Miracle-dz/UniFAR-FTUs huggingface dataset:
Morphology dictates a robot's ability to ground crowd-proposed language

As more robots act in physical proximity to people, it is essential to ensure they make decisions and execute actions that align with human values. To do so, robots need to understand the true intentions behind human-issued commands. In this paper, we define a safe robot as one that receives a natural-language command from humans, considers an action in response to that command, and accurately predicts how humans will judge that action if is executed in reality. Our contribution is two-fold: First, we introduce a web platform for human users to propose commands to simulated robots. The robots receive commands and act based on those proposed commands, and then the users provide positive and/or negative reinforcement. Next, we train a critic for each robot to predict the crowd's responses to one of the crowd-proposed commands. Second, we show that the morphology of a robot plays a role in the way it grounds language: The critics show that two of the robots used in the experiment achieve a lower prediction error than the others. Thus, those two robots are safer, according to our definition, since they ground the proposed command more accurately.
Adaptive Optimal Dynamic Control for Nonholonomic Systems

In this paper two different control methods are combined for controlling a typical nonholonomic device (a bicycle) the dynamic model and parameters of which are only approximately known. Most of such devices suffer from the problem that the time-derivatives of the coordinates of their location and orientation cannot independently be set so an arbitrarily prescribed trajectory cannot precisely be traced by them. For tackling this difficulty Optimal Control is proposed that can find acceptable compromise between the tracking error of the various coordinates. Further problem is that the solution proposed by the optimal controller cannot exactly be implemented in the lack of precise information on the dynamic model of the system. Based on the decoupled nature of the dynamic model of the longitudinal and lateral behavior of the engine special fixed point transformations are proposed to achieve adaptive tracking. These transformations were formerly successfully applied for the control of holonomic systems. It is the first time that the combined method is checked for various trajectories and dynamic model errors via simulation. It yielded promising results.
Variation in Grasshopper (Acrididae) Densities in Response to Fire Frequency and Bison Grazing in Tallgrass Prairie

Abstract While weather can contribute significantly to grasshopper population dynamics in North American grasslands, local environmental conditions resulting from land use practices may be equally important. In this study, significant differences in grasshopper density were detected among adjacent watersheds from Kansas Flint Hills tallgrass prairie that differed in fire frequency and especially bison grazing treatments. Grasshopper densities were ≈2.5 times greater in grazed watersheds compared with ungrazed ones. Grasshopper densities also varied somewhat in response to fire frequency, mostly in species-specific ways. No treatment interactions on overall grasshopper density were detected. The effects of fire frequency and bison grazing were implemented in part through their combined effect on the structural heterogeneity of vegetation, and other habitat characteristics. Individual grasshopper species responded uniquely to combinations of fire frequency and bison grazing. Grazing resulted in significant increases in density for seven of the nine most abundant species; fire frequency affected two species; and one species did not respond to either fire or grazing. Understanding effects of habitat on grasshopper densities provides opportunities to manage these populations for economic or conservation needs.
The H-2Kk MHC Peptide-Binding Groove Anchors the Backbone of an Octameric Antigenic Peptide in an Unprecedented Mode12

A wealth of data has accumulated on the structure of mouse MHC class I (MHCI) molecules encoded by the H-2b and H-2d haplotypes. In contrast, there is a dearth of structural data regarding H-2k-encoded molecules. Therefore, the structures of H-2Kk complexed to an octameric peptide from influenza A virus (HA259–266) and to a nonameric peptide from SV40 (SV40560–568) have been determined by x-ray crystallography at 2.5 and 3.0 Å resolutions, respectively. The structure of the H-2Kk-HA259–266 complex reveals that residues located on the floor of the peptide-binding groove contact directly the backbone of the octameric peptide and force it to lie deep within the H-2Kk groove. This unprecedented mode of peptide binding occurs despite the presence of bulky residues in the middle of the floor of the H-2Kk peptide-binding groove. As a result, the Cα atoms of peptide residues P5 and P6 are more buried than the corresponding residues of H-2Kb-bound octapeptides, making them even less accessible to TCR contact. When bound to H-2Kk, the backbone of the SV40560–568 nonapeptide bulges out of the peptide-binding groove and adopts a conformation reminiscent of that observed for peptides bound to H-2Ld. This structural convergence occurs despite the totally different architectures of the H-2Ld and H-2Kk peptide-binding grooves. Therefore, these two H-2Kk-peptide complexes provide insights into the mechanisms through which MHC polymorphism outside primary peptide pockets influences the conformation of the bound peptides and have implications for TCR recognition and vaccine design.
Random interleaved pipeline countermeasure against power analysis attacks

An RTL countermeasure intended to protect the AddRoundKey and SubByte steps of the AES algorithm against DPA or CPA attacks has been proposed and tested on an AES encoding coprocessor implemented on FPGA. Experimental results based on first order CPA attacks confirmed the effectiveness of the proposed countermeasure, especially in protecting the SBOX output, showing that even with the acquisition of 300000 power curves, the absolute value of correlation function is embedded in the measured noise floor and there are no peaks able to reveal the encryption key.
Prefrontal cortex controls human balance during overground ataxic gait.

PURPOSE 1) to verify if prefrontal cortex (PFC) is activated during over ground walking in ataxic patients, 2) to correlate the clinical parameters of gait with the PFC activation patterns. METHODS Fourteen patients and 20 healthy subjects were studied. Ataxia was assessed by the Scale for the Assessment and Rating of Ataxia (SARA). A 2-channel near-infrared system was used to investigate the changes in oxygenated ([O2Hb]t) and deoxygenated ([HHb]t) hemoglobin concentrations on the PFC during gait. [O2Hb] baseline-corrected activation values ([O2Hb]c) were calculated by the difference between [O2Hb]t and [O2Hb] during upright posture ([O2Hb]b). RESULTS [O2Hb]t was increased for both channels (respectively p < 0.01 and p = 0.01) only in the patients. No variation was observed in [HHB]t. The correlation coefficient between [O2Hb]c and the SARA gait score was respectively r: 0.878 (p < 0.01) and r: 0.839 (p < 0.01) for the right and left PFC, between [O2Hb]c and the SARA stance score respectively r: 0.893 (p < 0.01) and r: 0.832 (p < 0.01). CONCLUSIONS During over ground gait PFC is bilaterally activated in patients with severe chronic ataxia. These findings may be associated with compensatory mechanisms which are involved in severe conditions when other nervous centers controlling balance are functionally not efficient.
Trends and factors associated with the Day 5 embryo transfer, assisted reproductive technology surveillance, USA, 2001-2009.

STUDY QUESTION What characteristics are associated with a Day 5 embryo transfer? SUMMARY ANSWER The use of the Day 5 embryo transfer has increased over time, with clinicians allowing women with typically 'poorer' prognostic characteristics to undergo a Day 5 embryo transfer. The mean number of embryos per Day 5 transfer decreased from 2001 to 2009, although the prevalence of the Day 5 single embryo transfer remains low and the rate of multiple births remains substantial. WHAT IS KNOWN AND WHAT THIS PAPER ADDS Day 5 embryo transfer may reduce the rate of multiple gestation pregnancy. US trends over time in the prevalence of the Day 5 transfer, changes in characteristics of patients receiving Day 5 transfer, and number of embryos transferred are unknown. DESIGN We used 2001-2009 US National assisted reproductive technology (ART) Surveillance System (NASS) data on 620,295 fresh IVF cycles derived from autologous oocytes with a Day 3 or 5 embryo transfer. Trends in the mean number of embryos transferred from 2001 to 2009 were assessed by the day of transfer. For 349,947 cycles from clinics performing both Days 3 and 5 embryo transfers, multivariable logistic regression was used to determine the characteristics associated with the Day 5 embryo transfer. We also compared the characteristics of the Day 5 embryo cycles in 2001 and 2009. MAIN RESULTS AND THE ROLE OF CHANCE Overall, the proportion of ART cycles using the Day 5 embryo transfer increased from 12% in 2001 to 36% in 2009 (P<0.0001), while the mean number of embryos transferred decreased from 2.4 to 2.1 (P<0.0001). Among Day 5 transfers, the rate of the single embryo transfer tripled from 4.5% in 2001 to 14.8% in 2009 (P<0.0001); and the rate of multiple births decreased from 44.8 to 41.1% (P<0.0001). In cycles initiated after 2001, maternal age<35 years, no prior ART cycles, ≥1 prior pregnancies, baseline follicle stimulating hormone<10 international units and ≥10 oocytes retrieved were associated with the Day 5 embryo transfer. Compared with 2001, in 2009, a broader range of candidates received the Day 5 transfer. BIAS Women undergoing multiple ART cycles over time are not linked. CONFOUNDING FACTORS AND OTHER REASONS FOR CAUTION We ran multivariable logistic regression to lessen the effects of the confounding factors. Cycle cancelation rates by the day of embryo transfer are unknown. GENERALIZABILITY TO OTHER POPULATIONS Generalizable to ART clinics included in NASS. STUDY FUNDING/COMPETING INTERESTS This study was funded by the Centres for Disease Control. The authors have no competing interests to declare.
Knowledge Transfer and Introduction of Industry 4.0 in SMEs: A Five-Step Methodology to Introduce Industry 4.0

Industry 4.0 is for most companies and especially for small and medium sized enterprises (SMEs) one of the major challenges after the wave of lean management. The aim of this chapter is to provide a methodological guidance for the practical use of the Industry 4.0 vision and principles in production system design in the specific context of SMEs. Based on the analysis of literature, a procedure model for the target-oriented introduction of Industry 4.0 principles in SMEs is proposed. A first practical evalu-ation of the approach is carried out based on two industrial case studies. The experiences made in the industrial cases show that Industry 4.0 is not limited to the application in large enterprises but is very suitable also for SME. This chapter contributes, with its case-study-based methodology, to the existing sparse knowledge on the introduction of Industry 4.0 in SME production systems.
Convexity + curvature: Tools for the global stabilization of nonlinear systems with control inputs subject to magnitude and rate bounds

The aim of this paper is to address the global asymptotic stabilization (gas) of affine systems with control inputs subject to magnitude and rate bounds, in the framework of ArtsteinSontag’s control Lyapunov function (clf) approach. These bounds are defined by compact (convex) control value sets (cvs) U with 0 ∈ intU . Convex Analysis together with Differential Geometry allow us to reveal the intrinsic geometry involved in the clf stabilization problem, and to solve it, if an optimal control ω(x) exists. The existence and uniqueness of ω(x) depends on convexity properties of cvs U ; whereas its regularity and boundedness of its differential is achieved in terms of the curvature of U . However, in view that control ω(x) is singular, we redesign it to derive an explicit formula for regular damping feedback controls fulfilling magnitude and rate bounds that render gas a class of affine systems.
Preliminary performance simulation of microwave imager combined active/passive - a new instrument for Chinese salinity mission

A 1-D interferometric system at 1.4GHz, 6.9GHz, 18.7 GHz and 23.8GHz combined with a scatterometer at 1.26GHz, called microwave imager combined active/passive (MICAP), has been proposed to retrieve sea surface salinity (SSS) and to reduce geophysical errors due to surface roughness and sea surface temperature (SST). The MICAP will be a candidate payload onboard the Ocean Salinity Satellite of China. The sensitivity of active/passive microwave observations to SSS, SST and wind is analyzed and the stability requirement of the instruments is estimated, with the objective of designing an optimized satellite instrument, dedicated to an “all-weather” estimate of the SSS with high accuracy from space.
Nepotism and Job Performance in the Private and Public Organizations in Kenya

Performance in any business enterprise is the major concern of every entrepreneur whose objective is to make profits and grow. The differentiating factor is the type and nature of recruitment practices that is strategically put in place to create job fit for effective productivity and performance. Many studies have been conducted to explore the impact of recruitment and performance. However we find no known study conducted to identify Nepotism and how it impacts on performance of both public and private institutions. The purpose of this study was therefore to examine how nepotism impacts on individual job performance in both public and private organizations in Kenya. Data was collected through a sample of 357 respondents from various public and private institutions. A deductive approach was employed to construct the conceptual framework and accordingly a hypothesis was formed, and data analyzed using SPSS. The hypothesis was tested using Correlations and Regression analysis. Findings revealed that nepotism significantly affects negatively job performance of employees in Kenya. In addition a new concept thus, the tribal labour theory (TLT) was discovered by this study. Discussions, managerial implications and the research propositions were suggested for future studies and conclusion made.
Immunocytochemical and Biochemical Analysis of Carbonic Anhydrase in Primary Astrocyte Cultures from Rat Brain

Abstract: Carbonic anhydrase (CA) was studied in primary monolayer cultures from neonatal rat cerebral hemispheres with both immunocytochemical and biochemical techniques. In such cultures, which consist predominantly of astrocytes, immunocytochemical staining for CA using antibody raised against the type II enzyme from rat erythrocytes resulted in positive staining of the flat, glial fibrillary acidic protein‐positive, astrocytic monolayer. Smaller, process‐bearing, round cells that grew on top of the astrocytes stained intensely for CA. We estimated that these cells represented 1% or less of the total cells in the cultures, and they have been identified by others as oligodendrocytes. The intensity of the staining of astrocytes for CA could be increased to that observed in oligodendrocytes when the astrocytes were made to round up and form processes by treatment with 2′,3′‐dibutyryl cyclic AMP. Enzymatic assays showed that CA activity of the cultures after 3 weeks of growth was 2.5‐to 5‐fold less than that found for cerebral homogenates from perfused 3‐week‐old rat brains. However, both activities were totally inhibited by acetazolamide with an I50 of 10−8M, confirming that both rat brain and the astrocyte cultures possess the high‐activity type II enzyme. CA‐II activity was unaffected by treatment of the cultures with a method reported to remove oligodendrocytes. Thus, the immunocytochemical and biochemical studies reported here demonstrate that astroglial cells in primary cultures from neonatal rat brain contain CA‐II.
Noradrenergic Overactivity in Chronic Schizophrenia: Evidence Based on Cerebrospinal Fluid Noradrenaline and Cyclic Nucleotide Concentrations

Summary Concentrations of noradrenaline (NA), homovanillic acid, 5-hydroxyindoleacetic acid and cyclic nucleotides were determined in lumbar cerebrospinal fluid (CSF) from acute and chronic schizophrenics and various groups of psychiatric and non-psychiatric control subjects. Statistically significant increases in NA and cyclic adenosine monophosphate were found in CSF from chronic schizophrenics compared to all other groups. These results were shown by statistical analyses to be unrelated to medication. They may be interpreted as evidence for noradrenergic overactivity as a possible primary abnormality in chronic schizophrenia.
Association of Bacillus circulans with non-diabetic foot infection in Bangladeshi patient

The performance of the test was further evaluated by Tijet et al., and found to have decreased sensitivity (80%). [2] This prompted us to evaluate the test in our setting as it is rapid, inexpensive and can detect CPE with a shorter TAT. For this, 27 CPE harbouring and 6 carbapenem susceptible isolates were selected and molecularly characterized for the presence of blaNDM‐1, blaKPC‐2, blaOXA‐48 [Figure 1]. Polymerase chain reaction (PCR) was performed on the bacterial isolates with previously published primers for NDM-1,[3] KPC-2[4] and OXA-48[5] and was further confirmed by sequencing [Figures 2 and 3]. Of the 27 CPE harbouring strains, 12, 11 and 4 harboured blaOXA‐48, blaNDM‐1 and blaNDM‐1 + OXA‐48, respectively, as the mechanism of carbapenem resistance, whereas the remaining 6 were carbapenem susceptible.
A framework for control and co-simulation in distribution networks applied to electric vehicle charging with Vehicle-Originating-Signals

The increasing share of renewable energy sources and distributed energy generation (DER) in the energy mix brings a number of challenges to the power system, particularly to the distribution network (DN). New control methods and algorithms are being studied to address these challenges, but the effects of such algorithms on actual DNs are often difficult to validate. Co-simulation, considering the advanced state of existing DN simulation tools, is a potential solution but usually requires some degree of expertise. In this work, we introduce a framework for implementing control algorithms for DNs assisted by co-simulation. This framework uses the commercial simulator PowerFactory but does not require a high tool-specific expertise and can be integrated into other simulation tools. Then we apply this framework to an electric vehicle charging use case and show the results and benefits. Furthermore we extend an existing charging control algorithm to support local voltage control.
The TDIL Program and the Indian Langauge Corpora Intitiative (ILCI)

India is considered a linguistic ocean with 4 language families and 22 scheduled national languages, and 100 un-scheduled languages reported by the 2001 census. This puts tremendous pressures on the Indian government to not only have comprehensive language policies, but also to create resources for their maintenance and development. In the age of information technology, there is a greater need to have a fine balance between allocation of resources to each language keeping in view the political compulsions, electoral potential of a linguistic community and other issues. In this connection, the government of India through various ministries and a think tank consisting of eminent linguistics and policy makers has done a commendable job despite the obvious roadblocks. This paper describes the Indian governments policies towards language development and maintenance in the age of technology through the Ministry of HRD through its various agencies and the Ministry of Communications & Information Technology (MCIT) through its dedicated program called TDIL (Technology Development for Indian Languages). The paper also describes some of the recent activities of the TDIL in general and in particular, an innovative corpora project called ILCI - Indian Languages Corpora Initiative.
The double-edged sword of social capital: Three essays on entrepreneurship in developing nations

ABSTRACT My study seeks to answer the main question: "how does entrepreneurs' social capital positively and negatively affect their resource mobilization efforts, and exploitation of entrepreneurial opportunity? " To answer this question, I develop a model for examining positive and negative effects of social capital on resource accumulation by entrepreneurs, and the subsequent effect of resource accumulation on the exploitation of entrepreneurial opportunity, and utilize data from Africa to empirically test the relationships in this model. Developing nations are a suitable context because: a) They require entrepreneurship for economic development, b) They have received less attention in management and entrepreneurship research, c) Because of inadequately-developed institutions, entrepreneurs from developing nations face major resource mobilization challenges hence they often turn to their social ties for resources, and d) The communalistic and collectivistic nature of most developing nations -encouraging support and sharing of resources- may help us better understand how society's values and structures may contribute and also deduct firm resources. My study reveals that social capital contributes resources to entrepreneurs in developing nations at a cost that takes away resources, and that more resources but lower costs facilitate entrepreneurial opportunity exploitation. For entrepreneurs in developing nations, large networks, greater shared identity, and more trust are beneficial. To increase chances of raising more resources, entrepreneurs from communalistic societies should include network members from outside their communities. Besides providing financial support, policy-makers should develop training programs and advisory services on configuration of entrepreneurs' networks so as to achieve more resources at a low cost. My study insights can help improve entrepreneurs' resource accumulation efforts and the subsequent growth of their firms, leading to the overall economic growth of developing nations.
How Should the Government Bring Small Firms into the Formal System? Experimental Evidence from Malawi

Developing country governments seek to reduce the pervasive informality of firms for multiple reasons: increasing the tax base, helping firms access formal markets and grow, increasing the rule of law, and as a means to obtain data that can be used for other government functions. However, there is debate as to the best approach for achieving these goals. This study conducted a randomized experiment in Malawi to test three alternatives: (a) assisting firms to obtain a business registration certificate that offers access to formal markets but imposes no tax obligations; (b) assisting firms to obtain business registration and tax registration; and (c) supplementing the assistance to obtain business registration with a bank information session intended to help firms utilize one of the key potential benefits of formalizing. The study finds incredibly high demand for obtaining a formal status that is separate from tax obligations, and very low take-up of tax registration. Business registration alone has no impact on access to formal markets or firm performance. However, coupling registration assistance with the bank information session increases the use of formal financial services, and results in increases in firm sales by 20 percent and profits by 15 percent. The results highlight the advantages of separating business and tax registration, but also the need to assist firms in benefiting from their new formal status.