Miracle-dz/UniFAR-FTUs huggingface dataset:
An integrated approach for multilane robot motion planning using motor schema and fuzzy logic

This paper presents a novel multilane-based approach that integrates global and local path planning of mobile robots. It employs motor schema-based behavior coordination with fuzzy logic-based adaptive behavioral modulation. Voronoi diagram and A* search algorithm are exploited to determine the global safe-path and subgoals between the starting point of the robot and target. Safe lanes are formed around the safe-path. The robot locally optimizes the path length using a cost function for on-line selection of obstacle-free safe lane. Motor schema based behavior fusion is used for on-line coordination of force vectors originated from the subgoal, safe path and obstacles to generate the safe heading direction. A supervisory fuzzy module is developed to dynamically produce the force coefficients for context dependent modulation of the virtual forces. Adapted vector field histogram is deployed in order to modify the safe path in the presence of unknown obstacles. Simulation of navigation examples validates the performance of the algorithm.
Patient reactions to a web-based cardiovascular risk calculator in type 2 diabetes: a qualitative study in primary care

Background Use of risk calculators for specific diseases is increasing, with an underlying assumption that they promote risk reduction as users become better informed and motivated to take preventive action. Empirical data to support this are, however, sparse and contradictory. Aim To explore user reactions to a cardiovascular risk calculator for people with type 2 diabetes. Objectives were to identify cognitive and emotional reactions to the presentation of risk, with a view to understanding whether and how such a calculator could help motivate users to adopt healthier behaviours and/or improve adherence to medication. Design and setting Qualitative study combining data from focus groups and individual user experience. Adults with type 2 diabetes were recruited through website advertisements and posters displayed at local GP practices and diabetes groups. Method Participants used a risk calculator that provided individualised estimates of cardiovascular risk. Estimates were based on UK Prospective Diabetes Study (UKPDS) data, supplemented with data from trials and systematic reviews. Risk information was presented using natural frequencies, visual displays, and a range of formats. Data were recorded and transcribed, then analysed by a multidisciplinary group. Results Thirty-six participants contributed data. Users demonstrated a range of complex cognitive and emotional responses, which might explain the lack of change in health behaviours demonstrated in the literature. Conclusion Cardiovascular risk calculators for people with diabetes may best be used in conjunction with health professionals who can guide the user through the calculator and help them use the resulting risk information as a source of motivation and encouragement.
Optometrists' perspectives on cross‐cultural encounters in clinical practice: a pilot study

Background: There is growing awareness that cultural background influences health beliefs and practices and can impact on the patient–practitioner encounter. However, in relation to optometry there is little known about the implications of cultural diversity for clinical decision‐making and how optometrists address culturally based understandings of health. This pilot study examines how culturally based differences in health practices and beliefs impact on patient–optometrist interactions and how optometrists negotiate and manage these differences.
Federal Highway Revenue Estimation: Cost Allocation Perspective

As part of a report on key cost allocation factors prepared for FHWA, a federal highway revenue estimation methodology is presented. Cost allocation studies seek to compare cost-revenue ratios for different vehicle classes from the standpoint of equity (and efficiency). Such an analysis is meaningful only when the estimates of the payments made by each vehicle class and estimates of their cost responsibilities are reasonably accurate. However, on the revenue side, accurate estimates are difficult to generate since Federal Highway Trust Fund revenues are not directly collected from the consumers. The revenue estimation methodology used in the federal highway cost allocation study (1982) and the developments since then are outlined. The question of what improvements in revenue estimation are needed from a cost allocator's perspective is then addressed. Suggestions include identification of optimal levels of disaggregation of vehicle classes, creation of more accurate information systems, and stochastic forecasting models. There is a need to analyze the effect of inaccuracies in the basic data on the cost-revenue ratios for the vehicle classes. Also recommended is the use of risk analysis methods in forecasting, to help decision makers by providing information on the uncertainties involved. Changing transportation patterns, including the growth of intermodal transport, the diversion of highway revenues to the general budget, and the link between user taxes and investment expenditures, are some of the other issues that should be addressed in the future.
Marketing Services by Managing the Environment

Bernard H. Booms, a faculty member at Washington State University’s Seattle Center for Hotel and Restaurant Administration, received his Ph.D. in economics from the University o f Pittsburgh. He has taught at Pennsylvania State University, and has served as a visiting fellow at Harvard Business School. Mary J. Bitner is currently a consultant for, firms involved in marketing and tourism. She received an M.B. A. in marketing from the University of Washington, and has served as a research associate with
Governance of Family Firms

We review what the financial economics literature has to say about the unique ways in which the following three classic agency problems manifest themselves in family firms: (a) shareholders versus managers, (b) controlling (family) shareholders versus noncontrolling shareholders, and (c) shareholders versus creditors. We also call attention to a fourth agency problem that is unique to family firms: the conflict of interest between family shareholders and the family at large, which can be thought of as the “superprincipal” in a multi-tier agency structure akin to those found in other concentrated ownership structures in which the controlling owner is the state, a bank, a corporation, or other institutions. We then discuss the solutions or corporate governance mechanisms that have been devised to address these problems and what research has taught us about these mechanisms' effectiveness at solving these four conflicts in family firms.
The Variance Gamma (V.G.) Model for Share Market Returns

A new stochastic process, termed the variance gamma process, is proposed as a model for the uncertainty underlying security prices. The unit period distribution is normal conditional on a variance that is distributed as a gamma variate. Its advantages include long tailedness, continuous-time specification, finite moments of all orders, elliptical multivariate unit period distributions, and good empirical fit. The process is pure jump, approximable by a compound Poisson process with high jump frequency and low jump magnitudes. Applications to option pricing show differential effects for options on the money, compared to in or out of the money. Copyright 1990 by the University of Chicago.
Economics of wildlife tourism

After introducing the importance of the topic, we examine the economic impacts of wildlife tourism on income and employment as an indicator of the importance of this form of tourism. While such indicators can be important politically and to particular interest groups, they are shown to be an inadequate guide to the economic use and conservation of resources, including wildlife used in tourism. One reason for this (amongst others) is that total economic value must be taken into account in determining economic resource use and this is shown to be quite important in the case of wildlife species. Empirical procedures, such as use of the travel cost method and stated preference methods (for example, contingent valuation) are outlined and the way in which they can be used for determining the optimal economic allocation of land and other resources for wildlife tourism is explained. Economic implications and limitations of some empirical estimates of the importance of wildlife tourism are discussed. This leads on to a consideration of the purpose and usefulness of using economic instruments to manage wildlife tourism.
On-Chip Compensated Error Amplifier for Fast Transient DC-DC Converters

A novel on-chip compensated error amplifier for fast transient response of DC-DC converters is presented in this paper. The error amplifier uses on-chip current-mode Miller capacitor to replace a large off-chip capacitor. We only use three transistors and one voltage follower to implement this novel on-chip compensated error amplifier for fast transient DC-DC converters. Owing to the current-mode implementation, we can redirect the equivalent current to charge or discharge the output capacitor of the error amplifier to improve the transient response time. Not only on-chip compensated error amplifier is implemented without off-chip components and I/O pins, but also it can have fast transient response. The analytic equations guarantee the compensated correctness of the proposed circuit. With the proposed error amplifier, the transient response of DC-DC converters is improved significantly. Simulation results demonstrate the stability and the fast transient response of the DC-DC converters
The Estimation of Human Capital by Administrative Archives in a Static and Longitudinal Perspective: The Case of Milan

This paper focuses on the estimation of the latent variable human capital (HC) at disaggregated level (worker) by available routinely institutional data flows. In particular we utilize the Lombardy region administrative archive 'Employment Centers of the Province of Milan', collecting information about careers of workers in the private sector of the Milan area, and administrative flows collecting mandatory workers' individual income tax returns, filed with the National Internal Revenue Service. First, we propose and empirically estimate HC scores in a static (referred to 2004) framework, by means of a realistic measurement model within causal relationships among endogenous and exogenous (investment) HC indicators. Furthermore, the model also specifies a set of (concomitant) indicators that, not belonging to HC investment indicators, have causal impact on endogenous variables and on HC scores, too. Second, we propose a longitudinal analysis (period 2000-2004) aimed to investigate how workers' earned income growth rates vary over workers' educational levels and other personal characteristics. The empirical results of both analyses confirm the characteristics of the Italian job market, denoted by marked inequalities, and knowledge regarding the process of school to work transition, characterized by a weak incidence of education on longitudinal trajectories of earned income. Copyright © 2010 Blackwell Publishing Ltd.
Vehicle Logo Retrieval Based on Hough Transform and Deep Learning

Vehicle logo retrieval is an important problem for the intelligent traffic systems, which is still not reliably accurate for practical applications due to the mutable site conditions. In this paper, a new algorithm based on Hough transform and Deep Learning is proposed. The main steps are as follows: First, the logo region is located according to the prior knowledge for the location of vehicle logo and vehicle license plate. Then, typical shapes in vehicle logos, such as circle and ellipse are detected based on optimized Hough transform; meanwhile the accurate position of the logo can be obtained. Finally, the pattern of logo is classified based on Deep Belief Networks (DBNs). Comparative experiments with the actual traffic monitoring images demonstrate that the algorithm outperforms traditional methods in retrieval accuracy and speed. Moreover, the algorithm is particularly suitable for practical application.
Can Changes in the Cost of Carry Explain the Dynamics of Corporate 'Cash' Holdings?

Firms until recently were effectively constrained to hold liquid assets in non-interest-bearing accounts. As a result, the cost of capital of firms’ liquid-assets portfolios exceeded the return, especially when the risk-free interest rate was high. The spread between cost and return is the cost of carry. Changes in the cost of carry explain the dynamics of corporate "cash" holdings both in the United States and abroad, and the level of cost of carry explains the level of liquid-asset holdings across countries. We conclude that current US corporate cash holdings are not abnormal in a historical or international comparison. Received February 17, 2015; accepted October 1, 2015 by Editor David Denis.
Two Cases of Equine Abortion Caused by Rhodococcus equi

Rhodococcus equi was isolated from lung, liver, spleen, and stomach content of two aborted equine fetuses of 7 and 8 months gestation from two different farms. Lesions included diffuse pyogranulomatous pneumonia with numerous Gram-positive coccobacilli within the cytoplasm of macrophages, multinucleated Langhans giant cells and neutrophils, and enhanced extramedullary hematopoiesis with megakaryocytosis within the liver and spleen. Detection of R. equi was made by bacteriology and immunohistochemistry for R. equi and VapA, the virulence factor of R. equi. R. equi and VapA were identified within the lungs of both fetuses, and its distribution correlated with lesions. Fetal lesions were similar to those observed in foals. We speculate that the fetuses contracted infection from the placenta by normal breathing movements or by swallowing of the amniotic fluid contaminated with R. equi.
Phosphorothioate Oligonucleotides Reduce PrPSc Levels and Prion Infectivity in Cultured Cells

Prions are composed solely of the disease-causing prion protein (PrPSc) that is formed from the cellular isoform PrPC by a post-translational process. Here we report that short phosphorothioate DNA (PS-DNA) oligonucleotides diminished the levels of both PrPC and PrPSc in prion-infected neuroblastoma (ScN2a) cells. The effect of PS-DNA on PrP levels was independent of the nucleotide sequence. The effective concentration (EC50) of PS-DNA required to achieve half-maximal diminution of PrPSc was ~70 nM, whereas the EC50 of PS-DNA for PrPC was more than 50-fold greater. This finding indicated that diminished levels of PrPSc after exposure to PS-DNA are unlikely to be due to decreased PrPC levels. Bioassays in transgenic mice demonstrated a substantial diminution in the prion infectivity after ScN2a cells were exposed to PS-DNAs. Whether PS-DNA will be useful in the treatment of prion disease in people or livestock remains to be established.
An integrated internet of everything — Genetic algorithms controller — Artificial neural networks framework for security/safety systems management and support

Security/Safety is managed, mostly, by means of integrated systems which have to consider, more and more, sensors, devices, cameras, mobile terminals, wearable devices, etc. that use wireless networks, to ensure protection of people and/or tangible/intangible assets from voluntary attacks, allowing also the safe management of the related consequent emergency situations that can derive from the above mentioned voluntary attacks. These aims can be achieved using integrated systems and innovative technologies, such as Internet of Everything (IoE) which can connect people, things (mobile terminals, smart sensors, devices, actuators; wearable devices; etc.), data/information/knowledge and particular processes. An integrated security system can therefore be considered as an IoE system where several devices, sensors, cameras, people, etc. interact, generating a huge volume of data and information that is necessary to transmit, analyze and eventually store for security purposes and, ultimately, for emergency management derived from voluntary attacks. This means that it is necessary to use suitable tools capable of analyzing, in a smart way, the huge volume of information to achieve the desired security/safety objectives and eventual emergency management of critical situations. The purpose of the paper is to illustrate an integrated IoE-GACs-ANNs based framework which can support and manage security/safety systems that operate in complex environments, characterized by a multitude of sensors, devices, etc. and the related results obtained from theoretical, computational and practical point of view, where it has been applied.
Capitalism, Consumption and Needs

226 helped to push industry into modernisation' . This argument, often used to account for the success of Swedish industry, is not one that can be settled in the realms of abstract theory. There seems no a priori reason to suppose that stronger unions and higher wages would not have had other effects, like more bankruptcies or greater offshore production . Ultimately, this is an empirical question . Fine and Harris are on stronger ground when they consider the positively perverse role of the military in the British economy . At a time when civilian industry is unable or unwilling to raise its technological platform, we find that over 50% of all public
Rank Dependent Utility, Tax Evasion and Labor Supply

In the simple Allingham-Sandmo portfolio model of tax evasion an expected utility maximizer will cheat more than what is estimated in empirical studies. Two main types of explanation have been suggested as solutions to this puzzle: (1) Tax payers act according to some non-expected utility theory, and (2) Individual ethical norms and social stigma induce people not to cheat. In the present study we test two hypotheses within these broad explanations: (1) Tax payers are weighting subjective probabilities of being penalised according to the rank dependent utility theory, and (2) Tax payers’ beliefs about social norms have an effect on their decision to evade taxes. Our model is characterized by a simultaneous determination of tax evasion and labour supply, including the effect on tax payers of a social norm of not cheating. Using Norwegian survey data our hypotheses are corroborated. Our estimates imply that if the objective probability of being penalized is, say 3%, the weighted probability is about 23%. Our study provides an independent confirmation of the rank dependent expected utility theory. The model explains data 53% better than pure random choices and predicts hours worked in the regular economy, among tax evaders as well non tax evaders, rather precisely. The model is an example of a two sector choice model and the results indicate that an overall wage increase may shift labor supply away from the irregular part of the economy towards the regular.
Identification of the microRNA networks contributing to macrophage differentiation and function

Limited evidence is available about the specific miRNA networks that regulate differentiation of specific immune cells. In this study, we characterized miRNA expression and associated alterations in expression with putative mRNA targets that are critical during differentiation of macrophages. In an effort to map the dynamic changes in the bone marrow (BM), we profiled whole BM cultures during differentiation into macrophages. We identified 112 miRNAs with expression patterns that were differentially regulated 5-fold or more during BMDM development. With TargetScan and MeSH databases, we identified 1267 transcripts involved in 30 canonical pathways linked to macrophage biology as potentially regulated by these specific 112 miRNAs. Furthermore, by employing miRanda and Ingenuity Pathways Analysis (IPA) analysis systems, we identified 18 miRNAs that are temporally linked to the expression of CSF1R, CD36, MSR1 and SCARB1; 7 miRNAs linked to the regulation of the transcription factors RUNX1 and PU.1, and 14 miRNAs target the nuclear receptor PPARα and PPARγ. This novel information provides an important reference resource for further study of the functional links between miRNAs and their target mRNAs for the regulation of differentiation and function of macrophages.
Corporate social responsibility reporting in Qatar: a descriptive analysis

Purpose - The purpose of this paper is to explore the current status and extent of corporate social responsibility reporting (CSRR) in the annual reports of Qatari companies listed on the Qatar Exchange. It seeks to contribute to the meagre descriptive literature on CSRR in emerging economies in general, and in Gulf Cooperation Council (GCC) countries in particular. Design/methodology/approach - The paper reviews the annual reports of companies from both the financial and manufacturing sectors. The paper uses content analysis and covers five areas of CSR reporting including environment, human resources, product development, community involvement and others relating to inequality and the employment of disabled people. Findings - The paper finds that most companies disclosed information related to human resources and product development, followed by community involvement. However, no companies reported environmental issues in their annual reports. Research limitations/implications - The research is based on annual reports for the financial year 2007. Hence, the conclusions reached cannot be generalized. A longitudinal analysis is needed to highlight trends in CSRR practices in Qatar. An in-depth case study would also facilitate our understanding of why companies are making or not making certain types of social and environmental disclosure in Qatar. Originality/value - Descriptions of CSRR in different parts of the world are still welcome, and arguably CSRR research in GCC in general and Qatar in particular is very limited.
University spin-offs and the “performance premium”

The creation of spin-off companies is often promoted as a desirable mechanism for transferring knowledge and technologies from research organizations to the private sector for commercialization. In the promotion process, policymakers typically treat these “university” spin-offs like industry start-ups. However, when university spin-offs involve an employment transition by a researcher from the not-for-profit sector, the creation of a university spin-off is likely to impose a higher social cost than the creation of an industry start-up. To offset this higher social cost, university spin-offs must produce a larger stream of social benefits than industry start-ups, a performance premium. This paper outlines the arguments explaining why the social costs of entrepreneurship are likely to be higher for academic entrepreneurs, and empirically investigates the existence of a performance premium using a sample of German start-up companies. We find that university spin-offs exhibit a performance premium of 3.4 % points higher employment growth over industry start-ups. The analysis also shows that the performance premium varies across types of academic entrepreneurs and founders’ academic disciplines.
Varieties of employment relations: continuity and change in the global auto and banking industries

This paper examines continuity and change in employment relations in two key industries – auto assembly and retail banking – across five countries: the USA, Australia, Germany, South Korea and China. The subsequent papers that constitute this symposium are discussed drawing on the varieties of capitalism (VoC) approach. Particular emphasis is laid on the interplay between continuity and change in employment relations in different types of capitalism, the conceptualization of Asian VoC and the industry-specific effects of globalization on employment relations.