Miracle-dz/UniFAR-FTUs huggingface dataset:
Abstraction-guided Sampling for Motion Planning

ion-guided Sampling for Motion Planning University of New Hampshire Department of Computer Science Technical Report 12-01 Scott Kiesel, Ethan Burns and Wheeler Ruml May 1, 2012 Abstraction-guided Sampling for Motion Planningion-guided Sampling for Motion Planning Scott Kiesel and Ethan Burns and Wheeler Ruml Abstract Motion planning in continuous space is a fundamental roboti cs problem that has been approached from many perspectives. Rapidly-e xp oring Random Trees (RRTs) use sampling to efficiently traverse the continuous a nd high-dimensional state space. Heuristic graph search methods use lower bound s n solution cost to focus effort on portions of the space that are likely to be tra ve sed by low-cost solutions. In this paper, we bring these two ideas together in a te chnique calledf -biasing: we use estimates of solution cost, computed as in heuristic s earch, to guide sparse sampling, as in RRTs. Estimates of solution cost are quickly omputed using an abstract version of the problem, then an RRT is constructed by b iasing the sampling toward areas of the space traversed by low cost solutions und er the abstraction. We show thatf -biasing maintains all of the desirable theoretical proper ties of RRT and RRT*, such as completeness and asymptotic convergence to op timality. We also present experimental results showing that f -biasing finds cheaper paths faster than previous techniques. We see this new technique as strengthe ning the connections between motion planning in robotics and combinatorial sear ch in artificial intelligence.Motion planning in continuous space is a fundamental roboti cs problem that has been approached from many perspectives. Rapidly-e xp oring Random Trees (RRTs) use sampling to efficiently traverse the continuous a nd high-dimensional state space. Heuristic graph search methods use lower bound s n solution cost to focus effort on portions of the space that are likely to be tra ve sed by low-cost solutions. In this paper, we bring these two ideas together in a te chnique calledf -biasing: we use estimates of solution cost, computed as in heuristic s earch, to guide sparse sampling, as in RRTs. Estimates of solution cost are quickly omputed using an abstract version of the problem, then an RRT is constructed by b iasing the sampling toward areas of the space traversed by low cost solutions und er the abstraction. We show thatf -biasing maintains all of the desirable theoretical proper ties of RRT and RRT*, such as completeness and asymptotic convergence to op timality. We also present experimental results showing that f -biasing finds cheaper paths faster than previous techniques. We see this new technique as strengthe ning the connections between motion planning in robotics and combinatorial sear ch in artificial intelligence.
Amatsubu: A Semi-static Representation Technique Exposing Spatial Changes in Spatio-temporal Dependent Data

Spatio-temporal dependent data, such as weather observation data, is data in which attribute values depend on both the time and space in which they are recorded. Typical visualization methods of such data that are employed in mass communication involve plotting the attribute values at each point in time on a map, and either displaying a series of such maps in time order using animation or displaying them by juxtaposing horizontally or vertically. Such methods are widely known, even by non-experts in analysis, but they have some problems. These methods force readers who want to grasp spatial changes in the attribute values to memorize the representations on the maps. The longer the time-period of data, the higher the cognitive load. In order to address such problems, we develop a novel visualization technique, named "Amatsubu," which statically represents multiple instantaneous values on a single map by overlaying them. We confirm the usefulness of this method through user studies, and also determine a weak point. The weakness is a lack of readability of information for each point in time, which can induce misreadings of spatial changes. We attempt to overcome this issue by introducing animation to Amatsubu, and transforming it into a semi-static representation technique. We confirm the effect of this improvement through another user study.
Representing and Using Nonfunctional Requirements: A Process-Oriented Approach

A comprehensive framework for representing and using nonfunctional requirements during the development process is proposed. The framework consists of five basic components which provide the representation of nonfunctional requirements in terms of interrelated goals. Such goals can be refined through refinement methods and can be evaluated in order to determine the degree to which a set of nonfunctional requirements is supported by a particular design. Evidence for the power of the framework is provided through the study of accuracy and performance requirements for information systems. >
Cluster Indicator Decomposition for Efficient Matrix Factorization

We propose a new clustering based low-rank matrix approximation method, Cluster Indicator Decomposition (CID), which yields more accurate low-rank approximations than previous commonly used singular value decomposition and other Nystrom style decompositions. Our model utilizes the intrinsic structures of data and theoretically be more compact and accurate than the traditional low rank approximation approaches. The reconstruction in CID is extremely fast leading to a desirable advantage of our method in large-scale kernel machines (like Support Vector Machines) in which the reconstruction of the kernels needs to be frequently computed. Experimental results indicate that our approach compress images much more efficiently than other factorization based methods. We show that combining our method with Support Vector Machines obtains more accurate approximation and more accurate prediction while consuming much less computation resources.
Quality of Life in Pediatric Bipolar Disorder

OBJECTIVE. Bipolar disorder is a common mood disorder associated with significant disability and impairment in quality of life in adults. Little research has examined the impact of the disorder on quality of life in children and adolescents. The current study examines the quality of life in children and adolescents with bipolar disorder compared with other physical and psychiatric illnesses. METHODS. This study included 529 youth and caregiver pairs who sought services at a community mental health center or an academic medical center. Diagnoses were based on semistructured interviews of caregivers and youths, and quality of life was determined by the parent-reported Revised Children Quality of Life Questioinnaire (KINDL) questionnaire and compared with published benchmarks for many medical illnesses. RESULTS. Mean age of the youths was 12.0 years, 57% were boys, 72% were black, 22% were white, and 17% had received bipolar disorder diagnoses. Youths with bipolar disorder had significantly lower quality-of-life scores than youths with asthma, atopic dermatitis, obesity, arthritis, oxygen dependence, heart surgery during infancy, depression, behavior disorders, and nonmood and nonbehavior psychiatric diagnoses. CONCLUSIONS. Youths with bipolar disorder reported lower quality of life than other youths encountered in pediatric practice. Pediatricians should attend not only to the child's mood symptoms but also to the overall impairment of the disorder.
A resource allocation mechanism using coalition formation and the uncertainty principle of game theory

Resource allocation involves assigning resources optimally and economically. In systems such as large server farms, where the demand for resources like the CPU, memory, hard-disk, or even software applications is far beyond the capabilities of a single machine, resource management involving a multitude of resources is necessary. A part of this resource management activity is resource allocation. We present a model-driven approach for optimizing resource allocation in server farms. Coalitions of servers are formed to address requests which demand capabilities beyond those of a single system. We formulate the formation of server coalitions as multiple instances of two-player zero-sum games between the servers and the task scheduler of the server farm. This two-player zero-sum game can be solved using the uncertainty principle of game theory.
A User Trust System for Online Games—Part I: An Activity Theory Approach for Trust Representation

In virtual worlds (including computer games), users develop trust relationships from their in-world interactions with others. However, these trust relationships end up not being represented in the data structures (or databases) of such virtual worlds, though they sometimes appear associated with reputation and recommendation systems. In addition, as far as we know, the user is not provided with a personal trust tool to sustain his/her decision-making while he/she interacts with other users in the virtual or game world. In order to come up with a computational formal representation of these personal trust relationships, we need to succeed in converting in-world interactions into reliable sources of trust-related data. In this paper, we develop the required formalisms to gather and represent in-world interactions—which are based on the activity theory—as well as a method to convert in-world interactions into trust networks. In the companion paper, we use these trust networks to produce a computational trust decision based on subjective logic. This solution aims at supporting in-world user (or avatar) decisions about others in the game world.
Joint predistortion and PAPR reduction in multibeam satellite systems

Precoding for multibeam satellites with aggressive frequency reuse has attracted interest of late towards enhancing system capacity. Most of the works on precoding mitigate the linear co-channel interference between the beams caused by frequency reuse. However, the high power amplifier (HPA), an integral part of the satellite payload, is inherently non linear. Non-linear amplification combined with the linear co-channel interference introduces non-linear co-channel distortions at the receiver. Further, signals with very high peak to average power ratios (PAPR), typical of spectrally efficient modulations, are sensitive to the non-linear characteristic of the HPA and necessitate large back-off to have manageable distortion levels. In this work, a novel architecture comprising multistream Crest Factor Reduction (signal pre-clipping) and Signal Predistortion (SPD) in cascade, is devised to counter the non-linearities and co-channel interference in multibeam satellite systems. An iterative algorithm to optimize the parameters of the signal clipping and predistortion is devised taking recourse to analytical derivations. The proposed joint estimation paradigm is shown to compare favorably with state-of-art and provides a framework to combine predistortion and precoding.
Hydrophilic Polymer Coatings for Medical Devices

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SpotWeb: Characterizing framework API usages through a code search engine

The essentials of modern software development (such as low cost and high efficiency) demand software developers to make intensive reuse of the existing open source frameworks or libraries (generally referred as frameworks) available on the web. However, developers often face challenges in reusing these frameworks due to several factors such as the complexity and lack of proper documentation. In this paper, we propose a code-search-engine-based approach that tries to detect hotspots in a given framework; these hotspots are the APIs that are frequently reused. Hotspots can serve as starting points for developers in understanding and reusing the given framework. Our approach also detects deadspots, which are the APIs that are rarely used. Deadspots serve as caveats for developers as there can be difficulties in finding related code examples and are generally less exercised compared to hotspots. We developed a tool, called SpotWeb, for frameworks or libraries written in the Java programming language and used our tool to detect hotspots and deadspots of eight open source frameworks including JUnit, Log4j, Grappa, JGraphT, OpenJGraph, JUNG, BCEL, and Javassit.
Formal Verification of Robot Movements - a Case Study on Home Service Robot SHR100

Home service robots have received much attention from both academia and industry because home service robots have wide range of potential applications such as home security, cleaning, etc. The robots need to add or update services frequently according to the changing needs of human users. Furthermore, reactive nature of the robots add complexity to develop robot applications. These challenges raise safety issues seriously. Considering that safe operation of home service robots is crucial, current practice of validating robot applications is, however, not mature enough for wide deployment of home service robots. In this paper, we present our experience of developing and formally verifying discrete control software of Samsung Home Robot (SHR) using Esterel. We give a brief background on Esterel, then illuminate our result in formally verifying stopping behavior of SHR. Through the verification, we could detect and solve a feature interaction problem which caused the robot not to stop when a user commanded the robot to stop.
Crystal structure of the inclusion complex 25-benzoylmethoxy-5,11,17,23-tetra-tert-butyl-26,27,28-trihydroxy-2,8,14,20-tetrathiacalix[4]arene–tetraethylammonium chloride (1/1)

The asymmetric unit of the title compound, C48H54O5S4·N(C2H5)4 +·Cl−, contains two tetra-tert-butyl-[(benzoyl)methoxy]-trihydroxy-tetrathiacalix[4]arene molecules, two tetraethylammonium cations and two chloride anions. The two calixarene molecules in the asymmetric unit each display a cone conformation. There are no significant differences between the two independent molecules. The guest species do not sit within the calixarene ‘buckets’. In the crystal, extensive O—H⋯O, O—H⋯S and O—H⋯Cl hydrogen bonds and weak C—H⋯O, C—H⋯S and C—H⋯Cl interactions link the thiacalixarene molecules, tetraethylammonium cations and chloride anions, forming a three-dimensional network encompassing channels running parallel to the a-axis direction. The structure contains a solvent-accessible void of 76 (3) Å3, but no solvent molecule could reasonably be located. The crystal studied was an inversion twin with a 0.57 (8):0.43 (8) domain ratio.
Tying covariance matrices to reduce the footprint of HMM-based speech synthesis systems

This paper proposes a technique of reducing footprint of HMMbased speech synthesis systems by tying all covariance matrices. HMM-based speech synthesis systems usually consume smaller footprint than unit-selection synthesis systems because statistics rather than speech waveforms are stored. However, further reduction is essential to put them on embedded devices which have very small memory. According to the empirical knowledge that covariance matrices have smaller impact for the quality of synthesized speech than mean vectors, here we propose a clustering technique of mean vectors while tying all covariance matrices. Subjective listening test results show that the proposed technique can shrink the footprint of an HMM-based speech synthesis system while retaining the quality of synthesized speech. Index Terms: HMM, speech synthesis, decision tree, contextclustering, MDL criterion, embedded device
A Framework for Implementing Type Systems

Type systems are ubiquitous in the study of programming languages. Although the basic mechanisms are well understood, a new type system can still be a challenge to implement. We present the design and implementation of a domain-specific language (i.e., a functional framework) for writing type system implementations. This domain-specific language has been embedded in both Haskell and Scheme. It allows users to write down the axioms and inference rules of the type system in a stylized notation that closely resembles the formal type rules, and automates the rest of the work of type checking or type inference.
Creativity and the Age-Old Resistance to Change Problem in RE

Creativity is about bringing unforeseen change to habitual ways of doing things. Understanding the challenges of introducing innovation in organizations is, therefore, essential during the requirements phase of today's computer systems design projects. However, there are many legitimate obstacles to creativity. To explain some of them, we explore creativity in terms of change to norms that are well accepted in an organization. These norms are grounded in the worldview of the organization. Creativity is therefore constrained by the amount of change that can be made to norms and worldview. We describe some of the mechanisms that work in favor and against change and offer suggestions on how to make better use of these mechanisms in introducing currently accepted and recently developed RE methodologies into mainstream commercial systems design approaches
Finding Schrödinger's Gun

Interactive narratives are branching stories with events that change based on feedback from participants. One method of generating interactive narratives is a plan-based process called mediation. A sub-process within mediation called accommodation creates new story content when a participant deviates from the main storyline. We show that a model of character knowledge allows accommodation to find a novel class of branching stories previously inaccessible by the algorithm.
Age-related norms for the Hooper Visual Organization Test.

Explored the effects of age, education, and IQ on Hooper Visual Organization Test (VOT) scores and age-related norms for psychiatric patients. Ss were 211 male, veteran, psychiatric inpatients, grouped into six age decades, who were administered routinely the VOT and Shipley Institute of Living Scale plus other tests upon admission. Analyzing the relation between age decade and VOT, a one-way analysis of variance produced an F significant at the . 001 level. An intercorrelation matrix for all the study variables disclosed that age, IQ, and education all were correlated significantly with VOT scores, as well as with each other, except for IQ and age. However, a multiple regression analysis revealed that only age and IQ accounted for significant amounts of the variance in VOT scores. Thus, these results argue for the use of age-related norms as well as norms that correct for IQ.
Tracking developmental changes in subcortical structures of the preterm brain using multi-modal MRI

Preterm birth is associated with abnormal brain development and long-term neurodevelopmental impairment. Quantitative magnetic resonance (MR) studies of preterm brain injury have focused on morphological features such as shape and volume and on measures of tissue microstructure obtained from diffusion tensor imaging. In this work, we focus on longitudinal changes in signal intensity, which can offer a useful marker for mapping developmental changes. The proposed analysis framework utilises spatial normalization, intensity normalization and kernel regression. Changes over time in T1- and T2- weighted signal intensity were measured in subcortical grey matter and white matter. The study shows that quantitative signal change analysis on a large cohort is feasible, and that it can serve as a marker for developmental brain changes, both normal and abnormal, which might ultimately lead to a better understanding of the trajectory of early brain maturation.
Molecular and Functional Characterization of a Family of Rat Brain T-type Calcium Channels*

Voltage-gated calcium channels represent a heterogenous family of calcium-selective channels that can be distinguished by their molecular, electrophysiological, and pharmacological characteristics. We report here the molecular cloning and functional expression of three members of the low voltage-activated calcium channel family from rat brain (α1G, α1H, and α1I). Northern blot and reverse transcriptase-polymerase chain reaction analyses show α1G, α1H, and α1I to be expressed throughout the newborn and juvenile rat brain. In contrast, while α1G and α1HmRNA are expressed in all regions in adult rat brain, α1I mRNA expression is restricted to the striatum. Expression of α1G, α1H, and α1I subunits in HEK293 cells resulted in calcium currents with typical T-type channel characteristics: low voltage activation, negative steady-state inactivation, strongly voltage-dependent activation and inactivation, and slow deactivation. In addition, the direct electrophysiological comparison of α1G, α1H, and α1I under identical recording conditions also identified unique characteristics including activation and inactivation kinetics and permeability to divalent cations. Simulation of α1G, α1H, and α1I T-type channels in a thalamic neuron model cell produced unique firing patterns (burst versus tonic) typical of different brain nuclei and suggests that the three channel types make distinct contributions to neuronal physiology.