Miracle-dz/UniFAR-FTUs huggingface dataset:
Generate Initial Trajectories Generate Noise Compute Waypoint Cost Compute Joint Cost Compute Probability Weights of Noise Update Trajectories Termination Check

We present a novel algorithm to compute collision-free trajectories in dynamic environments. Our approach is general and makes no assumption about the obstacles or their motion. We use a replanning framework that interleaves optimizationbased planning with execution. Furthermore, we describe a parallel formulation that exploits high number of cores on commodity graphics processors (GPUs) to compute a highquality path in a given time interval. Overall, we show that search in configuration spaces can be significantly accelerated by using GPU parallelism. Introduction The problem of computing the collision-free motion corresponds to searching for an appropriate path in the free configuration space. It is non-trivial to compute an explicit representation of the free space for high dimensional robots. As a result, most practical methods are based on samplebased planning, that search for a collision free path based on randomized sampling and connecting nearby samples. However, these techniques are mostly limited to static environments or scenes with a priori information about moving objects. In this paper, we deal with the problem of computing collision-free motion for a high DOF amongst dynamic obstacles. Our approach is general and makes no assumptions about object motion. Rather, we update the position of obstacles in the scene using sensors. To deal with unpredictable environments, we use replanning algorithms that interleave planning with execution (Hsu et al. 2002). Instead of planning and executing the entire trajectory at once, these replanning methods interleave planning and execution threads within a small time interval ∆t. This approach allows us to compute new estimates on the local trajectory of the obstacles based on latest sensor information. During each planning step, the planner computes an estimate of the position and velocity of dynamic obstacles based on sensor data. In each planning step, we use an optimization-based planning algorithm (Park, Pan, and Manocha 2012) to plan a trajectory for a short interval. Optimization-based planning reduces trajectory computation to an optimization problem Copyright c © 2012, Association for the Advancement of Artificial Intelligence (www.aaai.org). All rights reserved. Generate Initial Trajectories
Discussion Paper n . 164 , presentato : July , 2013

The literature on the relationship between pension funds development and market efficiency has been flourishing in the past decades. In this paper we provide an updated review of the theoretical and empirical advances in this field of study, with particular focus on the effects that pension funds exert on labor markets, financial markets and economic growth. Classificazione JEL: G23, J62, C23
RAPD Analysis of Diversity in ‘ Safed Musli ’ ( Chlorophytum borivilianum Sant . et Fernand . ) , a Rare Indian Medicinal

RAPD markers were used to assess genetic diversity in seven accessions of a rare Indian medicinal herb Chlorophytum borivilianum collected from different geographical regions of India. A total of 290 amplified bands were scored from 33 random decamer primers out of which 242 (83.44%) were found to be polymorphic. The average number of polymorphic bands per primer was 7.33. The Jaccard’s similarity coefficient ranged from 0.108 to 0.533 with a mean of 0.338. A dendrogram generated by UPGMA analysis grouped the accessions into four clusters which were not based on their geographical distribution. _____________________________________________________________________________________________________________
Accelerating a BWT-based exact search on multi-GPU heterogeneous computing platforms

—The computational demand of exact search and mapping procedures as well as the gradual decrease of the cost of new sequencing technologies have pressed the exploitation of parallel processing accelerators to reduce the execution time of many bioinformatics applications. However, this often imposes strict restrictions in terms of the problem size and the implementation efforts, mainly due to their possibly distinct architectures. The work herein presented describes the design of a solution for this problem, using an heterogeneous multi-device parallelization model. Circumventing these limitations, a new exact-search mapping tool (BowMapCL) based on the Burrows-Wheeler Transform and the FM-Index was implemented. Contrasting to other alternative solutions, BowMapCL is based on a uniﬁed implementation using the OpenCL API, allowing the exploitation of multiple and possibly different devices (e.g., NVIDIA, AMD/ATI, Intel GPUs/APUs). Some techniques and enhancements are investigated and implemented, such as multiple buffering, dynamic load-balancing, producer-consumer co-processing, index bit encoding and sampling, and index partitioning, in order to efﬁciently explore the processing power of such heterogeneous computing architectures. When compared with state-of-the-art tools, the attained results showed that BowMapCL, using a single GPU, offers more than a 10x speedup over mainstream multi-threaded CPU BWT-based aligners, like Bowtie, BWA and SOAP2; and speedups between 1.5x and 5x when compared with the best performing state-of-the-art GPU implementations (namely, SOAP3 and HPG-BWT). When multiple and completely distinct devices are considered, BowMapCL proved to efﬁciently scale the offered throughput, ensuring a convenient load-balance of the involved processing in the several distinct
Towards interoperable visualization applications over linked data

The adoption of Semantic Web technologies in many institutions or government decisionmakers are often based on an actual demonstration of their potential via an application. Here the famous adage “A picture is worth a thousand words” could be rephrased as “An application is worth a billion triples”. Hence the importance of having at some point of the Life-Cycle of Linked Open Data the Application layer, aiming to provide a way to quickly consume the underlying data published. Nowadays, as many Government are opening their data, they need a way to rapidly develop smart applications for giving great insights in their data, ranging from exploration applications to more complex ones. Many tools and libraries already exist from the information visualization communities, and many of them are successfully applied to semantic web. However, many of the great applications developed since the beginning of this era of Government Linked Data lack of reusing them, not only the idea based on similar data (e.g. “Where My Money/Tax Goes” Applications for tracking Government Expenses), but also the tools or widgets used to build them. A possible use case could be the following “What application won the Semantic Web Challenge using facet views for mobile phone? ” or “Which are the tools commonly used for building smart applications in Health domain? ” We believe that as long as the semantic technology is being adopted, there will be always a need for creating smart applications, and developers or consumers will not necessary want to waste time reinventing the wheel, but rather focusing on the added-value of their applications. We propose in this paper an overview of types of applications built on Linked Data, a framework for assessing tools used for building those applications, and a vocabulary to describe visual applications developed on top of LOD for more interoperability and components reusability. Our proposal derives from a study of applications in different domains built in Open Data initiatives in UK, US and France. We identify two benefits of our approach: (i) it could help building a sustainable ecosystem of visual applications making use of 4-5 stars datasets, and (ii) it could make it easier to find application patterns used for creating Linked Data Applications.
A new phase detecting method for power conversion systems considering distorted conditions in power system

In this paper, a new phase detecting method is proposed for PWM rectifiers and active filters considering distorted utility conditions. The accurate phase angle information of utility voltage is essential to the active power conversion systems tied to the utility line. The angle information can be easily corrupted by the distorted utility voltage such as voltage unbalance and harmonics in the waveform. Thus, large harmonics may be caused in the current or voltage reference signal whose phase angle is based on the detected voltage phase angle. First, focusing on the distorted utility condition, effects of the several phase angle detecting methods on the operation of PWM rectifiers and active filters are investigated. Then a new voltage phase angle detector is proposed using voltage sequence detector and PI controller. The proposed method does not cause harmonics in the reference signal by adequately eliminating unbalance components and high-order harmonic terms in the utility voltage. The basic principle of the proposed method is described in detail. Experimental results prove the feasibility of the proposed strategy compared with the conventional method.
Linear types, protocols, and processes in classical F°

Session types and typestate both promise a type system that can reason about protocol adherence. The complexity budgets of most programming languages, however, do not allow for new forms of types aimed at specific problem domains--even domains as broad as these. Classical F◦ --read "F-pop"--is a typed λ-calculus based on classical (i.e., full) linear logic, wherein session types arise naturally from the interaction between the usual sums, products, and implications of linear logic and a simple process model, with the dualizing negation of classical logic naturally accounting for how a protocol is seen by each of a channel's endpoints. Classical F◦ expressions evaluate to processes, reminiscent of those in the π-calculus, that communicate over channels, but source expressions, rather than including processes and channels, employ only two novel control operators that account for process creation and communication. F◦ is introduced by way of its intuitionistic fragment, which even on its own can account for typestate: the combination of linearity and polymorphism leads to natural encodings of many programmer-specified protocols. In fact, any protocol expressible as a regular language can be encoded in an intuitionistic F◦ type. F◦ distinguishes between linear and unrestricted types by using kinds together with a notion of subkinding, avoiding the pitfalls of approaches based on type qualifiers or modalities; kinds are related by a subkinding order that allows unrestricted types to be treated as though they were linear. Soundness for intuitionistic and classical F◦ is proved both in the standard operational sense of preservation and progress and for an augmented semantics that shows more directly that the expected properties of linearity are preserved. This establishes the absence of deadlocks in closed, well-typed F◦ programs; it also guarantees that such programs will not "leak" processes as long as their result types are unrestricted. This dissertation is available at ScholarlyCommons: http://repository.upenn. edu/edissertations/777 Degree Type Dissertation Degree Name Doctor of Philosophy (PhD) Graduate Group Computer and Information Science First Advisor Steve Zdancewic
Advances in Social Science Research Using R

In the introduction of Advances in Social Science Research Using R, the editor gives valuable short summaries of all chapters to point out that each one is of relevance beyond the scope of the dicsiplines where the methods or the authors originate. But it is not only the variety of scientific fields that makes this proceedings volume so diverse – the chapters also vary strongly in the audiences they seem to be addressing.
Study of movement on stairs during evacuation using video analysing techniques

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Determination of the content of l-ascorbic acid in fruit jelly

The article presents the results of the development of a method for the determination of L-ascorbic acid (AA) in model fruit jellies containing gelatin. In the determination of AA, a coulometric method with electrically generated iodine as a titrant in a galvanostatic mode with a current of 2−5 mA was used. As a research object, model fruit jelly with 2% and 3% gelatin content was used. In addition to gelatin, the systems contained apple juice concentrated clarified and potassium sorbate (used as a concerto). The peculiarity of the preliminary preparation of the samples was the stage, which envisaged the melting of the samples before the quantitative determination of AA. In order to assess the suitability of the proposed methodology for the quantitative determination of AA in fruit jelly, a validation evaluation was performed on the following parameters: specificity, linearity and the range of an analytical method, limits of detection and determination, accuracy and reproducibility. Specificity has been studied on standard aqueous solutions of AA. It has been shown that under two conditions: 100% of current output and stoichiometricity of the oxidation reaction with iodine AA, the theoretical slope of the amount of the electrice curve from the analyte concentration with accuracy up to 0.2% coincides with the experimental one. The following parameters were determined: the working area of the technique 4.92−127.6 mg/100 g; limits of the determination 1.62 mg/100 g and quantitation 4.92 mg/100 g. The absence of a systematic error for standard and fruit jelly solutions was evaluated using the "introduced-found" method. Error of recovery did not exceed RSD<2.8%. Correctness and reproducibility were evaluated by the method of varying the weights at three levels of concentration using three sets at each level. Fischer and Student's criteria, which were used to compare average values, testified to the validity of the indicators of "correctness" and "reproducibility". Comparing the studied parameters, the best results were obtained for fruit jelly with a 2% gelatin content compared to a jelly with a content of 3%. The obtained results testify to the possibility of application of the developed method of determination of ascorbic acid in real food systems.
The concentration of cGMP in serum and clinical activity of multiple sclerosis

Multiple sclerosis (MS) is a demyelinating disease of the central nervous system of unknown etiology. The processes of demyelination accompanied by a local inflammatory process, which is the result of an autoimmune response to myelin antigens. The aim of this study was to analyze the levels of nitric oxide and cGMP in the serum of patients with multiple sclerosis (MS) during the relapse and remission. The study involved 27persons, including 11 patients (K7 / M4) during the MS relapse and 11 (K7 / M4) patients with MS in remission, and 7 normal subjects (5K / 2M). The concentration of cGMP and immunochemical method (ELISA) and the concentration of nitrite by Griess. The results showed higher levels of cGMP and nitrite in the serum of MS patients at relapse when compared to a control group and a group of MS patients in remission. Significant deterioration of neurological condition is a plan view of the disease evaluated by using the EDSS in patients with MS. The higher concentration of NO and cGMP levels in plan correlated with worse neurological status of patients with MS. The results suggest that nitric oxide and cGMP mediated MS causing neurologic deterioration of MS patients but not the main factors responsible for the changes taking place in the brain of MS.
Potential Threapeutic Applications of Extract Made from Electroporated Xenopus Laevis frog Oocytes in Murine Models of Melanoma , Traumatic Brain Injury and Experimental Skin Wrinkling

We previously demonstrated that co-electroporation of Xenopuslaevis frog oocytes with normal cells and cancerous cell lines induces the expression of pluripotency markers. Here, we investigated the effects of a combination of intraand extra-oocyte liquid phases of electroporated X. laevis frog oocytes (BioquantineTM) on experimental murine models of melanoma, traumatic brain injury(TBI), and skin wrinkling (induced by squalene-monohydroperoxide). Experimental animals received intraperitoneal injections of 100 μl of 5 mg/ ml Bioquantineextract daily. In the melanoma model experiments, mice that received Bioquantine displayed rapid tumor shrinkage. By day 45, the tumors had shrunk by almost 99%, and the animals recovered with no gross signs of re-occurrence during 3 months of post-therapeutic observation. In the TBI experiments, mice that received Bioquantine for up to 20 days showed brain recovery at a gross morphological level with relief of brain edema. These treated mice also showed substantial improvements in spatial memory in the Morris Water Navigation Test. In the squalenemonohydroperoxide-induced wrinkling model, mice that received Bioquantineextract daily for 25-45 days exhibited skin regeneration.These experimental murine model studies revealed Bioquantine extract has potential as a novel treatment fora wide range of conditions including melanoma, TBI, and skin wrinkling.
How Substitutable Are Labor and Intermediates ? ⇤

Empirical models of production often impose input complementarity and rule out an extensive margin in the decision to “make or buy” inputs. This paper develops a simple model of production which generalizes the standard Cobb-Douglas approach and allows labor and intermediates of similar types (or “tasks”) to be complements, substitutes, or (importantly) outsourced entirely. Modeling this make-or-buy decision directly allows me to correct for the selection bias resulting from the endogenous outsourcing decision and to characterize the extensive margin of factor demand. I take the model to unique Danish data on task-level purchases of disaggregated labor (e.g., truck drivers), goods, and services (e.g., shipping) and find that labor and intermediates are gross substitutes. Estimated elasticities of substitution range from 1.5 to 4, with positive cross-price elasticities between 0 to 2 across inputs and industries. These results also hold in standard firm data using total labor and intermediate expenditure variables. Aggregating across firms, I show that demand for labor is becoming increasingly price elastic over time, driven by growing outsourcing and specialization. To illustrate the importance of allowing for flexible substitutability, I examine the e↵ect of an increase in minimum wages in the Danish manufacturing industry, finding that ignoring outsourcing underestimates disemployment by 40%. This finding also has important implications for estimating productivity. I estimate the e↵ect of recent decreases in Danish import tari↵s on firm productivity and show that controlling for substitution triples the results relative to benchmark models which only control for price e↵ects. ⇤I would like to thank Naoki Aizawa, Anmol Bhandari, Fatih Guvenen, Kyle Herkenho↵, Tom Holmes, Loukas Karabarbounis, Jeremy Lise, Ellen McGrattan, Amil Petrin, Joel Waldfogel, and Frederic Warzynski for their guidance, support, and suggestions. This paper has benefited from many useful comments and discussions with participants at the 2016 CEA Annual Conference and 2017 Danish International Economics Workshop. I also thank the Department of Economics and Business at Aarhus University, and in particular Henning Bunzel, for support and making the data available. This paper was previously circulated under the title “Input Substitution and Productivity”. †Correspondence: chanx186@umn.edu
Developing Virtual Reality Applications: Foundations of Effective Design

Virtual Reality systems enable organizations to cut costs and time, maintain financial and organizational control over the development process, digitally evaluate products before having them created, and allow for greater creative exploration. In this book, VR developers Alan Craig, William Sherman, and Jeffrey Will examine a comprehensive collection of current,unique, and foundational VR applications in a multitude of fields, such as business, science, medicine, art, entertainment, and public safety among others. An insider's view of what works, what doesn't work, and why, Developing Virtual Reality Applications explores core technical information and background theory as well as the evolution of key applications from their genesis to their most current form. Developmental techniques are cross-referenced between different applications linking information to describe overall VR trends and fundamental best practices. This synergy, coupled with the most up to date research being conducted, provides a hands-on guide for building applications, and an enhanced, panoramic view of VR development. Developing Virtual Reality Applications is an indispensable one-stop reference for anyone working in this burgeoning field. Dozens of detailed application descriptions provide practical ideas for VR development in ALL areas of interest! Development techniques are cross referenced between different application areas, providing fundamental best practices! Includes a media-rich companion website with hours of footage from application demonstrations
Hospital Staffing , Skill Mix and Local Pay : an Investigation into the Impact of Local variations in the Competitiveness of Nursing-Pay on the Staffing of Hospitals in France

Research for England has shown that differences in the pay setting arrangements for nurses and their private sector comparators produce spatial variations in the competitiveness of nurses pay. Further it has shown that variations in competitiveness are associated with differences in nursing vacancy rates. This paper explores whether similar variations in the spatial competitiveness of nurses pay exist in France and whether any variations in competitiveness are associated with variations in hospital staffing levels and skill mix. In France private for profit and not for profit hospital operate alongside public hospitals and thus compete directly for staff. In France collective bargaining plays a prominent role in determining pay structures in both the public and private sectors and thus we might expect fewer differences in the spatial patterns of pay between these two sectors in France. For both these reasons it is interesting to study the relationship between wage setting, local labour market conditions and hospital staffing in France. The empirical results show that the local competitiveness of nurses pay affects both staffing levels and skillmix in public sector hospitals in France. However the results are mixed and do not apply to all groups and refinement of method and estimation is required.