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| 2. |
- Abellán, C., et al.
(author)
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Challenging Local Realism with Human Choices
- 2018
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In: Nature. - : Nature Publishing Group. - 0028-0836 .- 1476-4687. ; 557, s. 212-216
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Journal article (peer-reviewed)abstract
- A Bell test is a randomized trial that compares experimental observations against the philosophical worldview of local realism , in which the properties of the physical world are independent of our observation of them and no signal travels faster than light. A Bell test requires spatially distributed entanglement, fast and high-efficiency detection and unpredictable measurement settings. Although technology can satisfy the first two of these requirements, the use of physical devices to choose settings in a Bell test involves making assumptions about the physics that one aims to test. Bell himself noted this weakness in using physical setting choices and argued that human 'free will' could be used rigorously to ensure unpredictability in Bell tests. Here we report a set of local-realism tests using human choices, which avoids assumptions about predictability in physics. We recruited about 100,000 human participants to play an online video game that incentivizes fast, sustained input of unpredictable selections and illustrates Bell-test methodology. The participants generated 97,347,490 binary choices, which were directed via a scalable web platform to 12 laboratories on five continents, where 13 experiments tested local realism using photons, single atoms, atomic ensembles and superconducting devices. Over a 12-hour period on 30 November 2016, participants worldwide provided a sustained data flow of over 1,000 bits per second to the experiments, which used different human-generated data to choose each measurement setting. The observed correlations strongly contradict local realism and other realistic positions in bi-partite and tri-partite 12 scenarios. Project outcomes include closing the 'freedom-of-choice loophole' (the possibility that the setting choices are influenced by 'hidden variables' to correlate with the particle properties), the utilization of video-game methods for rapid collection of human-generated randomness, and the use of networking techniques for global participation in experimental science.
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| 7. |
- Herbst, SA, et al.
(author)
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Proteogenomics refines the molecular classification of chronic lymphocytic leukemia
- 2022
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In: Nature communications. - : Springer Science and Business Media LLC. - 2041-1723. ; 13:1, s. 6226-
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Journal article (peer-reviewed)abstract
- Cancer heterogeneity at the proteome level may explain differences in therapy response and prognosis beyond the currently established genomic and transcriptomic-based diagnostics. The relevance of proteomics for disease classifications remains to be established in clinically heterogeneous cancer entities such as chronic lymphocytic leukemia (CLL). Here, we characterize the proteome and transcriptome alongside genetic and ex-vivo drug response profiling in a clinically annotated CLL discovery cohort (n = 68). Unsupervised clustering of the proteome data reveals six subgroups. Five of these proteomic groups are associated with genetic features, while one group is only detectable at the proteome level. This new group is characterized by accelerated disease progression, high spliceosomal protein abundances associated with aberrant splicing, and low B cell receptor signaling protein abundances (ASB-CLL). Classifiers developed to identify ASB-CLL based on its characteristic proteome or splicing signature in two independent cohorts (n = 165, n = 169) confirm that ASB-CLL comprises about 20% of CLL patients. The inferior overall survival in ASB-CLL is also independent of both TP53- and IGHV mutation status. Our multi-omics analysis refines the classification of CLL and highlights the potential of proteomics to improve cancer patient stratification beyond genetic and transcriptomic profiling.
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| 10. |
- Su, H., et al.
(author)
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Towards model-free tool dynamic identification and calibration using multi-layer neural network
- 2019
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In: Sensors. - : MDPI AG. - 1424-8220. ; 19:17, s. 3636-
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Journal article (peer-reviewed)abstract
- In robot control with physical interaction, like robot-assisted surgery and bilateral teleoperation, the availability of reliable interaction force information has proved to be capable of increasing the control precision and of dealing with the surrounding complex environments. Usually, force sensors are mounted between the end effector of the robot manipulator and the tool for measuring the interaction forces on the tooltip. In this case, the force acquired from the force sensor includes not only the interaction force but also the gravity force of the tool. Hence the tool dynamic identification is required for accurate dynamic simulation and model-based control. Although model-based techniques have already been widely used in traditional robotic arms control, their accuracy is limited due to the lack of specific dynamic models. This work proposes a model-free technique for dynamic identification using multi-layer neural networks (MNN). It utilizes two types of MNN architectures based on both feed-forward networks (FF-MNN) and cascade-forward networks (CF-MNN) to model the tool dynamics. Compared with the model-based technique, i.e., curve fitting (CF), the accuracy of the tool identification is improved. After the identification and calibration, a further demonstration of bilateral teleoperation is presented using a serial robot (LWR4+, KUKA, Germany) and a haptic manipulator (SIGMA 7, Force Dimension, Switzerland). Results demonstrate the promising performance of the model-free tool identification technique using MNN, improving the results provided by model-based methods.
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| 12. |
- Arvidson, R. E., et al.
(author)
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Opportunity Mars Rover mission : Overview and selected results from Purgatory ripple to traverses to Endeavour crater
- 2011
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In: Journal of Geophysical Research. - Hoboken : Wiley-Blackwell. - 0148-0227 .- 2156-2202. ; 116, s. E00F15-
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Journal article (peer-reviewed)abstract
- Opportunity has been traversing the Meridiani plains since 25 January 2004 (sol 1), acquiring numerous observations of the atmosphere, soils, and rocks. This paper provides an overview of key discoveries between sols 511 and 2300, complementing earlier papers covering results from the initial phases of the mission. Key new results include (1) atmospheric argon measurements that demonstrate the importance of atmospheric transport to and from the winter carbon dioxide polar ice caps; (2) observations showing that aeolian ripples covering the plains were generated by easterly winds during an epoch with enhanced Hadley cell circulation; (3) the discovery and characterization of cobbles and boulders that include iron and stony-iron meteorites and Martian impact ejecta; (4) measurements of wall rock strata within Erebus and Victoria craters that provide compelling evidence of formation by aeolian sand deposition, with local reworking within ephemeral lakes; (5) determination that the stratigraphy exposed in the walls of Victoria and Endurance craters show an enrichment of chlorine and depletion of magnesium and sulfur with increasing depth. This result implies that regional-scale aqueous alteration took place before formation of these craters. Most recently, Opportunity has been traversing toward the ancient Endeavour crater. Orbital data show that clay minerals are exposed on its rim. Hydrated sulfate minerals are exposed in plains rocks adjacent to the rim, unlike the surfaces of plains outcrops observed thus far by Opportunity. With continued mechanical health, Opportunity will reach terrains on and around Endeavour's rim that will be markedly different from anything examined to date. Copyright 2011 by the American Geophysical Union.
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| 13. |
- Brentrup, Jennifer A., et al.
(author)
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The potential of high-frequency profiling to assess vertical and seasonal patterns of phytoplankton dynamics in lakes : an extension of the Plankton Ecology Group (PEG) model
- 2016
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In: Inland Waters. - 2044-2041 .- 2044-205X. ; 6:4, s. 565-580
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Journal article (peer-reviewed)abstract
- The use of high-frequency sensors on profiling buoys to investigate physical, chemical, and biological processes in lakes is increasing rapidly. Profiling buoys with automated winches and sensors that collect high-frequency chlorophyll fluorescence (ChlF) profiles in 11 lakes in the Global Lake Ecological Observatory Network (GLEON) allowed the study of the vertical and temporal distribution of ChlF, including the formation of subsurface chlorophyll maxima (SSCM). The effectiveness of 3 methods for sampling phytoplankton distributions in lakes, including (1) manual profiles, (2) single-depth buoys, and (3) profiling buoys were assessed. High-frequency ChlF surface data and profiles were compared to predictions from the Plankton Ecology Group (PEG) model. The depth-integrated ChlF dynamics measured by the profiling buoy data revealed a greater complexity that neither conventional sampling nor the generalized PEG model captured. Conventional sampling techniques would have missed SSCM in 7 of 11 study lakes. Although surface-only ChlF data underestimated average water column ChlF, at times by nearly 2-fold in 4 of the lakes, overall there was a remarkable similarity between surface and mean water column data. Contrary to the PEG model's proposed negligible role for physical control of phytoplankton during the growing season, thermal structure and light availability were closely associated with ChlF seasonal depth distribution. Thus, an extension of the PEG model is proposed, with a new conceptual framework that explicitly includes physical metrics to better predict SSCM formation in lakes and highlight when profiling buoys are especially informative.
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| 14. |
- Dahl, Tais W., et al.
(author)
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Devonian rise in atmospheric oxygen correlated to the radiations of terrestrial plants and large predatory fish
- 2010
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In: Proceedings of the National Academy of Sciences of the United States of America. - : Proceedings of the National Academy of Sciences. - 0027-8424 .- 1091-6490. ; 107:42, s. 17911-17915
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Journal article (peer-reviewed)abstract
- The evolution of Earth's biota is intimately linked to the oxygenation of the oceans and atmosphere. We use the isotopic composition and concentration of molybdenum (Mo) in sedimentary rocks to explore this relationship. Our results indicate two episodes of global ocean oxygenation. The first coincides with the emergence of the Ediacaran fauna, including large, motile bilaterian animals, ca. 550-560 million year ago (Ma), reinforcing previous geochemical indications that Earth surface oxygenation facilitated this radiation. The second, perhaps larger, oxygenation took place around 400 Ma, well after the initial rise of animals and, therefore, suggesting that early metazoans evolved in a relatively low oxygen environment. This later oxygenation correlates with the diversification of vascular plants, which likely contributed to increased oxygenation through the enhanced burial of organic carbon in sediments. It also correlates with a pronounced radiation of large predatory fish, animals with high oxygen demand. We thereby couple the redox history of the atmosphere and oceans to major events in animal evolution.
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| 15. |
- Dahl, Tais W., et al.
(author)
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Reply to Butterfield : The Devonian radiation of large predatory fish coincided with elevated athospheric oxygen levels
- 2011
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In: Proceedings of the National Academy of Sciences of the United States of America. - : Proceedings of the National Academy of Sciences. - 0027-8424 .- 1091-6490. ; 108:9, s. E29-
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Journal article (peer-reviewed)abstract
- We welcome this opportunity to clarify the conclusions and implications of our recent publication in PNAS. Butterfield (1) raises four issues regarding the oxygenation of the Paleozoic Earth's surface and its correlation to animal evolution. Our geochemical and paleontological data supported ocean oxygenation in the Silurian-Early Devonian (2), a critical transition in Earth history that influenced biogeochemical cycles and biological systems. First, Butterfield suggests that evidence of charcoal in late Silurian rocks is incompatible with our claim that the earlier Paleozoic atmosphere had oxygen levels below 50% PAL (present-day atmospheric level). This counterargument rests on the assumption that the “fire window” of 62–166% PAL oxygen is well defined, but this is not the case (3).
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| 18. |
- Hrycik, Allison R., et al.
(author)
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Earlier winter/spring runoff and snowmelt during warmer winters lead to lower summer chlorophyll-a in north temperate lakes
- 2021
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In: Global Change Biology. - : John Wiley & Sons. - 1354-1013 .- 1365-2486. ; 27:19, s. 4615-4629
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Journal article (peer-reviewed)abstract
- Winter conditions, such as ice cover and snow accumulation, are changing rapidly at northern latitudes and can have important implications for lake processes. For example, snowmelt in the watershed—a defining feature of lake hydrology because it delivers a large portion of annual nutrient inputs—is becoming earlier. Consequently, earlier and a shorter duration of snowmelt are expected to affect annual phytoplankton biomass. To test this hypothesis, we developed an index of runoff timing based on the date when 50% of cumulative runoff between January 1 and May 31 had occurred. The runoff index was computed using stream discharge for inflows, outflows, or for flows from nearby streams for 41 lakes in Europe and North America. The runoff index was then compared with summer chlorophyll-a (Chl-a) concentration (a proxy for phytoplankton biomass) across 5–53 years for each lake. Earlier runoff generally corresponded to lower summer Chl-a. Furthermore, years with earlier runoff also had lower winter/spring runoff magnitude, more protracted runoff, and earlier ice-out. We examined several lake characteristics that may regulate the strength of the relationship between runoff timing and summer Chl-a concentrations; however, our tested covariates had little effect on the relationship. Date of ice-out was not clearly related to summer Chl-a concentrations. Our results indicate that ongoing changes in winter conditions may have important consequences for summer phytoplankton biomass and production.
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| 19. |
- Hu, Y., et al.
(author)
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Fuzzy Adaptive Control-based Real-time Obstacle Avoidance under Uncertain Perturbations
- 2020
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In: Proceedings ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics. - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 50-55
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Conference paper (peer-reviewed)abstract
- Dynamic Movement Primitives (DMPs) framework is a powerful approach to imitate motor skills, which has outstanding characteristics, such as convergence to the goal position and good imitation performance. Considering complex motion scenes of manipulators, such as changing the goal position or adding obstacles, the original DMPs framework is not sufficient for the requirements. In this paper, we propose a learning control-based hierarchical control strategy to adapt to new goal positions and avoid obstacles: the high-level learning scheme is targeted at imitating the motor skill and generating the optimization trajectory for obstacle avoidance; the lower-level control scheme focuses on the safety and stability of the robot's movement with unknown disturbances. Firstly, the enhanced DMPs framework is presented to imitate the trajectory from human demonstrations, where the novel DMPs can adapt to new goal position with the changing goal, and avoid single or multiple obstacles. Then, the fuzzy adaptive control method is employed to control redundant manipulators, where the fuzzy logic system (FLS) is incorporated to approximate an unknown nonlinear function term of the unknown disturbance. Finally, the effectiveness of the proposed learning-control strategy is demonstrated with simulation results. The results show that the developed hierarchical strategy has good performance for new goal adaptation and obstacle avoidance.
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| 20. |
- Hu, Y., et al.
(author)
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Nonlinear model predictive control for mobile robot using varying-parameter convergent differential neural network
- 2019
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In: Robotics. - : MDPI AG. - 2218-6581. ; 8:3, s. 64-
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Journal article (peer-reviewed)abstract
- The mobile robot kinematic model is a nonlinear affine system, which is constrained by velocity and acceleration limits. Therefore, the traditional control methods may not solve the tracking problem because of the physical constraint. In this paper, we present the nonlinear model predictive control (NMPC) algorithm to track the desired trajectory based on neural-dynamic optimization. In the proposed algorithm, the NMPC scheme utilizes a new neural network named the varying-parameter convergent differential neural network (VPCDNN) which is a Hopfifield-neural network structure with respect to the differential equation theory to solve the quadratic programming (QP) problem. The new network structure converges to the global optimal solution and it is more efficient than traditional numerical methods. In the simulation, we verify that the proposed method is able to successfully track reference trajectories with a two-wheel mobile robot. The experimental validation has been conducted in simulation and the results show that the proposed method is able to precisely track the trajectory maintaining a high robustness based on the VPCDNN solver.
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| 24. |
- Tranvik, Lars J., et al.
(author)
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Lakes and reservoirs as regulators of carbon cycling and climate
- 2009
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In: Limnology and Oceanography. - : Wiley. - 0024-3590 .- 1939-5590. ; 54:6:2, s. 2298-2314
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Research review (peer-reviewed)abstract
- We explore the role of lakes in carbon cycling and global climate, examine the mechanisms influencing carbon pools and transformations in lakes, and discuss how the metabolism of carbon in the inland waters is likely to change in response to climate. Furthermore, we project changes as global climate change in the abundance and spatial distribution of lakes in the biosphere, and we revise the estimate for the global extent of carbon transformation in inland waters. This synthesis demonstrates that the global annual emissions of carbon dioxide from inland waters to the atmosphere are similar in magnitude to the carbon dioxide uptake by the oceans and that the global burial of organic carbon in inland water sediments exceeds organic carbon sequestration on the ocean floor. The role of inland waters in global carbon cycling and climate forcing may be changed by human activities, including construction of impoundments, which accumulate large amounts of carbon in sediments and emit large amounts of methane to the atmosphere. Methane emissions are also expected from lakes on melting permafrost. The synthesis presented here indicates that (1) inland waters constitute a significant component of the global carbon cycle, (2) their contribution to this cycle has significantly changed as a result of human activities, and (3) they will continue to change in response to future climate change causing decreased as well as increased abundance of lakes as well as increases in the number of aquatic impoundments.
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| 26. |
- Zoback, Mary Lou, et al.
(author)
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Global patterns of tectonic stress
- 1989
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In: Nature. - : Springer Science and Business Media LLC. - 0028-0836 .- 1476-4687. ; 341:6240, s. 291-298
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Research review (peer-reviewed)abstract
- Regional patterns of present-day tectonic stress can be used to evaluate the forces acting on the lithosphere and to investigate intraplate seismicity. Most intraplate regions are characterized by a compressional stress regime; extension is limited almost entirely to thermally uplifted regions. In several plates the maximum horizontal stress is subparallel to the direction of absolute plate motion, suggesting that the forces driving the plates also dominate the stress distribution in the plate interior.
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