by column (i.e., two-mode) data, with one observation per cell. REMAXINT is a probabilistic two-mode clustering model that yields two-mode partitions with maximal interaction between row and column clusters. For estimation of the parameters of REMAXINT, we maximize a conditional classification likelihood in which the random row (or column) main effects are conditioned out. For testing the null hypothesis of no interaction between row and column clusters, we propose a $$max-F$$ m a x - F test statistic and discuss its properties. We develop a Monte Carlo approach to obtain its sampling distribution under the null hypothesis. We evaluate the performance of the method through simulation studies. Specifically, for selected values of data size and (true) numbers of clusters, we obtain critical values of the $$max-F$$ m a x - F statistic, determine empirical Type I error rate of the proposed inferential procedure and study its power to reject the null hypothesis. Next, we show that the novel method is useful in a variety of applications by presenting two empirical case studies and end with some concluding remarks.

scholarly journals Interrogating the Egypto-Sudanic Arabic Connection

Languages ◽  
2021 ◽  
Vol 6 (3) ◽  
pp. 123
Author(s):  
Thomas A. Leddy-Cecere
Keyword(s):  
The Novel ◽  
Present Contribution ◽  
Phonological Processes ◽  
Verbal Inflection ◽  
Segmental Phonology ◽  
Language Data ◽  
History Of ◽  
Novel Method ◽  
Dialect Classification ◽  
Arabic Speaking

The Arabic dialectology literature repeatedly asserts the existence of a macro-level classificatory relationship binding the Arabic speech varieties of the combined Egypto-Sudanic area. This proposal, though oft-encountered, has not previously been formulated in reference to extensive linguistic criteria, but is instead framed primarily on the nonlinguistic premise of historical demographic and genealogical relationships joining the Arabic-speaking communities of the region. The present contribution provides a linguistically based evaluation of this proposed dialectal grouping, to assess whether the postulated dialectal unity is meaningfully borne out by available language data. Isoglosses from the domains of segmental phonology, phonological processes, pronominal morphology, verbal inflection, and syntax are analyzed across six dialects representing Arabic speech in the region. These are shown to offer minimal support for a unified Egypto-Sudanic dialect classification, but instead to indicate a significant north–south differentiation within the sample—a finding further qualified via application of the novel method of Historical Glottometry developed by François and Kalyan. The investigation concludes with reflection on the implications of these results on the understandings of the correspondence between linguistic and human genealogical relationships in the history of Arabic and in dialectological practice more broadly.

scholarly journals Suspended Sediment Modeling Using a Heuristic Regression Method Hybridized with Kmeans Clustering

2021 ◽  
Vol 13 (9) ◽  
pp. 4648
Author(s):  
Rana Muhammad Adnan ◽  
Kulwinder Singh Parmar ◽  
Salim Heddam ◽  
Shamsuddin Shahid ◽  
Ozgur Kisi
Keyword(s):  
Clustering Algorithm ◽  
Suspended Sediments ◽  
Ecological Impacts ◽  
Accurate Estimation ◽  
Data Sets ◽  
The Novel ◽  
Neuro Fuzzy ◽  
Adaptive Regression ◽  
Novel Method ◽  
Model Training

The accurate estimation of suspended sediments (SSs) carries significance in determining the volume of dam storage, river carrying capacity, pollution susceptibility, soil erosion potential, aquatic ecological impacts, and the design and operation of hydraulic structures. The presented study proposes a new method for accurately estimating daily SSs using antecedent discharge and sediment information. The novel method is developed by hybridizing the multivariate adaptive regression spline (MARS) and the Kmeans clustering algorithm (MARS–KM). The proposed method’s efficacy is established by comparing its performance with the adaptive neuro-fuzzy system (ANFIS), MARS, and M5 tree (M5Tree) models in predicting SSs at two stations situated on the Yangtze River of China, according to the three assessment measurements, RMSE, MAE, and NSE. Two modeling scenarios are employed; data are divided into 50–50% for model training and testing in the first scenario, and the training and test data sets are swapped in the second scenario. In Guangyuan Station, the MARS–KM showed a performance improvement compared to ANFIS, MARS, and M5Tree methods in term of RMSE by 39%, 30%, and 18% in the first scenario and by 24%, 22%, and 8% in the second scenario, respectively, while the improvement in RMSE of ANFIS, MARS, and M5Tree was 34%, 26%, and 27% in the first scenario and 7%, 16%, and 6% in the second scenario, respectively, at Beibei Station. Additionally, the MARS–KM models provided much more satisfactory estimates using only discharge values as inputs.

scholarly journals The Influence of Varying Fluorination Patterns on the Thermodynamics and Kinetics of Benzenesulfonamide Binding to Human Carbonic Anhydrase II

Biomolecules ◽  
2020 ◽  
Vol 10 (4) ◽  
pp. 509 ◽  
Author(s):  
Steffen Glöckner ◽  
Khang Ngo ◽  
Björn Wagner ◽  
Andreas Heine ◽  
Gerhard Klebe
Keyword(s):  
Carbonic Anhydrase ◽  
Carbonic Anhydrase Ii ◽  
The Novel ◽  
Binding Modes ◽  
X Ray ◽  
Structure Activity ◽  
Small Set ◽  
Novel Method ◽  
Human Carbonic Anhydrase ◽  
Kinetics Of

The fluorination of lead-like compounds is a common tool in medicinal chemistry to alter molecular properties in various ways and with different goals. We herein present a detailed study of the binding of fluorinated benzenesulfonamides to human Carbonic Anhydrase II by complementing macromolecular X-ray crystallographic observations with thermodynamic and kinetic data collected with the novel method of kinITC. Our findings comprise so far unknown alternative binding modes in the crystalline state for some of the investigated compounds as well as complex thermodynamic and kinetic structure-activity relationships. They suggest that fluorination of the benzenesulfonamide core is especially advantageous in one position with respect to the kinetic signatures of binding and that a higher degree of fluorination does not necessarily provide for a higher affinity or more favorable kinetic binding profiles. Lastly, we propose a relationship between the kinetics of binding and ligand acidity based on a small set of compounds with similar substitution patterns.

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