Miracle-dz/UniFAR-FTUs huggingface dataset:
Dexterous manipulation planning using probabilistic roadmaps in continuous grasp subspaces

In this paper, we propose a new method for the motion planning problem of rigid object dexterous manipulation with a robotic multi-fingered hand, under quasi-static movement assumption. This method computes both object and finger trajectories as well as the finger relocation sequence. Its specificity is to use a special structuring of the research space that allows to search for paths directly in the particular subspace GSn which is the subspace of all the grasps that can be achieved with n grasping fingers. The solving of the dexterous manipulation planning problem is based upon the exploration of this subspace. The proposed approach captures the connectivity of GSn in a graph structure. The answer of the manipulation planning query is then given by searching a path in the computed graph. Simulation experiments were conducted for different dexterous manipulation task examples to validate the proposed method.
Moral Habitus and Status Negotiation in a Marginalized Working-Class Neighborhood

Examinations of the moral and ethical dimensions in identity construction are scant in consumer research. This ethnography of a trailer-park neighborhood investigates how different moral dispositions shape low-income, working-class residents' consumption practices and status negotiations. Drawing from Bourdieu's conceptualization of habitus and cultural capital, the authors extend this theory by foregrounding the moral aspects of habitus and demonstrate how morally oriented worldviews are enacted through consumption practices and social evaluations within everyday communities. The study reveals five moral identities that shape the residents' social construction of status within the microcultural context of a trailer park. These findings point to the multiplicity and richness of social-class-based dispositions as well as the importance of studying micro-level contexts to better understand macrodynamics.
Synchronization error channels & windowed decoding in theory & practice

Right from the birth of communication theory, synchronization errors have been a challenge. In the first part of this dissertation, we will consider a class of synchronization error channels and develop a rigorous information theoretic analysis. We provide analytical bounds on the capacity of channels that introduce deletions or replications. For channels that introduce deletions and replications, we develop methods to approximately estimate the achievable information rates. Following this, we consider specific applications in magnetic recording where synchronization errors play a key role. For these applications, we provide bounds and numerical estimates of the channel capacity as well as the zero-error capacity. In the second part of the dissertation, we will focus on a coding theoretic problem of analyzing a low-complexity decoding scheme for spatially coupled codes over the erasure channel. We describe the operation of windowed decoding, and analytically establish its asymptotic performance limits. For protograph-based LDPC convolutional codes, which are a variant of the spatially coupled codes, we identify characteristics of code ensembles that result in good performance with the windowed decoding algorithm over erasure channels with and without memory
Embedded system design with FPGA using HDL (lessons learned and pitfalls to be avoided)

This paper describes the authors experience with teaching VHDL (and more recently, Verilog) to undergraduate and graduate students at WPI and to engineers through various short courses in industry. The courses have concentrated on logic synthesis targeting CPLD and FPGA. All the courses had a major laboratory component where students could use simulation tools to test their design using test benches and also synthesis tools to synthesize, implement, and download the configuration bit-stream to evaluation boards. The paper concentrates on some of the problems that students encounter when they are trying to design their digital systems using HDL. In addition to the conceptual issues with using a language to describe hardware behavior, the newer higher capacity devices provide additional challenges as more functions, including embedded processors, are added to the device.
REPRODUCIBILITY AND RESPONSIVENESS OF EVALUATIVE OUTCOME MEASURES

Objective: This article outlines basic methods for quantifying reproducibility and responsiveness of evaluative outcome measures. Methods: The background noise in stable patients provides the desired information to quantify the reproducibility. From this, the smallest real difference (SRD) for longitudinal differences can be derived. We propose to use the SRD to define responsiveness: from all patients who change according to an external criterion, we take the percentage that changes at least SRD on the outcome measure. A more complete picture of the responsiveness of the outcome measure arises when the receiver operating characteristic (ROC) is constructed, corresponding to all possible cut-off change scores. The proposed methods are illustrated with an empirical example. Results: In the illustration the methods appeared to be very useful and complemented each other. We could evaluate whether the observed change score was larger than that expected due to chance. With the methods it was possible to evaluate both the ability of an instrument to detect change if there is a real change in health status (sensitivity to change) and the ability to detect absence of change if there is no real change (specificity to change). Conclusion: We presented the use of SRDs and ROC curves for quantifying reproducibility and responsiveness. We started with the basic notions and arrived at methods that are both understandable and useful.
Fast mode-switching technique in hrbrid-mode operation

A fast mode-switching technique between pulse width modulation (PWM) and pulse frequency modulation (PFM) modes is proposed to keep high efficiency over wide load range. Load dependent zero-current detector (ZCD) can effectively speed up the transition from PWM to PFM mode. Especially, the overshoot voltage can be minimized by using the reversed current provided by the ZCD circuit. Furthermore, the undershoot voltage of the transition from PFM to PWM mode can be reduced because the recovery time can be reduced by restoring the output voltage of the error amplifier. Thus, the efficiency of current mode DC-DC buck converter is higher than 88% at light loads and the recovery time is smaller than 35 mus when load current changes from 500mA to 10mA suddenly.
Phylogeny of Duck Enteritis Virus: Evolutionary Relationship in the Family Herpesviridae

Objective: To understand the evolutionary relationship of duck enteritis virus (DEV) in the family Herpesviridae and the genome organization of DEV. Methods: A modified ‘targeted gene walking PCR’ method was used to amplify the unknown gene of DEV Clone-03 strain adjacent to a short stretch of known sequence. The assembled unknown fragment was confirmed to be a homologue of herpesviruses by BLAST analysis and comparison with other herpesviruses homologues. Open reading frames (ORFs) were determined and analyzed by Gene Runner software and an online transcriptional element search engine. Two evolutionary analysis approaches were used to conduct phylogenetic trees of DEV in relation to herpesviruses based on the deduced amino acid sequences. Results: A genomic fragment encompassing 25,625 nt and containing 16 ORFs was amplified, determined, and compared with homologues in other herpesviruses. Phylogenetic trees indicated that DEV and other herpesviruses generated from one ancestor and DEV were grouped into the subfamily Alphaherpesvirinae. In most cases, DEV showed a close relationship with the genus Mardivirus, but formed a single branch. Conclusion: Partial genomic organization and phylogenetic analysis in the present study provides evidence that DEV was a member of the subfamily Alphaherpesvirinae and should be assigned as a single group.
Dynamic edge: finding eyes-free controls on orientation-agnostic devices

Clean and minimalistic industrial designs dominate current multi-device ecosystems. One intended feature of such designs is that a device can be picked up and used in any orientation. However, the persistent presence of a few physical buttons forces most users to look for them by rotating the device before using it. We propose that tangible but virtual controls could appear where the user expects them to be, when the device is picked up. This would support the intended industrial design. In a user study, we evaluate two methods for synthesizing such controls (continuous and discrete), implemented in a functional prototype. While both were found to be highly usable, an optimum implementation should be a hybrid of both, where continuous feedback supports locating the exact position of the control. Then, either model could be used to obtain the best UX in button pressing, depending on the use case.
Predictors of morbidity after traumatic pancreatic injury.

BACKGROUND Although relatively uncommon, traumatic pancreatic injury is associated with significant morbidity and mortality. The objectives of this review were to validate the American Association for the Surgery of Trauma organ injury grading system for pancreatic injury by defining its relationship to subsequent morbidity and to characterize the independent predictors of postoperative complications. METHODS We undertook a retrospective review of all patients with a pancreatic injury, confirmed by laparotomy, admitted to our Level I trauma center from 1986 and 1999. Pancreatic injury severity was assessed on the basis of the operative report. Outcome parameters included mortality, pancreatic complications (pancreatic fistula, pseudocyst, pancreatitis), intensive care unit (ICU) complications (acute respiratory distress syndrome, pneumonia, renal failure, multiple organ failure syndrome), abdominal complications (abscess, wound infection, ventral hernia, enteric fistula), and length of stay. RESULTS There were 193 patients identified. Mortality was 12%. Overall morbidity in the series was 50%, with a 22% prevalence of pancreas-related complications. Multivariate analysis revealed that the grade of pancreatic injury was an independent predictor of both pancreatic complications (odds ratio, 4.4; 95% confidence interval, 1.9-10) and mortality (odds ratio, 2.6; 95% confidence interval, 1.2-5.8). Pancreatic and ICU complications were associated with longer ICU and hospital stays. CONCLUSION The American Association for the Surgery of Trauma Organ Injury Score predicts the development of complications and mortality after pancreatic injury and identifies patients who will require extensive resources and may benefit from transfer to a Level I trauma center.
Building a Terminological Database from Heterogeneous Definitional Sources

An obstacle to understanding results across heterogeneous databases is the ability to determine conceptual connections between differing terminologies. In this paper, we present the two step approach which we have used to build a terminological database in order to address this issue. First we automatically built a heterogeneous collection of terms and definitions from two types of dynamic sources: 1) glossaries automatically identified from 147 government web sites and 2) definitions extracted from 600 unstructured articles. After storing terms and their definitions, we semantically analyzed the definitions to store the terminological knowledge in a relational database. Currently the database contains 12,780 definitions of 8,431 terms.
Pragmatic development in the Spanish as a FL classroom: A cross-sectional study of learner requests

Abstract This study investigates the development of requests from the beginning of foreign language instruction to advanced levels of proficiency in face-to-face interactions. Data were collected from three learner groups (American learners of Spanish) (45 learners [15 per group: beginning, intermediate, advanced]). Open role plays were used to collect data in four request situations. Data were analyzed for request head acts (direct, conventional indirect, non-conventional indirect), the request perspective, and internal and external modification. Findings indicate that the beginner group produced the largest number of direct requests. They, thus, showed little competence in situational variation. These direct requests were often realized by means of verbless requests, statements of need, imperatives, and requests with an infinitive used as a main verb. In contrast, a strong preference for conventionally indirect requests was observed among intermediate and advanced learners in formal and informal situations, with a decline in direct requests noted to appear with increasing proficiency. Four stages of pragmatic development among learners in a FL context were identified and discussed in light of existing research in pragmatic development. This study also addresses the issue of the primacy of pragmatics over grammar in expressing pragmatic intent, formula research in interlanguage pragmatics, and pragmatic development in the FL classroom.
Cytotoxic and potential anticancer constituents from the stems of Schisandra pubescens

Abstract Context: The diethyl ether extract of the stems of Schisandra pubescens Hemsl. et Wils. (Schisandraceae) was found to exhibit cytotoxic activity in vitro. However, investigations of the bioactive constituents of this plant have been very limited. Objective: Elucidation of the cytotoxic constituents of S. pubescens was performed. Methods: Repeated silica gel column chromatography and preparative TLC were used for the chemical investigation of the diethyl ether extract of S. pubescens stems. All isolates were evaluated for their in vitro cytotoxicity against A549, PC-3, KB and KBvin human cancer cell lines. Results: Nine known compounds were obtained, including four lignans, epischisandrone (1), tigloylgomisin P (2), cagayanone (3) and (−)-gomisin L2 (4), together with five triterpenoids, micranoic acid B (5), lancifodilactone H (6), coccinic acid (7), schisanlactone B (8) and anwuweizonic acid (9). Compounds 2–6 and 8 showed moderate to marginal cytotoxicity, with GI50 values of 11.83–35.65 μM. Conclusion: The isolation of 1–9 from S. pubescens and the cytotoxicities of 3–6 are first reported. Compounds 2–6 and 8 could be the active principles responsible for the anticancer effects of S. pubescens.
Self‐leadership: a cross‐cultural perspective

Purpose – This paper seeks to address the question: what is the relationship of culture to self‐leadership? Design/methodology/approach – In an exploratory study, 74 US and 44 Chinese undergraduates rated their cultural beliefs and self‐leadership strategies. After four‐weeks in which a self‐leadership intervention was utilized, respondents contrasted positive aspects of their professional objectives with obstacles that impeded the realization of their goals.Findings – The intervention did not influence participants' self‐leadership strategies, as measured two weeks after the intervention (p > 0.11). Repeated MANOVA measures revealed that the US group expressed higher levels of self‐leadership than the Chinese group during the three phases of the study (p < 0.001). Surprisingly, Chinese students held higher individualistic characteristics than the US group (p=0.009). Research limitations/implications – This research provides some insight into the similarities and differences between people from different cu.
Generalizing Automatically Generated Selectional Patterns

Frequency information on co-occurrence patterns can be automatically collected from a syntactically analyzed corpus; this information can then serve as the basis for selectional constraints when analyzing new text from the same domain. This information, however, is necessarily incomplete. We report on measurements of the degree of selectional coverage obtained with different sizes of corpora. We then describe a technique for using the corpus to identify selectionally similar terms, and for using this similarity to broaden the selectional coverage for a fixed corpus size.
Tackling label noise with multi-class decomposition using fuzzy one-class support vector machines

Class label noise is a data-level difficulty associated with training objects with incorrectly assigned labels. This problem may originate from poorly documented historic data, errors during data generation process or mistakes made by human experts. Inclusion of such examples during the training process will mislead the classifier by presenting a falsified class distribution and consequently lead to degradation of models' generalization abilities. This phenomenon becomes even more troublesome in multi-class scenarios that may be affected by highly complex intra-class noise. Decomposition strategies with binary classifiers were proven to alleviate this difficulty by using simplified binary subtasks that are less affected by the noise. In this paper we propose to extend this approach by using the one-class classification decomposition. In this scenario each class has assigned individual one-class classifier that aims at capturing its distinguishing characteristics. This allows to create a robust data description and then apply a dedicated classifier combination in order to reconstruct the original multi-class task. We further extend this concept by using fuzzy one-class classifiers that allow to associate membership values with each training objects. This allows us to reduce the influence of uncertain and potentially noisy samples on the shape of learned decision boundary. Experimental study backed-up with statistical analysis shows that fuzzy one-class classifier decomposition offers an excellent robustness to noise in multi-class classification.
First language attrition and linguistic creativity

The empirical base for this article is the speech that adult migrants produce in their first language (L1) after they have lived several years in the new country. The speakers all migrated after puberty, and thus had a “fully” developed L1 at the onset of migration. The aim is to examine whether the impact of L1 attrition restricts itself to the speakers' control over their lexicon, or whether it may also affect their marking of grammatical distinctions. The examples analyzed illustrate that the migrant speakers may choose nonconventional solutions not only in their expression of declarative content, but also in their organization of linguistic structure. Hence, the data indicate that the boundary between lexical and grammatical information should not be regarded as totally discrete in the case of L1 attrition. The sampled speakers' L1 is Serbian or Croatian1 and their second language (L2) is Norwegian.
ACCURACY OF SELF-MONITORING IN DEPRESSION

The accuracy with which dysphoric (Study One) and clinically depressed (Study Two) individuals make self-regulatory judgments about their own performance in the absence of external feedback and the extent to which this relates to trait self-focused attention (SFA) were examined. Relative to objective criteria, both dysphoric and depressed participants showed a positive judgment bias, overestimating the number of trials they had performed correctly. Relative to control participants, the dysphoric and depressed groups showed a reduction in the extent of this positive bias in that they judged error trials more accurately and correctly-performed trials less accurately. While the dysphoric and depressed groups both reported elevated trait SFA, this did not correlate significantly with accuracy of self-judgment on the performance-monitoring task. Implications for self-regulation models of depression are discussed.
Using fMRI activation to conceptual stimuli to evaluate methods for extracting conceptual representations from corpora

We present a series of methods for deriving conceptual representations from corpora and investigate the usefulness of the fMRI data and machine learning methodology of Mitchell et al. (2008) as a basis for evaluating the different models. Within this framework, the quality of a semantic model is quantified by its ability to predict the fMRI activation associated with conceptual stimuli. Mitchell et al. used a manually-acquired set of verbs as the basis for their semantic model; in this paper, we also consider automatically acquired feature-norm-like semantic representations. These models make different assumptions about the kinds of information available in corpora that is relevant to representing conceptual knowledge. Our results indicate that automatically-acquired representations can make equally powerful predictions about the brain activity associated with the stimuli.
Men, Women, and Publication Productivity: Patterns Among Social Work Academics

This article analyzes how three sets of characteristics—(1) individual attitudes, practices, and academic position; (2) location and professional connections; and (3) marital/family statuses—operate in explaining the publication productivity of men and women in a national sample of social work academics.We find that: (1) together, the variables explain more variance in women's than men's publication rate; (2) comparing female models to male models, the effect of attitudes and practices are more stable for women; and (3) professional connections and family statuses operate differently for women as compared to men.
Crawling on Simple Models of Web Graphs

We consider the problem of searching a randomly growing graph by a random walk. In particular we consider two simple models of "web-graphs. " Thus at each time step a new vertex is added and it is connected to the current graph by randomly chosen edges. At the same time a "spider" S makes a number of steps of a random walk on the current graph. The parameter we consider is the expected proportion of vertices that have been visited by S up to time t.
Grounded and indigenous theories and the politics of pragmatism

Grounded theory (GT): the writing is direct, and immediate, subversive, no big words. To wit: The grounded theorist thinks abstractly, critically, flexibly … Theory is the basis for social action. (Strauss and Corbin 1998:7, 9–11) The special emphasis is on how to develop theory through qualitative analysis, through codes, memos, sequences, theoretical sampling, comparative analysis, and diagrams (Strauss 1987:iii). I call here for a dialog between grounded, critical, pragmatic, and indigenous theories of social structure. I seek a form of sociological theorizing and practice that advances the goals of justice and equity. I locate my arguments in a decolonizing, post-colonial, performance space that draws inspiration from the just ended Decade of Indigenous Peoples (Denzin and Lincoln 2008). I begin with GT, arguably the most influential model of theory construction used by qualitative researchers in the social sciences today (Charmaz 2005).
Response to Rosburg: A voxel‐based statistical parametric mapping of MMN current densities

The original article to which this Commentary refers was published in the November, 2002 issue of Human Brain Mapping (Park H‐J, Kwon JS, Youn T, Pae JS, Kim J‐J, Kim M‐S, Ha K‐S. Statistical Parametric Mapping of LORETA Using High‐Density EEG and Individual MRI: Application to Mismatch Negativities in Schizophrenia. Hum Brain Mapp 2002;17:168–178). A Commentary appears in the January, 2004 issue (Rossburg T: Left Parietal Lobe Activation to Auditory Mismatch? Hum. Brain Mapp. 2004;21:46–48). © 2003 Wiley‐Liss, Inc.
Putting the User in the Loop: Interactive Maximal Marginal Relevance for Query-Focused Summarization

This work represents an initial attempt to move beyond "single-shot" summarization to interactive summarization. We present an extension to the classic Maximal Marginal Relevance (MMR) algorithm that places a user "in the loop" to assist in candidate selection. Experiments in the complex interactive Question Answering (ciQA) task at TREC 2007 show that interactively-constructed responses are significantly higher in quality than automatically-generated ones. This novel algorithm provides a starting point for future work on interactive summarization.