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opencc-zeroDec 2023View details →

Evaluation of tracking performance and robustness for a hybrid locomotion controller

Legged locomotion is a complex control problem that requires both accuracy and robustness to cope with real-world challenges. Legged systems have traditionally been controlled using trajectory optimization with inverse dynamics. Such hierarchical model-based methods are appealing due to intuitive cost function tuning, accurate planning, generalization, and most importantly, the insightful understanding gained from more than one decade of extensive research. However, model mismatch and violation of assumptions are common sources of faulty operation. Simulation-based reinforcement learning, on the other hand, results in locomotion policies with unprecedented robustness and recovery skills. Yet, all learning algorithms struggle with sparse rewards emerging from environments where valid footholds are rare, such as gaps or stepping stones. In this work, we propose a hybrid control architecture that combines the advantages of both worlds to simultaneously achieve greater robustness, foot-placement accuracy, and terrain generalization. Our approach utilizes a model-based planner to roll out a reference motion during training. A deep neural network policy is trained in simulation, aiming to track the optimized footholds. We evaluate the accuracy of our locomotion pipeline on sparse terrains, where pure data-driven methods are prone to fail. Furthermore, we demonstrate superior robustness in the presence of slippery or deformable ground when compared to model-based counterparts. Finally, we show that our proposed tracking controller generalizes across different trajectory optimization methods not seen during training. In conclusion, our work unites the predictive capabilities and optimality guarantees of online planning with the inherent robustness attributed to offline learning.

opencc-zeroDec 2023View details →

Digital research data from: Evaluation of a pH- and time-dependent model for the sorption of heavy metal cations by poultry litter-derived biochar

This is digital research data corresponding to a published manuscript, Evaluation of a pH- and time-dependent model for the sorption of heavy metal cations by poultry litter-derived biochar. Chemosphere (2024), 347, 140688. https://doi.org/10.1016/j.chemosphere.2023.140688. Common isotherm and kinetic models cannot describe the pH-dependent sorption of heavy metal cations by biochar. In this paper, we evaluated a pH-dependent, equilibrium/kinetic model for describing the sorption of cadmium (Cd), copper (Cu), nickel (Ni), lead (Pb), and zinc (Zn) by poultry litter-derived biochar (PLB). We performed sorption experiments across a range of solution pH, initial metal concentration, and reaction time.

ADMET-AI: A machine learning ADMET platform for evaluation of large-scale chemical libraries – Data and Models

This repository contains data and models used in the following paper.   Swanson, K., Walther, P., Leitz, J., Mukherjee, S., Wu, J. C., Shivnaraine, R. V., & Zou, J. ADMET-AI: A machine learning ADMET platform for evaluation of large-scale chemical libraries. In review.   The data and models are meant to be used with the <a href="https://github.com/swansonk14/admet_ai">ADMET-AI</a> code, which runs the ADMET-AI web server at <a href="https://admet.ai.greenstonebio.com/">admet.ai.greenstonebio.com</a>.   The data.zip file has the following structure. data   drugbank: Contains files with drugs from the <a href="https://go.drugbank.com/">DrugBank</a> that have received regulatory approval. drugbank_approved.csv contains the full set of approved drugs along with ADMET-AI predictions, while the other files contain subsets of these molecules used for testing the speed of ADMET prediction tools.   tdc_admet_all: Contains the data (.csv files) and RDKit features (.npz files) for all 41 single-task ADMET datasets from the <a href="https://tdcommons.ai/">Therapeutics Data Commons</a> (TDC).   tdc_admet_multitask: Contains the data (.csv files) and RDKit features (.npz files) for the two multi-task datasets (one regression and one classification) constructed by combining the tdc_admet_all datasets.   tdc_admet_all.csv: A CSV file containing all 41 ADMET datasets from tdc_admet_all. This can be used to easily look up all ADMET properties for a given molecule in the TDC.   tdc_admet_group: Contains the data (.csv files) and RDKit features (.npz files) for the 22 TDC ADMET Benchmark Group datasets with five splits per dataset.   tdc_admet_group_raw: Contains the raw data (.csv files) used to construct the five splits per dataset in tdc_admet_group.   The models.zip file has the following structure. Note that the ADMET-AI website and Python package use the multi-task Chemprop-RDKit models below. models   tdc_admet_all: Contains Chemprop and Chemprop-RDKit models trained on all 41 single-task TDC ADMET datasets.   tdc_admet_all_multitask: Contains Chemprop and Chemprop-RDKit models trained on the two multi-task TDC ADMET datasets (one regression and one classification).   tdc_admet_group: Contains Chemprop and Chemprop-RDKit models trained on the 22 TDC ADMET Benchmark Group datasets.

opencc-by-4.0Nov 2023View details →

Evaluation of short alkyl chain modified [DBU][TFSI] based ionic liquids as supercapacitor electrolytes

This dataset contains the measurement data for figures (graphs) published in journal article: Evaluation of short alkyl chain modified [DBU][TFSI] based ionic liquids as supercapacitor electrolytes (doi: <a title="https://doi.org/10.1016/j.electacta.2023.143659" href="https://doi.org/10.1016/j.electacta.2023.143659" target="_blank" rel="noopener">10.1016/j.electacta.2023.143659)</a> by Olli Pitkänen, Nemanja Vucetic, Helene Cabaud, Eva Bozo, Topias Järvinen, Jyri-Pekka Mikkola and Krisztian Kordas

A Survey on Usability Evaluation in Digital Health and Potential Efficiency Issues

A Survey on Usability Evaluation in Digital Health and Potential Efficiency Issues is a research study published at HEALTHINF24 that aimed to collect and analyse data from 144 usability experts on their experiences with usability evaluation of digital health applications. <ol> <li>This file, "Usability Survey Paper Appendix A (Questionnaire)", contains the comprehensive set of questions and materials used in the usability survey discussed in the main paper. It serves as an essential resource for readers and researchers aiming to gain in-depth insights into the survey's questionnaire design, structure, and content. This appendix offers a detailed overview of the questionnaire, including the questions' wording, order, and categorizations, enabling an in-depth understanding of the survey's methodology and findings. <ul> <li>The survey had three different parts with a total of 19 questions including <ul> <li>1) the introductory and screening part,</li> <li>2) the demographic part,</li> <li>and 3) the main part asking usability-related questions (see survey questionnaires).</li> </ul> </li> <li>The questionnaire used in the study included both fixed-alternative questions (such as true/false, multiple choice, checkbox, and rating scale) and open-ended free-text responses. It incorporates an initial set of response options for the fixed-alternative questions, which were primarily derived from the relevant literature and grey literature. Almost every question included open-text fields to accommodate a broader range of responses, allowing participants to share answers not listed in the fixed alternative questions.</li> <li>The introductory and screening part includes survey information and screening them based on a non-leading mandatory screening question to determine whether volunteers meet the eligibility criteria. </li> <li>The demographic part consists of eight questions designed to know participants better regarding their demographics and previous experiences in assessing and ensuring the usability of digital health applications (see Part II of survey questionnaire). The questions asked participants about their gender, age, job position or title, and their experiences regarding evaluating the usability of applications in the digital health sector. They were also asked about the types of digital health systems/services/technologies they had evaluated for usability.</li> <li>The main part contains ten usability evaluation related questions, with one attention check question placed in the middle of the survey. This section focuses on usability evaluation tools, methods, and approaches to understand how usability experts assess and ensure the usability of digital healthcare software. Participants were also asked about the usability characteristics that are covered during the usability evaluation in digital healthcare. Furthermore, another sub-part of this section explores the benefits of using tools during usability evaluation, as well as the overall perceived benefits and challenges encountered during conducting usability evaluation of digital health apps.</li> </ul> </li> <li>Appendix B, titled "Usability Survey Paper Appendix B (Detailed Results in Tabular Form)," provides an exhaustive compilation of the results obtained from the usability survey detailed in the main paper. The file contains organized, tabulated data offering insights into participants' responses, practices, and experiences. Each table is carefully structured to ensure clarity, making the data accessible and interpretable for subsequent analysis, review, and comparison.</li> <li>The quantitative dataset (filename: Usability Survey Paper Dataset.xlsx) includes the responses of usability experts to questionnaires about their demographics, experience with usability testing, and the frequency of use of different usability evaluation methods. This dataset also includes quantitative data on the ranking of the importance of different aspects of usability evaluation, such as ease of use, efficiency, and satisfaction. The qualitative dataset also includes the responses of usability experts to open-ended field of survey questions.</li> </ol>

Dataset: Parallel Empirical Evaluations: Resilience Despite Concurrency

Open the record for dataset details and reuse information.

Data for evaluation of modelled versus observed NMVOC compounds at EMEP sites in Europe

Data (model outputs, emission files, python scripts) for the publication of "Evaluation of modelled versus observed NMVOC compounds at EMEP sites in Europe".

opencc-by-4.0Dec 2019View details →

Evaluation of Yoga Nidra In the Treatment of Depressive Disorder

Abstract The purpose of this study was to find out the effect of Yoga Nidra  interventions in improving depressive disorder. This study was conducted at  the Sir Sundar Lal Hospital, BHU, Varanasi. 10 patients were kept in  experimental group undergoing Yoga Nidra and 10 patients were kept in  control group who were taking the herbal medication. Each patient of  experimental group underwent 30 minutes practice of Yoga Nidra for the  total duration of 7 days. DASS- scale was used to assess the level of  depression in patients. The result has shown significant reduction of  depression score in the both of the groups. It was important to note that the reduction of depression score was relatively more in experimental group  as compared to control group. Therefore the practice of Yoga Nidra has an  edge over the medication intake in tackling the depression Keywords: Yoga Nidra, Depression

opencc-by-4.0Sep 2023View details →

Data used to evaluate normalization approaces

Data used in "Normalization of direct citations in publication-level networks: Evaluation of six approaches".  Related code found in https://github.com/petersjogarde/papers/tree/main/normalization_dc_evaluation.

opencc-by-sa-4.0Dec 2023View details →

Performance Evaluation of Objective Quality Assessment Methods for Omnidirectional Images Under Emerging Compressions

This dataset provides extensive data from large-scale subjective experiments, encompassing MOS values, eye-tracking data, and raw subjective scores, collected from two laboratories Brno University of Technology and Czech Technical University in Prague (BUT and CTU). This new dataset serves as a comprehensive foundation for future research endeavors into novel objective quality metrics for omnidirectional IQA (OIQA).   ▷  contact: xsimka01@vut.cz

opencc-zeroDec 2023View details →

Iterative evaluation of mobile computer-assisted digital chest x-ray screening for TB improves efficiency, yield, and outcomes in Nigeria

Wellness on Wheels (WoW) is a model of mobile systematic tuberculosis (TB) screening of high-risk populations combining digital chest radiography with computer-aided automated detection (CAD) and chronic cough screening to identify presumptive TB clients in communities, health facilities, and prisons in Nigeria. The model evolves to address technical, political, and sustainability challenges. Screening methods were iteratively refined to balance TB yield and feasibility across heterogeneous populations. Performance metrics were compared over time. Screening volumes, risk mix, number needed to screen (NNS), number needed to test (NNT), sample loss, TB treatment initiation and outcomes. Efforts to mitigate losses along the diagnostic cascade were tracked. Participants with high likelihood on CAD4TB (≥80) who tested negative on a single spot GeneXpert were followed-up to assess TB status at six months. An experimental calibration method achieved a viable CAD threshold for testing. High-risk groups and key stakeholders were engaged. Operations evolved in real-time to fix problems. Incremental improvements in mean client volumes (128 to 140/day), target group inclusion (92% to 93%), on-site testing (84% to 86%), TB treatment initiation (87% to 91%), and TB treatment success (71% to 85%). Attention to those as highest risk boosted efficiency (the NNT declined from 8.2 ± SD8.2 to 7.6 ± SD7.7). Clinical diagnosis was added after follow-up among those with ≥ 80 CAD scores initially spot-sputum negative found 11 additional TB cases (6.3%) after 121 person-years of follow-up. Iterative adaptation in response to performance metrics foster feasible, acceptable, and efficient TB case-finding in Nigeria. High CAD scores can identify subclinical TB and those at risk of progression to bacteriologically-confirmed TB disease in the near term. Policy makers, donors, and community advocates are hesitant to invest in the steep infrastructure costs for mobile digital chest x-ray and GeneXpert MTB/RIF (dCXR/GXP) laboratories without a better understanding of how to maximize and sustain their impact. It is rarely possible to conduct the months of local CAD calibration recommended by experts via costly universal testing with a reference standard.4,9 Stakeholder needs and resource limitations require a more rapid and cost-conscious means of setting a sustainable algorithm. Viable, field-robust methodologies are needed, and optimization strategies informed by routine field findings were lacking. A precise assessment of the contribution of routine mobile TB screening has been challenging because few authors fully disaggregate losses along the diagnostic cascade or track TB treatment outcomes. Publication bias has limited access to results of active case finding pilots with suboptimal risk group targeting, community engagement, yield, or treatment outcomes.10–14 Evaluations (and scrutiny) of routine data are needed that make the demands, constraints, costs and choices facing implementers more explicit.

Wild bumblebees use both absolute and relative evaluation when foraging

Foraging theory assumes that animals assess value based on objective payoffs, however, animals often evaluate rewards comparatively, forming expectations based on recent experience. This form of evaluation may be particularly relevant for nectar foragers such as bumblebees, where individuals can visit thousands of flowers daily that vary in nectar quality. While many animals, including bees, demonstrate reference-based evaluation in experimental contexts, it is unclear whether this occurs in the wild. Here we asked how daily experience with wildflower nectar influenced wild bumblebees' reward evaluation. We measured the daily nectar concentration of bee-visited wildflowers (Penstemon spp.), before presenting foragers with conspecific flowers filled with a range of artificial nectar concentrations. We recorded bees' acceptance of artificial nectar, probability of subsequent visits to flowers on the same plant, and residence time. While bees had a minimum threshold of nectar acceptability that was unaffected by experience, when there was higher-concentration environmental nectar, they were less likely to accept lower-quality rewards on manipulated plants. Bees also visited more flowers and stayed longer on plants with higher-concentration nectar. This study shows evidence for both absolute and reference-based evaluation in wild bees and points towards differences between bees' behavior in lab- and wild-foraging contexts.

A pan-cetacean MHC amplicon sequencing panel developed and evaluated in combination with genome assemblies

The major histocompatibility complex (MHC) is a highly polymorphic gene family that is crucial in immunity, and its diversity can be effectively used as a fitness marker for populations. Despite this, MHC remains poorly characterised in non-model species (e.g., cetaceans: whales, dolphins and porpoises) as high gene copy number variation, especially in the fast-evolving class I region, makes analyses of genomic sequences difficult. To date, only small sections of class I and IIa genes have been used to assess functional diversity in cetacean populations. Here, we undertook a systematic characterisation of the MHC class I and IIa regions in available cetacean genomes. We extracted full-length gene sequences to design pan-cetacean primers that amplified the complete exon2 from MHC class I and IIa genes in one combined sequencing panel. We validated this panel in 19 cetacean species and described 354 alleles for both classes. Furthermore, we identified likely assembly artefacts for many MHC class I assemblies based on the presence of class I genes in the amplicon data compared to missing genes from genomes. Finally, we investigated MHC diversity using the panel in 25 humpback and 30 southern right whales, including four paternity trios for humpback whales. This revealed copy-number variable class I haplotypes in humpback whales, which is likely a common phenomenon across cetaceans. These MHC alleles will form the basis for a cetacean branch of the Immuno-Polymorphism Database (IPD-MHC), a curated resource intended to aid in the systematic compilation of MHC alleles across several species, to support conservation initiatives.

Evaluating robot workspaces with performance maps

Evaluating robot workspaces with performance maps Aline Kluge-Wilkes, Presley Demuner Reverdito The following data set was created while validating a proposed method to evaluate robot workspaces with different performance metrics.  The underlying paper will be presented at the CIRP CATS 2024, the 10th Conference on Assembly Technology and Systems, hosted in Karlsruhe from 24-26.April.2024 and published thereafter. Deploying mobile robots in line-less and mobile assembly systems without predefined formations necessitates understanding the robot's capabilities and determining the tasks it can perform. The data set concerns performance maps to assess the feasibility of assembly tasks within the robot's workspace. These maps offer quantifiable metrics to compare the suitability of base placements for mobile robots concerning the feasibility of specific assembly tasks. Performance maps are a discretised representation of a particular robot's distribution of selected performance metrics. The current implementation focuses on calculating manipulability, dexterity, and condition number. Using a URDF robot model and task poses as input, the metrics are computed across distributed poses within the robot's workspace at a specified resolution, forming the performance map. The data set contains the application of the performance map to exemplary tasks and robots. A Design of Experiments (DoE) was conducted to investigate the influence of three predictor variables on robot manipulation performance. The predictor variables considered in the study were as follows: 1. Resolution (R): Two levels of resolution, 0.08m and 0.12m, were examined to assess their impact on robot performance representation. 2. Number of poses (N): Two different quantities of poses, 25 and 50, were studied to understand how they affect the representation of the robot's capabilities. 3. Robot Model: Two distinct robot models, the ABB IRB1600-1.2 and the ABB IRB120-0.58, were chosen for the experiments.   Eight experiments were designed and executed, each with a unique combination of the predictor variables. These experiments are summarised in the Excel sheet "DOE-tests-and-results". The first table overviews the eight experiments. The following eight tables indicate the positions and the results: the respective calculated robot's performance metrics.  The .json files specify the poses for which the respective performance metrics (dexterity index, reciprocal condition number, and manipulability index) per robot were calculated. The included .png files visualise the distribution of each index for each conducted experiment in a performance map. The maps were created with Matplotlib.    As a comparison, the "capability maps" of both robot models with both resolutions --- generated with the ROS (Robot Operating System) library Reuleaux (http://wiki.ros.org/reuleaux) --- are provided. The generated files are given in .h5 format. The respective files are named as "CM_...".  ------------------------------------------------------------------------------------------------------------------------------------------------------- Acknowledgement: Funded by the Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) under Germany's Excellence Strategy --- EXC-2023 Internet of Production --- 390621612.

Data from: Compromise docking power evaluation of liganded crystal structures of Mpro SARS-CoV-2

A set of 406 liganded SARS-CoV-2 Mpro crystal structures originally downloaded from RCSB PBD database is provided. Ligand and protein files are processed and corrected for various types of structural errors and are provided in pdbqt and mol2 formats for immediate use in molecular docking programs AutoDock, AutoDock Vina, and PLANTS. Data are utilized in calculations of newly defined compromise docking power to monitor the performance of above-mentioned software. The provided dataset can also be used for benchmarking of other software and molecular docking protocols on liganded SARS-CoV-2 Mpro systems.

opencc-by-4.0Jan 2024View details →

Evaluation of Mesoscale Convective Systems in High Resolution E3SMv2

This is the open data resource for the paper "Mesoscale Convective Systems Represented in High Resolution E3SMv2 and Impact of New Cloud and Convection Parameterizations" that submitted to the Journal of Geophysical Research: Atmospheres.

opencc-by-4.0Apr 2023View details →

Evaluation of the self-healing capacity of concrete with low-cost macro-capsules

This study focuses on the evaluation of the efficiency of a low-cost macrocapsule, using commercially available pharmaceutical capsules with specific modifications, for self-healing concrete. The macrocapsules were developed by the Belgian Building Research Institute in a previous study. The healing agent is a resin based on alkyd-urethane, a low-cost commercial product, which was selected for its compatibility with concrete and shell, and also for the following reasons: resin release, adhesion to concrete, and reduction in capillary water absorption. After their manufacturing, the macrocapsules were carefully integrated within the concrete mix at 5 volume-%, and cubes and slabs for compressive and impact tests were cast. Small beams 160 x 40 x 40 mm3 containing each three capsules (placed 15 mm above the bottom surface) were tested for flexural strength and capillary water absorption. The effect of self-healing was evaluated by sorptivity test for two different crack mouth opening displacements of 0.5 mm and 0.9 mm. In both cases, the cracks were partially or completely healed, and the mechanical properties of the macrocapsule specimens were quite the same as the reference specimens. This demonstrates that the modified low-cost macrocapsules are sufficient to heal large cracks without losing the concrete mechanical properties.

Evaluating bottom-up forcing of a rocky intertidal resource harvest on a high trophic-level consumer group

The importance of ecosystem-based management (EBM) frameworks for resource harvest has increased over the past several decades as ecosystems face numerous anthropogenic stressors. In these frameworks, resource managers must consider the suite of interactions that comprise food webs and how resource harvest drives responses in non-target organisms. In rocky intertidal zones along North Atlantic coastlines, rockweed (Ascophyllum nodosum)—a canopy-forming brown seaweed—has been commercially harvested for centuries, yet most research on the effects of harvest have focused on the responses of the target resource and the macroinvertebrate assemblage. In this study, we used a Before-After Control-Impact experiment to assess the bottom-up effects of commercial rockweed harvest on a high trophic-level consumer group (birds) in Maine (USA). Overall, there was no evidence for strong bottom-up forcing of rockweed harvest on birds' site visitation. There was a small (fewer than two birds) positive effect size of harvest during the one-year post-harvest recovery interval. Several of the trends observed for the full bird assemblage appear to be driven more strongly by the low tide than the high tide bird assemblage. Independent of treatment, site visitation by birds was low in our study (60% of surveys recorded no birds) and highlights questions about the use of rocky intertidal habitats relative to other habitat types in coastal birds' home ranges. To our knowledge, there are no comparable assemblage-level bird studies in this system that can provide context to our results. Further research on coastal birds' habitat use within home ranges and food-web connections with rockweed-associated macroinvertebrates is needed to more confidently incorporate this high trophic-level consumer group into an EBM framework for a rocky intertidal resource harvest.

Data from: Evaluation of the horizontal approach to the medial malleolar facet in sagittal talar fractures through dorsiflexion and plantarflexion positions

Background Talar fractures often require osteotomy during surgery to achieve reduction and screw fixation of the fractured fragments due to limited visualization and operating space of the talar articular surface. The objective of this study was to evaluate the horizontal approach to the medial malleolus facet by maximizing exposure through dorsiflexion and plantarflexion positions. Methods In the positions of foot dorsiflexion, plantarflexion, and functional, we respectively obtained the anterior and posterior edge lines of the projection of the medial malleolus on the medial malleolar facet. The talar model from Mimics was imported into Geomagic software for image refinement. Then Solidworks software was used to segment the medial surface of the talus and extend the edge lines from the three positions to project them onto the "semicircular" base for 2D projection. The exposed area in different positions, the percentage of total area it represents, and the anatomic location of the insertion point at the groove between the anteroposternal protrusions of the medial malleolus were calculated. Results The mean total area of the "semicircular" region on the medial malleolus surface of the talus was 542.10 ± 80.05 mm2. In the functional position, the exposed mean area of the medial malleolar facet around the medial malleolus both anteriorly and posteriorly was 141.22 ± 24.34 mm2, 167.58 ± 22.36mm2, respectively. In dorsiflexion, the mean area of the posterior aspect of the medial malleolar facet was 366.28 ± 48.12 mm2. In plantarflexion, the mean of the anterior aspect of the medial malleolar facet was 222.70 ± 35.32 mm2. The mean overlap area of unexposed area in both dorsiflexion and plantarflexion was 23.32 ± 5.94 mm2. The mean percentage of the increased exposure area in dorsiflexion (36.71 ± 3.25 %) and plantarflexion were 36.71 ± 3.25 % and 15.13 ± 2.83 %. The mean distance from the insertion point to the top of the talar dome was 10.69 ± 1.24 mm, to the medial malleolus facet border of the talar trochlea was 5.61 ± 0.96 mm, and to the tuberosity of the posterior tibiotalar portion of the deltoid ligament complex was 4.53 ± 0.64 mm. Conclusions Within the 3D model, we measured the exposed area of the medial malleolus facet in different positions and the anatomic location of the insertion point at the medial malleolus groove. When the foot is in plantarflexion or dorsiflexion, a sufficiently large area and operating space can be exposed during surgery. The data regarding the exposed visualization area and virtual screws need to be combined with clinical experience for safer reduction and fixation of fracture fragments. Further validation of its intraoperative feasibility will require additional clinical research.