Miracle-dz/UniFAR-FTUs huggingface dataset:
A Procedural Knowledge Approach to Task-Level Control

Effective task-level control is critical for robots that are to engage in purposeful activity in realworld environments. This paper describes PRSLite, a task-level controller grounded in a procedural knowledge approach to action description. The controUer embodies much of the philosophy that underlies the Procedural Reasoning System (PRS) but in a minimalist fashion. Several features of PRS-Lite distinguish it from its predecessor, including a richer goal semantics and a generalized control regime. Both of these features are critical for supporting the management of continuous processes employed in current-generation robots. PRS-Lite has been used extensively as a task-level controller for a robot whose underlying behaviors are implemented as fuzzy rules. Tasks to which it has been applied include vision-based tracking, autonomous exploration, and complex delivery scenaxios.
Do Dogs Need Calculus?

A few years ago, Tim Pennings [8] wrote in this journal about his dog Elvis. He observed that while fetching a ball, Elvis would optimize his path so that he would reach a thrown ball as quickly as possible. Pennings modeled this behavior mathematically and used differential calculus to predict Elvis’s path to the ball. Recently, two more articles [3] and [9] about Elvis appeared in this journal. These articles illustrate other calculus-based techniques for solving the same problem. The article [10] is a popular account summarizing these three articles. The point of this note is to show how Elvis’s path can be determined without using any methods of calculus. Instead we use elementary methods of algebra. Ultimately, one only needs the algebraic fact that x ≥ 0 for any real number x. Stated differently, calculus is not needed to minimize a quadratic-based function, since the vertex of a parabola can also be found algebraically. This article emphasizes the elegance of the method, not its practicality. We don’t know if dogs really do know calculus, but we do know that they don’t need it for the task of fetching balls—they only need to know a little bit of algebra.
Building a World Class Logistics, Distribution and Electronic Commerce Infrastructure

This paper takes a retrospective look at FedEx, a third party logistics intermediary that sought to capitalize on the rise of electronic commerce. By integrating virtual-world information technology and electronic commerce capabilities with real-world physical delivery of products through its air and ground transportation network, FedEx sought to exploit the new opportunities emerging in the digital economy. Through a process of strategic acquisitions in late 1997 and early 1998, FedEx consolidated its position as a leader in the express package delivery business. This set the stage for rapid growth in the fast-emerging industries of electronic commerce and supplies chain management - a new domain in which long-time competitors UPS and DHL were also quickly gaining ground. Simultaneously, many large American firms were beginning to revamp their logistics strategies in order to integrate other elements of the supply chain into their own systems. This significant market trend, in conjunction with several ot.
Muscle fiber types of human extraocular muscles: a histochemical and immunohistochemical study.

PURPOSE To classify muscle fibers of human extraocular muscle (hEOM) and to compare them to previous studies on hEOM, as well as to nonhuman EOM classification schemes and skeletal muscle fiber types. METHODS Muscle fibers cut in different muscle planes were followed on consecutive cross sections and typed with regard to their oxidative profile in combination with their myosin-immunohistochemical characteristics. RESULTS Three zones were observed. In the global layer three muscle fiber types were observed: global layer singly innervated granular fibers, 79.4 +/- 8.1 microm (perimeter [values at midmuscle region] +/- SD); 59%; global layer singly innervated coarse fibers (80.3 +/- 10.8 microm; 21%); and global layer multiply innervated muscle fibers (4.1 +/- 9.7 microm; 21%). Two muscle fiber types were detected in the orbital layer: orbital layer singly innervated muscle fibers (54.1 +/- 8.5 microm; 83%) and orbital layer multiply innervated muscle fibers (53.5 +/- 7.6 microm; 17%). Three muscle fiber types were differed in the marginal zone: marginal zone singly innervated muscle fibers (83.1 +/- 15.8 microm; 56%), marginal zone multiply innervated low oxidative muscle fibers (84.4 +/- 23.3 microm; 7%), and marginal zone multiply innervated high oxidative muscle fibers (88.4 +/- 14.5 microm; 37%). Coexpressions of developmental myosin heavy chain isoforms and fast myosin heavy chain isoform were detected mainly in the marginal zone. CONCLUSIONS hEOMs resemble mammalian EOM with regard to their organization. However, in addition to an inner global layer and an orbital layer an external marginal zone was described for the first time in hEOM in the present study.
Optimal Bit Loading Algorithm for Power-Line Communication Systems subject to Individual Channel Power Constraints

Multichannel modulation technique has been successfully applied to power-line communication networks because of its elegant water-filling algorithm for optimal bit-loading. This algorithm maximizes the total channel capacity of the communication system by appropriately matching the signal power to the channel noise level. This paper extends such an algorithm to the case where transmission power at different channels are constrained individually. Such constraints arise naturally in power-line communication systems. An algorithm is carefully developed for such a unfriendly communication environment. This algorithm is an iterative water-filling algorithm in nature, so that the simple and intuitive feature of the well- known water-filling algorithm can be preserved. The individual channel constraints are met using an iterative procedure, which guarantees the optimal solution can be reached within finite iterations. An illustrative system is simulated to demonstrate the efficiency of the proposed algorithm. Furthermore, the proposed algorithm is also well justified using theoretical results.
The Effects of Dark Incubation on Cellular Metabolism of the Wild Type Cyanobacterium Synechocystis sp. PCC 6803 and a Mutant Lacking the Transcriptional Regulator cyAbrB2

The cyAbrB2 transcriptional regulator is essential for active sugar catabolism in Synechocystis sp. PCC 6803 grown under light conditions. In the light-grown cyabrB2-disrupted mutant, glycogen granules and sugar phosphates corresponding to early steps in the glycolytic pathway accumulated to higher levels than those in the wild-type (WT) strain, whereas the amounts of 3-phosphoglycerate, phosphoenolpyruvate and ribulose 1,5-bisphosphate were significantly lower. We further determined that accumulated glycogen granules in the mutant could be actively catabolized under dark conditions. Differences in metabolite levels between WT and the mutant became less substantial during dark incubation due to a general quantitative decrease in metabolite levels. Notable exceptions, however, were increases in 2-oxoglutarate, histidine, ornithine and citrulline in the WT but not in the mutant. The amounts of cyAbrBs were highly responsive to the availability of light both in transcript and protein levels. When grown under light-dark cycle conditions, diurnal oscillatory pattern of glycogen content of the mutant was lost after the second dark period. These observations indicate that cyAbrB2 is dispensable for activation of sugar catabolism under dark conditions but involved in the proper switching between day and night metabolisms.
A new almost perfect nonlinear function which is not quadratic

Following an example in [12], we show how to change one coordinate function of an almost perfect nonlinear (APN) function in order to obtain new examples. It turns out that this is a very powerful method to construct new APN functions. In particular, we show that our approach can be used to construct a ''non-quadratic'' APN function. This new example is in remarkable contrast to all recently constructed functions which have all been quadratic. An equivalent function has been found independently by Brinkmann and Leander [8]. However, they claimed that their function is CCZ equivalent to a quadratic one. In this paper we give several reasons why this new function is not equivalent to a quadratic one.
Atmospheric circulation and tides of ``51 Pegasus b-like'' planets

We examine the properties of the atmospheres of extrasolar giant planets at orbital distances smaller than 0.1 AU from their stars. We show that these \51 Peg b-like" planets are rapidly synchronized by tidal in- teractions, but that small departures from synchronous rotation can occur because of fluid-dynamical torques within these planets. Previous radiative-transfer and evolution models of such planets assume a homogeneous atmosphere. Nevertheless, we show using simple arguments that, at the photosphere, the day-night temperature dierence and characteristic wind speeds may reach500 K, and 2k m s 1 , respectively. Substantial departures from chemical equilibrium are expected. The cloud coverage depends sensitively on the dynamics; clouds could exist predominantly either on the dayside or nightside, depending on the circulation regime. Radiative-transfer models that assume homogeneous conditions are therefore inadequate in describing the atmospheric properties of 51 Peg b-like planets. We present preliminary three-dimensional, nonlinear simulations of the atmospheric cir- culation of HD 209458b that indicate plausible patterns for the circulation and generally agree with our simpler estimates. Furthermore, we show that kinetic energy production in the atmosphere can lead to the deposition of substantial energy in the interior, with crucial consequences for the evolution of these planets. Future measure- ments of reflected and thermally-emitted radiation from these planets will help test our ideas.
Stochastic optimization and sparse statistical recovery: An optimal algorithm for high dimensions

Summary form only given. Stochastic optimization algorithms have many desirable features for large-scale machine learning, and accordingly have been the focus of renewed and intensive study in the last several years (e.g., see the papers [2], [5], [14] and references therein). The empirical efficiency of these methods is backed with strong theoretical guarantees, providing sharp bounds on their convergence rates. These convergence rates are known to depend on the structure of the underlying objective function, with faster rates being possible for objective functions that are smooth and/or (strongly) convex, or optima that have desirable features such as sparsity. More precisely, for an objective function that is strongly convex, stochastic gradient descent enjoys a convergence rate ranging from O(1/T ), when features vectors are extremely sparse, to O(d/T ) when feature vectors are dense [10], [6]. A complementary type of condition is that of sparsity, either exact or approximate, in the optimal solution. Sparse models have proven useful in many application areas (see the overview papers [4], [9], [3] and references therein for further background), and many optimization-based statistical procedures seek to exploit such sparsity via ℓ1-regularization. A significant feature of optimization algorithms for sparse problems is their mild logarithmic scaling with the problem dimension [11], [12], [5], [14]. More precisely, itis known [11], [12] that when the optimal solution θ has at most s non-zero entries, appropriate versions of the stochastic mirror descent algorithm ',/ converge at a rate O(s (log d)/T ). Srebro et al. [13] exploit the smoothness of many common loss functions; in application to sparse linear regression, their analysis yields improved rates ',/ of the form O(η (s log d)/T), where η is the noise variance. While the Vlog d scaling of the dimension makes these methods attractive in high dimensions, the scaling with respect to the number V of iterations is relatively slow-namely, O(1/ T ) versus O(1/T) for strongly convex problems.The algorithm proposed in this paper aims to use both strong convexity and sparsity. We show that the algorithm has convergence rate O((s log d)/T) for a strongly convex problem with an s-sparse optimum in d dimensions. Moreover, this rate is unimprovable up to constant factors, meaning that no algorithm can converge at a substantially faster rate. The method builds off recent work on multi-step methods for strongly convex problems [7], [8], but involves some new ingredients that are essential to obtain optimal rates for statistical problems with sparse optima. Numerical simulations confirm our theoretical predictions regarding the convergence rate of the algorithm, and demonstrate its performance in comparison to other methods: regularized dual averaging [14] and stochastic gradient descent algorithms. We refer the reader to the full report [1] for more details.
Determinants of User Acceptance of Digital Libraries: An Empirical Examination of Individual Differences and System Characteristics

The explosion in Internet usage and huge government funding initiatives in digital libraries have drawn attention to research on digital libraries. Whereas the traditional focus of digital library research has been on the technological development, there is now a call for user-focused research. Although millions of dollars have been spent on building "usable" systems, research on digital libraries has shown that potential users may not use the systems in spite of their availability. There is a need for research to identify the factors that determine users' adoption of digital libraries. Using the technology acceptance model (TAM) as a theoretical framework, this study investigates the effect of a set of individual differences (computer self-efficacy and knowledge of search domain) and system characteristics (relevance, terminology, and screen design) on intention to use digital libraries. Based on a sample of 585 users of a university's award-winning digital library, the results strongly support the utilization of TAM in predicting users' intention to adopt digital libraries, and demonstrate the effects of critical external variables on behavior intention through perceived ease of use and perceived usefulness. All of the individual differences and system characteristics have significant effects on perceived ease of use of digital libraries. In addition, relevance has the strongest effect on perceived usefulness of digital libraries.
Short note Community robustness in discrete-time periodic environments

The influence of seasonal environmental variation on species coexistence is an ecologically important factor. Its two aspects are how seasonal variation contributes to coexistence mechanisms, and, given a seasonally varying coexistence pattern, how sensitive that coexistence is to nonstationary external influences (such as climate change). Here we develop a formula for calculating the robustness of discrete-time periodic dynamics. Robustness is defined as the sensitivity of the position of the cycle in phase space to varying model parameters. Though the results are different, the main biological conclusions are in line with those from a similar study concerning continuous-time cycles (Barabás et al., 2012a): species segregation in the timing of resource use or predator avoidance increases community robustness in a way that is analogous to the effects of resource partitioning. We also connect this formalism with the widely used and successful framework of Chesson (1994), demonstrating that the merging of these two perspectives yields simplified expressions for robustness more amenable to analytical treatment. As an example, we apply our results to a two-cycle in a model of two competing annual plants with seedbanks, using our formulas to calculate the range of parameters that allow for the coexistence of the competitors. This helps us understand which components of the environmental variation the coexistence is sensitive to; in our case, the model is fairly robust against changing seed survival, moderately so against changing the variance in seed germination, and quite sensitive to changing the mean seed germination rates. 2013 Elsevier B.V. All rights reserved.
Dynamic behavior of cryogen spray cooling: Effects of spurt duration and spray distance

Cryogen spray cooling (CSC) is used to minimize the risk of epidermal damage during laser dermatologic surgery. Since optimization of CSC permits the safe use of higher light doses, which improves therapeutic outcome in many patients with superficial skin lesions, studies have focused on understanding spray–surface interactions and cooling dynamics. The objective of this study is to measure accurately temperature variations at the sprayed surface and the effects of spurt duration (Δt) and nozzle‐to‐sprayed surface distance (L) on cooling dynamics during CSC.
Diverse origin of vascular smooth muscle cells in the neointima.

Vascular smooth muscle cells accumulate excessively in the formation of neointima and have a key role in the pathogenesis of vasculoproliferative disorders such as atherosclerosis, allograft vasculopathy, bypass graft occlusion, in-stent restenosis and restenosis after percutaneous balloon angioplasty. To date there is no clinically established treatment to prevent the accumulation of smooth muscle cells in the neointima. However, much attention has been devoted to experimentally targeting the inhibition of migration and proliferation of medial smooth muscle cells. The recent identification of circulating bone marrow-derived smooth muscle progenitor has challenged the classical concept of infiltration of solely medial smooth muscle cells in the neointima. In addition, other potential sources such as circulating smooth muscle cell precursors that may not be of direct bone marrow origin, adventitial stem cells or smooth muscle cell progenitors that are released from other organs into the circulation have been demonstrated to have the potential to differentiate into smooth muscle cells. These discoveries have motivated us to reconsider how neointima forms in pathological conditions in the adult human. This update discusses recent insights on smooth muscle progenitors both from a biological and therapeutic perspective. (Anadolu Kardiyol Derg 2005; 5: 216-20)
Outcome and prognostic factors of hematopoietic stem cell transplantation recipients admitted to a medical ICU.

OBJECTIVE To assess the outcome of adult hematopoietic stem cell transplantation (HSCT) recipients who were admitted to a medical ICU (MICU), and to identify the measurable predictors of their MICU outcome. DESIGN Retrospective chart review study. SETTING MICU in a tertiary care, university-affiliated medical center with a comprehensive cancer program. PATIENTS Consecutive adult HSCT recipients admitted to the MICU between January 1998 and June 2001. MEASUREMENTS AND MAIN RESULTS Eighty-five patients were admitted to the MICU, representing 11.4% of patients who had undergone HSCT during the study period. The mean (+/- SD) age at MICU admission was 46.6 +/- 11.4 years (women, 67%; men, 33%). Forty-five patients (53%) underwent allogeneic HSCT, and 40 patients (47%) underwent autologous HSCT. Fifty-one patients (60%) required mechanical ventilation (MV). Fifty-two patients (61%) survived their MICU stay, and 35 patients (41%) were discharged alive from the hospital. The long-term survival rate (ie, > 6 months) in this cohort was 28%. Nineteen mechanically ventilated patients (37%) survived their MICU stay, and 33 patients (97%) survived who did not require MV (p < 0.01). The independent predictors of poor outcome during the MICU stay were elevated serum lactate level on admission to the MICU, the need for MV, and the presence of more than two organ systems that failed. CONCLUSIONS The study showed short-term and long-term survival rates among adult HSCT recipients who had been admitted to MICU that were higher than those previously reported. While there were no absolute predictors of mortality, patients with higher MICU admission serum lactate levels, those requiring MV, or those developing more than two organ system failures had poor MICU outcomes.
Bmmar6, a second mori subfamily mariner transposon from the silkworm moth Bombyx mori

A second member of the divergent mori subfamily of mariner transposons, Bmmar6, is described from the silkworm moth Bombyx mori genome. A confident consensus sequence for Bmmar6 was obtained from a single genomic copy, 17 EST sequences, and the direct sequencing of a ‘family’ sequence from an amplification of all full‐length genomic copies. Bmmar6 is most similar to Bmmar1 in the mori subfamily, which now also includes several fly and nematode transposons. These might be viewed as a discrete family of transposons within the IS630‐Tc1‐mariner superfamily with a distinctive D,D37D catalytic motif, and another small divergent D,D41D clade is recognized as their sister group of transposons.
Multi‐Instrumental Observation of Storm‐Induced Ionospheric Plasma Bubbles at Equatorial and Middle Latitudes

June solstice is considered as a period with the lowest probability to observe typical equatorial plasma bubbles (EPBs) in the postsunset period. The severe geomagnetic storm on 22–23 June 2015 has drastically changed the situation. Penetrating electric fields associated with a long‐lasting southward IMF support favorable conditions for postsunset EPBs generation in the dusk equatorial ionosphere for several hours. As a result, the storm‐induced EPBs were progressively developed over a great longitudinal range following the sunset terminator. The affected area has a large longitudinal range of ~100° in the American sector and a rather localized zone of ~20° in longitude in the African sector. Plasma depletions of equatorial origin were registered at midlatitudes (30°–40° magnetic latitude) of both hemispheres in the African and American longitudinal sectors. We examine global features of the large‐scale plasma depletion by using a combination of ground‐based and space‐borne measurements—ground‐based Global Positioning System/Global Navigation Satellite System (GPS/GNSS) networks, Constellation Observing System for Meteorology, Ionosphere, and Climate (COSMIC) GPS Radio Occultation (RO), Swarm upward looking GPS data, and in situ plasma density observations provided by Swarm, Communications/Navigation Outage Forecasting System (C/NOFS), and Defense Meteorological Satellite Program (DMSP) missions. Joint analysis of the satellite observations revealed that these storm‐induced EPBs structures had extended over 500 km in altitude, at least from ~350 to ~850 km. These irregularities caused strong amplitude and phase scintillations of GPS/GNSS signals for ground‐based and space‐borne (COSMIC RO) measurements and seriously affected performance of navigation‐based services.
Real time detection of ventricular fibrillation and tachycardia

The automatic external defibrillator (AED) is a lifesaving device, which processes and analyses the electrocardiogram (ECG) and delivers a defibrillation shock to terminate ventricular fibrillation or tachycardia above 180 bpm. The built-in algorithm for ECG analysis has to discriminate between shockable and non-shockable rhythms and its accuracy, represented by sensitivity and specificity, is aimed at approaching the maximum values of 100%. An algorithm for VF/VT detection is proposed using a band-pass digital filter with integer coefficients, which is very simple to implement in real-time operation. A branch for wave detection is activated for heart rate measurement and an auxiliary parameter calculation. The method was tested with ECG records from the widely recognized databases of the American Heart Association (AHA) and the Massachusetts Institute of Technology (MIT). A sensitivity of 95.93% and a specificity of 94.38% were obtained.