Miracle-dz/UniFAR-FTUs huggingface dataset:
Moth-inspired chemical plume tracing on an autonomous underwater vehicle

This paper presents a behavior-based adaptive mission planner (AMP)to trace a chemical plume to its source and reliably declare the source location. The proposed AMP is implemented on a REMUS autonomous underwater vehicle (AUV)equipped with multiple types of sensors that measure chemical concentration,the flow velocity vector, and AUV position, depth, altitude, attitude, and speed. This paper describes the methods and results from experiments conducted in November 2002 on San Clemente Island, CA, using a plume of Rhodamine dye developed in a turbulent fluid flow (i.e., near-shore ocean conditions). These experiments demonstrated chemical plume tracing over 100 m and source declaration accuracy relative to the nominal source location on the order of tens of meters. The designed maneuvers are divided into four behavior types: finding a plume,tracing the plume, reacquiring the plume, and declaring the source location. The tracing and reacquiring behaviors are inspired by male moths flying up wind along a pheromone plume to locate a sexually receptive female. All behaviors are formulated by perception and action modules and translated into chemical plume-tracing algorithms suitable for implementation on a REMUS AUV. To coordinate the different behaviors, the subsumption architecture is adopted to define and arbitrate the behavior priorities. AUVs capable of such feats would have applicability in searching for environmentally interesting phenomena, unexploded ordnance, undersea wreckage, and sources of hazardous chemicals or pollutants.
The Role of Religious Coping in Alzheimer's Disease Caregiving

Alzheimer's Disease (AD) and other dementias are one of the most critical public health problems in elderly populations. Whereas the financial, emotional and physical costs of the disease for the caregiver are enormous, support for the caregiver becomes more and more important. One aspect of caregiver support, however, religious coping and well-being in caregivers of AD has been relatively unexplored. Using baseline data from the Resources for Enhancing Alzheimer's Caregiver Health (REACH) II study, this study examined the relationship between religious coping, burden, depression and race among 211 African-American, 220 White and 211 Hispanic caregivers. Structural Equation Modeling was used to test our path model and Multi-sample SEM was used for a test of moderating effect of race. Caregiver burden mediated the effect of religious coping on depression with higher religious coping resulting in lowering caregiver burden and thereby reducing depression. The only path that was not predicted and had to be added to the model was between religious attendance and depression. While the overall MSEM test was not significant, separate analyses showed some variations in relationships among groups. The religious coping mediation model was better supported by African Americans than Hispanic and White caregivers. The findings suggest that religiosity plays an important role in decreasing caregiver burden and thereby decreasing depression. The findings also suggest that it may be culturally sensitive and appropriate to encourage African American caregivers to utilize religious coping resources. Greater understanding of religious coping and its role in the caregiving process helps researchers discover better ways to assist racially diverse caregivers in dealing with burdens of AD caregiving.
Characterization of memristive Poly-Si Nanowires via empirical physical modelling

Memristors are passive circuit elements that behave as resistors with memory. The recently illustrated experimental realization of memristive behaviour of Polysilicon Nanowires has triggered interest in this concept, which is promising to a wide variety of application areas that include neuromorphic circuits. In order to progress with practical implementations that use this technology we need to expand our understanding of the conduction mechanisms in these structures and of the underlying relationship between device behavior and process manufacturing parameters. In this paper we explore these mechanisms through detailed simulation, which includes model calibration and correlation with experimental results. Through fitting of the test results we identify a unique set of density of states that characterize the particular technology implemented.
Sowing the seeds of algebraic generalization: designing epistemic affordances for an intelligent microworld

This paper describes the design of a mathematical microworld to tackle the persistent difficulties that secondary school students have with the idea of algebraic generalization, which is a key stumbling block in secondary-school mathematics classrooms. Our focus is to characterize algebraic ways of thinking and to design both affordances of the system as well as suitable tasks and pedagogies that provide a substrate of activity and experience for the teaching and learning of algebraic generalizations. Using as reference illustrative cases of 12 to 13-year-old students' interaction with the microworld, we demonstrate the strong interplay between epistemology and the design of the microworld and draw conclusions regarding its potential to support the development of algebraic ways of thinking.
Cost/benefit analysis of interval jumping in power-control simulation

Computation of power control calculations is one of the most time-consuming aspects of simulating wireless communication systems. These calculations are critical to understanding how a wireless network will perform, and so cannot be conveniently ignored. Power control calculations implement solutions to discretized differential equations, and so are essentially time stepped. In a previous paper (Perrone and Nicol, 1998) we proposed a technique for interval jumping, that allows for substantially many time steps to be jumped over, thereby reducing the amount of computation needed to achieve the same state as would straightforward time stepping. The technique involves identification of a region of simulation time during which no channel assignments change due to limits on transmitter power, and a jump over that region. We examine the cost/benefit tradeoffs between policies which seek to minimize the work done to identify a jump interval, and the cost of computing those policies. We find that a tiered dynamic programming approach yields policies that very nearly minimize the searching overhead, while enjoying substantively lower computation costs than does the policy which strictly minimizes the searching overhead.
Details of ssDNA annealing revealed by an HSV-1 ICP8–ssDNA binary complex

Infected cell protein 8 (ICP8) from herpes simplex virus 1 was first identified as a single-strand (ss) DNA-binding protein. It is essential for, and abundant during, viral replication. Studies in vitro have shown that ICP8 stimulates model replication reactions, catalyzes annealing of complementary ssDNAs and, in combination with UL12 exonuclease, will catalyze ssDNA annealing homologous recombination. DNA annealing and strand transfer occurs within large oligomeric filaments of ssDNA-bound ICP8. We present the first 3D reconstruction of a novel ICP8–ssDNA complex, which seems to be the basic unit of the DNA annealing machine. The reconstructed volume consists of two nonameric rings containing ssDNA stacked on top of each other, corresponding to a molecular weight of 2.3 MDa. Fitting of the ICP8 crystal structure suggests a mechanism for the annealing reaction catalyzed by ICP8, which is most likely a general mechanism for protein-driven DNA annealing.
An interference coordination scheme for dense femtocell environment

Femtocells applied in many existing systems, such as HSPA, 3GPP LTE, WiMAX, and etc, which cover a short range and offer an economically viable way to improve cellular system capacity, have caught world-wide researching interest nowadays. An interference coordination scheme is proposed for LTE downlink in this paper, which is split into three steps named as interference graph creation, orthogonal frequency distribution (OFD) algorithm and adaptive frequency reallocation (AFR) algorithm, respectively. The interference graph is created on the basis of the interference detection mechanism named as femtocell user measure-and-report (UMR). The OFD algorithm is used to allocate the orthogonal sub-bands with the goal of eliminating the inter-cell interference caused by neighbor femtocells. The AFR algorithm executes to improve the system capacity and imposes a limitation on the interference level. By extensive simulations, it has been proved that the proposed scheme can effectively mitigate the inter-cell interference and attain superior performance in terms of cell-edge and femtocell throughput compared to the reference schemes in the paper.
SoS and Planted Clique: Tight Analysis of MPW Moments at all Degrees and an Optimal Lower Bound at Degree Four

The problem of finding large cliques in random graphs and its "planted" variant, where one wants to recover a clique of size $\omega \gg \log{(n)}$ added to an \Erdos-\Renyi graph $G \sim G(n,\frac{1}{2})$, have been intensely studied. Nevertheless, existing polynomial time algorithms can only recover planted cliques of size $\omega = \Omega(\sqrt{n})$. By contrast, information theoretically, one can recover planted cliques so long as $\omega \gg \log{(n)}$. In this work, we continue the investigation of algorithms from the sum of squares hierarchy for solving the planted clique problem begun by Meka, Potechin, and Wigderson (MPW, 2015) and Deshpande and Montanari (DM,2015). Our main results improve upon both these previous works by showing: 1. Degree four SoS does not recover the planted clique unless $\omega \gg \sqrt n poly \log n$, improving upon the bound $\omega \gg n^{1/3}$ due to DM. A similar result was obtained independently by Raghavendra and Schramm (2015). 2. For $2 < d = o(\sqrt{\log{(n)}})$, degree $2d$ SoS does not recover the planted clique unless $\omega \gg n^{1/(d + 1)} /(2^d poly \log n)$, improving upon the bound due to MPW. Our proof for the second result is based on a fine spectral analysis of the certificate used in the prior works MPW,DM and Feige and Krauthgamer (2003) by decomposing it along an appropriately chosen basis. Along the way, we develop combinatorial tools to analyze the spectrum of random matrices with dependent entries and to understand the symmetries in the eigenspaces of the set symmetric matrices inspired by work of Grigoriev (2001). An argument of Kelner shows that the first result cannot be proved using the same certificate. Rather, our proof involves constructing and analyzing a new certificate that yields the nearly tight lower bound by "correcting" the certificate of previous works.
Fuzzy rough positive region based nearest neighbour classification

This paper proposes a classifier that uses fuzzy rough set theory to improve the Fuzzy Nearest Neighbour (FNN) classifier. We show that previous attempts to use fuzzy rough set theory to improve the FNN algorithm have some shortcomings and we overcome them by using the fuzzy positive region to measure the quality of the nearest neighbours in the FNN classifier. A preliminary experimental evaluation shows that the new approach generally improves upon existing methods.
Power weak mixing does not imply multiple recurrence in infinite measure and other counterexamples

We show that for infinite measure-preservingtransformations, power weak mixingdoes not imply multiple recurrence. We also show that the infinite measure-preserving"Chacon transformation" known to have in- finite ergodic index is not power weakly mixing, and is 3-recurrent but not multiply recurrent. We also construct some doubly ergodic infinite measure- preservingtransformations that are not of positive type but have conservative Cartesian square. Finally, we study the power double ergodicity property.
Decentralized Cooperative Localization Approach for Autonomous Multirobot Systems

This study proposes the use of a split covariance intersection algorithm Split-CI for decentralized multirobot cooperative localization. In the proposed method, each robot maintains a local cubature Kalman filter to estimate its own pose in a predefined coordinate frame. When a robot receives pose information from neighbouring robots, it employs a Split-CI based approach to fuse this received measurement with its local belief. The computational and communicative complexities of the proposed algorithm increase linearly with the number of robots in the multirobot systems MRS. The proposed method does not require fully connected synchronous communication channels between robots; in fact, it is applicable for MRS with asynchronous and partially connected communication networks. The pose estimation error of the proposed method is bounded. As the proposed method is capable of handling independent and interdependent information of the estimations separately, it does not generate overconfidence state estimations. The performance of the proposed method is compared with several multirobot localization approaches. The simulation and experiment results demonstrate that the proposed algorithm outperforms the single-robot localization algorithms and achieves approximately the same estimation accuracy as the centralized cooperative localization approach, but with reduced computational and communicative cost.
Discrete Control Barrier Functions for Safety-Critical Control of Discrete Systems with Application to Bipedal Robot Navigation

—In this paper, we extend the concept of control barrier functions, developed initially for continuous time systems, to the discrete-time domain. We demonstrate safety-critical con- trol for nonlinear discrete-time systems with applications to 3D bipedal robot navigation. Particularly, we mathematically analyze two different formulations of control barrier functions, based on their continuous-time counterparts, and demonstrate how these can be applied to discrete-time systems. We show that in general, the resulting formulation is a nonlinear program in contrast to the quadratic program for continuous-time systems. We show that under certain conditions that the nonlinear program can be formulated as a quadratically constrained quadratic program. Furthermore, using the developed concept of discrete control barrier functions, we present a novel control method to address the problem of navigation of a high-dimensional bipedal robot through environments with moving obstacles that present time-varying safety-critical constraints.
Combined zeroforcing with wideband beamforming for interference mitigation in cooperative cellular radio networks

Cooperative multipoint transmission (CoMP) in cellular systems is a widely discussed topic for future cellular networks. A main challenge therein is the limited size of practical realizable cooperation areas that entails many strong interfering cells in adjacent cooperation areas. This has been partly overcome by our so called partial CoMP concept, presented on several opportunities in 2010. Now, as further improvement, the so called ‘tortoise concept’ is proposed in this article. This is essentially an interference shaping method, realized with a three-dimensional wideband beamforming to minimize interference between cooperation areas. On top of the wideband beams, a central joint preprocessing cancels interference within the CA. This results in a strong mitigation of the total interference power with large performance gains.
Lattice QCD in the ǫ -regime and random matrix theory

In the ǫ -regime of QCD the main features of the spectrum of the low-lying eigenvalues of the (euclidean) Dirac operator are expected to be described by a certain universality class of random matrix models. In particular, the latter predict the joint statistical distribution of the individual eigenvalues in any topological sector of the theory. We compare some of these predictions with high-precision numerical data obtained from lattice QCD for a range of lattice spacings and volumes. While no complete matching is observed, the results agree with theoretical expectations at volumes larger than about 5 fm 4 .
Stress Detection in Computer Users Based on Digital Signal Processing of Noninvasive Physiological Variables

A stress detection system is developed based on the physiological signals monitored by non-invasive and non-intrusive sensors. The development of this emotion recognition system involved three stages: experiment setup for physiological sensing, signal preprocessing for the extraction of affective features and affective recognition using a learning system. Four signals: galvanic skin response (GSR), blood volume pulse (BVP), pupil diameter (PD) and skin temperature (ST) are monitored and analyzed to differentiate affective states in a computer user. A support vector machine is used to perform the supervised classification of affective states between "stress" and "relaxed". Results indicate that the physiological signals monitored do, in fact, have a strong correlation with the changes in emotional state of our experimental subjects when stress stimuli are applied to the interaction environment. It was also found that the pupil diameter was the most significant affective state indicator, compared to the other three physiological signals monitored
Evaluation of Design Error Models for Verification Testing of Microprocessors 1

We are developing a design verification methodology for micropr cessor hardware based on modeling design errors and generat simulation vectors for the modeled errors via physical fault testin techniques. A class of conditional error models has recently be proposed for use with this methodology and is the subject of t paper. We analyze the classes of errors that are guaranteed to detected by complete test sets for the conditional errors for ga level circuits. We also report experimental work-in-progress aime at comparing the usefulness of different design error models verification testing of microprocessors. In these experiments coverage of test sets for both synthetic and actual errors is co puted.
Efficacy and Toxicity of a Protocol Using Sirolimus, Tacrolimus and Daclizumab in a Nonhuman Primate Renal Allotransplant Model

A regimen combining sirolimus, tacrolimus, and daclizumab has recently been shown to provide adequate immunosuppression for allogeneic islet transplantation in humans, but remains unproven for primarily vascularized allografts. We evaluated this regimen for renal allograft transplantation in mismatched nonhuman primates. Dosages of sirolimus and tacrolimus were adjusted for trough levels of 10–15 ng/mL and 4–6 ng/mL, respectively. Treated monkeys (n = 5) had significantly prolonged allograft survival, with a mean survival of 36 days vs. 7 days in untreated controls (n = 6, p = 0.008). Four of five treated animals, but none of the controls, developed fibrinoid vascular necrosis of the small intestine. A review of gut histology from animals on other immunosuppressive protocols performed by our laboratory suggested that these lesions were a result of sirolimus exposure. In summary, this regimen prolongs the survival of vascularized renal allografts, but is limited by profound GI toxicity in rhesus macaques.
Ulcerative Colitis Is Under Dual (Mitochondrial and Nuclear) Genetic Control

Background:Cellular oxidative stress and genetic susceptibility have been implicated in the multifactorial etiology of ulcerative colitis (UC). The nuclear genome association with UC has been intensely investigated, but the role of the mitochondrial DNA (mtDNA) has received far less attention and may account for part of the missing heritability. This study is a comprehensive analysis of the mtDNA contribution to UC susceptibility. Methods:The association of mitochondrial single-nucleotide polymorphisms (mtSNPs) and haplogroups with UC was tested in 488 cases and 833 controls of European ancestry from the NIDDK IBD Genetics Consortium Ulcerative Colitis Genome-Wide Association Study available through dbGaP and from the Illumina Genotype Control Database (studies 64 and 65). Results:No evidence of population stratification could be detected using 218 ancestry informative markers for European Americans. Seven of the 58 tested mtSNPs were nominally associated with UC, and A10550G in MT-ND4L withstands the Bonferroni correction (P = 1.29E-06, odds ratio [ORG] [95% confidence interval (CI)] = 4.80 [2.54–9.05], 10550G allele: 8.1% of patients and 1.9% of controls). A10550G remains equally associated after conditional analyses on the 11 UC genome-wide association studies (GWAS) top SNPs (6.35E-07 < Pcond < 4.58E-06), which suggests that it constitutes an independent risk factor from nuclear-encoded susceptibility loci. We detected additive (but not multiplicative) epistatic interactions between A10550G and all 11 top GWAS hits. Subhaplogroup K1 (P = 0.021, OR [95% CI] = 1.71 [1.08–2.69]) increased the risk for UC, whereas the U5b lineage conferred protection (P = 0.016, OR [95% CI] = 0.34 [0.14–0.82]). Conclusions:These results suggest that UC has a dual mitochondrial and nuclear genetic control that warrants further replication in independent data sets and reinforces its etiopathogenic complexity.
Patient-or Physician-Oriented Marketing: What Drives Primary Demand for Prescription Drugs?

The authors analyze primary demand effects of marketing efforts directed at the physician (detailing and professional journal advertising) versus marketing efforts directed at the patient (direct-to-consumer advertising). The analysis covers 86 categories, or approximately 85% of the U.S. pharmaceutical market, during the 2001–2005 period. Primary demand effects are rather small, in contrast with the estimated sales effects for individual brands. By using a new brand-level method to estimate primary demand effects with aggregate data, the authors show that the small effects are due to intense competitive interactions during the observation period but not necessarily to low primary demand responsiveness. In contrast with previous studies, the authors also find that detailing is more effective in driving primary demand than direct-to-consumer advertising. A category sales model cannot provide such insights. In addition, a category sales model likely produces biased predictions about period-by-period changes in primary demand. The suggested brand-level method does not suffer from these limitations.
Comparison of efficacy in adjuvant chemotherapy regimens in patients with radically resected gastric cancer: a propensity-matched analysis

Background We conducted the retrospective study to compare the efficacy of monotherapies versus two-drug regimens as postoperative chemotherapy for patients with radically resected gastric cancer. Result At a median follow-up of 5.3 years, no significant difference in terms of OS was observed between two groups, neither before nor after matching. After matching, median DFS was statistically significant between group A and B (median, 67.5 vs 101.0 months, respectively; hazard ratio [HR], 0.65; 95% CI, 0.45 to 0.95; P=0.027), which meant doublets prolonged DFS. In subgroup analysis, the patients of stage III receiving doublet achieved better OS than those receiving monotherapy. People who received doublet and were less than 65 years old, or male patients, or in T4 stage, or in N2 stage, or receiving subtotal gastrectomy had better DFS than those with monotherapy. Method A data set including 501 patients (monotherapy, n=107; doublet, n=394) was matched between the two groups (n=107 patients per group) using the propensity-matched study. The primary and secondary endpoint was overall survival(OS) and disease-free survival(DFS), respectively. Survival data was compared using the Kaplan-Meier method and Cox proportion hazards models for univariate and multivariate analyses. Conclusion The dual regimens seemed not to add overall survival benefits to patients receiving curative gastrectomy, compared with single-agent fluoropyrimidine as postoperative chemotherapy. However, dual regimens showed better disease-free survival.