Miracle-dz/UniFAR-FTUs huggingface dataset:
Behavioral Diversity Generation in Autonomous Exploration through Reuse of Past Experience

The production of behavioral diversity---producing a diversity of effects---is an essential strategy for robots exploring the world when facing situations where interaction possibilities are unknown or non-obvious. It allows to discover new aspects of the environment that cannot be inferred or deduced from available knowledge. However, creating behavioral diversity in situations where it is the most crucial---new and unknown ones---is far from trivial. In particular in large and redundant sensorimotor spaces, only small areas are interesting to explore for any practical purpose. When the environment does not provide clues or gradient toward those areas, trying to discover those areas relies on chance. To address this problem, we introduce a method to create behavioral diversity in a new sensorimotor task by re-enacting actions that allowed to produce behavioral diversity in a previous task, along with a measure that quantifies this diversity. We show that our method can learn how to interact with an object by reusing experience from another, that it adapts to instances of morphological changes and of dissimilarity between tasks, and how scaffolding behaviors can emerge by simply switching the attention of the robot to different parts of the environment. Finally, we show that the method can robustly use simulated experiences and crude cognitive models to generate behavioral diversity in real robots.
Visual features for vehicle localization and ego-motion estimation

This paper introduces a novel method for vehicle pose estimation and motion tracking using visual features. The method combines ideas from research on visual odometry with a feature map that is automatically generated from aerial images into a Visual Navigation System. Given an initial pose estimate, e.g. from a GPS receiver, the system is capable of robustly tracking the vehicle pose in geographical coordinates over time, using image data as the only input. Experiments on real image data have shown that the precision of the position estimate with respect to the feature map typically lies within only several centimeters. This makes the algorithm interesting for a wide range of applications like navigation, path planning or lane keeping.
A FreeSurfer-compliant consistent manual segmentation of infant brains spanning the 0–2 year age range

We present a detailed description of a set of FreeSurfer compatible segmentation guidelines tailored to infant MRI scans, and a unique data set of manually segmented acquisitions, with subjects nearly evenly distributed between 0 and 2 years of age. We believe that these segmentation guidelines and this dataset will have a wide range of potential uses in medicine and neuroscience.
Filtering through combination of positive filters

The linear filters characterized by a state-variable realization given by matrices with nonnegative entries (called positive filters) are heavily restricted in their achievable performance. Nevertheless, such filters are the only choice when dealing with the charged coupled device MOS technology of charge routing networks (CRN's), since nonnegativity is a consequence of the underlying physical mechanism. In order to exploit the advantages offered by this technology, the authors try to overcome the above-mentioned limitation by realizing an arbitrary transfer function as a difference of two positive filters.
The Large Office Environment - Measurement and Modeling of the Wideband Radio Channel

In a future 4G or WLAN wideband application we can imagine multiple users in a large office environment consisting of a single room with partitions. Up to now, indoor radio channel measurement and modelling has mainly concentrated on scenarios with several office rooms and corridors. We present here measurements at 5.8 GHz for 100 MHz bandwidth and a novel modelling approach for the wideband radio channel in a large office room environment. An acoustic like reverberation theory is proposed that allows to specify a tapped delay line model just from the room dimensions and an average absorption coefficient of the delimiting walls. The proposed model agrees amazingly well with the measurements, showing that the diffuse part is uniformly spread over the room with a constant energy level and a constant temporal decay slope. Furthermore, we analyze fading statistics and capacities calculated from the measurements. The proposed model can likely also be applied to indoor hot spot scenarios
An Example of Convergence to Rational Expectations with Heterogeneous Beliefs

Martingale convergence theorems are used to prove convergence of a sequence of temporary equilibria to the rational-expectations equilibrium. The conte xt is a partial-equilibrium model adapted from earlier work of R. Tow nsend (1978) in which agents have differing initial beliefs regarding the realization of a random variable, u, that indexes the level of a ggregate demand. To optimally choose their output level firms must co njecture the level of output of other firms, and hence must solve an infinite regress in expectations. Without imposing any restrictive di stributional assumptions, it is shown that u is measurable with respe ct to the tail s-field generated by the price process. Copyright 1987 by Economics Department of the University of Pennsylvania and the Osaka University Institute of Social and Economic Research Association.
Electron diffraction analysis of structural changes in the photocycle of bacteriorhodopsin.

Structural changes are central to the mechanism of light‐driven proton transport by bacteriorhodopsin, a seven‐helix membrane protein. The main intermediate formed upon light absorption is M, which occurs between the proton release and uptake steps of the photocycle. To investigate the structure of the M intermediate, we have carried out electron diffraction studies with two‐dimensional crystals of wild‐type bacteriorhodopsin and the Asp96‐‐>Gly mutant. The M intermediate was trapped by rapidly freezing the crystals in liquid ethane following illumination with a xenon flash lamp at 5 and 25 degrees C. Here, we present 3.5 A resolution Fourier projection maps of the differences between the M intermediate and the ground state of bacteriorhodopsin. The most prominent structural changes are observed in the vicinity of helices F and G and are localized to the cytoplasmic half of the membrane.
Use of SMS in Office Environments

Investigations of Short Messaging System (SMS) or texting have been directed at private use and mostly the adolescent population. The present paper investigates SMS in a representative sample of office environments in a Scandinavian town. The results indicate that SMS messaging is not integrated into office work, that the messages are highly informal, mostly from the private sphere and from persons well known to the receiver. Different explanations of the infrequent use of SMS in the workplace, e.g. cost sharing between employer and employee, are proposed. One explanation ties the difference in popularity in the private and business spheres to technical aspects of the system and its user interface. This explanation is based upon the Gricean concept of conversational implicature and Clark’s concept of common ground and is elaborated at length. This explanation suggests that SMS is an inherently informal communication system, ill suited to the business domain.
Cardiovascular and haematological responses of Atlantic cod (Gadus morhua) to acute temperature increase

SUMMARY For fish to survive large acute temperature increases (i.e. >10.0°C) that may bring them close to their critical thermal maximum (CTM), oxygen uptake at the gills and distribution by the cardiovascular system must increase to match tissue oxygen demand. To examine the effects of an acute temperature increase (∼1.7°C h-1 to CTM) on the cardiorespiratory physiology of Atlantic cod, we (1) carried out respirometry on 10.0°C acclimated fish, while simultaneously measuring in vivo cardiac parameters using Transonic® probes, and (2) constructed in vitro oxygen binding curves on whole blood from 7.0°C acclimated cod at a range of temperatures. Both cardiac output (Q̇) and heart rate (fh) increased until near the fish's CTM (22.2±0.2°C), and then declined rapidly. Q10 values for Q̇ and fh were 2.48 and 2.12, respectively, and increases in both parameters were tightly correlated with O2 consumption. The haemoglobin (Hb)-oxygen binding curve at 24.0°C showed pronounced downward and rightward shifts compared to 20.0°C and 7.0°C, indicating that both binding capacity and affinity decreased. Further, Hb levels were lower at 24.0°C than at 20.0°C and 7.0°C. This was likely to be due to cell swelling, as electrophoresis of Hb samples did not suggest protein denaturation, and at 24.0°C Hb samples showed peak absorbance at the expected wavelength (540 nm). Our results show that cardiac function is unlikely to limit metabolic rate in Atlantic cod from Newfoundland until close to their CTM, and we suggest that decreased blood oxygen binding capacity may contribute to the plateau in oxygen consumption.
Revisiting the Basics

It has been found that the presence of negative communicative techniques and emotional flooding in marital relationships negatively relates to marital satisfaction. However, current literature has not consistently included known demographical differences (e.g., race, gender, etc.) to truly test how these variables impact marital satisfaction. This study investigated the specific impact that both emotional flooding and negative communicative techniques had on 591 married individuals’ marital satisfaction while controlling for gender, race, and length of relationship. The results indicated that emotional flooding tends to decrease as marriages go on, and refusing to talk with the partner had the greatest negative impact on relationship satisfaction regardless of demographical differences. Suggestions are provided for how therapists and practitioners can use these findings to assist couples who are using negative communication techniques and are, subsequently, experiencing marital dissatisfaction.
Diabetes Insipidus: A Review

th position. Oxytocin is also produced in the hypothalamic nuclei, with a structure similar to ADH, but with leucine in the 8 th position. Both ADH and oxytocin are produced in the magnocellular neurosecretory cells (MNC) of the hypothalamus, mainly in the supraoptic (SON) and paraventricular (PVN) nuclei. While each MNC was initially thought to produce either ADH or oxytocin alone, more recent evidence indicates that there can be some overlap of production [5]. ADH is created as a composite precursor molecule composed of ADH, neurophysin-II (NPII), which is ADH’s carrier protein, and copeptin- a glycopeptides [5,6]. Both NPII and ADH are produced from the same precursor mRNA. After passage through the golgi apparatus the prepropeptide complex is packaged into large dense core vesicles (LDCV) which exit from the trans golgi network. Inside the LDCV enzymatic processing of the precursor molecules takes place. This is facilitated by the LDCV’s mildly acidic (pH 5-6) internal environment. Additionally the acidic environment keeps the fully processed ADH nonapeptide bound to the NPII. After their production, the LDCVs are transported in an anterograde fashion, down the neuronal axon along microtubules at a rate near 140 mm/day. LDCV’s containing ADH is stored in the nerve terminals of the posterior pituitary, awaiting neurosecretion. When an action potential causes an influx of Ca 2+
Channel Feedback Optimization for Network MIMO Systems

We investigate channel feedback optimization for network multiple-input-multiple-output (MIMO) systems. We consider feedback channel selection to exploit channel asymmetry inherent to network MIMO systems and consider feedback bit allocation, which allows an unequal number of feedback bits to be allocated to users according to the selected channel condition. We derive the upper bound of the expected rate loss due to channel selection and quantization and propose two algorithms referred to as successive algorithm and iterative algorithm, which jointly optimize the channel selection and bit allocation. Through computer simulations, we show that the proposed algorithms provide a significant amount of performance gain with greatly reduced complexity, compared with an exhaustive search.
Oxygen-Dependent Morphogenesis of Modern Clumped Photosynthetic Mats and Implications for the Archean Stromatolite Record

Some modern filamentous oxygenic photosynthetic bacteria (cyanobacteria) form macroscopic tufts, laminated cones and ridges that are very similar to some Archean and Proterozoic stromatolites. However, it remains unclear whether microbes that constructed Archean clumps, tufts, cones and ridges also produced oxygen. Here, we address this question by examining the physiology of cyanobacterial clumps, aggregates ~0.5 mm in diameter that initiate the growth of modern mm- and cm-scale cones. Clumps contain more particulate organic carbon in the form of denser, bowed and bent cyanobacterial filaments, abandoned sheaths and non-cyanobacterial cells relative to the surrounding areas. Increasing concentrations of oxygen in the solution enhance the bending of filaments and the persistence of clumps by reducing the lateral migration of filaments away from clumps. Clumped mats in oxic media also release less glycolate, a soluble
Fuzzy perception, emotion and expression for interactive robots

Future robots need transparent interface that regular people can interpret, such as an emotional human-like face. Moreover, such robots must exhibit behaviors that are perceived believable and life-like. In this work we propose the use of fuzzy logic for effectively constructing the whole behavior system of these robots. This not only simplifies the design tasks, but also enriches human-robot interaction. The latter claim is justified by effortlessly generating intermediate and blend of emotions from a few basic emotions. Additionally, fuzzy motor commands yield smooth life-like motions and therefore improve believability.
The mediating role of sympathy in the relationship between media violence and Dutch adolescents’ social behaviors

ABSTRACT Previous research suggests that empathy could serve as a mediator in the relation between media violence exposure and social behavior (i.e., aggressive and prosocial behavior). However, conceptualizations of empathy are diverse and empirical findings are mixed. Theory as well as previous research suggests that sympathy, more than empathy, may explain how media violence can affect youths’ aggressive or prosocial behavior. The present study formally tests this assumption using a three-wave longitudinal design with 878 early adolescents. Although neither sympathy nor empathy provided a significant indirect pathway between media violence and social behavior, the findings do show that sympathy is more strongly related to media violence and social behavior than empathy Methodological challenges and suggestions for future research are discussed.
A Detailed Study of 2S 0114+650 with the RXTE

We present the results of a detailed study of the high mass X-ray binary 2S 0114+650 made with the pointed instruments onboard the Rossi X-ray Timing Explorer. The spectral and temporal behaviour of this source was examined over the pulse, orbital, and super-orbital timescales, covering ∼2 cycles of the 30.7 d super-orbital modulation. Marginal evidence for variability of the power law photon index over the pulse period was identified, similar to that observed from other X-ray pulsars. If this variability is real it can be attributed to a varying viewing geometry of the accretion region with the spin of the neutron star. Variability of the neutral hydrogen column density over the orbital period was observed, which we attribute to the line of sight motion of the neutron star through the dense circumstellar environment. A reduction in the power law photon index was observed during the orbital maximum, which we speculate is due to absorption effects as the neutron star passes behind a heavily absorbing region near the base of the supergiant companion’s wind. No significant variability of the column density was observed over the super-orbital period, indicating that variable obscuration by a precessing warp in an accretion disc is not the mechanism behind the super-orbital modulation. In contrast, a significant increase in the power law photon index was observed during the super-orbital minimum. We conclude that the observed super-orbital modulation is tied to variability in the mass accretion rate due to some as yet unidentified mechanism.
On the measurement of risk aversion from experimental data

Attitudes towards risk are measured for households in Northern Zambia using an experimental gambling approach with real payoffs that at maximum were equal to 30% of average total annual income per capita. The results of the experiment show decreasing absolute risk aversion and increasing partial risk aversion. Determinants of risk aversion are investigated using random effects interval regression model exploiting the panel data structure of the repeated experiments. Wealth indicator variables are found to be significant, and partial relative risk aversion decreases as wealth increases. Females are found to be more risk averse than males.
A Novel Bio-Inspired Technique for Rapid Real-Time Generator Coherency Identification

Generator coherency identification is establishing itself as an important task to aid in the resistance of cascading failures within wide-area power systems and as a necessary preprocessing stage in real-time control for transient stability. Inspired by flocking behavior in nature, we propose a novel multiflock-based technique to identify generator coherence rapidly within a short observation window. Our measurement-based approach transforms generator data from the observation space to an information space, whereby the generator frequencies and phases characterize the movement and dynamics of boids within multiple flocks. Analysis of the boids' trajectories enables the discrimination of multiple flocks corresponding to coherent generator clusters. We demonstrate the effectiveness of our technique to identify generator coherency rapidly while exhibiting robustness to environmental noise and cyber attack on the 39-bus New England test system and a modified IEEE 118-Bus test system.
Global institutions and local filtering: Introducing independent directors to Taiwanese corporate boards

Drawing on the idea of selective interaction between organizations and environments, the authors examine how organizations change their traditional practices when they are exposed to new institutional environments. In the context of corporate governance change in response to financial market globalization, they argue that global institutional influence is moderated by local corporate control contexts that function as filtering mechanisms. The authors empirically analyse the adoption of a new corporate governance practice, i.e., the initial introduction of independent directors, in Taiwanese public firms, where family governance has been a dominant governance model. The findings suggest that while firms exposed to US capital markets are more likely to adopt independent directors, this facilitating effect weakens when the firms are under strong family control and is amplified when they are unbound from local frameworks through the key leader’s education or their geographic context.
Identifying sources of Pb exposure in waterbirds and effects on porphyrin metabolism using noninvasive fecal sampling.

Waterbird feces (mainly mallard Anas platyrhynchos and coot Fulica atra) were collected from four wetlands in Southern Spain in the field or during capture (n = 558 and n = 59, respectively) to study lead (Pb) shot ingestion. Lead and aluminum (Al) concentrations along with Pb isotope signatures were used to identify sources of Pb exposure. The profile and concentrations of porphyrins and biliverdin in feces were used as biomarkers of toxicological effects. Feces with Pb concentrations ≥ 34 μg/g d.w. showed higher Pb/Al ratios, together with lower (206)Pb/(207)Pb and (208)Pb/(207)Pb ratios, and higher (208)Pb/(206)Pb ratios, than feces with <34 μg/g d.w. Isotope signatures and Pb/Al ratios together indicated that Pb shot ingestion was the likely cause of the high Pb levels in some samples, whereas sediment ingestion was linked to lower/background levels. Coproporphyrin I and protoporphyrin IX were also higher in feces with Pb ≥ 34 μg/g d.w. , indicating measurable disruption in heme synthesis. Noninvasive fecal sampling permits study of the degree and source of Pb exposure and physiological effects, with low-effort and minimal disturbance to waterbirds.
Attention Deficit Hyperactivity Disorder Symptoms, Sleepiness and Accidental Risk in 36140 Regularly Registered Highway Drivers

Background Attention Deficit Hyperactivity Disorder (ADHD) is a frequent neurodevelopmental disorder that increases accidental risk. Recent studies show that some patients with ADHD can also suffer from excessive daytime sleepiness but there are no data assessing the role of sleepiness in road safety in patients with ADHD. We conducted an epidemiological study to explore sleep complaints, inattention and driving risks among automobile drivers. Methods and Findings From August to September 2014, 491186 regular highway users were invited to participate in an Internet survey on driving habits. 36140 drivers answered a questionnaire exploring driving risks, sleep complaints, sleepiness at the wheel, ADHD symptoms (Adult ADHD Self-Report Scale) and distraction at the wheel. 1.7% of all drivers reported inattention-related driving accidents and 0.3% sleep-related driving accidents in the previous year. 1543 drivers (4.3%) reported ADHD symptoms and were more likely to report accidents than drivers without ADHD symptoms (adjusted OR = 1.24, [1.03–1.51], p < .021). 14.2% of drivers with ADHD symptoms reported severe excessive daytime sleepiness (Epworth Sleepiness Scale >15) versus 3.2% of drivers without ADHD symptoms and 20.5% reported severe sleepiness at the wheel versus 7.3%. Drivers with ADHD symptoms reported significantly more sleep-related (adjusted OR = 1.4, [1.21–1.60], p < .0001) and inattention-related (adjusted OR = 1.9, [1.71–2.14], p<0001) near misses than drivers without ADHD symptoms. The fraction of near-misses attributable to severe sleepiness at the wheel was 4.24% for drivers without ADHD symptoms versus 10,35% for drivers with ADHD symptoms. Conclusion Our study shows that drivers with ADHD symptoms have more accidents and a higher level of sleepiness at the wheel than drivers without ADHD symptoms. Drivers with ADHD symptoms report more sleep-related and inattention-related near misses, thus confirming the clinical importance of exploring both attentional deficits and sleepiness at the wheel in these drivers. Road safety campaigns should be improved to better inform drivers of these accidental risks.
SPG: Software for Convex-Constrained Optimization

Fortran 77 software implementing the SPG method is introduced. SPG is a nonmonotone projected gradient algorithm for solving largescale convex-constrained optimization problems. It combines the classical projected gradient method with the spectral gradient choice of steplength and a nonmonotone line search strategy. The user provides objective function and gradient values, and projections onto the feasible set. Implementation details are presented and the usage of the software is described. Some recent numerical tests are reported on very large location problems. The main conclusion is that SPG compares favorably with existing software.