Miracle-dz/UniFAR-FTUs huggingface dataset:
SHARING LEARNED MODELS BETWEEN HETEROGENEOUS ROBOTS: AN IMAGE DRIVEN INTERPRETATION

Title of dissertation: SHARING LEARNED MODELS BETWEEN HETEROGENEOUS ROBOTS: AN IMAGE DRIVEN INTERPRETATION Isha Rahul Potnis, Master of Science, 2018 Dissertation directed by: Dr. Cynthia Matuszek Assistant Professor Computer Science and Electrical Engineering With the evolution of robotics to produce more a↵ordable and proficient robots, it has become crucial for robots to get acquainted with their environment and tasks quickly. This requires training classifiers to identify objects denoted by natural language, a type of grounded language acquisition and visual perception. The current approaches require extensive training data gathered from humans for robots to learn the contextual models. For robots to work collaboratively, every robot must understand the task requirement and its corresponding environment. Teaching every robot these tasks separately would multiply human interaction with robots. Research in ‘transfer learning’ is gaining momentum to avoid the repetitive training task and minimize human-robot interaction. With the advancement of personal assistance in elderly care and teaching domains, where the learned robot models are environment-specific, transferring the learned model to other robots with minimum loss of accuracy is crucial. Homogeneous transferred learning is easy as compared to transfer learning in heterogeneous robot environment with di↵erent perceptual sensors. We propose the ‘chained learning approach’ to transfer data between robots with di↵erent perceptual capabilities. These di↵erences in sensory processing and representations may lead to a gradual drop in transfer learning accuracy. We conduct experiments for co-located robots with similar sensory ability, with qualitatively di↵erent camera sensors, and for non-co-located robots to test our learning approach. A comparative study of cutting-edge feature extraction algorithms help us build an e cient pipeline for optimal knowledge transfer. Our preliminary experiments lay a foundation for e cient transfer learning in a heterogeneous robot environment while introducing domain adaptation as a potential research option for grounded language transfer. SHARING LEARNED MODELS BETWEEN HETEROGENOUS ROBOTS: AN IMAGE-DRIVEN INTERPRETATION
An Analysis of the Design of Holding System in Rocks Containing Esfahan Metro Tunnel-Southern Segment (Sofeh-Azadi)

Esfahan metro with 12745 m length is being constructed in north-south direction as two parallel tunnels. This tunnel has 3737m length in southern segment and is constructed as horseshoe form with 6.5m height and 7m width.To determine the type of holding system regarding pressure entering to system various methods were used such as 1- Experimentalmethod that includes RMR geomechanic classification, Qualitative index of tunneling in Q rock and geological strength index GSI, 2- GSIA method; at the end on the basis of achieved data from sampling during excavation the most proper holding system was estimated. By considering conditions of holding system that are offered by two experimental methods, it can be inferred that the suggested system of experimental method is conservative. But sand rocks don't need holding system according to analytical methods. If wedges are created by collision of joint sets, holding system may become necessary. DOI: http://dx.doi. org/10.3126/ijls.v9i4. 12639
Secondary gravity wave generation over New Zealand during the DEEPWAVE campaign

Multiple events during the Deep Propagating Gravity Wave Experiment measurement program revealed mountain wave (MW) breaking at multiple altitudes over the Southern Island of New Zealand. These events were measured during several research flights from the National Science Foundation/National Center for Atmospheric Research Gulfstream V aircraft, utilizing a Rayleigh lidar, an Na lidar, and an Advanced Mesospheric Temperature Mapper simultaneously. A flight on 29 June 2014 observed MWs with horizontal wavelengths of ~80–120 km breaking in the stratosphere from ~10 to 50 km altitude. A flight on 13 July 2014 observed a horizontal wavelength of ~200–240 km MW extending from 20 to 90 km in altitude before breaking. Data from these flights show evidence for secondary gravity wave (SGW) generation near the breaking regions. The horizontal wavelengths of these SGWs are smaller than those of the breaking MWs, indicating a nonlinear generation mechanism. These observations reveal some of the complexities associated with MW breaking and the implications this can have on momentum fluxes accompanying SGWs over MW breaking regions.
Transition to complex dynamics in the cubic lid-driven cavity

The onset of time dependence in the cubic lid-driven cavity is surprisingly complicated, given the simplicity of the geometry and the modest value of the Reynolds number at which it occurs. The onset is characterized by finite-amplitude oscillations that appear to be stable for long times, but are subjected to intermittent bursts at irregular times during which the reflection symmetry about the spanwise midplane is broken. The complex dynamics are shown to be intimately related to the subcritical nature of the instability of the steady basic state. We use a spectral collocation numerical technique, solving both in the full three-dimensional space and in the symmetric subspace, and use selective frequency damping and Arnoldi iterations about the unstable basic state to determine its bifurcations. Edge tracking is also used to investigate a number of time-dependent saddle states. Putting all this together, we show that the complex dynamics are organized by two successive Hopf bifurcations, the first of which is shown to be subcritical. All local states are unstable in the full space at higher Reynolds numbers, leading to the intermittent bursting behavior.
The Emotional Characteristics of Piano Sounds with Different Pitch and Dynamics

The piano is an instrument extensively used in classical, jazz, and pop music since its broad pitch range and ample dynamic levels allow the instrument to become self-contained and versatile for various kinds of music. We conducted listening tests to compare the effects of pitch and dynamics on the emotional characteristics of isolated one-second piano sounds. Listeners compared the sounds pairwise over ten emotion categories. The results showed that all ten emotional categories were significantly affected by pitch and nine of them by dynamics. In particular, the emotional characteristics Happy, Romantic, Comic, Calm, Mysterious, and Shy generally increased with pitch but sometimes decreased at the highest pitches. The characteristics Heroic, Angry, and Sad generally decreased with pitch. Scary was strong in the extreme low and high registers. In terms of dynamics, the results showed that the characteristics Heroic, Comic, Angry, and Scary were stronger for loud notes, while Romantic, Calm, Mysterious, Shy, and Sad were stronger for soft notes. Surprisingly, Happy was not affected by dynamics. These results help quantify the emotional characteristics of piano sounds.
The numerical detection of connecting orbits

We present a new technique for the numerical detection and localization of connecting orbits between hyperbolic invariant sets in parameter dependent dynamical systems. This method is based on set-oriented multilevel methods for the computation of invariant manifolds and it can be applied to systems of moderate dimension. The main idea of the algorithm is to detect intersections of coverings of the stable and unstable manifolds of the invariant sets on different levels of the approximation. We demonstrate the applicability of the new method by three examples.
Climate modelling with delay differential equations

A fundamental challenge in mathematical modelling is to find a model that embodies the essential underlying physics of a system, while at the same time being simple enough to allow for mathematical analysis. Delay differential equations (DDEs) can often assist in this goal because, in some cases, only the delayed effects of complex processes need to be described and not the processes themselves. This is true for some climate systems, whose dynamics are driven in part by delayed feedback loops associated with transport times of mass or energy from one location of the globe to another. The infinite-dimensional nature of DDEs allows them to be sufficiently complex to reproduce realistic dynamics accurately with a small number of variables and parameters. In this paper we review how DDEs have been used to model climate systems at a conceptual level. Most studies of DDE climate models have focused on gaining insights into either the global energy balance or into the fundamental workings of the El Niño Southern Oscillation (ENSO) system. For example, studies of DDEs have led to proposed mechanisms for the interannual oscillations in sea-surface temperature that is characteristic of ENSO, for the irregular behaviour that makes ENSO difficult to forecast and for the tendency of El Niño events to occur near Christmas. We also discuss the tools used to analyse such DDE models. In particular, recent developments of continuation software for DDEs make it possible to explore large regions of parameter space in an efficient manner in order to provide a “global picture” of the possible dynamics. We also point out some directions for future climate modelling that we believe could improve the descriptive power of DDE models.
A HIGHLY EFFICIENT SOLAR CELL MADE FROM A DYE-MODIFIED ZNO-COVERED TIO2 NANOPOROUS ELECTRODE

A photoelectrochemical solar cell based on porous ZnO-covered TiO2 film has been fabricated with ruthenium bipyridyl complex as the sensitizer. The cell generated a short-circuit photocurrent of 21.3 mA cm-2 and an open-circuit voltage of 712 mV under irradiation of 81.0 mW cm-2 white light from a xenon lamp with an overall conversion efficiency of 9.8%. Compared with the pure TiO2 (anatase) film, the ZnO-covered TiO2 film possesses more outstanding ability to transport electrons with an overall power conversion efficiency increase by 27.3%. Optical elctrochemical studies show that surface modification of TiO2 with ZnO can increase the concentration of free electrons in the conduction band of TiO2. This result implies that the charge recombination is reduced in the process of electron transport through the porous network, which can decrease the photocurrent loss and hence improve both short-circuit photocurrent and open-circuit photovoltage.
The Social Origins of the Iran-Iraq War

Beyond Traditional Science - Toward the Critical Contemplation of the Iran-Iraq War. Part 1 The Social Origins of the Iran-Iraq War: Social Transformation and Revolution in Iran State and Society in Iraq - The Tenuous Social Base of the Ba'th Regime Social Discontent and the Drift to War. Part 2 The Social Foundations of War - 1980-1988: The War and Clerical Consolidation in Iran The War and Ba'th Consolidation in Iraq With Mars in the Middle East.
Within-Class and Neighborhood Effects on the Relationship between Composite Urban Classes and Surface Temperature

Understanding the relationship between urban structure and ecological function—or environmental performance—is important for the planning of sustainable cities, and requires examination of how components in urban systems are organized. In this paper, we develop a Structure of Urban Landscape (STURLA) classification, identifying common compositions of urban components using Berlin, Germany as a case study. We compute the surface temperature corresponding to each classification grid cell, and perform within-cell and neighborhood analysis for the most common composite classes in Berlin. We found that with-class composition and neighborhood composition as well as the interaction between them drive surface temperature. Our findings suggest that the spatial organization of urban components is important in determining the surface temperature and that specific combinations, such as low-rise buildings surrounded by neighborhood trees, or mid-rise buildings surrounded by high-rise buildings, compound to create a cooling effect. These findings are important for developing an understanding of how urban planning can harness structure-function relationships and improve urban sustainability.
Depressive Symptoms Are Associated with Cognitive Function in the Elderly with Type 2 Diabetes

Background: Type 2 diabetes (T2D) is a metabolic condition associated with poor clinical and cognitive outcomes including vascular disease, depressive symptoms, cognitive impairment, and dementia. In the general elderly population, depression has been consistently identified as a risk factor for cognitive impairment/decline. However, the association between depression and cognitive function in T2D has been understudied. Objective: We investigated the association between depression and cognitive function in a large sample of cognitively normal elderly with T2D. Methods: In this cross-sectional study, we examined 738 participants, aged 65–88 years old, enrolled in the Israel Diabetes and Cognitive Decline study. For each cognitive domain (Episodic Memory, Executive Function, Attention/Working Memory, Language/Semantic Categorization) and Overall Cognition, multiple linear regressions assessed its association with depression (score greater than 5 on the 15-item version of the Geriatric Depression Scale [GDS]), adjusting for age, sex, and education. Results: Depression (n = 66, 8.9%) was associated with worse performance on tasks of Executive Function (p = 0.004), Language/Semantic Categorization (p < 0.001), and Overall Cognition (p < 0.002), but not Episodic Memory (p = 0.643) or Attention/Working Memory (p = 0.488). Secondary analyses using GDS as a continuous variable did not substantially change the results. Adjusting also for a history of antidepressant medication use slightly weakened the findings. Conclusion: Significant associations of depression with several cognitive domains and Overall Cognition even in cognitively normal elderly with T2D, suggest that depression may have a role in impaired cognitive function in T2D, which may be attenuated by antidepressants.
Dispersion relation analysis of turbulent magnetic field fluctuations in fast solar wind

Abstract. Physical processes of the energy transport in solar wind turbulence are a subject of intense studies, and different ideas exist to explain them. This manuscript describes the investigation of dispersion properties in short-wavelength magnetic turbulence during a rare high-speed solar wind event with a flow velocity of about 700 km s−1 using magnetic field and ion data from the Cluster spacecraft. Using the multi-point resonator technique, the dispersion relations (i.e., frequency versus wave-number values in the solar wind frame) of turbulent magnetic fluctuations with wave numbers near the inverse ion inertial length are determined. Three major results are shown: (1) the wave vectors are uniformly quasi-perpendicular to the mean magnetic field; (2) the fluctuations show a broad range of frequencies at wavelengths around the ion inertial length; and (3) the direction of propagation at the observed wavelengths is predominantly in the sunward direction. These results suggest the existence of high-frequency dispersion relations partly associated with normal modes on small scales. Therefore nonlinear energy cascade processes seem to be acting that are not described by wave–wave interactions.
Human Motion Parsing by Hierarchical Dynamic Clustering

Parsing continuous human motion into meaningful segments plays an essential role in various applications. In this work, we propose a hierarchical dynamic clustering framework to derive action clusters from a sequence of local features in an unsupervised bottom-up manner. We systematically investigate the modules in this framework and particularly propose diverse temporal pooling schemes, in order to realize accurate temporal action localization. We demonstrate our method on two motion parsing tasks: temporal action segmentation and abnormal behavior detection. The experimental results indicate that the proposed framework is significantly more effective than the other related state-of-the-art methods on several datasets.
Reliability (test-retest) of the Swedish "Demand-Control- Support Questionnaire" scale among industrial restaurants workers, state of Rio de Janeiro, Brazil

Abstract Objective: This study aims to verify the test-retest reliability of the Portuguese version of the Swedish “ Demand-Control-Support Questionnaire (DCSQ)” scale in a population of workers with low education. Method : The questionnaire was adminis-tered to 52 employees of three restaurants in industrial companies in Rio de Janeiro twice, with intervals from 7 to 15 days. As indicators of stability, the Intraclass Cor-relation Coefficient (ICC), weighted Kappa statistics and Bland and Altman’s plot were used; for internal consistency evaluation, Cronbach’s alpha coefficient was used. Results : The ICCs for the “psychological demand”, “decision latitude” and “social support in the workplace” dimensions were 0.70, 0.68 and 0.80, respectively. Cronbach’s alpha showed the following results in the retest for the previously mentioned di-mensions: 0.75, 0.50 and 0.82, respectively. Conclusions : Although the outcome of the Demand-Control scale has been considered low for Cronbach’s alpha, other reliability indicators point to good stability of the in-strument, allowing its use in studies on the association between job stress and health-related outcomes.
Nemo: NUMA-aware Concurrency Control for Scalable Transactional Memory

In this paper we present Nemo, a NUMA-aware Transactional Memory (TM) design and implementation optimized for promoting scalability in applications running on top of NUMA architectures. Nemo deploys a hybrid design where conflicting threads alternate the usage of single timestamps and vector clocks to identify inconsistent executions depending upon the source of conflict. We assessed the performance of Nemo by using both synthetic and well-known OLTP transactional workloads. Our approach offers improvements over the six state-of-the-art competitors we implemented.
Survey : Extracting Participant Mention and Event Timeline Creation

Information Extraction refers to the automatic extraction of structured information such as entities, relationships between entities, event and temporal relation between events from unstructured sources. Information Extraction is a branch of natural language processing that has a wide range of applications, including question answering, knowledge base population, information retrieval etc. The extraction of structure from noisy, unstructured sources is a challenging task.
WiSH-WalT: A Framework for Controllable and Reproducible LoRa Testbeds

In this paper, we describe the design and implementation of WiSH-WalT, a framework for controllable and reproducible LoRa testbeds. The implementation of the WiSHFUL unified interface provides the means for controlling and adapting the LoRa parameters to given conditions and low energy consumption by configuring transmission power, spreading factor, bandwidth, and error coding rate. WalT provides support for running reproducible experiments based on the deployment of docker images on a distributed set of nodes. Put together, the functionalities of WiSHFUL and WalT open new possibilities for deploying reproducible LoRa testbeds. We have used WiSH-WalT to experiment with adaptive configuration of the LoRa parameters and evaluated the communication performance of LoRa motes in a setup with several gateways.
A Framework for Dexterous Manipulation

In this work, we introduce a framework for performing dexterous manipulations on the humanoid robot Robonaut-2. This framework memorizes how actions change perceptions and can learn a sequence of actions based on demonstrations. With the anthropomorphic Robonaut-2 hand and arm, a variety of manipulation tasks such as grasping novel objects, rotating a drill for grasping, and tightening a bolt with a ratchet can be accomplished. This framework was also used to compete in the IROS2018 Fan Robotic Challenge that requires manipulating a hand fan and was a winner of the phase I modality A competition.
Symptoms and Sensitivity to Chilling Injury of Cantaloupe Melons during Postharvest

La naturaleza y el desarrollo de los sintomas de dano por enfriamiento (CI) y la variacion en sensibilidad de diversos cultivares de melones reticulados (Cucumis melo L. subsp. melo var. cantalupensis Naudin) a este desorden fisiologico se evaluaron durante dos temporadas. Veintitres cultivares de los tipos Eastern (1), Western (15) y Galia (8) se cultivaron en un ambiente semi-arido en Curacavi (33o27 S, 70o38 O), Chile, en cultivos realizados de manera convencional, y los frutos se cosecharon al estado de madurez de medio desprendimiento, excepto el tipo Galia (3/5 de color). Despues de la seleccion y lavado, los frutos se almacenaron por 18 dias a 0 oC, mas 3 dias adicionales a 20 oC. Los sintomas de CI se desarrollaron de manera progresiva: primero aparecieron manchas en la superficie del fruto, las que evolucionaron de un color rosado palido a pardo y eventualmente negro, seguidas de la aparicion de vastas concavidades de la superficie y, ocasionalmente, de depresiones discretas y blanqueado del reticulado corchoso. La presencia de enfermedades fue esporadica y secundaria, debiendo considerarse una consecuencia y no un sintoma de CI. Los cultivares presentaron una sensibilidad variable a CI; algunos como Athena, Colima y Revigal fueron severamente afectados, mientras que otros como Hy-Mark, Gal 96, y Voyager I presentaron escasos sintomas. La variabilidad en la respuesta al enfriamiento mostro la necesidad de recomendaciones precisas de temperaturas para estos cultivares y senalo un potencial para usar temperaturas mas bajas que las usualmente recomendadas para una mayor conservacion de algunos cultivares.
Khovanov homology and periodic links

Based on the results of the second author, we define an equivariant version of Lee and Bar-Natan homology for periodic links and show that there exists an equivariant spectral sequence from the equivariant Khovanov homology to equivariant Lee homology. As a result we obtain new obstructions for a link to be periodic. These obstructions generalize previous results of Przytycki and of the second author.