Miracle-dz/UniFAR-FTUs huggingface dataset:
Under the Radar: Learning to Predict Robust Keypoints for Odometry Estimation and Metric Localisation in Radar

This paper presents a self-supervised framework for learning to detect robust keypoints for odometry estimation and metric localisation in radar. By embedding a differentiable point-based motion estimator inside our architecture, we learn keypoint locations, scores and descriptors from localisation error alone. This approach avoids imposing any assumption on what makes a robust keypoint and crucially allows them to be optimised for our application. Furthermore the architecture is sensor agnostic and can be applied to most modalities. We run experiments on 280km of real world driving from the Oxford Radar RobotCar Dataset and improve on the state-of-the-art in point-based radar odometry, reducing errors by up to 45% whilst running an order of magnitude faster, simultaneously solving metric loop closures. Combining these outputs, we provide a framework capable of full mapping and localisation with radar in urban environments.
On the Cooling Flow Problem in the Gaseous Halo of the Milky Way

Theoretical and observational arguments suggest that there is a large amount of hot (∼106 K) diffuse gas residing in the Milky Way (MW) halo, but its total mass and spatial distribution are still unclear. In this work, we present a general model for the gas density distribution in the Galactic halo, and investigate the gas evolution under radiative cooling with a series of 2D hydrodynamic simulations. We find that the mass inflow rate in the developed cooling flow increases with gas metallicity and the total gas mass in the halo. For a fixed halo gas mass, the spatial gas distribution affects the onset time of the cooling catastrophe, which starts earlier when the gas distribution is more centrally peaked, but does not substantially affect the final mass inflow rate. The gravity from the Galactic bulge and disk affects gas properties in the inner regions, but has little effect on the final inflow rate either. We confirm our results by investigating cooling flows in several density models adopted from the literature, including the Navarro–Frenk–White (NFW) model, the cored-NFW model, the Maller & Bullock model, and the β model. Typical mass inflow rates in our simulations range from ∼5 M⊙ yr−1 to ∼60 M⊙ yr−1, and are much higher than the observed star formation rate in our Galaxy, suggesting that stellar and active galactic nucleus feedback processes may play important roles in the evolution of the MW and MW-type galaxies.
Global simulations of stellar dynamos

Abstract The dynamo mechanism, responsible for the solar magnetic activity, is still an open problem in astrophysics. Different theories proposed to explain such phenomena have failed in reproducing the observational properties of the solar magnetism. Thus, ab-initio computational modeling of the convective dynamo in a spherical shell turns out as the best alternative to tackle this problem. In this work we review the efforts performed in global simulations over the past decades. Regarding the development and sustain of mean-flows, as well as mean magnetic field, we discuss the points of agreement and divergence between the different modeling strategies. Special attention is given to the implicit large-eddy simulations performed with the EULAG-MHD code.
AMR Similarity Metrics from Principles

Abstract Different metrics have been proposed to compare Abstract Meaning Representation (AMR) graphs. The canonical Smatch metric (Cai and Knight, 2013) aligns the variables of two graphs and assesses triple matches. The recent SemBleu metric (Song and Gildea, 2019) is based on the machine-translation metric Bleu (Papineni et al., 2002) and increases computational efficiency by ablating the variable-alignment. In this paper, i) we establish criteria that enable researchers to perform a principled assessment of metrics comparing meaning representations like AMR; ii) we undertake a thorough analysis of Smatch and SemBleu where we show that the latter exhibits some undesirable properties. For example, it does not conform to the identity of indiscernibles rule and introduces biases that are hard to control; and iii) we propose a novel metric S2match that is more benevolent to only very slight meaning deviations and targets the fulfilment of all established criteria. We assess its suitability and show its advantages over Smatch and SemBleu.
2MASS J15491331-3539118: a new low-mass wide companion of the GQ Lup system

Substellar companions at wide separation around stars hosting planets or brown dwarfs (BDs) yet close enough for their formation in the circumstellar disc are of special interest. In this Letter we report the discovery of a wide (projected separation ∼16″​​.0, or 2400 AU, and position angle 114.61°) companion of the GQ Lup A-B system, most likely gravitationally bound to it. A VLT/X-shooter spectrum shows that this star, 2MASS J15491331-3539118, is a bonafide low-mass (∼0.15 M⊙) young stellar object (YSO) with stellar and accretion/ejection properties typical of Lupus YSOs of similar mass, and with kinematics consistent with that of the GQ Lup A-B system. A possible scenario for the formation of the triple system is that GQ Lup A and 2MASS J15491331-3539118 formed by fragmentation of a turbulent core in the Lup I filament, while GQ Lup B, the BD companion of GQ Lup A at 0″​​. 7, formed in situ by the fragmentation of the circumprimary disc. The recent discoveries that stars form along cloud filaments would favour the scenario of turbulent fragmentation for the formation of GQ Lup A and 2MASS J15491331-3539118.
Linear State Estimation and Bad Data Detection for Power Systems with RTU and PMU Measurements

In this paper, a novel linear algorithm is proposed for state estimation including bad data detection of power systems that are monitored both by conventional and synchrophasor measurements. Both types of data are treated simultaneously and the states are estimated in rectangular coordinates. The proposed estimator is based on the linear weighted least square method. To enable the derivation of linear measurement functions, the network is modelled in terms of voltages and currents in rectangular form and pseudo-measurements are used to represent conventional measurements. Furthermore, the largest normalized residual test is used to detect bad data. To validate the accuracy and robustness of the proposed algorithm, several test cases of different sizes are solved and the results are presented and discussed.
Making an Example: Signalling Threat in the Evolution of Cooperation

Social punishment has been suggested as a key approach to ensuring high levels of cooperation and norm compliance in one-shot (i.e. non-repeated) interactions, however it does not usually emerge if it is not also cost-efficient. Signalling retribution hearkens back to medieval sovereignty, insofar as the very word for gallows in French stems from the Latin word for power and serves as a grim symbol of the ruthlessness of high justice. Here, we introduce the mechanism of signalling an act of punishment and a special type of defector emerges, one who can recognise this signal and avoid punishment by way of fear. We describe the analytical conditions under which threat signalling can maintain high levels of cooperation. Moreover, we perform extensive agent-based simulations so as to confirm and expand our understanding of the external factors that influence the success of social punishment. We show that our suggested mechanism catalyses cooperation, even when signalling is costly or when punishment would be impractical. We observe the preventive nature of advertising retributive acts and we contend that the resulting social prosperity is a desirable outcome in the contexts of AI and multi-agent systems. To conclude, we argue that fear acts as an effective stimulus to pro-social behaviour.
Lattice-Based Improvements for Voice Triggering Using Graph Neural Networks

Voice-triggered smart assistants often rely on detection of a trigger-phrase before they start listening for the user request. Mitigation of false triggers is an important aspect of building a privacy-centric non-intrusive smart assistant. In this paper, we address the task of false trigger mitigation (FTM) using a novel approach based on analyzing automatic speech recognition (ASR) lattices using graph neural networks (GNN). The proposed approach uses the fact that decoding lattice of a falsely triggered audio exhibits uncertainties in terms of many alternative paths and unexpected words on the lattice arcs as compared to the lattice of a correctly triggered audio. A pure trigger-phrase detector model doesn’t fully utilize the intent of the user speech whereas by using the complete decoding lattice of user audio, we can effectively mitigate speech not intended for the smart assistant. We deploy two variants of GNNs in this paper based on 1) graph convolution layers and 2) self-attention mechanism respectively. Our experiments demonstrate that GNNs are highly accurate in FTM task by mitigating ~87% of false triggers at 99% true positive rate (TPR). Furthermore, the proposed models are fast to train and efficient in parameter requirements.
How dark are filaments in the cosmic web?

The cold dark matter model predicts that dark matter haloes are connected by filaments. Direct measurements of the masses and structure of these filaments are difficult, but recently several studies have detected these dark-matter-dominated filaments using weak lensing. Here we study the efficiency of galaxy formation within the filaments by measuring their total mass-to-light ratios and stellar mass fractions. Specifically, we stack pairs of luminous red galaxies (LRGs) with a typical separation on the sky of 8 h−1 Mpc. We stack background galaxy shapes around pairs to obtain mass maps through weak lensing, and we stack galaxies from the Sloan Digital Sky Survey to obtain maps of light and stellar mass. To isolate the signal from the filament, we construct two matched catalogues of physical and non-physical (projected) LRG pairs, with the same distributions of redshift and separation. We then subtract the two stacked maps. Using LRG pair samples from the Baryon Oscillation Spectroscopic Survey at two different redshifts, we find that the evolution of the mass in filament is consistent with the predictions from perturbation theory. The filaments are not entirely dark: Their mass-to-light ratios (M/L = 351 ± 137 in solar units in the rband) and stellar mass fractions (Mstellar/M = 0.0073 ± 0.0030) are consistent with the cosmic values (and with their redshift evolutions).
Multi-Task Learning for Speaker Verification and Voice Trigger Detection

Automatic speech transcription and speaker recognition are usually treated as separate tasks even though they are interdependent. In this study, we investigate training a single network to perform both tasks jointly. We train the network in a supervised multi-task learning setup, where the speech transcription branch of the network is trained to minimise a phonetic connectionist temporal classification (CTC) loss while the speaker recognition branch of the network is trained to label the input sequence with the correct label for the speaker. We present a large-scale empirical study where the model is trained using several thousand hours of labelled training data for each task. We evaluate the speech transcription branch of the network on a voice trigger detection task while the speaker recognition branch is evaluated on a speaker verification task. Results demonstrate that the network is able to encode both phonetic and speaker information in its learnt representations while yielding accuracies at least as good as the baseline models for each task, with the same number of parameters as the independent models.
Who presents and where? An analysis of research seminars in US economics departments

Using a large dataset of research seminars held at US economics departments in 2018, I explore the factors that determine who is invited to present at a research seminar and whether the invitation is accepted. I find that high-quality scholars have a higher probability of being invited than low-quality scholars, and researchers are more likely to accept an invitation if it is issued by a top economics department. The probability of being invited increases with the size of the host department. Young and low-quality scholars have a higher probability of accepting an invitation. The distance between the host department and invited scholar reduces the probability of being invited and accepting the invitation. Female scholars do not have a lower probability of being invited to give a research seminar than men.
Dust entrainment in photoevaporative winds: The impact of X-rays

Context. X-ray- and extreme ultraviolet (XEUV) driven photoevaporative winds acting on protoplanetary disks around young T Tauri stars may crucially impact disk evolution, affecting both gas and dust distributions. Aims. We investigate the dust entrainment in XEUV-driven photoevaporative winds and compare our results to existing magnetohydrodynamic and EUV-only models. Methods. We used a 2D hydrodynamical gas model of a protoplanetary disk irradiated by both X-ray and EUV spectra from a central T Tauri star to trace the motion of passive Lagrangian dust grains of various sizes. The trajectories were modelled starting at the disk surface in order to investigate dust entrainment in the wind. Results. For an X-ray luminosity of LX = 2 × 1030 erg s−1 emitted by a M* = 0.7 M⊙ star, corresponding to a wind mass-loss rate of Ṁw ≃ 2.6 × 10−8 M⊙ yr−1, we find dust entrainment for sizes a0 ≲ 11 μm (9 μm) from the inner 25 AU (120 AU). This is an enhancement over dust entrainment in less vigorous EUV-driven winds with Ṁw ≃ 10−10 M⊙ yr−1. Our numerical model also shows deviations of dust grain trajectories from the gas streamlines even for μm-sized particles. In addition, we find a correlation between the size of the entrained grains and the maximum height they reach in the outflow. Conclusions. X-ray-driven photoevaporative winds are expected to be dust-rich if small grains are present in the disk atmosphere.
Implementation of Australia’s renewed cervical screening program: Preparedness of general practitioners and nurses

The National Cervical Screening Program (NCSP) in Australia underwent major changes on December 1st, 2017. The program changed from 2-yearly Pap testing for women aged 18–69 years to 5-yearly HPV testing for women aged 25–74 years including differential management pathways for oncogenic HPV 16/18 positive versus HPV non16/18 positive test results and the option of self-collection for under-screened women. We conducted a survey among cervical screening providers in primary care to assess their level of preparedness in undertaking cervical screening before (pre-renewal) and after (post-renewal) the new program was implemented. Surveys were conducted between 14th August and 30th November 2017 (pre-renewal) and 9th February and 26th October 2018 (post-renewal) among cervical screening providers who attended education sessions related to the new guidelines. Preparedness was assessed in three areas: 1) level of comfort implementing the new guidelines (7 questions), 2) level of confidence in their ability to convey information about the new guidelines (9 questions) and 3) level of agreement regarding access to resources to support implementation (11 questions). Proportions were calculated for each question response and pre- and post-renewal periods compared using generalised linear models. Open-ended questions related to anticipated barriers and ways to overcome barriers were also included in the questionnaires. Compared to the pre-renewal period, a higher proportion of practitioners in the post-renewal period were more comfortable offering routine screening to women ≥25 years (p = 0.005) and more confident explaining the rationale for not screening before 25 years (p = 0.015); confident explaining a positive HPV 16/18 (p = 0.04) and HPV non 16/18(p = 0.013) test result and were comfortable with not referring women with a positive HPV non 16/18 test result and low grade/negative cytology for colposcopy (p = 0.01). A higher proportion of Victorian practitioners in the post-renewal period sample were also comfortable (p = 0.04) and confident (p = 0.015) recommending self-collection to under-screened women and agreed that self-collection is a reliable test (p = 0.003). The most commonly reported suggestion was to provide information, education and communication materials to both patients and practitioners. Compared to the pre-renewal period, practitioners in the post-renewal period were better prepared to implement the renewed screening program. Healthcare providers require further support to implement the self-collection pathway.
New method for determining the composition of liquid media during the express control of their state using the nuclear magnetic resonance phenomena

The processing of nuclear magnetic resonance (NMR) signals from various liquid media is an important step in monitoring their state. At the same time, the processing of NMR signals is quite a challenge during express control by NMR relaxometer. Therefore, the article substantiates the need to develop a new method for NMR signals processing. For this purpose, a universal mathematical model for describing the NMR signal from various media has been proposed. This model takes into account the features of recording signals using a modulation technique in a weak magnetic field. In addition, the article presents the results of calculations of the components concentrations in the studied mixtures of liquid media. Also these results are compared with the experimental data.
Non-Financial Information versus Financial as a Key to the Stakeholder Engagement: A Higher Education Perspective

In light of the increased demand for greater accountability and legitimacy, new disclosure mechanisms based on non-financial transparency have emerged. Universities cannot be left behind with respect to these social demands. In addition, continuous competition in excellence is driving higher education organizations to exhibit a greater visibility of their results, necessarily incorporating more non-financial aspects to boost stakeholder engagement. The novelty of this work lies in the analysis of the real state of non-financial vs. financial information in both public and private universities and in the exploration of their influence on stakeholder online engagement. To this end, a content analysis of the universities’ web pages and Facebook profiles was conducted, and a multivariable linear regression analysis was performed. The main results show that private and larger universities that lead Webometrics for Google Scholar Citations, and those that have gradually been adopting financial reporting, are the most interested in implementing Facebook as a two-way communication strategy. It seems that stakeholders react more to financial transparency and, therefore, universities still prefer financial disclosure to improve accountability.
Association of vascular endothelial growth factor and soluble fms-like tyrosine kinase-1 polymorphisms with their circulating protein levels in preeclampsia

Introduction: Normal development of placental vascular tree requiring angiogenesis and vasculogenesis is structurally and functionally indispensable for both adequate placental growth and delivery of nutrients from mother to the fetus. Impaired placental angiogenesis has been implicated in the pathophysiology of pregnancy complications which have immediate and long-lasting effects on the mother and her child, such as preeclampsia (PE) and fetal growth restriction. The mechanisms underlying the deregulation of placental angiogenesis in PE include a misbalance between the secretion and activity of pro-angiogenic (vascular endothelial growth factor [VEGF]) and anti-angiogenic (soluble fms-like tyrosine kinase-1 [sFlt-1]) factors. Considering the important roles of VEGF and sflt1 in pregnancy, functional polymorphisms in these genes may be potentially important as genetic markers for susceptibility to PE. Thus, the aim of the study was to screen for the presence of VEGF and sFlt-1 gene polymorphisms and to measure their levels in PE patients and controls of Indian origin. Material and Methods: Fifty each of clinically diagnosed patients and gestational and maternal age-matched normotensive, nonproteinuric controls were recruited after taking informed consent. DNA isolated from blood samples was processed for polymerase chain reaction amplification followed by restriction fragment length polymorphism to screen for the presence of VEGF + 936C/T, sFlt-1 (+4244G/A, −4771G/T, −523C/G) polymorphisms. Serum levels of VEGF-A and sFlt-1 were measured by Sandwich enzyme-linked immunosorbent assay (ELISA). Results: Decreased frequency of wild type genotype with respect to VEGF + 936C/T and sFlt-1 (+4244G/A, −4771G/T, and −523C/G) polymorphisms was seen in patients. ELISA results showed lower VEGF-A (198.43 ± 14.63 pg/ml vs. 235.08 ± 16.72 pg/ml [mean ± standard error of mean]) and higher sFlt-1 levels (2932.81 [1802.33–5760.46] pg/ml vs. 1114.94 [655.03–2694.35] Median [Range]; P < 0.05) in patients as compared to controls. Preeclamptic women with increased frequency of VEGF + 936CT genotype had lower serum levels of VEGF-A. However, preeclamptic women with increased frequency of GA, AA, GT, TT, CG, and GG genotypes of sFlt-1 (+4244G/A, −4771G/T, −523C/G) polymorphisms had increased serum levels of sFlt-1. Discussion and Conclusion: The present study shows, for the first time, a possible association of VEGF and sFlt-1 polymorphisms with gene expression and altered protein levels in preeclamptic patients of Indian origin.
Induction of Labor: An Overview of Guidelines.

Importance Induction of labor (IOL) is a common obstetric intervention that stimulates the onset of labor using artificial methods. Objective The aim of this study was to summarize and compare recommendations from 4 national or international medical societies on the IOL. Evidence Acquisition A descriptive review was conducted of major published guidelines on IOL: the American College of Obstetricians and Gynecologists' "Induction of Labor" and "Management of Late-Term and Postterm Pregnancies," the guidelines of the Society of Obstetricians and Gynaecologists of Canada (SOGC) on "Induction of Labour," those of the National Institute for Health and Care Excellence (NICE) on "Inducing Labour," and the World Health Organization's (WHO's) "Recommendations for Induction of Labour" and "WHO Recommendations: Induction of Labour at or Beyond Term. " These guidelines were compared in terms of their recommendations on clinical indications and methods. Results Many similar indications and contraindications to IOL are identified between American College of Obstetricians and Gynecologists and SOGC, whereas NICE and WHO do not mention any contraindications. The timing of IOL in postterm pregnancies also differs among the guidelines. Regarding the methods of induction, all the medical societies recommend the use of membrane sweeping, mechanical methods, prostaglandins, and oxytocin, whereas NICE argues against the use of misoprostol for IOL. The American College of Obstetricians and Gynecologists and SOGC consider amniotomy a method of IOL, whereas NICE and WHO do not recommend it. All the guidelines also make similar recommendations regarding the management of uterine tachysystole in cases of IOL. Conclusions The World Health Organization seems to be the most evidence-based guideline with recommendations based mainly on Cochrane reviews. The variation in the clinical indications and methods of IOL highlights the need to adopt an international consensus, which may help to optimize the quality of obstetric care and further promote evidence-based medicine.