Miracle-dz/UniFAR-FTUs huggingface dataset:
A Framework for Real-time Path Planning in Changing Environments

We present a new method for generating collision-free paths for robots operating in changing environments. Our approach is closely related to recent probabilistic roadmap approaches. These planners use preprocessing and query stages, and are aimed at planning many times in the same environment. In contrast, our preprocessing stage creates a representation of the configuration space that can be easily modified in real time to account for changes in the environment, thus facilitating real-time planning. As with previous approaches, we begin by constructing a graph that represents a roadmap in the configuration space, but we do not construct this graph for a specific workspace. Instead, we construct the graph for an obstacle-free workspace, and encode the mapping from workspace cells to nodes and arcs in the graph. When the environment changes, this mapping is used to make the appropriate modifications to the graph, and plans can be generated by searching the modified graph. In this paper, we first discuss the construction of the roadmap, including how random samples of the configuration space are generated using an importance sampling approach and how these samples are connected to form the roadmap. We then discuss the mapping from the workspace to the configuration space roadmap, explaining how the mapping is generated and how it can be encoded efficiently using compression schemes that exploit redundancy in the mapping. We then introduce quantitative robustness measures and show how these can be used to enhance the robustness of the roadmap to changes in the environment. Finally, we evaluate an implementation of our approach for serial-link manipulators with up to 20 joints.
The Intrinsic Value of Decision Rights

Philosophers, psychologists, and economists have long argued that certain decision rights carry not only instrumental value but may also be valuable for their own sake. The ideas of autonomy, freedom, and liberty derive their intuitive appeal – at least partly – from an assumed positive intrinsic value of decision rights. Proving the existence of this value and measuring its size, however, is intricate. Here, we develop an experimental method capable of achieving these goals. The data reveal that – across different parameterizations – the large majority of our subjects intrinsically value decision rights beyond their instrumental benefit. The existence of an intrinsic value of decision rights helps understand the allocation of decision rights in practice, and it has implications for their optimal allocation in organizations, economic institutions, and society at large.
Improving Comprehension of Narrative Using Character Event Maps for High School Students With Autism Spectrum Disorder

Few studies examine specific interventions for increasing narrative text comprehension for students with autism spectrum disorder (ASD). However, both the cognitive reading profiles common in ASD and the focus on access to complex text for all learners suggest the need for interventions to support narrative text comprehension. Using a multiple baseline design, the current study examined the effectiveness of an intervention package that included scaffolded completion of a character event map paired with a review of the previous session’s map to make a prediction about the coming chapter on the narrative text comprehension of three male adolescents with ASD. There was an immediate change in comprehension scores for all three participants during intervention. Comprehension for all participants remained high through intervention and follow-up. Implications for research and practice are addressed.
The Moderating Effect of Job Security on the Relation between Role Clarity and Job Performance: A Longitudinal Field Study

In a longitudinal field study of a random sample of employees in an organization undergoing major restructuring and downsizing, we investigated the moderating influence of job security on the effect of role clarity on employee performance. The results support our hypothesis. That is, job performance increased over time under higher levels of role clarity. Moreover, this increase in performance was maximized when both role clarity and job security were high, while deterioration in performance was greatest when role clarity was low and job security was high.
Herd Behavior in a Laboratory Financial Market

We study herd behavior in a laboratory financial market. Subjects receive private information on the fundamental value of an asset and trade it in sequence with a market maker. The market maker updates the asset price according to the history of trades. Theory predicts that agents should never herd. Our experimental results are in line with this prediction. Nevertheless, we observe a phenomenon not accounted for by the theory. In some cases, subjects decide not to use their private information and choose not to trade. In other cases, they ignore their private information to trade against the market (contrarian behavior).
Parentally Bereaved Children and Adolescents

This study investigates peer interaction and peer support for parentally bereaved children and adolescents. Using data from an extensive bereavement study, transcribed semistructured interviews on peer relationships from a sample of 35 parentally bereaved children aged 6 to 15 were systematically coded. Exploratory dimensions of inquiry included incidence counts of teasing, peer interaction regarding bereavement, and preference for interaction, among 12 other dimensions. Hypotheses related to age, gender, and parental death type (anticipated vs. sudden) differences on peer support reception were also tested. Major findings included the following: 71.4% of the sample received support from peers, although 71.4% preferred not to have bereavement-related peer interaction. A significantly greater percentage of females versus males experienced peer support and a positive emotional response, and a significantly greater percentage of children bereaved by anticipated deaths versus sudden deaths had received bereavement-related peer interaction and support. No significant differences were found between younger and older children.
The Work Cognition Inventory: Initial evidence of construct validity

Contemporary literature lacks a comprehensive set of constructs that provides for understanding both the organizational and job factors that influence employee work passion. Through a detailed analysis of literature, this research identifies eight constructs that form the basis for the appraisal of an employee's work experience with the use of both a job and an organizational focus. This article reports on the development and validation of a new instrument (Work Cognition Inventory) that measures the identified constructs. Data from three studies provide initial evidence of construct validity, discriminant validity, and convergent validity. Implications for the human resource development practitioner and future research are discussed.
Humiliation Experienced by Somali Refugees in Norway

Life as a refugee attempting to create a new life in an unfamiliar country is filled with uncertainties. Due to a lack of language and cultural knowledge, misunderstandings occur. People in these circumstances are vulnerable to experiences of humiliation. The majority population’s prejudices against strangers also contribute to newlyarrived refugees experiencing more humiliating situations than do others. This paper attempts to analyse experiences of humiliation among refugees, using Somali refugees as a case. The principal research question here is why and how refugees experience humiliation in exile. What kinds of situations trigger feelings of humiliation in refugees and why are these situations experienced as humiliating? This paper attempts to develop a theory of humiliating experiences among exiles, based on interviews with 27 Somalis and 20 Norwegians, as well as participatory observations and meetings with a focus group. Refugees in a society vastly different from that of their home country might be vulnerable to intimidation, and might also be met in hurtful ways. Humiliation occurring in the home country might continue in the new country, and new types of humiliating situations might develop between individuals from the home country in the new setting. The theory set forth here identifies typical reactions of the refugees to certain humiliating situations, and offers some suggestions for ways to prevent humiliating experiences.
National Testing and the Improvement of Classroom Teaching: Can they coexist?

Can children's responses to tests be used to provide useful diagnostic information for classroom teachers? This article describes an analysis of children's performance in the 1997 UK mathematics tests by 7 and 14 year-olds. The children's responses and errors were scaled against their ability using Rasch methodology. These were then interpreted in terms of the literature on the psychology of mathematics education, especially that related to misconceptions, and an attempt was made to describe children's progression in thinking as it relates to their test performance. This work has been reported to all primary and secondary schools in England and Wales, and is intended to provide a description of what the children believe and know. As such it provides a resource to help raise teachers' awareness of their children's thinking and present openings for diagnostic assessment and teaching. Opportunities for and obstacles to developing this approach in future are discussed.
Why break the habit of a lifetime? rethinking the roles of intention, habit, and emotion in continuing information technology use

One of the most welcome recent developments in Information Systems scholarship has been the growing interest in individuals' continuing use of information technology well after initial adoption, known in the literature as IT usage, IT continuance, and post-adoptive IT usage. In this essay, we explore the theoretical underpinnings of IS research on continuing IT use. Although the IS literature on continuing IT use emphasizes the role of habitual behavior that does not require conscious behavioral intention, it does so in a way that largely remains faithful to the theoretical tradition of planned behavior and reasoned action. However, a close reading of reference literatures on automatic behavior (behavior that is not consciously controlled) and the influences of emotion on behavior suggests that planned behavior and reasoned action may not provide the best theoretical foundation for the study of continuing IT use. As a result, we call for empirical research that directly compares and contrasts the consensus theory of continuing IT use with rival theories that place much greater emphasis on unplanned and unreasoned action.
1 Iron Metabolism in Humans : An Overview

1. When iron was available some 10 billion years ago, it was available as Fe (II), but Fe (II) is not a very strong Lewis acid. Thus, it does not bind strongly to most small molecules or activate them strongly toward reaction. 2. Today iron is not readily available from sea or water solutions due to oxidation and hydrolysis. 3. Iron in ferrous state is not easily retained by proteins since it does not bind very strongly to them. 4. Free Fe (II) is mutagenic, especially in the presence of dioxygen.
The reproduction of centrosomes: nuclear versus cytoplasmic controls

The tight coordination normally found between nuclear events and the doubling of centrosomes at each cell cycle suggests that nuclear activities may be part of the mechanism that controls the reproduction of centrosomes. To determine if this is the case, we used a micropipette to completely remove the nucleus from eggs of the sea urchin Lytechinus variegatus at prophase of the first mitosis, leaving only one centrosome in the cell. The subsequent behavior of this centrosome was then followed in vivo with the polarization microscope. In all cases the centrosome reproduced in a precise 1:2:4:8 fashion with a periodicity that was slightly slower than the centrosome cycle of control eggs. The cell cycle-related changes in centrosome morphology were identical to those of control eggs in that: (a) the astral birefringence varied cyclically to a normal extent, (b) the astral focus enlarged and then flattened during the telophase equivalent, (c) cleavage furrows were initiated as the astral birefringence faded, and (d) daughter centrosomes separated before the increase in astral birefringence at the onset of each mitosis. To determine if centrioles also reproduced normally, enucleate eggs were followed in vivo until they contained eight centrosomes. They were then individually removed from the preparations, fixed, and embedded. Each egg was serially 0.25-micron sectioned for observation with the high voltage electron microscope. We completely reconstructed 23 centrosomes in four eggs; all centrosomes contained two centrioles apiece. These results demonstrate that the subunits for complete centrosome assembly can be stockpiled ahead of time and that the properly controlled use of these subunits for centrosome reproduction does not require nuclear transcription or nuclear DNA synthesis at each cell cycle.
Behaviors of highly professional resident physicians.

CONTEXT Unprofessional behaviors in medical school predict high stakes consequences for practicing physicians, yet little is known about specific behaviors associated with professionalism during residency. OBJECTIVE To identify behaviors that distinguish highly professional residents from their peers. DESIGN, SETTING, AND PARTICIPANTS Comparative study of 148 first-year internal medicine residents at Mayo Clinic from July 1, 2004, through June 30, 2007. MAIN OUTCOME MEASURES Professionalism as determined by multiple observation-based assessments by peers, senior residents, faculty, medical students, and nonphysician professionals over 1 year. Highly professional residents were defined as those who received a total professionalism score at the 80th percentile or higher of observation-based assessments on a 5-point scale (1, needs improvement; 5, exceptional). They were compared with residents who received professionalism scores below the 80th percentile according to In-Training Examination (ITE) scores, Mini-Clinical Evaluation Exercise (mini-CEX) scores, conscientious behaviors (percentage of completed evaluations and conference attendance), and receipt of a warning or probation from the residency program. RESULTS The median total professionalism score among highly professional residents was 4.39 (interquartile range [IQR], 4.32-4.44) vs 4.07 (IQR, 3.91-4.17) among comparison residents. Highly professional residents achieved higher median scores on the ITE (65.5; IQR, 60.5-73.0 vs 63.0; IQR, 59.0-67.0; P = .03) and on the mini-CEX (3.95; IQR, 3.63-4.20 vs 3.69; IQR, 3.36-3.90; P = .002), and they completed a greater percentage of required evaluations (95.6%; IQR, 88.1%-99.0% vs 86.1%; IQR, 70.6%-95.0%; P < .001) compared with residents with lower professionalism scores. In multivariate analysis, a professionalism score in the top 20% of residents was independently associated with ITE scores (odds ratio [OR] per 1-point increase, 1.07; 95% confidence interval [CI], 1.01-1.14; P = .046), mini-CEX scores (OR, 4.64; 95% CI, 1.23-17.48; P = .02), and completion of evaluations (OR, 1.07; 95% CI, 1.01-1.13; P = .02). Six of the 8 residents who received a warning or probation had total professionalism scores in the bottom 20% of residents. CONCLUSION Observation-based assessments of professionalism were associated with residents' knowledge, clinical skills, and conscientious behaviors.
Sensorimotor Model of Obstacle Avoidance in Echolocating Bats

Bat echolocation is an ability consisting of many subtasks such as navigation, prey detection and object recognition. Understanding the echolocation capabilities of bats comes down to isolating the minimal set of acoustic cues needed to complete each task. For some tasks, the minimal cues have already been identified. However, while a number of possible cues have been suggested, little is known about the minimal cues supporting obstacle avoidance in echolocating bats. In this paper, we propose that the Interaural Intensity Difference (IID) and travel time of the first millisecond of the echo train are sufficient cues for obstacle avoidance. We describe a simple control algorithm based on the use of these cues in combination with alternating ear positions modeled after the constant frequency bat Rhinolophus rouxii. Using spatial simulations (2D and 3D), we show that simple phonotaxis can steer a bat clear from obstacles without performing a reconstruction of the 3D layout of the scene. As such, this paper presents the first computationally explicit explanation for obstacle avoidance validated in complex simulated environments. Based on additional simulations modelling the FM bat Phyllostomus discolor, we conjecture that the proposed cues can be exploited by constant frequency (CF) bats and frequency modulated (FM) bats alike. We hypothesize that using a low level yet robust cue for obstacle avoidance allows bats to comply with the hard real-time constraints of this basic behaviour.
Reexamining the Critical Period Hypothesis

This study concerns the ability of adults to achieve nativelike competence in second language when the acquisition context lacks formal instruction and, therefore, more closely resembles the environment for first language acquisition. The study presents the results of extensive testing of an adult who has apparently acquired native proficiency in Egyptian Arabic (EA) in an untutored setting. The goal is to determine to what extent her linguistic competence matches that of native speakers. Measures employed to assess her level of achievement are a speech production task, a grammaticality judgment task, a translation task, an anaphoric interpretation task, and an accent recognition task. Results are compared to those of native speakers as well as to those of a proficient learner of EA with extensive formal instruction. The results lead the authors to reexamine the critical period hypothesis while addressing the role of talent in adult language learning. The study concludes with an evaluation of our subject's language learning history to discover what factors differentiate her from less successful naturalistic adult acquirers.
The Relational Zone: The Role of Caring Relationships in the Co-Construction of Mind

The literature rooted in Vygotsky's theories has focused on the more strictly cognitive aspects of the process of the co-construction of mind, leaving the affective nature of these interactions unexplored. The purpose of this article is to describe the affective, volitional face of the zone of proximal development. By drawing on Nel Noddings's work on the ethic of care, I argue that the interpersonal character of the zone of proximal development closely resembles a caring encounter. In merging caring and the notion of the co-construction of knowledge, I intend to broaden our conception of the teaching-learning process and to enhance our understanding of the roles played by affect, volition, and relationship in cognitive development.
RELATION BETWEEN ANTHROPOMETRIC DATA AND PERFORMANCE OF LOWER LIMB IN SQUAT JUMP

In this study, the total peak of joints’ torque, work, and the maximum jump height were measured in ten physically active male subjects performing the squat jump (SJ), and squat jump with arm swing (SJA). Accordingly, arm swing caused an increment in the heights of squat jump (p<0.001). The results revealed relationships between body mass and height with the total peak of joints’ torque (0.58<r<0.68 and 0.68<r<0.70 respectively) and work (0.54<r<0.59 and 0.69<r<0.68 respectively) which were comparable for jumps. There was no significant relationship between body fat percentage and lower limb performances.
Influences on the Political Participation of People With Disabilities

While Americans with disabilities comprise the largest minority group in American politics, we know very little about the individual level determinants of political activity among this neglected part of the American polity In this analysis, we use data collected by Louis Harris and Associates during the 1984 and 1986 elections to begin to understand more fully the determinants of political participation among people with disabilities. We find that the political activity of people with disabilities not only depends on demographic and psychological factors, but also appears to depend as much on candidate behavior and governmental performance. This evidence suggests that the political involvement of people with disabilities may greatly depend on the extent to which political elites attempt to address their political concerns.
Day-Surgery Patients Anesthetized with Propofol Have Less Postoperative Pain than Those Anesthetized with Sevoflurane

BACKGROUND: There have been recent studies suggesting that patients anesthetized with propofol have less postoperative pain compared with patients anesthetized with volatile anesthetics. METHODS: In this randomized, double-blind study, 80 patients undergoing day-case diagnostic laparoscopic gynecological surgery were either anesthetized with IV propofol or sevoflurane. The primary outcome measured was pain on a visual analog scale. RESULTS: Patients anesthetized with propofol had less pain compared with patients anesthetized with sevoflurane (P = 0.01). There was no difference in any of the other measured clinical outcomes. CONCLUSIONS: The patients anesthetized with propofol appeared to have less pain than patients anesthetized with sevoflurane.
Analysis of Coronary Angioplasty Practice in the United States With an Insurance‐Claims Data Base

BackgroundCoronary angioplasty is frequently performed in the United States, with more than 300,000 procedures in 1990. Despite the high rate of use of the procedure, there have been few studies addressing practice patterns. Methods and ResultsFrom a private insurance claims data base of 5.4 million individuals, a total of 2,101 patients who underwent coronary angioplasty during 1988-1989 were identified. Using their 4,578 hospital admission records and 87,578 outpatient claim records, with an average follow-up of 332±+182 days, we compared patients' outcomes and charges according to whether they had an exercise stress test before the procedure, by sex, by region of the country, and by whether the angioplasty was performed in an institution with a training program. Only 29&percnt of the study cohort had exercise testing before angioplasty; patients in the West (p=0.001), those undergoing multivessel angioplasty (p =0.00001), and those whose procedures were performed at sites with training programs (p=0.04) were more likely to have a screening test, whereas women (p=0.008) and those with a recent myocardial infarction (p=0.00001) were less likely to have a screening test. The average length of stay for patients without myocardial infarction as a primary diagnosis was 5.6 days, with a total hospital charge of $15,027. In follow-up, 15.1% had coronary artery bypass surgery and 15% had at least one additional angioplasty procedure; the average follow-up charges were $4,879. Charges varied according to sex, region of the country, and academic status of the angioplasty institution. Certain outcomes showed variation by region of the country and academic status of the angioplasty institution. ConclusionsThe relative lack of an objective definition of myocardial ischemia and the marked variability of use of procedures according to geographic region suggest the need for further implementation of established guidelines.