Miracle-dz/UniFAR-FTUs huggingface dataset:
Ensuring safety of policies learned by reinforcement: Reaching objects in the presence of obstacles with the iCub

Given a stochastic policy learned by reinforcement, we wish to ensure that it can be deployed on a robot with demonstrably low probability of unsafe behavior. Our case study is about learning to reach target objects positioned close to obstacles, and ensuring a reasonably low collision probability. Learning is carried out in a simulator to avoid physical damage in the trial-and-error phase. Once a policy is learned, we analyze it with probabilistic model checking tools to identify and correct potential unsafe behaviors. The whole process is automated and, in principle, it can be integrated step-by-step with routine task-learning. As our results demonstrate, automated fixing of policies is both feasible and highly effective in bounding the probability of unsafe behaviors.
Characterizing Stratospheric Polar Vortex Variability With Computer Vision Techniques

Computer vision techniques are used to characterize the Arctic stratospheric polar vortex in 38 years of reanalysis data. Such techniques are typically applied to analyses of digital images, but they represent powerful tools that are more widely applicable: basic techniques and considerations for geophysical applications are outlined herein. Segmentation, descriptive, and tracking algorithms are combined in the Characterization and Analysis of Vortex Evolution using Algorithms for Region Tracking (CAVE‐ART) package, which was developed to comprehensively describe dynamical and geometrical evolution of polar vortices. CAVE‐ART can characterize and track multiple vortex regions through time, providing an extensive suite of region, moments, and edge diagnostics for each. CAVE‐ART is valuable for identifying vortex‐splitting events including, but not limited to, previously cataloged vortex‐split sudden stratospheric warmings. An algorithm for identifying such events detects 52 potential events between 1980 and 2017; of these, 38 are subjectively classified as distinct “split‐like” events. The algorithm based on CAVE‐ART is also compared with moment‐based methods previously used to detect split events. Furthermore, vortex edge‐averaged wind speeds from CAVE‐ART are used to define extreme weak and strong polar vortex events over multiple vertical levels; this allows characterization of their occurrence frequencies and extents in time and altitude. Weak and strong events show distinct signatures in CAVE‐ART diagnostics: in contrast to weak events, strong vortices are more cylindrical and pole centered, and less filamented, than the climatological state. These results from CAVE‐ART exemplify the value of computer vision techniques for analysis of geophysical phenomena.
Present-Bias, Procrastination and Deadlines in a Field Experiment

We study procrastination in the context of a field experiment involving students who must exert costly effort to complete certain tasks by a fixed deadline. Students display a strong demand for commitment in the form of self-imposed deadlines. However, deadlines appear not to increase task completion rates. Students who report themselves as being more disorganized delay task completion significantly more. We estimate that the fraction of students displaying present bias in our sample is over 40%. Furthermore, we structurally estimate present bias and other possible behavioral aspects of students' decision making by fitting the experimental data on both completion rates and failed attempts through a stylized stopping time choice model. The point estimate of present bias is 30% in our preferred specification. Present-bias appears, however, not to significantly affect behavior in the context of repeated similar tasks. This suggests various frame effects whereby repeated similar task activate internal self-control. Beyond present bias, our results indicate that other behavioral characteristics play an important role in inducing procrastination.
Pole-zero analysis of supercapacitor-assisted low-dropout (SCALDO) regulator

Supercapacitor assisted low-dropout (SCALDO) regulator technique is gradually expanding as a novel approach to design high-efficiency, low-frequency DC-DC converters where the load sees a high-quality output of a linear regulator. Theoretical concepts, prototypes, and experimental validations of this patented technique have been well established and published in the past eight years. Further developing the SCALDO regulator's theoretical basis, the pole-zero analysis is presented in this paper. A basic background about the control loop, the open-loop transfer function, the poles and zeros of a PMOS LDO regulator are discussed here. The small-signal model of the overall SCALDO regulator is constructed using the supercapacitor circulation network and a discrete PMOS LDO regulator. With related to the small-signal model, the control loop, and the open-loop transfer function of the SCALDO regulator are derived. The results of the SCALDO regulator in terms of the DC gain, poles and zeros are compared with the PMOS LDO regulator. The theoretical analysis is validated using the simulated results obtained from the control system toolbox in MATLAB Simulink environment.
Markov Localization using Correlation

Localization is one of the most important capabilities for autonomous mobile agents. Markov Localization (ML), applied to dense range images, has proven to be an effective technique. But its computational and storage requirements put a large burden on robot systems, and make it difficult to update the map dynamically. In this paper we introduce a new technique, based on correlation of a sensor scan with the map, that is several orders of magnitude more efficient than ML. CBML (correlation-based ML) permits video-rate localization using dense range scans, dynamic map updates, and a more precise error model than ML. In this paper we present the basic method of CBML, and validate its efficiency and correctness in a series of experiments on an implemented mobile robot base.
What makes you popular: beauty, personality or intelligence?

This study explores the determinants of popularity within friendship and advice networks. We involved almost 200 college students in an experiment to predict how personality traits, self-monitoring, creativity, intelligence, energy, and beauty influence the development of friendship and advice networks. Our results indicate that physical attractiveness is a key to develop both friendship and task-related interactions, whereas perceived intelligence and creativity play an important role in the advice network. Our findings seem to support the idea that there might be a kernel of truth in the stereotype that attractiveness correlates with positive social traits and successful outcomes.
Synergistic Effects of Nonthermal Plasma and Disinfecting Agents against Dental Biofilms In Vitro

Aim. Dental biofilms play a major role in the pathogenesis of many dental diseases. In this study, we evaluated the synergistic effect of atmospheric pressure plasma and different agents in dentistry on the reduction of biofilms. Methods and Results. We used monospecies (S. mutans) and multispecies dental biofilm models grown on titanium discs in vitro. After treatment with one of the agents, the biofilms were treated with plasma. Efficacy of treatment was determined by the number of colony forming units (CFU) and by live-dead staining. For S. mutans biofilms no colonies could be detected after treatment with NaOCl or H2O2. For multispecies biofilms the combination with plasma achieved a higher CFU reduction than each agent alone. We found an additive antimicrobial effect between argon plasma and agents irrespective of the treatment order with cultivation technique. For EDTA and octenidine, antimicrobial efficacy assessed by live-dead staining differed significantly between the two treatment orders (P < 0.05). Conclusions. The effective treatment of dental biofilms on titanium discs with atmospheric pressure plasma could be increased by adding agents in vitro.
Occurrence, structure, biochemical properties and technological characteristics of lactoferrin

The structure of the iron-binding glycoprotein lactoferrin, present in milk and other exocrine secretions, has been elucidated in great detail, both the three-dimensional protein structure and the attached N-glycans. Structure–function relationships are being established. From these studies a function for lactoferrin in host defence and modulation of iron metabolism emerges. This paper describes in some detail how iron and other cations may be bound by lactoferrins from human or bovine sources and elucidates parts of the molecule that are critical for interactions with cells and biomolecules. Furthermore, the technological aspects, more specifically the heat-sensitivity, of bovine lactoferrin in different matrices are described.
Forensic Voice Comparison Using Chinese /iau/

An acoustic-phonetic forensic-voice-comparison system extracted information from the formant trajectories of tokens of Standard Chinese /iau/. When this information was added to a generic automatic forensic-voice-comparison system, which did not itself exploit acoustic-phonetic information, there was a substantial improvement in system validity but a decline in system reliability.
Effects of egg consumption on carotenoid absorption from co-consumed, raw vegetables.

BACKGROUND Dietary lipids are one of the most effective stimulators of carotenoid absorption, but very limited data exist on the impact of endogenous food sources of lipids to enhance carotenoid absorption. The co-consumption of whole egg with carotenoid-rich foods may increase overall carotenoid absorption via lipid-rich egg yolk. OBJECTIVE We designed this study to assess the effects of egg consumption on carotenoid absorption from a carotenoid-rich, raw mixed-vegetable salad. DESIGN Healthy young men (n = 16) consumed the same salad (all served with 3 g canola oil) with no egg (control), 75 g scrambled whole eggs (1.5 eggs) [low egg (LE)], and 150 g scrambled whole eggs (3 eggs) [high egg (HE)] (a randomized crossover design). Control, LE, and HE meals contained 23 mg, 23.4 mg (0.4 mg from eggs), and 23.8 mg (0.8 mg from eggs) total carotenoids and 3 g, 10.5 g (7.5 g from eggs), and 18 g (15 g from eggs) total lipids, respectively. Blood was collected hourly for 10 h, and the triacylglycerol-rich lipoprotein (TRL) fraction was isolated. Total and individual carotenoid contents, including lutein, zeaxanthin , α-carotene, β-carotene, and lycopene in TRL were analyzed, and composite areas under the curve (AUCs) were calculated. RESULTS The total mean (±SE) carotenoid AUC0-10h in TRL was higher for the HE meal than for LE and control meals [125.7 ± 19.4(a) compared with 44.8 ± 9.2(b) compared with 14.9 ± 5.2(b) nmol/L · 10 h, respectively (values without a common superscript letter differ); P < 0.0001]. The TRL AUC(0-10h) of lutein and zeaxanthin increased 4-5-fold (P < 0.001), and the TRL AUC(0-10h) of carotenoid not present in eggs, including α-carotene, β-carotene, and lycopene, increased 3-8-fold (P < 0.01) for the HE meal compared with the control meal. CONCLUSION These findings support the claim that co-consuming cooked whole eggs is an effective way to enhance carotenoid absorption from other carotenoid-rich foods such as a raw mixed-vegetable salad. This trial was registered at clinicaltrials.gov as NCT01951313.
STUDY OF CHRONIC IDIOPATHIC CONSTIPATION IN A SAMPLE OF EGYPTIAN CHILDREN

This was a cross-sectional study comprised 200 children subjected to a simple arabic questionnaire to assess their socio-demographic data and constipation prevalence with paternal concern. Routien laboratory investigations showed that constipation was (60%) in females, (40%) in males, more common in urban (61%) than in rural areas (39%) and more common in low social class (57.5%) than in higher ones. Constipation was also common in children who preferred low dietary fibers (47%), not preferred to drink excess juice (73%), do not eat regular vegetables and fruits (70% and 68% respectively), with statistically significant differences (p<0.05). Also, constipation was more common with positive family history, inactive children and in those with higher exposure to stressful life events (45%, 76%, 88% and respectively). In conclusion, idiopathic constipation is a major health problem that is related to life style with risk factors which may be genetic, psychological, organic or dietary habits. Therefore, history, clinical examinations are mandatory for diagnosis and further workup is needed in this respect.
CA 125 and Epithelial Ovarian Cancer: Role in Screening, Diagnosis, and Surveillance

CA125 (carbohydrate antigen 125) provides useful in- formation for patients with a known diagnosis of ovar- ian cancer, but as a solitary value it is of limited use in screening in the general population. It is reasonably used during the treatment for ovarian cancer and pre- dicts disease status in this setting. While it is often used in posttreatment surveillance, one well-performed ran- domized trial suggests that following CA-125 levels in asymptomatic women treated for ovarian cancer with curative intent has a negative impact on quality of life with no subsequent survival advantage. Although CA 125 has been used clinically for over 20 years, its use in some settings is still poorly defined, and the social and emotional impact of this test on patients is immense. This article summarizes the most recent research and guide- lines surrounding all uses of CA 125 with regard to ovar- ian cancer, including screening, diagnosis, surveillance, and quality of life. Information was collected from a sys- tematic review of published literature about CA 125 in the last 5 years using the PubMed database. The Appendix is a patient-focused summary of the role of CA 125 in ovarian cancer for patient reference during the treatment process.
Analysis of a Spectral-Galerkin Approximation to the Helmholtz Equation in Exterior Domains

An error analysis is presented for the spectral-Galerkin method to the Helmholtz equation in 2- and 3-dimensional exterior domains. The problem in unbounded domains is first reduced to a problem on a bounded domain via the Dirichlet-to-Neumann operator, and then a spectral-Galerkin method is employed to approximate the reduced problem. The error analysis is based on exploring delicate asymptotic behaviors of the Hankel functions and on deriving a priori estimates with explicit dependence on the wave number for both the continuous and the discrete problems. Explicit error bounds with respect to the wave number are derived, and some illustrative numerical examples are also presented.
Pricing objectives and pricing methods in the services sector

Purpose – The purpose of this research paper is to explore the pricing objectives that service companies pursue along with the pricing methods that they adopt in order to set their prices.Design/methodology/approach – An extensive review of the literature revealed the complete lack of any previous work aiming to investigate the potential association between these two important elements of a company's pricing strategy. Thus, the value of the paper lies in the fact that it presents the first attempt to examine this issue empirically. In order to achieve the research objectives, data were collected from 170 companies operating in six different services sectors in Greece through personal interviews.Findings – The findings of the study reveal that the objectives, which are pursued, are fundamentally qualitative rather than quantitative in their nature with a particular emphasis given on the companies’ customers. However, the pricing methods, which are adopted by the majority of the companies, refer to the trad.
Contrasting spatio‐temporal climatic niche dynamics during the eastern and western invasions of spotted knapweed in North America

The spotted knapweed (Centaurea stoebe), a plant native to south‐east and central Europe, is highly invasive in North America. We investigated the spatio‐temporal climatic niche dynamics of the spotted knapweed in North America along two putative eastern and western invasion routes. We then considered the patterns observed in the light of historical, ecological and evolutionary factors.
The Antidepressant Effect of β-Adrenoreceptor Subsensitivity: A Brief Review and Clinical Implications*

This paper reviews briefly the very common finding in chronic antidepressant use, of subsensitivity of the β-adrenoreceptor-linked cyclic AMP system. This subsensitivity is observed with a number of different antidepressant treatments, including pharmacological, electrical and sleep deprivation. The subsensitivity requires intact noradrenergic and serotonergic systems, functionally linking the two neurotransmitters most often implicated in depression. Thyroid hormones and estrogens also cause subsensitivity, while the opposite effect is seen with Reserpine and Propranolol. A modified conditioning/sensitization model is proposed, implicating psychosocial stressors with a biological inability to down-regulate β-adrenoreceptors.
Trade Induced Technical Change? The Impact of Chinese Imports on Innovation, it and Productivity

We examine the impact of Chinese import competition on broad measures of technical change—patenting, IT, and TFP—using new panel data across twelve European countries from 1996 to 2007. In particular, we establish that the absolute volume of innovation increases within the firms most affected by Chinese imports in their output markets. We correct for endogeneity using the removal of product-specific quotas following China's entry into the World Trade Organization in 2001. Chinese import competition led to increased technical change within firms and reallocated employment between firms towards more technologically advanced firms. These within and between effects were about equal in magnitude, and account for 14% of European technology upgrading over 2000–7 (and even more when we allow for offshoring to China). Rising Chinese import competition also led to falls in employment and the share of unskilled workers. In contrast to low-wage nations like China, developed countries had no significant effect on innovation.
A linear systems analysis of the yaw dynamics of a dynamically scaled insect model

SUMMARY Recent studies suggest that fruit flies use subtle changes to their wing motion to actively generate forces during aerial maneuvers. In addition, it has been estimated that the passive rotational damping caused by the flapping wings of an insect is around two orders of magnitude greater than that for the body alone. At present, however, the relationships between the active regulation of wing kinematics, passive damping produced by the flapping wings and the overall trajectory of the animal are still poorly understood. In this study, we use a dynamically scaled robotic model equipped with a torque feedback mechanism to study the dynamics of yaw turns in the fruit fly Drosophila melanogaster. Four plausible mechanisms for the active generation of yaw torque are examined. The mechanisms deform the wing kinematics of hovering in order to introduce asymmetry that results in the active production of yaw torque by the flapping wings. The results demonstrate that the stroke-averaged yaw torque is well approximated by a model that is linear with respect to both the yaw velocity and the magnitude of the kinematic deformations. Dynamic measurements, in which the yaw torque produced by the flapping wings was used in real-time to determine the rotation of the robot, suggest that a first-order linear model with stroke-average coefficients accurately captures the yaw dynamics of the system. Finally, an analysis of the stroke-average dynamics suggests that both damping and inertia will be important factors during rapid body saccades of a fruit fly.
Species distribution & antifungal susceptibility pattern of oropharyngeal Candida isolates from human immunodeficiency virus infected individuals

Background & objectives: The changing spectrum of Candida species in causation of oropharyngeal candidiasis and their antifungal susceptibility pattern among the HIV infected individuals has made the identification to species level mandatory and detection of drug resistance necessary for patient care. The present study was carried out to determine the species distribution and antifungal susceptibility profile of oral Candida isolates colonizing or infecting both HIV seropositive and seronegative individuals. Methods: A case-control study was conducted including 141 consecutive, non-repeat HIV-seropositive individuals and an equal number of sex and age matched HIV-seronegative control. Speciation of the oropharyngeal Candida isolates was done using standard yeast identification protocol. Antifungal susceptibility testing was done by the disk-diffusion method as well as by Fungitest method. Results: From the 59 culture positive HIV seropositive cases, 61 Candida isolates were recovered; Candida albicans (n=47, 77.0%), C. dubliniensis (n=9, 14.7%), C. parapsilosis (n=2, 3.2%), C. glabrata (n=2, 3.2%), and C. famata (n=1, 1.6%). Candida colonization in HIV-seropositive individuals was significantly higher than that of HIV-seronegative (control) group. Antifungal susceptibility testing revealed (n=6, 9.3%) C. albicans isolates resistant to voriconazole and fluconazole by disk-diffusion method whereas no resistance was seen by Fungitest method. Interpretation & conclusions: C. albicans was the commonest Candida species infecting or colonizing HIV seropositive individuals. Oropharyngeal Candida isolates had high level susceptibility to all the major antifungals commonly in use. Increased level of immunosuppression in HIV-seropositives and drug resistance of non-albicans Candida species makes identification and susceptibility testing of Candida species necessary in different geographical areas of the country.
Digits vs. pictures: The influence of stimulus type on language switching

Stimuli used in cued language switching studies typically consist of digits or pictures. However, the comparability between both stimulus types remains unclear. In the present study, we directly compared digit and picture naming in a German–English language switching experiment. Because digits represent a semantic group and contain many cognates, the experiment consisted of four conditions with different stimulus sets in each condition: digits, standard language switching pictures, pictures depicting cognates, and semantically-related pictures. Digit naming caused smaller switch costs than picture naming. The data suggest that this difference can be attributed to phonology. Both methodological and theoretical implications are discussed.
Neutral Theory and Rapidly Evolving Viral Pathogens

Abstract The evolution of viral pathogens is shaped by strong selective forces that are exerted during jumps to new hosts, confrontations with host immune responses and antiviral drugs, and numerous other processes. However, while undeniably strong and frequent, adaptive evolution is largely confined to small parts of information‐packed viral genomes, and the majority of observed variation is effectively neutral. The predictions and implications of the neutral theory have proven immensely useful in this context, with applications spanning understanding within‐host population structure, tracing the origins and spread of viral pathogens, predicting evolutionary dynamics, and modeling the emergence of drug resistance. We highlight the multiple ways in which the neutral theory has had an impact, which has been accelerated in the age of high‐throughput, high‐resolution genomics.