Miracle-dz/UniFAR-FTUs huggingface dataset:
Towards continuous control of flippers for a multi-terrain robot using deep reinforcement learning

In this paper we focus on developing a control algorithm for multi-terrain tracked robots with flippers using a reinforcement learning (RL) approach. The work is based on the deep deterministic policy gradient (DDPG) algorithm, proven to be very successful in simple simulation environments. The algorithm works in an end-to-end fashion in order to control the continuous position of the flippers. This end-to-end approach makes it easy to apply the controller to a wide array of circumstances, but the huge flexibility comes to the cost of an increased difficulty of solution. The complexity of the task is enlarged even more by the fact that real multi-terrain robots move in partially observable environments. Notwithstanding these complications, being able to smoothly control a multi-terrain robot can produce huge benefits in impaired people daily lives or in search and rescue situations.
The Mathematics of Marriage: Dynamic Nonlinear Models

Divorce rates are at an all-time high. But without a theoretical understanding of the processes related to marital stability and dissolution, it is difficult to design and evaluate new marriage interventions. The Mathematics of Marriage provides the foundation for a scientific theory of marital relations. The book does not rely on metaphors, but develops and applies a mathematical model using difference equations. The work is the fulfillment of the goal to build a mathematical framework for the general system theory of families first suggested by Ludwig Von Bertalanffy in the 1960s.The book also presents a complete introduction to the mathematics involved in theory building and testing, and details the development of experiments and models. In one "marriage experiment," for example, the authors explored the effects of lowering or raising a couple's heart rates. Armed with their mathematical model, they were able to do real experiments to determine which processes were affected by their interventions. Applying ideas such as phase space, null clines, influence functions, inertia, and uninfluenced and influenced stable steady states (attractors), the authors show how other researchers can use the methods to weigh their own data with positive and negative weights. While the focus is on modeling marriage, the techniques can be applied to other types of psychological phenomena as well.
Blending LSTMs into CNNs

We consider whether deep convolutional networks (CNNs) can represent decision functions with similar accuracy as recurrent networks such as LSTMs. First, we show that a deep CNN with an architecture inspired by the models recently introduced in image recognition can yield better accuracy than previous convolutional and LSTM networks on the standard 309h Switchboard automatic speech recognition task. Then we show that even more accurate CNNs can be trained under the guidance of LSTMs using a variant of model compression, which we call model blending because the teacher and student models are similar in complexity but different in inductive bias. Blending further improves the accuracy of our CNN, yielding a computationally efficient model of accuracy higher than any of the other individual models. Examining the effect of "dark knowledge" in this model compression task, we find that less than 1% of the highest probability labels are needed for accurate model compression.
Autonomous Integrated Navigation for Indoor Robots Utilizing On-Line Iterated Extended Rauch-Tung-Striebel Smoothing

In order to reduce the estimated errors of the inertial navigation system (INS)/Wireless sensor network (WSN)-integrated navigation for mobile robots indoors, this work proposes an on-line iterated extended Rauch-Tung-Striebel smoothing (IERTSS) utilizing inertial measuring units (IMUs) and an ultrasonic positioning system. In this mode, an iterated Extended Kalman filter (IEKF) is used in forward data processing of the Extended Rauch-Tung-Striebel smoothing (ERTSS) to improve the accuracy of the filtering output for the smoother. Furthermore, in order to achieve the on-line smoothing, IERTSS is embedded into the average filter. For verification, a real indoor test has been done to assess the performance of the proposed method. The results show that the proposed method is effective in reducing the errors compared with the conventional schemes.
Anti-liver cancer activity of TNF-related apoptosis-inducing ligand gene and its bystander effects.

AIM To observe the anti-liver cancer activity of tumor necrosis factor-related apoptosis-inducing ligand (TRAIL) gene and its bystander effects on hepatocellular carcinoma (HCC) cell line SMMC7721. METHODS Full-length cDNA of human TRAIL was transferred into SMMC7721 cells with a binary adenoviral vector system. Polymerase-chain reaction following reverse transcription (RT-PCR) was used to determine the expression of TRAIL gene. Effects of the transfected gene on proliferation of SMMC7721 cells were measured by MTT assay. Its influence on apoptosis was demonstrated by fluorescence-activated cell sorting (FACS). The bystander effect was observed by co-culturing the SMMC7721 cells with and without the transfected TRAIL gene at different ratios, and the culture medium supernatant from the transfected cells was also examined for its influence on SMMC7721 cells. RESULTS The growth-inhibition rate and apoptotic cell fraction in the cells transfected with the TRAIL gene, Bax gene or only LacZ gene were 91.2%, 48.0%, 28.8% and 29.1%, 12.5%, 6.6%, respectively. The growth-inhibition rate of transfection with these three sequences in normal human fibroblasts was 6.1%, 45.5% and 7.6%, respectively, indicating a discriminative inhibition of TRAIL transfection on the cancer cells. In the co-culturing test, addition of the transfected TRAIL to SMMC7721 cells in proportions of 5%, 25%, 50%, 75% and 100%, resulted in a growth-inhibition of 15.9%, 67%, 80.2%, 86.4% and 87.7%, respectively. We failed to observe a significant growth-inhibition effect of the culture medium supernatant on SMMC7721 cells. CONCLUSION TRAIL gene transferred by a binary adenoviral vector system can inhibit proliferation of SMMC7721 cells and induce their apoptosis. A bystander effect was observed, which seemed not to be mediated by soluble factors.
The power of Australian small accounting firms’ unethical exposure

Purpose - – The purpose of this paper is to investigate small business owner/manager’s exposure to unethical behavior, and to examine the influence of unethical exposure on organizational intention to implement ethical policies and practices. Design/methodology/approach - – Using a sample of 209 Australian small accounting firms with a path analysis, this paper adopts a modified ethical decision-making model to test the relationship between exposure and personal attitudes toward unethical behavior, and the relationship between exposure and intentions to implement ethical policies and practices at firm level. Findings - – The results show that increased exposure to unethical behavior triggered stronger personal attitudes with small accounting firm owners/managers tending toward accepting unethical behavior. In contrast, at the firm level, more exposure to unethical behavior creates cautious overtones and motivates owners/managers to take action and implement more ethical policies, with the underlying aim of addressing serious ethical issues. Research limitations/implications - – The study tests the ethical decision-making model but focuses only on three constructs (i.e. exposure, attitude and response). The aim is to examine whether extensive exposure to unethical behavior would change personal attitudes toward accepting such behavior, and whether unethical exposure would trigger firm owner/managers to take action and address the ethical dilemma by establishing some ethical guidelines. Other important variables (such as subjective norm, personal Practical implications - – The study draws attention to ethical dilemmas encountered by many small accounting professionals and their organizations. It addresses the importance of upholding the ethical standard and avoiding the extensive exposure to unethical behavior. It also emphasizes the needs for small businesses to establish some ethical policies and practices. Originality/value - – The paper is purposely set out to reduce the gap in studying how small accounting firms make decisions in implementing their ethical policies and practices to address the rampant ethical dilemma faced by their employees as a result of many corporate scandals and financial crises of the past decade. The results are particularly valuable for small accounting firm owners/managers. The findings also have educational and policy implications.
An Ensemble of Linearly Combined Reinforcement-Learning Agents

Reinforcement-learning (RL) algorithms are often tweaked and tuned to specific environments when applied, calling into question whether learning can truly be considered autonomous in these cases. In this work, we show how more robust learning across environments is possible by adopting an ensemble approach to reinforcement learning. Our approach learns a weighted linear combination of Q-values from multiple independent learning algorithms. In our evaluations in generalized RL environments, we find that the algorithm compares favorably to the best tuned algorithm. Our work provides a promising basis for further study into the use of ensemble methods in RL.
A Novel 3-Methyladenine DNA Glycosylase from Helicobacter pylori Defines a New Class within the Endonuclease III Family of Base Excision Repair Glycosylases*

The cloning, purification, and characterization of MagIII, a 3-methyladenine DNA glycosylase fromHelicobacter pylori, is presented in this paper. Sequence analysis of the genome of this pathogen failed to identify open reading frames potentially coding for proteins with a 3-methyladenine DNA glycosylase activity. The putative product of the HP602 open reading frame, reported as an endonuclease III, shares extensive amino acid sequence homology with some bacterial members of this family and has the canonic active site helix-hairpin-helix-GPD motif. Surprisingly, this predicted H. pylori endonuclease III encodes a 25,220-Da protein able to release 3-methyladenine, but not oxidized bases, from modified DNA. MagIII has no abasic site lyase activity and displays the substrate specificity of the 3-methyladenine-DNA glycosylase type I of Escherichia coli (Tag) because it is not able to recognize 7-methylguanine or hypoxanthine as substrates. The expression of the magIII open reading frame in null 3-methyladenine glycosylase E. coli (tag alkA) restores to this mutant partial resistance to alkylating agents. MagIII-deficient H. pylori cells show an alkylation-sensitive phenotype. H. pylori wild type cells exposed to alkylating agents present an adaptive response by inducing the expression of magIII. MagIII is thus a novel bacterial member of the endonuclease III family, which displays biochemical properties not described for any of the members of this group until now.
Improvement of EMC in MPPT control of photovoltaic system using adaptive observer

The output characteristic of a photovoltaic array is nonlinear and changes with solar irradiation and cell's temperature. The Maximum Power Point Tracking (MPPT) technique is needed to maximize the produced energy. Most MPPT techniques contain the time derivative of the current and the voltage. These electric signals are disturbed by the high frequency noises such as the switching noises of the power device. The low-pass filter is employed to reduce the noises of the circuit. However, the estimation error occurs in calculating the maximum power point. Thus, we apply the adaptive observer to estimate the time derivative of noisy signals. Moreover, we improve the incremental conductance method by using the adaptive observer.
Hermeneutic Single-Case Efficacy Design

In this article, I outline hermeneutic single-case efficacy design (HSCED), an interpretive approach to evaluating treatment causality in single therapy cases. This approach uses a mixture of quantitative and qualitative methods to create a network of evidence that first identifies direct demonstrations of causal links between therapy process and outcome and then evaluates plausible nontherapy explanations for apparent change in therapy. I illustrate the method with data from a depressed client who presented with unresolved loss and anger issues.
PI(4,5)P2 Is Translocated by ABCA1 to the Cell Surface Where It Mediates Apolipoprotein A1 Binding and Nascent HDL Assembly.

RATIONALE The molecular mechanism by which ATP-binding cassette transporter A1 (ABCA1) mediates cellular binding of apolipoprotein A-I (apoA1) and nascent high-density lipoprotein (HDL) assembly is not well understood. OBJECTIVE To determine the cell surface lipid that mediates apoA1 binding to ABCA1-expressing cells and the role it plays in nascent HDL assembly. METHODS AND RESULTS Using multiple biochemical and biophysical methods, we found that apoA1 binds specifically to phosphatidylinositol (4,5) bis-phosphate (PIP2). Flow cytometry and PIP2 reporter-binding assays demonstrated that ABCA1 led to PIP2 redistribution from the inner to the outer leaflet of the plasma membrane. Enzymatic cleavage of cell surface PIP2 or decreased cellular PIP2 by knockdown of phosphatidylinositol-5-phosphate 4-kinase impaired apoA1 binding and cholesterol efflux to apoA1. PIP2 also increased the spontaneous solubilization of phospholipid liposomes by apoA1. Using site-directed mutagenesis, we found that ABCA1's PIP2 and phosphatidylserine translocase activities are independent from each other. Furthermore, we discovered that PIP2 is effluxed from cells to apoA1, where it is associated with HDL in plasma, and that PIP2 on HDL is taken up by target cells in a scavenger receptor-BI-dependent manner. Mouse plasma PIP2 levels are apoA1 gene dosage-dependent and are >1 μM in apoA1 transgenic mice. CONCLUSIONS ABCA1 has PIP2 floppase activity, which increases cell surface PIP2 levels that mediate apoA1 binding and lipid efflux during nascent HDL assembly. We found that PIP2 itself is effluxed to apoA1 and it circulates on plasma HDL, where it can be taken up via the HDL receptor scavenger receptor-BI.
The capacity of convergence-zone episodic memory

Human episodic memory provides a seemingly unlimited storage for everyday experiences, and a retrieval system that allows us to access the experiences with partial activation of their components. This paper presents a computational model of episodic memory inspired by Damasio's idea of convergence zones. The model consists of a layer of perceptual feature maps and a binding layer. A perceptual feature pattern is coarse coded in the binding layer, and stored on the weights between layers. A partial activation of the stored features activates the binding pattern which in turn reactivates the entire stored pattern. A worst-case analysis shows that with realistic-size layers, the memory capacity of the model is several times larger than the number of units in the model, and could account for the large capacity of human episodic memory. <<ETX>>
Twenty‐Year Experience with Early Surgery for Craniosynostosis: II. The Craniofacial Synostosis Syndromes and Pansynostosis—Results and Unsolved Problems

As the second of a two-part series, 76 patients with pansynostosis and craniofacial synostosis syndromes were retrospectively analyzed. Diagnoses included pansynostosis (7), craniofrontonasal dysplasia (8), and Apert (24), Crouzon (15), and Pfeiffer (15) syndromes. All patients underwent primary fronto-orbital advancement-calvarial vault remodeling procedures at less than 18 months of age (mean 6.1 months). Twenty-eight patients (36.8 percent) required a secondary cranial vault operation (mean age 28.4 months). Additionally, a major tertiary procedure was necessary in 5 patients to deal with persistent unacceptable craniofacial form. To address the associated finding of midface hypoplasia, 64.8 percent (n = 35) of patients underwent Le Fort III midface advancement or had that procedure recommended for them. The remainder were awaiting appropriate age for this reconstruction. The more extensive pathologic involvement of the pansynostosis and craniofacial syndrome group is illustrated. As compared with the isolated craniofacial synostosis group previously reported, the incidence of major secondary procedures (36.8 versus 13.5 percent), perioperative complications (11.3 versus 5.0 percent), follow-up complications (44.7 versus 7.7 percent), hydrocephalus (42.1 versus 3.9 percent), shunt placement (22.4 versus 1.0 percent), and seizures (11.8 versus 2.9 percent) was significantly increased. Complex problems including those of increased intracranial pressure, airway obstruction, and recurrent turricephaly or cranial vault maldevelopment are repeatedly encountered. In addition, that early fronto-orbital advancement-cranial vault remodeling failed to promote midface development and hypoplasia of this region is almost a consistent finding in the craniofacial syndromic group. The average length of postoperative follow-up was 6 years. According to the classification of Whitaker et al., which assesses surgical results, 73.7 percent of patients were considered to have at least satisfactory craniofacial form (category I–II) at latest evaluation. An algorithmic approach to the treatment of all patients with craniosynostosis is presented utilizing early surgical intervention as the key element.
Distribution-based Bisimulation and Bisimulation Metric in Probabilistic Automata

Probabilistic automata were introduced by Rabin in 1963 as language acceptors. Two automata are equivalent if and only if they accept each word with the same probability. On the other side, in the process algebra community, probabilistic automata were re-proposed by Segala in 1995 which are more general than Rabin's automata. Bisimulations have been proposed for Segala's automata to characterize the equivalence between them. So far the two notions of equivalences and their characteristics have been studied mostly independently. In this paper, we consider Segala's automata, and propose a novel notion of distribution-based bisimulation by joining the existing equivalence and bisimilarities. We demonstrate the utility of our definition by studying distribution-based bisimulation metrics, which gives rise to a robust notion of equivalence for Rabin's automata. We compare our notions of bisimulation to some existing distribution-based bisimulations and discuss their compositionality and relations to trace equivalence. Finally, we show the decidability and complexity of all relations.
Kinetic analysis and comparison of uptake, distribution, and excretion of 48V-labeled compounds in rats.

Vanadium has been found to be orally active in lowering plasma glucose levels; thus it provides a potential treatment for diabetes mellitus. Bis(maltolato)oxovanadium(IV) (BMOV) is a well-characterized organovanadium compound that has been shown in preliminary studies to have a potentially useful absorption profile. Tissue distributions of BMOV compared with those of vanadyl sulfate (VS) were studied in Wistar rats by using 48V as a tracer. In this study, the compounds were administered in carrier-added forms by either oral gavage or intraperitoneal injection. Data analyzed by a compartmental model, by using simulation, analysis, and modeling (i.e., SAAM II) software, showed a pattern of increased tissue uptake with use of 48V-BMOV compared with 48VS. The highest 48V concentrations at 24 h after gavage were in bone, followed by kidney and liver. Most ingested 48V was eliminated unabsorbed by fecal excretion. On average, 48V concentrations in bone, kidney, and liver 24 h after oral administration of 48V-BMOV were two to three times higher than those of 48VS, which is consistent with the increased glucose-lowering potency of BMOV in acute glucose lowering compared with VS.
The Complexity of Substantive Reform: Acall for Interdependence among Key Stakeholders

The field of educational leadership in the United States faces serious challenges in the 21st century, including the shortage of principals and superintendents, the growing demands of leadership positions, the struggle for adequate resources, the increasing trend to seek leaders from outside of education, and the content and effectiveness of school leadership preparation and professional development. Although each of these challenges could be viewed as a separate issue that warrants sustained and serious attention, it is also important to point out their interdependencies. The challenges facing educational leadership are complex and interconnected. This article explores the challenges facing educational leadership from the position of university educational leadership preparation. The authors look inward and outward, seeking to understand the complex factors and interconnections that support and detract from quality leadership preparation. Moreover, the authors explore contexts in terms of the factors that produce them and their interdependencies with other issues and contexts.
LayerBuilder: Layer Decomposition for Interactive Image and Video Color Editing

Exploring and editing colors in images is a common task in graphic design and photography. However, allowing for interactive recoloring while preserving smooth color blends in the image remains a challenging problem. We present LayerBuilder, an algorithm that decomposes an image or video into a linear combination of colored layers to facilitate color-editing applications. These layers provide an interactive and intuitive means for manipulating individual colors. Our approach reduces color layer extraction to a fast iterative linear system. Layer Builder uses locally linear embedding, which represents pixels as linear combinations of their neighbors, to reduce the number of variables in the linear solve and extract layers that can better preserve color blending effects. We demonstrate our algorithm on recoloring a variety of images and videos, and show its overall effectiveness in recoloring quality and time complexity compared to previous approaches. We also show how this representation can benefit other applications, such as automatic recoloring suggestion, texture synthesis, and color-based filtering.
Ocular dipping and ping-pong gaze in hypoxic encephalopathy

Objective: The aims of this study were to examine white matter hyperintensities (WMHs) in the brains of elderly individuals, the rate of progression, the anatomic regions most vulnerable, and the predictors of change. Methods: We examined 51 healthy volunteers (mean age 71 years) with T2-weighted brain MRI on the same scanner 3 years apart. WMH volumes were determined by an automated method, and the anatomic location of change was determined for both deep WMHs (DWMHs) and periventricular WMHs (PVWMHs). Results: The total brain WMH volume increased by 39.6%, i.e., 13.2% per year, with the change in DWMH being 43.8% and 29.7% in PVWMH. The increase was significant in all regions except the occipital lobe and cerebellum. Age, sex, and cerebrovascular risk factors were not significant predictors of WMH progression. The main predictor of progression was baseline level of WMH. The number of WMH lesions increased by a mean of 1.78, and the progression was mainly accounted for by an increase in very large (>16 mm) lesions. Eight subjects showed a slight decrease in WMH. Conclusions: White matter hyperintensities are progressive in most elderly individuals with an increasing rate of progression as the burden of lesions increases. The rate of progression is greater in deep white matter and in the anterior brain regions. Risk factors for progression are not well understood, and genetic and other environmental factors must be examined. Quantitation of white matter hyperintensities may serve as a surrogate marker of the progression of small vessel disease.