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The emergence and recent development of collaborative robots have introduced a safer and more efficient human–robot collaboration (HRC) manufacturing environment. Since the release of COBOTs, a great amount of research efforts have been focused on improving robot working efficiency, user safety, human intention detection, etc., while one significant factor—human comfort—has been frequently ignored. The comfort factor is critical to COBOT users due to its great impact on user acceptance. In previous studies, there is a lack of a mathematical-model-based approach to quantitatively describe and predict human comfort in HRC scenarios. Also, few studies have discussed the cases when multiple comfort factors take effect simultaneously. In this study, a multi-linear-regression-based general human comfort prediction model is proposed under human–robot collaboration scenarios, which is able to accurately predict the comfort levels of humans in multi-factor situations. The proposed method in this paper tackled these two gaps at the same time and also demonstrated the effectiveness of the approach with its high prediction accuracy. The overall average accuracy among all participants is 81.33%, while the overall maximum value is 88.94%, and the overall minimum value is 72.53%. The model uses subjective comfort rating feedback from human subjects as training and testing data. Experiments have been implemented, and the final results proved the effectiveness of the proposed approach in identifying human comfort levels in HRC. 

Abstract Carbohydrate active enzymes (CAZymes) are made by various organisms for complex carbohydrate metabolism. Genome mining of CAZymes has become a routine data analysis in (meta-)genome projects, owing to the importance of CAZymes in bioenergy, microbiome, nutrition, agriculture, and global carbon recycling. In 2012, dbCAN was provided as an online web server for automated CAZyme annotation. dbCAN2 (https://bcb.unl.edu/dbCAN2) was further developed in 2018 as a meta server to combine multiple tools for improved CAZyme annotation. dbCAN2 also included CGC-Finder, a tool for identifying CAZyme gene clusters (CGCs) in (meta-)genomes. We have updated the meta server to dbCAN3 with the following new functions and components: (i) dbCAN-sub as a profile Hidden Markov Model database (HMMdb) for substrate prediction at the CAZyme subfamily level; (ii) searching against experimentally characterized polysaccharide utilization loci (PULs) with known glycan substates of the dbCAN-PUL database for substrate prediction at the CGC level; (iii) a majority voting method to consider all CAZymes with substrate predicted from dbCAN-sub for substrate prediction at the CGC level; (iv) improved data browsing and visualization of substrate prediction results on the website. In summary, dbCAN3 not only inherits all the functions of dbCAN2, but also integrates three new methods for glycan substrate prediction. 

Multi-layered inter-dependent networks have emerged in a wealth of high-impact application domains. Cross-layer dependency inference, which aims to predict the dependencies between nodes across different layers, plays a pivotal role in such multi-layered network systems. Most, if not all, of existing methods exclusively follow a coupling principle of design and can be categorized into the following two groups, including (1) heterogeneous network embedding based methods (data coupling), and (2) collaborative filtering based methods (module coupling). Despite the favorable achievement, methods of both types are faced with two intricate challenges, including (1) the sparsity challenge where very limited observations of cross-layer dependencies are available, resulting in a deteriorated prediction of missing dependencies, and (2) the dynamic challenge given that the multi-layered network system is constantly evolving over time. In this paper, we first demonstrate that the inability of existing methods to resolve the sparsity challenge roots in the coupling principle from the perspectives of both data coupling and module coupling. Armed with such theoretical analysis, we pursue a new principle where the key idea is to decouple the within-layer connectivity from the observed cross-layer dependencies. Specifically, to tackle the sparsity challenge for static networks, we propose FITO-S, which incorporates a position embedding matrix generated by random walk with restart and the embedding space transformation function. More essentially, the decoupling principle ameliorates the dynamic challenge, which naturally leads to FITO-D, being capable of tracking the inference results in the dynamic setting through incrementally updating the position embedding matrix and fine-tuning the space transformation function. Extensive evaluations on real-world datasets demonstrate the superiority of the proposed framework FITO for cross-layer dependency inference.