Miracle-dz/UniFAR-FTUs huggingface dataset:
Shared autonomy via hindsight optimization for teleoperation and teaming

In shared autonomy, a user and autonomous system work together to achieve shared goals. To collaborate effectively, the autonomous system must know the user’s goal. As such, most prior works follow a predict-then-act model, first predicting the user’s goal with high confidence, then assisting given that goal. Unfortunately, confidently predicting the user’s goal may not be possible until they have nearly achieved it, causing predict-then-act methods to provide little assistance. However, the system can often provide useful assistance even when confidence for any single goal is low (e.g. move towards multiple goals). In this work, we formalize this insight by modeling shared autonomy as a partially observable Markov decision process (POMDP), providing assistance that minimizes the expected cost-to-go with an unknown goal. As solving this POMDP optimally is intractable, we use hindsight optimization to approximate. We apply our framework to both shared-control teleoperation and human–robot teaming. Compared with predict-then-act methods, our method achieves goals faster, requires less user input, decreases user idling time, and results in fewer user–robot collisions.
The RWJF Reclaiming Futures Initiative: Improving Substance Abuse Interventions for Justice‐Involved Youths

Juvenile justice systems in the United States do not always respond effectively to substance abuse problems among young offenders. In 2002, the Robert Wood Johnson Foundation launched a 10-community demonstration project to address this problem. Reclaiming Futures (RF) relies on community partnerships to improve treatment quality, strengthen local leadership, expand inter-organizational collaboration, and create systems of shared performance management. The initial findings of a cross-site evaluation suggest that Reclaiming Futures is yielding important and positive change. Bi-annual surveys of key informants measure the quality and integration of juvenile justice and substance abuse treatment systems in each community. Of 13 indices measured by the surveys, 11 showed significant improvements between 2003 and 2005.
Traceability Recovery Using Numerical Analysis

The paper proposes a novel Information Retrieval technique based on numerical analysis for recovering traceability links between code and software documentation. The results of a reported case study demonstrate that the proposed approach significantly outperforms two vector-based IR models, i.e., the Vector Space Model and Latent Semantic Indexing, and it is comparable and sometimes better than a probabilistic model, i.e., the Jensen-Shannon method. The paper also discusses the influence of each method with the specific artifact type considered and the artifact language.
Coded exposure imaging for projective motion deblurring

We propose a method for deblurring of spatially variant object motion. A principal challenge of this problem is how to estimate the point spread function (PSF) of the spatially variant blur. Based on the projective motion blur model of [27], we present a blur estimation technique that jointly utilizes a coded exposure camera and simple user interactions to recover the PSF. With this spatially variant PSF, objects that exhibit projective motion can be effectively de-blurred. We validate this method with several challenging image examples.
Rational points on generalized flag varieties and unipotent conjugacy in finite groups of Lie type

Let G be a connected reductive algebraic group defined over the finite field Fq, where q is a power of a good prime for G. We write F for the Frobenius morphism of G corresponding to the Fq-structure, so that GF is a finite group of Lie type. Let P be an F-stable parabolic subgroup of G and U the unipotent radical of P. In this paper, we prove that the number of UF -conjugacy classes in GF is given by a polynomial in q, under the assumption that the centre of G is connected. This answers a question of J. Alperin in [1]. In order to prove the result mentioned above, we consider, for unipotent u ? GF , the variety P0u of G-conjugates of P whose unipotent radical contains u. We prove that the number of Fq-rational points of P0u is given by a polynomial in q with integer coefficients. Moreover, in case G is split over Fq and u is split (in the sense of [22, §5]), the coefficients of this polynomial are given by the Betti numbers of P0u. We also prove the analogous results for the variety Pu consisting of conjugates of P that contain u.
Therapy of Brain Arteriovenous Malformations: Multimodality Treatment from a Balanced Standpoint

THE THREE THERAPEUTIC modalities for arteriovenous malformation (AVM) treatment (surgery, embolization, and radiotherapy) developed in the past years with specific tools, each tool with its own qualities. Soon after the implementation of embolization for treatment of AVMs, this technique was used in combination with microsurgery; since the development of radiosurgery, treatment algorithms combining embolization with surgery and eventual subsequent radiosurgery, embolization with radiosurgery, or surgery with subsequent radiosurgery have been reported. These different combinations have been in use under the term multimodality treatment for many years, but the algorithms regarding the combination of tools, which tool has priority, and how the risk levels of each tool are assessed shows great variability among institutions. Centers with a surgical background see embolization as a technique to increase surgical feasibility and radiosurgery as a tool to complete subtotal AVM excision. Institutions with an endovascular background embolize AVMs with the aim of maximal occlusion rates and view surgery or radiosurgery as a technique to be used if the goal of total endovascular occlusion cannot be achieved. Radiosurgeons receive patients after incomplete embolization or surgical extirpation or a combination of both.
An Odyssey in Learning and Perception.

MATHEMATICS: A PRACTICAL ODYSSEY, 8th Edition demonstrates mathematics' usefulness and relevance to students' daily lives through topics such as calculating interest and understanding voting systems. Well known for its clear writing and unique variety of topics, the text emphasizes problem-solving skills, practical applications, and the history of mathematics, and unveils the relevance of mathematics and its human aspect to students. To offer flexibility in content, the book contains more information than might be covered in a one-term course. In addition, the chapters are independent of each other, further enabling instructors to select the ideal topics for their courses. Important Notice: Media content referenced within the product description or the product text may not be available in the ebook version.
E1A Oncogene Enhancement of Caspase-2-Mediated Mitochondrial Injury Sensitizes Cells to Macrophage Nitric Oxide-Induced Apoptosis1

The adenovirus E1A oncogene induces innate immune rejection of tumors by sensitizing tumor cells to apoptosis in response to injuries, such as those inflicted by macrophage-produced TNF α and NO. E1A sensitizes cells to TNF by repressing its activation of NF-κB-dependent, antiapoptotic defenses. This suggested the hypothesis that E1A blockade of the NF-κB activation response might be the central mechanism of E1A induced cellular sensitivity to other proapoptotic injuries, such as macrophage-produced NO. However, creation of E1A-positive NIH-3T3 mouse cell variants with high-level, NF-κB-dependent resistance to TNF did not coselect for resistance to apoptosis induced by either macrophage-NO or chemical-NO, as the hypothesis would predict. E1A expression did block cellular recovery from NO-induced mitochondrial injury and converted the reversible, NO-induced cytostasis response of cells to an apoptotic response. This viral oncogene-induced phenotypic conversion of the cellular injury response of mouse and human cells was mediated by an E1A-related increase in NO-induced activation of caspase-2, an apical initiator of intrinsic apoptosis. Blocking caspase-2 activation or expression eliminated the NO-induced apoptotic response of E1A-positive cells. These results define an NF-κB-independent pathway through which the E1A gene of human adenovirus sensitizes mouse and human cells to apoptosis by enhancement of caspase-2-mediated mitochondrial injury.
Actin Filaments and the Opposing Actions of CaM Kinase II and Calcineurin in Regulating α7-Containing Nicotinic Receptors on Chick Ciliary Ganglion Neurons

Nicotinic acetylcholine receptors containing α7 subunits have a high relative permeability to calcium and influence numerous calcium-dependent cellular events. On chick ciliary ganglion neurons the receptors are concentrated on somatic spines containing actin filaments. Using conventional whole-cell patch-clamp recording from dissociated ciliary ganglion neurons, we show that responses from α7-containing receptors undergo substantial rundown when the receptors are repeatedly challenged with nicotine. Stabilization of actin filaments with phalloidin partially prevents the rundown, whereas collapse of actin filaments with latrunculin A exacerbates it. The rundown depends on calcium influx through the receptors because it requires receptor activation and can be prevented by replacing extracellular calcium with barium or by intracellular dialysis with BAPTA. Thapsigargin and ryanodine each inhibit the rundown, demonstrating further a requirement for calcium release from internal stores. Blockade of calmodulin by calmidazolium or blockade of CaM kinase II with either KN93 or autocamtide-2-related inhibitory peptide each prevents the rundown; blockade of the phosphatase calcineurin with either cyclosporin A or deltamethrin increases the rundown. The results indicate a balance of calcium-dependent kinase and phosphatase activities in regulating the function of α7-containing receptors. Manifestation of the rundown depends in part on the loss of intracellular components via dialysis because little rundown is seen if perforated patch-clamp recording is used to monitor receptor responses even in latrunculin A-treated cells. A membrane-permeable calcineurin inhibitor, however, still decreases the nicotinic response in a calcium-dependent manner, confirming that calcium-dependent phosphoregulation of α7-containing receptors occurs in the intact cell.
Validity of 1RM Prediction Equations for Older Adults

This study examined the validity of 6 1-repetition maximum (1RM) repetitions-to-fatigue prediction equations on 11 machine lifts for 51 older adults (70.7 6 6.1 years). In the first session, subjects selected a weight that they could lift for 7– 10 repetitions on each machine exercise, and a 1RM was predicted using 6 different equations. In session 2, subjects completed an actual 1RM by selecting the maximum load that they could safely lift once (1–3 reps). Correlations between the actual and the 6 predicted 1RM scores demonstrated a moderate to strong relationship for all exercises (upper extremity: r 5 0.77–0.90; lower extremity: r 5 0.60–0.80). The average predicted 1RM value was lower than the actual 1RM for all exercises and all prediction equations (p # 0.001). The use of a prediction equation for older adults appears to be a valid measure of 1RM within a range of 1–10 kg, depending on the machine lift. In all cases, the prediction equation underestimated the actual 1RM.
The Pneumonia Virus of Mice (PVM) Model of Acute Respiratory Infection

Pneumonia Virus of Mice (PVM) is related to the human and bovine respiratory syncytial virus (RSV) pathogens, and has been used to study respiratory virus replication and the ensuing inflammatory response as a component of a natural host—pathogen relationship. As such, PVM infection in mice reproduces many of the clinical and pathologic features of the more severe forms of RSV infection in human infants. Here we review some of the most recent findings on the basic biology of PVM infection and its use as a model of disease, most notably for explorations of virus infection and allergic airways disease, for vaccine evaluation, and for the development of immunomodulatory strategies for acute respiratory virus infection.
Automata on Infinite Trees with Counting Constraints

We investigate finite automata on infinite trees with the usual Muller criterion for the success of an infinite computation path, but with the acceptance paradigm modified in that not all the computation paths need to be successful. Instead, it is required that the number of successful paths must belong to a specified set of cardinals Γ. We show that Muller automata with the acceptance constraint of the form “there are at least γ accepting paths” can be always simulated by tree automata with a weaker criterion for successful paths, namely Buchi acceptance condition. We also show that this is the most general class of constraints for which a simulation by Buchi automata is always possible. Next, we characterize the maximal class of constraints which can be simulated by classical Muller automata (known to be more powerful than Buchi automata). The condition requiered of the set Γ there, is that the intersection with natural numbers forms a recognizable set. Finally, we exhibit a set of trees which is recognized by a classical Buchi automaton but fails to be recognized by any Muller automaton with a non trivial cardinality constraint (i.e., except for Γ = 0).
The Whole Is More Than the Sum of Its Parts: Modeling Community-Level Effects of UVR in Marine Ecosystems

Abstract The effect of UVB radiation (UVBR, 290–320 nm) on the dynamics of the lower levels of the marine plankton community was modeled. The model was built using differential equations and shows a good fit to experimental data collected in mesocosms (defined as large enclosures of 1500 L filled with natural marine waters). Some unexpected results appear to be possible by indirect effects in prey (bacteria, phytoplankton and heterotrophic flagellates). In particular, apparent competition appears between small phytoplankton and bacteria. This effect is caused by a shared predator (ciliates). Another remarkable effect is an increase in bacteria and flagellates populations due to enhanced UVBR. This effect is similar to that observed under mesocosm experimental conditions and is related to the decrease of predation due to the direct damage to predators (ciliates) by UVBR. The effect of UVBR changing interaction coefficients may be dramatic on the community structure, producing big changes in equilibrium populations, as demonstrated by sensitivity analysis of the model. In order to generalize these results to field conditions it will be necessary to increase model complexity and include extra organic mater sources, mixing and sinking effects and predation by large zooplankton. This work shows that UVBR may produce community global responses that are consequence of both direct and indirect effects among populations.
Disodium calcium dinickel(II) bis[diphosphate(V)] decahydrate

In the title compound, Na2CaNi2(P2O7)2(H2O)10, there are two distinct P-atom sites, each tetrahedrally coordinated by four O atoms. The resulting phosphate tetrahedra link through a common O atom, forming a [P2O7]4− diphosphate unit. The Ni—O coordination is square pyramidal with four O atoms from two diphosphate groups in equatorial positions and the vertex occupied by a water O atom. The (P2O7)(H2O) units link the Ni atoms, forming a chain of pyramids and tetrahedra. As a result of the d-glide and twofold-axis symmetry of space group Fdd2, the chains propagate along [101] and [10], and chains in adjacent layers are mutually orthogonal. The Ca cation, located on a rotation axis, and the Na cation are each octahedrally coordinated by four O atoms and two waters. The Ni-chain arrangement is stabilized by Ca and Na coordination and a network of O—H⋯O hydrogen bonds.
Robot assisted real-time tumor manipulation for breast biopsy

Breast biopsy guided by imaging techniques such as ultrasound is widely used to evaluate suspicious masses within the breast. The current procedure allows the physician to determine the location and extent of a tumor in the patient breast before inserting the needle. However, there are several problems with this procedure: the complex interaction dynamics between the needle force and the breast tissue will likely displace the tumor from its original position necessitating multiple insertions, causing surgeons' fatigue, patient's discomfort, and compromising the integrity of the tissue specimen. In this work, we present a new concept for real-time manipulation of a tumor using a robotic controller that monitors the image of the tumor to generate appropriate external force to position the tumor at a desired location. The idea here is to demonstrate that it is possible to manipulate a tumor in real-time by applying controlled external force in an automated way such that the tumor does not deviate from the path of the needle. A laboratory experiment has been presented on a phantom that demonstrates the essence of this concept. The success of this approach has the potential to reduce the number of attempts a surgeon makes to capture the desired tissue specimen, minimize tissue damage, improve speed of biopsy, and reduce patient discomfort.
Systematic generation of diagnostic software-based self-test routines for processor components

Recently some fine-grained self-repair techniques for processors have been published that can handle permanent faults in particular components of a processor in-the-field. Unfortunately, the generation of diagnostic tests that can be used in-the-field for fault localization in these components is not solved satisfactorily. A few papers paid attention on improving the diagnostic capabilities of software-based self-test programs, but with emphasis on manufacturing test. This paper presents a systematic approach for the generation of test programs for diagnostic tests in-the-field. Moreover, the test program is generated in such a way that it specifically targets for faults that can be handled with an available self-repair method. The functional test programs are constructed from test patterns that can be generated with standard ATPG tools. The results show that diagnostic test programs will have an overhead in test program length ranging from 0% to 391% compared with non-diagnostic test programs.
Area and Power Modeling Methodologies for Networks-on-Chip

Networks-on-chip (NoCs) are emerging as scalable interconnection architectures, designed to support the increasing amount of cores that are integrated onto a silicon die. Compared to traditional interconnects, however, NoCs still lack well-established CAD deployment tools to tackle the large amount or available degrees of freedom, starting from the choice of a network topology. "Silicon-aware" optimization tools are now emerging in literature; they select a NoC topology taking into account the tradeoff between performance and hardware cost, i.e. area and power consumption. A key requirement for the effectiveness of these tools, however, is the availability of accurate analytical models for power and area. Such models are unfortunately not as available and well understood as those for traditional communication fabrics. In this work, given a NoC reference architecture, the authors present a flow to devise analytical models of area occupation and power consumption of NoC switches, and propose two strategies for coefficient characterization which have different tradeoffs in terms of accuracy and of modeling activity effort. The models are parameterized on several architectural, synthesis-related and traffic variables, resulting in maximum flexibility. The authors finally assess the accuracy of the models
Employment time-out in volleyball formative stages

Fernandez-Echeverria C, Gil A, Garcia-Gonzalez L, Carrasco F, Claver F, Del Villar, F. Employment timeout in volleyball formative stages. J. Hum. Sport Exerc. Vol. 8, No. Proc3, pp. S591-S600, 2013. The main objective of the research was to analyze the characteristics of the time-outs requested in the Spanish Championship of Regional Selections in 2010 (Under-14 and Under-16, male and female categories). To this end, 232 timeouts were analyzed, a game of each of the teams participating in the championship was collected. The variables considered in the study were: number of consecutive serves of the opposing team that run until the time-out was ordered, number of serves that are made until the team requesting the timeout gets the serve, points of difference between the teams at the moment the time-out was ordered and moment of the set in what the time-out was ordered. The results showed that: more than 64% of cases, the team orders the time-out when the opposing team pass two serves or less; in 75% of cases, the team that orders the time-out gets the serve when the opposing team spends two serves or less; 37% of time-outs were ordered with a difference of 2, 3 or 4 points, and 40% with a difference of 5 points or more. In addition, time-outs were distributed balanced in the different moments of the set, moment 1 or initial part of the set (34.5%), moment 2 or intermediate part of the set (34.1%) and moment 3 or final part of the set (31.5%). Key words: TIMES OF REST, CRITICAL MOMENTS, TEAM SPORTS, FORMATIVE CATEGORIES.
Problem music and its different shades over its fans

During the last two decades, researchers have investigated the association between genres of “problem music” (PM) and conservatism, delinquency and major psychological traits. The current study adds an exploration of PM fans’ attitudes toward the body and tattooing, as well as on mood regulation through PM, two aspects that have not been studied. In addition we examined delinquency and several psychological attributes. In Study 1, 446 undergraduates completed scales for body investment, delinquency, conservatism, and self-esteem. In Study 2, 548 undergraduates completed scales for music in mood regulation and the Big Five personality inventory. Data concerning the presence of tattooing and some socio-demographic details were collected in both studies. In Study 1, in comparison with controls, PM fans reported lower body protection scores, less conservatism, and more delinquent behaviours. In Study 2, they reported more use of music as a way to regulate mood. In both studies, fans reported more tattooing. No significant differences emerged in self-esteem and personality measures. While being in accordance with some of the previous findings, our results show that, in spite of the association between PM and negative attitudes toward one’s body and delinquency, PM may assist fans to regulate their mood and alleviate tension.
Optical Flow Estimation Using Local Features

The computation of optical flow by the differential method imposes additional constraints to the one already imposed in the derivation of the optical flow equation. Consequently, the computation of optical flow using differential methods is computationally expensive especially for devices such as mobile phones, which have low processing power. In this work, we propose an optical flow computation method based on local features called the nearest flow. Our nearest flow method works by estimating the distance ratio of two nearest features to find the best match for a feature point. To improve the quality of the sparsely generated flow vectors, we apply the random sampling consensus method to remove false flows that may arise as a result of noise and other imagery conditions.We compare the performance of our nearest flow method with that of Gunner Farneback? s and the local differential method of Lucas and Kanade by evaluating the average angular error for each method in the computation of optical flow. The results obtained show that our nearest flow method is faster and more accurate than Gunner Farneback? s method and it is almost at the same level of performance as the Lucas and Kanade method.