Miracle-dz/UniFAR-FTUs huggingface dataset:
Passive Realizations of Series Elastic Actuation: Passivity and Effects of Plant and Controller Dynamics on Haptic Rendering Performance

—We establish the necessary and sufﬁcient conditions for the frequency domain passivity of series (damped) elastic actuation (S(D)EA) while rendering null impedance and ideal springs under velocity sourced impedance control (VSIC). We introduce passive physical equivalents for S(D)EA under closed-loop control to help establish an intuitive understanding of the passivity bounds and to highlight the effect of different plant parameters and controller gains on the closed-loop performance of the system. Through the passive physical equivalents, we rigorously compare the effect of different plants dynamics (e.g., SEA and SDEA) and different cascaded controller architectures (e.g., P-P and P-PI) on the system performance. We show that passive physical equivalents establish a natural means for effective impedance analysis. We provide experimental validations of our theoretical results and evaluate the haptic rendering performance of S(D)EA under VSIC.
Lattices of generalized Skyrmions

Generalized Skyrme systems are those which include both the Skyrme and the Skyrme-Faddeev models through an interpolating parameter \alpha \in [0,1] the former corresponds to \alpha=0 and the latter to \alpha=1. Our numerical and analytical investigations centre around the \alpha=0 Skyrme crystal, its deformations, and its behaviour and symmetries as a function of \alpha, called the generalized Skyrme crystal. We show that a double square lattice emerges when the Skyrme crystal is deformed in a certain limit; we compare its energy with the one corresponding to a double hexagonal lattice and show that it has a lower energy-per-charge than its hexagonal counterpart. On the other hand, vortex-like structures with two 1-vortices (vortices of order 1) and two 1-antivortices, denoted V+AV+V+AV, appear when the Skyrme crystal is deformed in a different limit, as well as when the generalized Skyrme crystal is taken close to the Skyrme-Faddeev limit. This leads us to the study of generalized V+AV and V+AV+V+AV configurations, as a function of \alpha. We show that when these configurations are stacked in the axial direction, they exhibit some winding and linking properties as they are taken close to the Skyrme-Faddeev limit, where the V+AV+V+AV configurations appear to be more stable than their V+AV counterparts. Finally, the study of such configurations led to the discovery of two crystalline solutions whose properties are investigated in some detail: a 2-vortex/2-antivortex pair, denoted 2V+2AV, and a “multi-sheet” solution, both of which have a lower energy-per-charge than the V+AV+V+AV solution, in the Skyrme-Faddeev limit.
Embeddings of Heyting algebras

In this paper we study embeddings of Heyting Algebras. It is pointed out that such embeddings are naturally connected with Derived Rules. We compare the Heyting Algebras embeddable in the Heyting Algebra of the Intuitionistic Propositional Calculus (IPC), i.e. the free Heyting Algebra on countably infinitely many generators, and those embeddable in the Heyting Algebra of Heyting's Arithmetic (HA). A partial result is obtained. We show that every recursively enumerable prime Heyting Algebra is embeddable -in the Heyting Algebra of HA*, a ‘natural’ extension of HA.
Pairs of modules and determinantal isolated singularities

We continue the development of the study of the equisingularity of isolated singularities, in the determinantal case. This version of the paper includes a substantial amount of new material (76% larger). The new material introduces the idea of the landscape of singularity, which includes the allowable deformations of the singularity and associated structure useful for equisingularity questions. Fixing a presentation matrix M of a determinantal singularity means viewing the singularity as a section via M of the set of matrices of a given or smaller rank. Varying M gives the allowable deformations of X. This version also includes a description of the conormal varieties of the rank singularities, which is applied to our machinery. There is also an example of a determinantal singularity which is a member of two Whitney equisingular families, whose generic elements have topologically distinct smoothings. This example shows that it is impossible to find an invariant which depends only on an analytic space $X$ with an isolated singularity, whose value is independent of parameter for all Whitney equisingular deformations of $X$, and which is determined by the geometry of a smoothing of $X$.
Enhanced $B_q \to \ell\ell^\prime$ and $B \to (K, \pi) \ell\ell^\prime$ in light of $(g-2)_\mu$

We study lepton flavor violating (LFV) $B$ decays in a general two Higgs doublet model with sub-TeV exotic scalars. Two different parameter spaces are explored: one dominated by extra top Yukawa coupling $\rho_{tt}$, the other by LFV couplings relevant for the muon $g-2$ anomaly. In the first case, flavor constraints such as $\ell \to \ell^\prime\gamma$, $h \to \ell\ell^\prime$ imply LFV $B$ decays are far below experimental sensitivities. The second case needs to be close to the alignment limit, but $B_q \to \tau\mu$ and $B \to (K, \pi) \tau\mu$ rates can lie within the sensitivities of Belle II and LHCb Upgrade II. Neutral $B$ meson mixings and $B,\, K,\, \pi \to \ell \nu$ decays provide important flavor constraints on parameter space. $B$ decays involving $e$-$\tau$ violation are constrained by $\mu\to e$ processes.
First principles investigations in the carbon silicon system of novel tetragonal C8 (diamond) and Si8 allotropes and binary Si4C4 phase

Novel extended networks of C8, Si8 and silicon carbide Si4C4 are proposed based on crystal chemistry rationale and optimized structures to ground state energies and derived physical properties within the density functional theory (DFT). The two carbon and silicon allotropes and the silicon carbide belong to primitive tetragonal space group P-4m2 Number 115. C8 allotrope structure made of corner sharing C4 and Si4 tetrahedra is illustrated by charge density projections exhibiting sp3 like carbon hybridization. From careful symmetry analysis, Symmetry analysis of C8 indicated that it is another representation of cubic diamond, space group F-d3m Number 227. C8 is identified as ultra-hard with a similar magnitude of Vickers hardness. The interest in C8 is to serve as template to study Si8 and Si-C binary. Si8 allotrope is found soft with HV =13 GPa alike cubic Si, and Si4C4 is identified with HV =33 GPa close to experimental SiC. All three new phases are mechanically (elastic constants) and dynamically (phonons) stable, and their electronic band structures are characteristic of insulating C8 (diamond) with large band gaps of about 5 eV, and semi-conducting Si8 and Si4C4 with band gaps of about 1 eV.
Comparative Genomic Analysis Reveals the Mechanism Driving the Diversification of Plastomic Structure in Taxaceae Species

Inverted repeat (IR) regions in the plastomes from land plants induce homologous recombination, generating isomeric plastomes. While the plastomes of Taxaceae species often lose one of the IR regions, considerable isomeric plastomes were created in Taxaceae species with a hitherto unclarified mechanism. To investigate the detailed mechanism underpinning the IR-independent genesis of plastomic diversity, we sequenced four Taxaceae plastomes, including Taxus cuspidata Siebold & Zuccarini, Taxus fauna Nan Li & R. R. Mill, and two individuals of Taxus wallichiana Zuccarini. Then we compared these structures with those of previously reported Taxaceae plastomes. Our analysis identified four distinct plastome forms that originated from the rearrangements of two IR-flanking inverted fragments. The presence of isomeric plastomes was then verified in T. cuspidata individuals. Both rearrangement analyses and phylogenetic results indicated that Taxaceae were separated into two clades, one including Taxus and Pseudotaxus and another formed by Amentotaxus and Torreya. Our reconstructed scenario suggests that the minimum number of inversion events required for the transformation of the plastome of Cephalotaxus oliveri Masters into the diversified Taxaceae plastomes ranged from three to six. To sum up, our study reveals a distinct pattern and the mechanism driving the structural diversification of Taxaceae plastomes, which will advance our understanding of the maintenance of plastomic diversity and complexity in conifers.
Constraints on the Velocity and Spatial Distribution of Helium-like Ions in the Wind of SMC X-1 from Observations with the XMM-Newton Reflection Grating Spectrometer

We present here X-ray spectra of the HMXB SMC X-1 obtained in an observation with the XMM-Newton observatory beginning before eclipse and ending near the end of eclipse. With RGS on board XMM-Newton, we observe emission lines from hydrogen-like and helium-like ions of nitrogen, oxygen, neon, magnesium, and silicon. Although the resolution of the RGS is sufficient to resolve the helium-like n = 2→ 1 emission into three line components, only one of these components, the intercombination line, is detected in our data. The lack of flux in the forbidden lines of the helium-like triplets is explained by pumping by ultraviolet photons from the B0 star, and, from this, we set an upper limit on the distance of the emitting ions from the star. The lack of observable flux in the resonance lines of the helium-like triplets indicates a lack of enhancement due to resonance line scattering, and, from this, we derive a new observational constraint on the distribution of the wind in SMC X-1 in velocity and coordinate space. We find that the solid angle subtended by the volume containing the helium-like ions at the neutron star multiplied by the velocity dispersion of the helium-like ions must be less than 4π sr km s−1. This constraint will be satisfied if the helium-like ions are located primarily in clumps distributed throughout the wind or in a thin layer along the surface of the B0 star.
Mass Loss from Novae and Supernovae

The physics of mass loss from these objects is reviewed. Both winds of different types and nearly instantaneous ejection are involved. Supercritical winds driven by the pressure of radiation from an object above the Eddington limit, probably exist for novae after their outbursts. Observations outside the optical region and in particular in the satellite UV have been very important.
More Like This: Semantic Retrieval with Linguistic Information

We investigate the semantic retrieval potential of pre-trained contextualized word embeddings (CWEs) such as BERT, in combination with explicit linguistic information, for various NLP tasks in an information retrieval setup. In this paper, we compare different strategies to aggregate contextualized word embeddings along lexical, syntactic, or grammatical dimensions to perform semantic retrieval for various natural language tasks. We apply this for fine-grained named entities, word senses, short texts, verb frames, and semantic relations, and show that incorporating certain linguistic knowledge improves the retrieval performance over various baselines. In a simulation study, we demonstrate the practical applicability of our findings to speed up the linguistic annotation of datasets. We also show that nearest neighbor classification, which implicitly uses the retrieval setup, works well with only small amounts of training data. 1
Measuring Faithfulness of Abstractive Summaries

Recent abstractive summarization systems fail 001 to generate factually consistent – faithful – sum- 002 maries, which heavily limits their practical ap- 003 plication. Commonly, these models tend to mix 004 concepts from the source or hallucinate new 005 content, completely ignoring the source. Ad- 006 dressing the faithfulness problem is perhaps the 007 most critical challenge for current abstractive 008 summarization systems. First automatic faith- 009 fulness metrics were proposed, but we argue 010 that existing methods do not yet utilize the full 011 potential that this field has to offer and intro- 012 duce new approaches to assess factual correct- 013 ness. We evaluate existing and our proposed 014 methods by correlating them with human judge- 015 ments and find that BERTScore works well. Fi- 016 nally, we conduct a qualitative and quantitative 017 error analysis, which reveals common prob- 018 lems and indicates means to further improve 019 the metrics. 020
This isn’t the bias you’re looking for: Implicit causality, names and gender in German language models

To assess whether neural language models capture discourse-level linguistic knowledge, previous work has tested whether they exhibit the well-known implicit causality (IC) bias found in various interpersonal verbs in different languages. Stimuli for analyzing IC in computational and psycholinguistic experiments typically exhibit verb arguments with different genders. In this paper, we revisit IC in German neural language models, analyzing gender and naming bias as a potential source of confusion. Indeed, our results suggest that IC biases in two existing models for German are weak, unstable, and behave in unexpected and unsystematic ways, when varying names or gender of verb arguments.
MONAPipe: Modes of Narration and Attribution Pipeline for German Computational Literary Studies and Language Analysis in spaCy

MONAPipe is a collection of pipeline components for the open-source Python library spaCy. The components perform a broad range of morphological, syntactic, semantic and pragmatic analyses for German texts and are mostly developed speciﬁcally for the literary domain. MONAPipe 1 combines implementations from various separate resources with new ones in one place, constituting a convenient tool for computational linguistics and literary studies.
TopicShoal: Scaling Partisanship Using Semantic Search

Document scaling techniques have been widely used in political science to infer parti-sanship measures and to rank documents on a scale of ideal points, based on bag-of-word approaches. These approaches typically under-estimate the semantic and syntactic patterns contained in the corpus. Recent advances in natural language processing, particularly semantic search models, offer an improved topic coherence due to a semantic space of embedded words and documents, whose structure is able to identify topics without setting their number as a hyperparameter. We pro-pose a scaling technique, namely TopicShoal , that extracts meaningful topic vectors using a semantic search technique ( Top2Vec ) and scales partisanship among speakers or parties using a Bayesian factor analysis on the document-topic distances, thereby enabling a semantic explanation of the ideal points’ variations. This novelty, suited for both monolingual and multilingual corpora, addresses the bag-of-word constraint by capturing the narrative signals in the corpus and exploiting a coherent and independent topic vector structure. Applied to a corpus of German party manifestos and Deutsche Bundesbank executive board members’ speeches, TopicShoal successfully identiﬁes discourse-level differences among parties and speakers via topic intensities, whose projection on the ideal points’ scale reveals common debated themes and other sideline interests that differentiate parties and speakers.
Improved Open Source Automatic Subtitling for Lecture Videos

This paper summarizes the current state of development in improving an open source subti-tling tool. This includes improvements to the speech recognition model for German, the replacement for the punctuation reconstruction architecture and the addition of an audio segmentation. The goal of these adjustments is an overall better subtitle quality. The most crucial part of the existing pipeline, the German speech recognition, is replaced by a new Kaldi TDNN-HMM model trained on 70% of additional audio data, resulting in a word error rate of 6.9% on Tuda-De. The punctuation reconstruction model for German texts is replaced by a Transformer-based approach that is also trained on new data. English is added as a fully supported second language, including speech recognition and punctuation reconstruction models. Furthermore, to improve speech recognition in long videos, audio segmentation was also added into the pipeline to support long videos flawlessly without quality issues.
Gains in Scientific Identity, Scientific Self-Efficacy, and Career Intent Distinguish Upper-Level CUREs from Traditional Experiences in the Classroom

Attrition from the science, technology, engineering, and math (STEM) pipeline limits the number of graduates needed to meet STEM workforce demand and impedes efforts to diversify the workforce. Identifying factors that underlie academic success and STEM persistence is an important component to increasing the number of STEM graduates. ABSTRACT Attrition from the science, technology, engineering, and math (STEM) pipeline limits the number of graduates needed to meet STEM workforce demand and impedes efforts to diversify the workforce. Identifying factors that underlie academic success and STEM persistence is an important component to increasing the number of STEM graduates. The current study utilizes the social influence process indicators of the Tripartite Integration Model of Social Influence to investigate effects of course-based undergraduate research experience (CURE) participation and to predict career intent in a diverse population. CURE participants experienced significant gains in scientific self-efficacy, scientific identity, and career intent, while students in control courses did not. Between-groups analysis showed that scientific self-efficacy and scientific identity increased significantly more for CURE participants than for non-CURE participants. Regression analysis revealed that scientific identity was the only significant predictor of a student’s career intent. This work underscores the central importance of prioritizing scientific identity in STEM curricula to improve throughput in the STEM pipeline and illustrates the usefulness of CUREs as viable interventions to positively influence factors that promote STEM career intent.
The transactional interpretation of quantum mechanics

The transactional interpretation of quantum mechanics [1] was originally published in 1986 and is now about 14 years old. It is an explicitly nonlocal and Lorentz invariant alternative to the Copenhagen interpretation. It interprets the formalism for a quantum interaction as describing a “handshake” between retarded waves (ψ) and advanced waves (ψ*) for each quantum event or “transaction” in which energy, momentum, angular momentum, and other conserved quantities are transferred. The transactional interpretation offers the advantages that (1) it is actually “visible” in the formalism of quantum mechanics, (2) it is economical, involving fewer independent assumptions than its rivals, (3) it is paradox-free, resolving all of the paradoxes of standard quantum theory including nonlocality and wave function collapse, (4) it does not give a privileged role to observers or measurements, and (5) it permits the visualization of quantum events. We will review the transactional interpretation and some of its applica.
Theory & Methods: A Weighted Least Squares Approach to Levene's Test of Homogeneity of Variance

In 1960 Levene suggested a potentially robust test of homogeneity of variance based on an ordinary least squares analysis of variance of the absolute values of mean‐based residuals. Levene's test has since been shown to have inflated levels of significance when based on the F‐distribution, and tests a hypothesis other than homogeneity of variance when treatments are unequally replicated, but the incorrect formulation is now standard output in several statistical packages. This paper develops a weighted least squares analysis of variance of the absolute values of both mean‐based and median‐based residuals. It shows how to adjust the residuals so that tests using the F‐statistic focus on homogeneity of variance for both balanced and unbalanced designs. It shows how to modify the F‐statistics currently produced by statistical packages so that the distribution of the resultant test statistic is closer to an F‐distribution than is currently the case. The weighted least squares approach also produces component mean squares that are unbiased irrespective of which variable is used in Levene's test. To complete this aspect of the investigation the paper derives exact second‐order moments of the component sums of squares used in the calculation of the mean‐based test statistic. It shows that, for large samples, both ordinary and weighted least squares test statistics are equivalent; however they are over‐dispersed compared to an F variable.
Perinatal diet and offspring anxiety: A scoping review

Abstract Health behaviors during pregnancy have an impact on the developing offspring. Dietary factors play a role in the development of mental illness: however, less is known about the impact of diet factors during pre-conception, gestation, and lactation on anxiety levels in offspring. This scoping review sought to systematically map the available research involving human and animal subjects to identify nutritional interventions which may have a harmful or protective effect, as well as identify gaps. Studies investigating an association between any perinatal diet pattern or diet constituent and offspring anxiety were included. The number of studies reporting an association with increased or decreased levels of anxiety were counted and presented in figures. A total of 55,914 results were identified as part of a larger scoping review, and 120 articles met the criteria for inclusion. A greater intake of phytochemicals and vitamins were associated with decreased offspring anxiety whereas maternal caloric restriction, protein restriction, reduced omega-3 consumption, and exposure to a high fat diet were associated with higher levels of offspring anxiety. Results were limited by a very large proportion of animal studies. High quality intervention studies involving human subjects are warranted to elucidate the precise dietary factors or constituents that modulate the risk of anxiety in offspring.