Miracle-dz/UniFAR-FTUs huggingface dataset:
Acquiring change models for sensor-based robot manipulation

The aim of this paper is to enable a programmer to easily employ external sensors for flexible robot manipulation. We describe a general approach to determine the relation between the position deviation of an object and the resulting data from sensors used to recognize this deviation. This information can be used to employ adaptation techniques to compensate the deviation thus enabling robots to react flexibly to changes such as workspace variations or object drifts. The proposed methods are designed to be independent of the type of sensor. We describe methods to automatically determine a function describing this relation and how adaptive techniques can be integrated easily into robot programs without detailed knowledge provided by the programmer.
Investigating GIS and Smoothing for Maximum Entropy Taggers

This paper investigates two elements of Maximum Entropy tagging: the use of a correction feature in the Generalised Iterative Scaling (GIS) estimation algorithm, and techniques for model smoothing. We show analytically and empirically that the correction feature, assumed to be required for the correctness of GIS, is unnecessary. We also explore the use of a Gaussian prior and a simple cutoff for smoothing. The experiments are performed with two tagsets: the standard Penn Treebank POS tagset and the larger set of lexical types from Combinatory Categorial Grammar.
Decoding of Reed Solomon Codes beyond the Error-Correction Bound

We present a randomized algorithm which takes as inputndistinct points {(xi,yi)}i= 1nfromF×F(whereFis a field) and integer parameterstanddand returns a list of all univariate polynomialsfoverFin the variablexof degree at mostdwhich agree with the given set of points in at leasttplaces (i.e.,yi=f(xi) for at leasttvalues ofi), providedt= ? (nd). The running time is bounded by a polynomial inn. This immediately provides a maximum likelihood decoding algorithm for Reed Solomon Codes, which works in a setting with a larger number of errors than any previously known algorithm. To the best of our knowledge, this is the first efficient (i.e., polynomial time bounded) algorithm which provides error recovery capability beyond the error-correction bound of a code for any efficient (i.e., constant or even polynomial rate) code.
The Histone H3 Lysine 27-Specific Demethylase Jmjd3 Is Required for Neural Commitment

Patterns of methylation at lysine 4 and 27 of histone H3 have been associated with states of gene activation and repression that are developmentally regulated and are thought to underlie the establishment of lineage specific gene expression programs. Recent studies have provided fundamental insight into the problem of lineage specification by comparing global changes in chromatin and transcription between ES and neural stem (NS) cells, points respectively of departure and arrival for neural commitment. With these maps of the differentiated state in place, a central task is now to unravel the chromatin dynamics that enables these differentiation transitions. In particular, the observation that lineage-specific genes repressed in ES cells by Polycomb-mediated H3-K27 trimethylation (H3-K27me3) are demethylated and derepressed in differentiated cells posited the existence of a specific H3-K27 demethylase. In order to gain insight into the epigenetic transitions that enable lineage specification, we investigated the early stages of neural commitment using as model system the monolayer differentiation of mouse ES cells into neural stem (NS) cells. Starting from a comprehensive profiling of JmjC-domain genes, we report here that Jmjd3, recently identified as a H3-K27me3 specific demethylase, controls the expression of key regulators and markers of neurogenesis and is required for commitment to the neural lineage. Our results demonstrate the relevance of an enzymatic activity that antagonizes Polycomb regulation and highlight different modalities through which the dynamics of H3-K27me3 is related to transcriptional output. By showing that the H3-K27 demethylase Jmjd3 is required for commitment to the neural lineage and that it resolves the bivalent domain at the Nestin promoter, our work confirms the functional relevance of bivalent domain resolution that had been posited on the basis of the genome-wide correlation between their controlled resolution and differentiation. In addition, our data indicate that the regulation of H3-K27me3 is highly gene- and context- specific, suggesting that the interplay of methyltransferases and demethylases enables the fine-tuning more than the on/off alternation of methylation states.
Semiclassical strings in AdS3 × S2

In this paper, we investigate the semiclassical strings in AdS3 × S2, in which the string configuration of AdS3 is classified to three cases depending on the parameters. Each of these has a different anomalous dimension proportional to log S, S1/3 and S, where S is a angular momentum on AdS3. Further we generalize the dispersion relations for various string configuration on AdS3 × S2.
fMRI Activation during Observation of Others' Reach Errors

When exposed to novel dynamical conditions (e.g., externally imposed forces), neurologically intact subjects easily adjust motor commands on the basis of their own reaching errors. Subjects can also benefit from visual observation of others' kinematic errors. Here, using fMRI, we scanned subjects watching movies depicting another person learning to reach in a novel dynamic environment created by a robotic device. Passive observation of reaching movements (whether or not they were perturbed by the robot) was associated with increased activation in fronto-parietal regions that are normally recruited in active reaching. We found significant clusters in parieto-occipital cortex, intraparietal sulcus, as well as in dorsal premotor cortex. Moreover, it appeared that part of the network that has been shown to be engaged in processing self-generated reach error is also involved in observing reach errors committed by others. Specifically, activity in left intraparietal sulcus and left dorsal premotor cortex, as well as in right cerebellar cortex, was modulated by the amplitude of observed kinematic errors.
Micro CVD diamond heat sink

Chemical vapor deposition (CVD) diamond film has broad application prospect as heat sink in microelectronic field for its excellent thermal conductivity. The micro CVD diamond heat sinks with the size of 50μm×100μm×2000μm were prepared using mould copy technique. The micro silicon moulds for deposition of micro CVD diamond heat sinks were fabricated using inductivity coupling plasma (ICP) etching process. Micro CVD diamond heat sinks were synthesized under 2% methane and 98% hydrogen by hot filament CVD (HFCVD) method. The micro CVD diamond heat sinks were investigated by SEM, Raman and photo thermal deflection. The results show that favorable micro CVD heat sinks having a thermal conductivity of 960W·m-1·K-1 can be prepared by mould copy technique.
An Interaction Model for Simulation and Mitigation of Cascading Failures

In this paper, the interactions between component failures are quantified and the interaction matrix and interaction network are obtained. The quantified interactions can capture the general propagation patterns of the cascades from utilities or simulation, thus helping to better understand how cascading failures propagate and to identify key links and key components that are crucial for cascading failure propagation. By utilizing these interactions a high-level probabilistic model called interaction model is proposed to study the influence of interactions on cascading failure risk and to support online decision-making. It is much more time-efficient to first quantify the interactions between component failures with fewer original cascades from a more detailed cascading failure model and then perform the interaction model simulation than it is to directly simulate a large number of cascades with a more detailed model. Interaction-based mitigation measures are suggested to mitigate cascading failure risk by weakening key links, which can be achieved in real systems by wide-area protection such as blocking of some specific protective relays. The proposed interaction quantifying method and interaction model are validated with line outage data generated by the AC OPA cascading simulations on the IEEE 118-bus system.
Diabetes Education Materials: Recommendations of Tribal Leaders, Indian Health Professionals, and American Indian Community Members

PURPOSE The Association of American Indian Physicians, the only national organization of its kind, conducted a series of focus groups to gather input from tribal leaders, Indian health professionals, and American Indian community members to guide the development of culturally appropriate diabetes education materials for the National Diabetes Education Program. METHODS During the focus groups, participants shared their experiences with and recommendations for a variety of diabetes education materials. RESULTS Overall, 95% of participants expressed a strong preference for diabetes education materials relevant to their specific tribe or culture. CONCLUSIONS Recommendations from these focus groups were used to develop a national diabetes education campaign for American Indian communities.
Playing High-End Video Games in the Cloud: A Measurement Study

Cloud gaming has emerged as a promising approach to more affordable and accessible games. By rendering high-end video games in the cloud and streaming encoded game scenes to players via the broadband networks, users are relieved from downloading or installing game software. With cloud gaming, users can easily play high-end 3-D video games on any devices anytime and anywhere. In this paper, we conducted a comprehensive measurement study of a leading cloud gaming system in China, namely, CloudUnion. Unlike the previous work, our measurement study was based on an in-depth understanding of the internal mechanisms of CloudUnion, and thus we were able to reveal problems that cannot be observed in a black-box approach. We built a dedicated measurement platform, which enables us to study CloudUnion from different views, including the global view, local view, and user view. We also conducted a comparison study with another cloud gaming system, namely, GamingAnywhere. Our measurement results unveil the pros and cons of the current cloud gaming system design, and bring forth important insights about the cloud infrastructure, user behaviors, traffic patterns, user-perceived quality, and so on. Our work will be valuable for the design of future cloud gaming systems.
Study of automated face recognition system for office door access control application

The security currently become a very important issue in public or private institutions in which various security systems have been proposed and developed for some crucial processes such as person identifications, verification or recognition especially for building access control, suspect identifications by the police, driver licenses and many others. Face recognitions have been an active area of research with numerous applications since late 1980s and become one of the important elements in security system development. This paper focuses on the study and development on an automated face recognition system with the potential application for office door access control. The technique of eigenfaces based on the principle component analysis (PCA) and artificial neural networks have been applied into the system. The study includes the analysis of the influences of three main factors of face recognition namely illumination, distance and subject's head orientation on the developed face recognition system purposely built for office door access control. The experimental results have shown that the developed system has achieved good performance of face recognition rate of 80% at the distance of camera and subject between 40 cm to 60 cm and the subject's orientation head angle must be within the range of-20 to +20 degrees.
A Design for Comprehensive Kernel Instrumentation

Dynamic binary instrumentation (DBI) has been used extensively at the user level to develop bug-finding and security tools, such as Memcheck and Program Shepherding. However, comprehensive DBI frameworks do not exist for operating system kernels, thwarting the development of dependability and security tools for kernels. In this paper, we identify the key challenges in designing an in-kernel DBI framework and propose a design that addresses them.
FSMD Partitioning for Low Power Using ILP

It is well known that significant power savings can be obtained by disabling or shutting down parts of a circuit during idle periods. One method is to use a high level partitioning technique which considers both the controller and the datapath together. The FSMD is split into two or more simpler communicating processors. These separate processors can then be clock gated or power gated to achieve dramatic power savings since only one processor is active at any given time. Here, we propose a technique to efficiently partition a FSMD for power gating using an integer linear programming (ILP) approach. Implementing and analyzing a sample circuit shows that up to 41% static and dynamic power savings are possible. We then develop a framework to estimate the potential power savings. Using several sample circuits, the estimation framework shows that up to 69% static power savings and 30% dynamic power savings can be expected.
An example of asymptotically Chow unstable manifolds with constant scalar curvature

Donaldson proved that if a polarized manifold $(V,L)$ has constant scalar curvature K\"ahler metrics in $c_1(L)$ and its automorphism group Aut$(M,L)$ is discrete, $(V,L)$ is asymptotically Chow stable. In this paper, we shall show an example which implies that the above result does not hold in the case when Aut$(V,L)$ is not discrete.
Stable pose tracking from a planar target with an analytical motion model in real-time applications

Object pose tracking from a camera is a well-developed method in computer vision. In theory, the pose can be determined uniquely from a calibrated camera. However, in practice, most real-time pose estimation algorithms experience pose ambiguity. We consider that pose ambiguity, i.e., the detection of two distinct local minima according to an error function, is caused by a geometric illusion. In this case, both ambiguous poses are plausible, but we cannot select the pose with the minimum error as the final pose. Thus, we developed a real-time algorithm for correct pose estimation for a planar target object using an analytical motion model. Our experimental results showed that the proposed algorithm effectively reduced the effects of pose jumping and pose jittering. To the best of our knowledge, this is the first approach to address the pose ambiguity problem using an analytical motion model in real-time applications.
Opposite responses by different chemoreceptors set a tunable preference point in Escherichia coli pH taxis

In bacterial habitats, the ability to follow spatial gradients of environmental factors that affect growth and survival can be largely advantageous. The bacterial strategy for unidirectional chemotactic movement in gradients of typical attractants or repellents, such as nutrients or toxins, is well understood. Optimal levels of other factors, however, may be found at intermediate points of a gradient and thus require a bidirectional tactic movement towards the optimum. Here we investigate the chemotactic response of Escherichia coli to pH as an example of such bidirectional taxis. We confirm that E. coli uses chemotaxis to avoid both extremes of low and high pH and demonstrate that the sign of the response is inverted from base‐seeking to acid‐seeking at a well‐defined value of pH. Such inversion is enabled by opposing pH sensing by the two major chemoreceptors, Tar and Tsr, such that the relative strength of the response is modulated by adaptive receptor methylation. We further demonstrate that the inversion point of the pH response can be adjusted in response to changes in the cell density.
Colloidal quantum dots as optoelectronic elements

A variety of colloidal semiconductor quantum dots and related quantum-wire structures are characterized using absorption and photoluminescence measurements. The electronic properties of these structures are modeled and compared with experiment. The characterization and application of ensembles of colloidal quantum dots with molecular interconnects are considered. The chemically-directed assembly of ensembles of colloidal quantum dots with biomolecular interconnects is demonstrated with quantum dot densities in excess of 10+17 cm-3. Non-charge transfer processes for switching based on dipole-dipole interactions - Forester interactions - are examined for colloidal quantum dots linked with biomolecules. Charge transport in biomolecules is studied using indirect-bandgap colloidal nanocrystals linked with biomolecules.
Rotation Invariant Texture Descriptor Using Local Shearlet-Based Energy Histograms

This letter presents a rotation invariant descriptor based on the shearlet transform for texture classification. In the presented method, texture images are first decomposed by the shearlet transform, followed by construction of local energy features. Afterwards, the local energy features are quantized and encoded to be rotation invariant. The energy histograms accumulated over all decomposition levels reflect the different energy distributions and form a new image characteristic. Our method can extract more directional features like orientations in images. Moreover, it is robust with respect to noise. Compared to state-of-the-art texture descriptors, the presented method has comparable classification accuracies on the Outex, Brodatz and CUReT texture databases and shows strong robustness on the databases containing additive noise.
Cross-Calibration of HJ-1/CCD Over a Desert Site Using Landsat ETM  $+$ Imagery and ASTER GDEM Product

The charge-coupled device (CCD) is visible to near-infrared imaging sensors onboard the Chinese Huan Jing 1 satellites. Like many sensors, the CCD lack onboard calibration capabilities, so alternative methods are required, e.g., cross-calibration. The wide field of view of the CCD sensors provides challenges for cross-calibration with narrow field of view sensors. We developed a technique to take advantage of a site with a uniform surface material and a natural topographic variation. Due to the topography, near-nadir Landsat Enhanced Thematic Mapper (TM) Plus (ETM+) observations actually see the material at a wide range of illumination and viewing angles. These observations and Advanced Spaceborne Thermal Emission and Reflection Radiometer global digital elevation model data were used to develop a model of this site's bidirectional reflectance distribution function that covered most of the illumination and view angle range of the CCD data. We validated this model by comparing the simulations to actual ETM + and TM surface reflectances. The validated model was then used to calibrate the CCD instruments. The results were consistent to within 5 % of field intensive vicarious calibration data.
Elicitin-responsive lectin-like receptor kinase genes in BY-2 cells

The inhibition of elicitor-induced plant defense responses by the protein kinase inhibitors K252a and staurosporine indicates that defense responses require protein phosphorylation. We isolated a cDNA clone encoding Nicotiana tabacum lectin-like receptor protein kinase 1 (NtlecRK1), an elicitor-responsive gene; in tobacco bright yellow (BY-2) cells by a differential display method. NtlecRK forms a gene family with at least three members in tobacco. All three NtlecRK genes potentially encode the N-terminal legume lectin domain, transmembrane domain and C-terminal Ser/Thr-type protein kinase domain. Green fluorescent protein (GFP) fusion showed that the NtlecRK1 protein was located on the plasma membrane. In addition, NtlecRK1 and 3 were responsive to INF1 elicitin and the bacterial elicitor harpin. These results indicate that NtlecRKs are membrane-located protein kinases that are induced during defense responses in BY-2 cells.
Antipredator defense as a limited resource: unequal predation risk in broods of an insect with maternal care

The allocation of parental investment is a potential source of conflict within broods whenever offspring are able obtain differential access to the parental resource. Unlike the provisioning of food, parental antipredator behavior is usually considered a resource that benefits all offspring simultaneously. In the thornbug treehopper (Umbonia crassicornis), offspring form aggregations in exposed positions on host-plant stems. They are subject to intense predation, and maternal defense is their primary means of protection. I examined the distribution of risk within these offspring groups, using natural variation in the outcome of more than 500 predation attempts (324 recorded on videotape) by vespid wasps (Pseudopolybia compressa) on 18 U. crassicornis aggregations. I found three influences on an individual offspring's risk of predation. The first was the presence of a defending female: as expected, offspring were much more likely to survive contact with a wasp if the female was present than if the female had disappeared. The second influence was position relative to other offspring: when wasps were successful in removing an individual, they almost always removed it from the edge of the group. The third influence was distance from the female: the closer an offspring was to the female at the time it was contacted by a wasp, the higher its likelihood of survival. The distribution of risk is determined largely by the behavior of defending females and the prey-searching behavior of wasps. The nature of risk within these aggregations sets the stage for two forms of sibling rivalry: selfish herd behavior and competition for access to maternal defense. It also raises the question of how a parent should allocate defense among offspring when it is unable to defend them all simultaneously. Copyright 2002.
Comparison of Facial Measurement using Cone-Beam Computed Tomography and Three-Dimensional Photography

The purpose of this study was to determine the equivalence of facial measurement between skin surface images derived from two different three-dimensional scanning systems, cone-beam computed tomography (CBCT), and structured-light system three-dimensional photogrammetry (3D photogrammetry). The study samples consisted of 35 orthodontic patients requiring orthognathic surgery. Image fusions by the registration of a 3D photograph upon a CBCT were performed. Facial landmarks and proportion were calculated on both images and compared. Statistically significant differences were observed at around the eyes, mouth, and lateral face. The non-equivalence was most likely due to the differences in facial expressions and artifacts during image acquisition. Soft tissue derived from CBCT in orthodontic patients appeared to be most likely inaccurate and unreliable for clinical uses. Future midcourse evaluations of soft tissues could be made more accurately with the 3D photogrammetry, providing an alternative method for soft-tissue evaluation with no radiation exposure