Miracle-dz/UniFAR-FTUs huggingface dataset:
Modulation of motor primitives using force feedback: Interaction with the environment and bimanual tasks

The framework of dynamic movement primitives allows the generation of discrete and periodic trajectories, which can be modulated in various aspects. We propose and evaluate a novel modulation approach that includes force feedback and thus allows physical interaction with objects and the environment. The proposed approach also enables the coupling of independently executed robotic trajectories, simplifying the execution of bimanual and tightly coupled cooperative tasks. We apply an iterative learning control algorithm to learn a coupling term, which is applied to the original trajectory in a feed-forward fashion. The coupling term modifies the trajectory in accordance to either the desired position or external force. The strengths of the approach are shown in bimanual or two-agent obstacle avoidance tasks, where no higher level cognitive reasoning or planning are required. Results of simulated and real-world experiments on the ARMAR-III humanoid robot in interaction and object lifting tasks, and on two KUKA LWR robots in a bimanual setting are presented.
DFS: A file system for virtualized flash storage

We present the design, implementation, and evaluation of Direct File System (DFS) for virtualized flash storage. Instead of using traditional layers of abstraction, our layers of abstraction are designed for directly accessing flash memory devices. DFS has two main novel features. First, it lays out its files directly in a very large virtual storage address space provided by FusionIO's virtual flash storage layer. Second, it leverages the virtual flash storage layer to perform block allocations and atomic updates. As a result, DFS performs better and is much simpler than a traditional Unix file system with similar functionalities. Our microbenchmark results show that DFS can deliver 94,000 I/O operations per second (IOPS) for direct reads and 71,000 IOPS for direct writes with the virtualized flash storage layer on FusionIO's ioDrive. For direct access performance, DFS is consistently better than ext3 on the same platform, sometimes by 20%. For buffered access performance, DFS is also consistently better than ext3, and sometimes by over 149%. Our application benchmarks show that DFS outperforms ext3 by 7% to 250% while requiring less CPU power.
Infrared Colors and Variability of Evolved Stars from COBE DIRBE Data

For a complete 12 μm flux-limited sample of 207 IRAS sources (F12 ≥ 150 Jy, |b| ≥ 5°), the majority of which are AGB stars (∼87%), we have extracted light curves in seven infrared bands between 1.25 and 60 μm using the database of the Diffuse Infrared Background Experiment (DIRBE) instrument on the Cosmic Background Explorer (COBE) satellite. Using previous infrared surveys, we filtered these light curves to remove data points affected by nearby companions and obtained time-averaged flux densities and infrared colors, as well as estimates of their variability at each wavelength. In the time-averaged DIRBE color-color plots, we find clear segregation of semiregulars, Mira variables, carbon stars, OH/IR stars, and red giants without circumstellar dust (i.e., V-[12] < 5) and with little or no visual variation (ΔV < 0.1 mag). The DIRBE 1.25–25 μm colors become progressively redder and the variability in the DIRBE database increases along the oxygen-rich sequence nondusty slightly varying red giants→SRb/Lb→SRa→Mira→OH/IR and the carbon-rich SRb/Lb→Mira sequence. This supports previous assertions that these are evolutionary sequences involving the continued production and ejection of dust. The carbon stars are redder than their oxygen-rich counterparts for the same variability type, except in the F12/F25 ratio, where they are bluer. Of the 28 sources in the sample not previous noted to be variable, 18 are clearly variable in the DIRBE data, with amplitudes of variation of ∼0.9 mag at 4.9 μm and ∼0.6 mag at 12 μm, consistent with them being very dusty Mira-like variables. We also present individual DIRBE light curves of a few selected stars. The DIRBE light curves of the semiregular variable L2 Pup are particularly remarkable. The maxima at 1.25, 2.2, and 3.5 μm occur 10–20 days before those at 4.9 and 12 μm, and, at 4.9 and 12 μm, another maximum is seen between the two near-infrared maxima.
Condensin and cohesin display different arm conformations with characteristic hinge angles

Structural maintenance of chromosomes (SMC) proteins play central roles in higher-order chromosome dynamics from bacteria to humans. In eukaryotes, two different SMC protein complexes, condensin and cohesin, regulate chromosome condensation and sister chromatid cohesion, respectively. Each of the complexes consists of a heterodimeric pair of SMC subunits and two or three non-SMC subunits. Previous studies have shown that a bacterial SMC homodimer has a symmetrical structure in which two long coiled-coil arms are connected by a flexible hinge. A catalytic domain with DNA- and ATP-binding activities is located at the distal end of each arm. We report here the visualization of vertebrate condensin and cohesin by electron microscopy. Both complexes display the two-armed structure characteristic of SMC proteins, but their conformations are remarkably different. The hinge of condensin is closed and the coiled-coil arms are placed close together. In contrast, the hinge of cohesin is wide open and the coiled-coils are spread apart from each other. The non-SMC subunits of both condensin and cohesin form a globular complex bound to the catalytic domains of the SMC heterodimers. We propose that the “closed” conformation of condensin and the “open” conformation of cohesin are important structural properties that contribute to their specialized biochemical and physiological functions.
Random Modulo: A new processor cache design for real-time critical systems

Cache memories have a huge impact on software's worst-case execution time (WCET). While enabling the seamless use of caches is key to provide the increasing levels of (guaranteed) performance required by automotive software, caches complicate timing analysis. In the context of Measurement-Based Probabilistic Timing Analysis (MBPTA) - a promising technique to ease timing analyis of complex hardware - we propose Random Modulo (RM), a new cache design that provides the probabilistic behavior required by MBPTA and with the following advantages over existing MBPTA-compliant cache designs: (i) an outstanding reduction in WCET estimates, (ii) lower latency and area overhead, and (iii) competitive average performance w.r. t conventional caches.
Video Tracking Using Dual-Tree Wavelet Polar Matching and Rao-Blackwellised Particle Filter

We describe a video tracking application using the dual-tree Polar Matching Algorithm. We develop the dynamical and observation models in a probabilistic setting and study the empirical probability distribution of the Polar Matching output. We model the visible and occluded target statistics using Beta distributions. This is incorporated into a Track-Before-Detect (TBD) solution for the overall observation likelihood of each video frame and provides a principled derivation of the observation likelihood. Due to the nonlinear nature of the problem, we design a Rao-Blackwellised Particle Filter (RBPF) for the sequential inference. Computer simulations demonstrate the ability of the algorithm to track a simulated video moving target in an urban environment with complete and partial occlusions.
Towards ontology construction for an industrial domain

This work presents the processes of knowledge acquisition and ontology construction for developing an expert system for monitoring and control of natural gas pipeline operations. Knowledge acquisition is the process of eliciting the cognitive mechanisms an expert uses in solving a particular application problem. And an ontology captures the shared conceptualizations that experts have about a particular area. Knowledge on the problem domain was acquired and analyzed using the inferential modeling technique. The analyzed knowledge was subsequently organized into an application ontology and represented in the knowledge modeling system. By formally representing the acquired knowledge in an application ontology, systematic organization of the knowledge elements implicit in the problem of monitoring and control of natural gas pipeline operations is achieved. The application ontology constructed can provide the basis for development of an expert system that can function as a decision support system for pipeline operators.
Thin films for photovoltaic and related device applications

The symposium covered a variety of topics related to the development of thin-film photovoltaic and related devices including thick-film transistors and materials for flat-panel displays. Areas of emphasis include materials synthesis, device fabrication and characterization, and modeling. Focus was on existing technologies such as Si, CdTe, CIS, and a-Si and novel technologies such as thin-film Si and III-V materials. Eighty three papers have been processed separately for inclusion on the data base.
Robust H∞ Control of Networked Control Systems with Parameter Uncertainty and State-delay

Networked control systems (NCSs) are becoming increasingly important in industrial process control; and robust H-inf control is a commonly used technique to deal with inevitable uncertainties in control systems. This paper aims to develop H-inf control strategies for networked control of continuous-time plants with parameter uncertainty and state delay. The maximum allowable synthetical bounds (MASBs), which are essential to ensure the stabilizablity of NCSs, are obtained using the Lyapunov functional method and linear matrix inequalities (LMIs) formulation. The bunds are related with data packet dropout, network-included time delay, and feedback gain of a memoryless H-inf controller. Through introducing some slack matrices, criteria are also derived for H-inf performance analysis and H-inf control synthesis. Numerical examples and simulation results are given to demonstrate the effectiveness of the developed technology.
Surface-Ligand-Dependent Cellular Interaction, Subcellular Localization, and Cytotoxicity of Polymer-Coated Quantum Dots

Nanoparticle- and quantum-dot (QD)-based bioprobes are emerging as alternatives to small-molecule probes for in vitro and in vivo applications. However, their cellular interaction and cell uptake mechanism are significantly different from those of small-molecule probes and are extremely sensitive to surface ligands. These present a barrier in the development of nanoparticles and QDs as cellular probes. This work focused on the synthesis of various functionalized QDs with tunable surface charge, hydrophobicity, and functionalization with poly(ethylene glycol) (PEGylation) and their cellular interaction. We found that the surface functional groups of nanometer-sized probes significantly dictated their cellular interaction, subcellular localization, and cytotoxicity. A dose-dependent interaction was observed for all types of QDs, but the cationic surface charge or hydrophobicity would increase the cellular interaction as compared to the anionic surface charge. Cationic QDs rapidly entered cells and induced c.
Sensitivity analysis for induction machine manufacturing tolerances in EV and HEV

Production processes of induction machines suffer from manufacturing tolerances because of assembly imperfections. This causes undesired deviations in the machine's performance and behavior. In particular, the equivalent circuit parameters of the machine are affected. Therefore, the validity of the electrical parameters of a reference machine is doubtful for sample machines. In this work, a sensitivity analysis by design of experiments is carried out over the whole torque-speed characteristic map. This analysis is done in order to investigate the influence of design variables (e.g. airgap) on the electrical parameters. The aim is to show the importance of paying an attention to the deviations of parameters resulting from tolerances, to identify how the parameter deviation trend is, and which geometrical parameters have the most significant impact on the machine parameters. The study is done using finite element method for an induction machine for electric vehicles by changing the design variables in the tolerance band. Analysis results show that a mathematical model, that describes the deviations of electrical parameters, can be extracted.
Water Model and CFD-PBM Coupled Model of Gas-Liquid-Slag Three-Phase Flow in Ladle Metallurgy

In dispersed gas-liquid flow, the gas bubble diameter distribution plays a significant role in the phase structure and interphase forces, and determines the multiphase hydrodynamic behaviors. In the steel refining process, argon gas stirring has been widely employed to homogenize the chemical composition of alloy elements and temperature, remove inclusions and enhance the rates of refining reactions. The bubble plume is successively formed at the exit of the bottom nozzle. Then they rise upward and entrain the surrounding molten steel into their wakes. During the bubble flotation, the aggregation and breakage happens and causes a wide range bubble size distribution. Still, it is a significant unresolved issue in ladle with gas stirring. Calculation of the bubble size distribution and understanding of bubble aggregation and breakage after bubble come out of the plug are important for reasons as follows: the bubble size is significantly modified by the injection system and flow rates, and it will directly influence the buoyancy and also influence the physical phenomena. It is expected that fine and well-distributed bubbles are good for inclusion removal and homogenizing. With a high gas flow rate, the rising gas bubbles can break through the slag layer, strengthen Water Model and CFD-PBM Coupled Model of Gas-Liquid-Slag Three-Phase Flow in Ladle Metallurgy
Efcient Planning under Uncertainty for a Target-Tracking Micro-Aerial Vehicle

—A helicopter agent has to plan trajectories to track multiple ground targets from the air. The agent has partial information of each target’s pose, and must reason about its uncertainty of the targets’ poses when planning subsequent actions.Wepresent an online, forward-search algorithm for planning under uncertainty by representing the agent’s belief of each target’s pose as a multi-modal Gaussian belief. We exploit this parametric belief representation to directly compute the distribution of posterior beliefs after actions are taken. This analytic computation not only enables us to plan in problems with continuous observation spaces, but also allows the agent to search deeper by considering policies composed of multi-step action sequences; deeper searches better enable the agent to keep the targets well-localized. We present experimental results in simulation, as well as demonstrate the algorithm on an actual quadrotor helicopter tracking multiple vehicles on a road network constructed indoors.
The Compatibility of Slurry Cutoff Wall Materials with Contaminated Groundwater

Slurry cutoff walls are frequently relied upon to block groundwater flows from toxic waste sites and landfills. The long-term effectiveness of slurry cutoff wall materials is critical to the successful containment of these facilities and the protection of groundwater resources. A variety of laboratory indicator tests have been attempted by engineers and academia to make compatibility determinations but at present there has been little published experience to show which tests produce meaningful results and how these tests can be used to demonstrate compatibility. Hydraulic conductivity is a useful measure of chemical/soil compatibility but permeability tests alone cannot assure the long-term stability of a slurry cutoff wall. A suite of indicator tests are used where the leachate and the proposed materials are combined and tested in immersion, desiccation, sedimentation, and other modes. Each indicator test attempts to model a different scenario of the slurry cutoff wall installation and operation. This paper presents the experience of a specialty contractor from a number of projects, where an incompatibility was discovered and alternate materials were used to find a successful solution. Monitoring results from these sites has proven the effectiveness of the chosen solution. The laboratory test methods described are relatively simple and rely on worst-case scenarios, performed in a step-bystep process, which culminates with flexible wall permeability tests. Based on the method described and the results from successful projects where these methods were used, engineers, owners and the public may better rely on longterm slurry cutoff wall performance with an increased level of confidence.
Significant Beneficial Association of High Dietary Selenium Intake with Reduced Body Fat in the CODING Study

Selenium (Se) is a trace element which plays an important role in adipocyte hypertrophy and adipogenesis. Some studies suggest that variations in serum Se may be associated with obesity. However, there are few studies examining the relationship between dietary Se and obesity, and findings are inconsistent. We aimed to investigate the association between dietary Se intake and a panel of obesity measurements with systematic control of major confounding factors. A total of 3214 subjects participated in the study. Dietary Se intake was determined from the Willett food frequency questionnaire. Body composition was measured using dual-energy X-ray absorptiometry. Obese men and women had the lowest dietary Se intake, being 24% to 31% lower than corresponding normal weight men and women, classified by both BMI and body fat percentage. Moreover, subjects with the highest dietary Se intake had the lowest BMI, waist circumference, and trunk, android, gynoid and total body fat percentages, with a clear dose-dependent inverse relationship observed in both gender groups. Furthermore, significant negative associations discovered between dietary Se intake and obesity measurements were independent of age, total dietary calorie intake, physical activity, smoking, alcohol, medication, and menopausal status. Dietary Se intake alone may account for 9%–27% of the observed variations in body fat percentage. The findings from this study strongly suggest that high dietary Se intake is associated with a beneficial body composition profile.
Studies based on the Danish Adoption Register: Schizophrenia, BMI, smoking, and mortality in perspective

Introduction: The genetic and familial environmental influences making up familial correlations in traits and familial aggregation of diseases may be disentangled by adoption studies. Thus, resemblance between the adoptee and the biological relatives indicates a contribution of the segregating gene they have in common, and resemblance between the adoptee and the rearing adoptive family members indicates influences of the shared family environment. The Danish Adoption Register includes information on all 14,425 non-familial adoptions of Danish children legally granted in Denmark from 1924 to 1947. Research topics: To illustrate the adoption study approach in research, we present results achieved in schizophrenia, body fatness, smoking, and mortality. Significantly higher prevalence of schizophrenia and related conditions were found in biological relatives to adoptees with schizophrenia than among biological relatives to adoptees without schizophrenia. Clear trends in body mass index of biological relatives and the weight of adoptees were found in several settings. A genetic influence on smoking habits were found within a generation. A moderate genetic influence on the mortality rate has been found. Conclusion: The Danish Adoption Register has contributed to the knowledge about environmental and genetic influence in various fields. Genetic influence on the risk of schizophrenia, body fatness, smoking habits, and on the mortality rate has been found.
Staring into the Abyss: An Evaluation of Concurrency Control with One Thousand Cores

Computer architectures are moving towards an era dominated by many-core machines with dozens or even hundreds of cores on a single chip. This unprecedented level of on-chip parallelism introduces a new dimension to scalability that current database management systems (DBMSs) were not designed for. In particular, as the number of cores increases, the problem of concurrency control becomes extremely challenging. With hundreds of threads running in parallel, the complexity of coordinating competing accesses to data will likely diminish the gains from increased core counts. To better understand just how unprepared current DBMSs are for future CPU architectures, we performed an evaluation of concurrency control for on-line transaction processing (OLTP) workloads on many-core chips. We implemented seven concurrency control algorithms on a main-memory DBMS and using computer simulations scaled our system to 1024 cores. Our analysis shows that all algorithms fail to scale to this magnitude but for different reasons. In each case, we identify fundamental bottlenecks that are independent of the particular database implementation and argue that even state-of-the-art DBMSs suffer from these limitations. We conclude that rather than pursuing incremental solutions, many-core chips may require a completely redesigned DBMS architecture that is built from ground up and is tightly coupled with the hardware.
OWL FA: a metamodeling extension of OWL D

This paper proposes OWL FA, a decidable extension of OWL DL with the metamodeling architecture of RDFS(FA). It shows that the knowledge base satisfiability problem of OWL FA can be reduced to that of OWL DL, and compares the FA semantics with the recently proposed contextual semantics and Hilog semantics for OWL.
A RESEARCH METHOD FOR THE STUDY OF PSYCHOLOGICAL AND PSYCHIATRIC ASPECTS OF DISASTER

This paper attempts to draw together some of the current questions related to the methodology of exploring the psychological and psychiatric aspects of human response to disaster. It sets out soem of the key areas in which research questions might be mounted. A range of relevant instruments are suggested. The value of a structured inteview which can explore issues of relevance to disaster victims is demonstrated. Early screening measures and proposals regarding these, as well as the particular instruments for longer term follow‐up and assessment of outcome, are discussed in considerable detail. The article concludes with an overview of the principal issues to be addressed in methodology research, and emphasises the need for a collaborative approach using core items so that studies embracing different disasters and different countries can have some comparative basis.
Control of a Lower Mobility Dual Arm System

This paper studies the kinematic modeling and control of two cooperative manipulators. The system is composed of the two arms of the humanoid Nao robot of Aldebaran. The serial structure of each arm has five degrees of freedom, in the closed chain formulation when transporting a common object, it has 4-DOF. The kinematic and dynamics representing the closed chain system is studied. A new control scheme demonstrates how the cooperative task space can be combined with a minimum representation of the task to control the 4 DOF of object. Furthermore by modeling the object grasp as a passive joint, we show that all 6-DOF of the object can be controlled.