Miracle-dz/UniFAR-FTUs huggingface dataset:
Slip prevention of a humanoid robot by coordinating acceleration vector

A humanoid robot may suffer from slip since its two feet are not fixed on the ground. Slip occurrence may induce the loss of robot's balance. The previous literature focused on the detection or estimation of the slip occurrence, or only employed the translational acceleration regulation to overcome slip. This study proposes a slip prevention method by coordinating acceleration vector including the horizontal, vertical, and rotational acceleration components. The contribution of this paper is to regulate the translational and rotational acceleration together to prevent the slip occurrence. The effectiveness of our proposed method was verified by simulations and experiments on an actual humanoid robot.
Oblique corrections from Higgsless models in warped space

We calculate the tree-level oblique corrections to electroweak precision observables generated in Higgless models of electroweak symmetry breaking with a 5D $\mathrm{S}\mathrm{U}(2{)}_{L}\ifmmode\times\else\texttimes\fi{}\mathrm{S}\mathrm{U}(2{)}_{R}\ifmmode\times\else\texttimes\fi{}\mathrm{U}(1{)}_{B\ensuremath{-}L}$ gauge group on a warped background. In the absence of brane induced kinetic terms (and equal left and right gauge couplings) we find the $S$ parameter to be $\ensuremath{\sim}1.15$, while $T\ensuremath{\sim}U\ensuremath{\sim}0$, as in technicolor theories. Planck brane induced kinetic terms and unequal left-right couplings can lower $S$, however for sufficiently low values of $S$ tree-level unitarity will be lost. A kinetic term localized on the TeV brane for $\mathrm{S}\mathrm{U}(2{)}_{D}$ will generically increase $S$, however an induced kinetic term for $\mathrm{U}(1{)}_{B\ensuremath{-}L}$ on the TeV brane will lower $S$. With an appropriate choice of the value of this induced kinetic term $S\ensuremath{\sim}0$ can be achieved. In this case the mass of the lowest ${Z}^{\ensuremath{'}}$ mode will be lowered to about 300 GeV.
Simplified Discretization of Systems of Hyperbolic Conservation Laws Containing Advection Equations

The high speed flow of complex materials can often be modeled by the compressible Euler equations coupled to (possibly many) additional advection equations. Traditionally, good computational results have been obtained by writing these systems in fully conservative form and applying the general methodology of shock-capturing schemes for systems of hyperbolic conservation laws. In this paper, we show how to obtain the benefits of these schemes without the usual complexity of full characteristic decomposition or the restrictions imposed by fully conservative differencing. Instead, under certain conditions defined in Section 2, the additional advection equations can be discretized individually with a nonconservative scheme while the remaining system is discretized using a fully conservative approach, perhaps based on a characteristic field decomposition. A simple extension of the Lax? Wendroff Theorem is presented to show that under certain verifiable hypothesis, our nonconservative schemes converge to weak solutions of the fully conservative system. Then this new technique is applied to systems of equations from compressible multiphase flow, chemically reacting flow, and explosive materials modeling. In the last instance, the flexibility introduced by this approach is exploited to change a weakly hyperbolic system into an equivalent strictly hyperbolic system, and to remove certain nonphysical modeling assumptions.
Removing Radio Interference from Contaminated Astronomical Spectra Using an Independent Reference Signal and Closure Relations

The growing level of radio frequency interference (RFI) is a recognized problem for research in radio astronomy. This paper describes an intuitive but powerful RFI cancellation technique that is suitable for radio spectroscopy where time-averages are recorded. An RFI "reference signal," is constructed from the cross power spectrum of the signals from the two polarizations of a reference horn pointed at the source of the RFI signal. The RFI signal paths obey simple phase and amplitude closure relations, which allows computation of the RFI contamination in the astronomical data and the corrections to be applied to the astronomical spectra. Since the method is immune to the effects of multipath scattering in both the astronomy and reference signal channels, "clean copies" of the RFI signal are not required. The method could be generalized (1) to interferometer arrays, (2) to correct for scattered solar radiation that causes spectral "standing waves" in single-dish spectroscopy, and (3) to pulsar survey and timing applications where a digital correlator plays an important role in broadband pulse dedispersion. Future large radio telescopes, such as the proposed LOFAR and SKA arrays, will require a high degree of RFI suppression and could implement the technique proposed here with the benefit of faster electronics, greater digital precision and higher data rates.
Indoor Furniture and Room Recognition for a Robot Using Internet-Derived Models and Object Context

For robots to be able to fluidly collaborate with and keep company to humans in indoor spaces, they need to be able to perceive and understand such environments, including furniture and rooms. Towards that goal, we present a system for indoor furniture and room recognition for robots, which has two significant novelties: it utilizes internet-derived as well as self-captured models for training, and also uses object- and room-context information mined through the internet, in order to bootstrap and enhance its performance. Thus, the system also acts as an example of how autonomous robot entities can benefit from utilizing online information and services. Many interesting sub problems, including the peculiarities of utilizing such online sources, are discussed, followed by a real world empirical evaluation of the system, which shows highly promising results.
Connecting News Media Use with Gaps in Knowledge and Participation

This article examines the relative size of gaps in knowledge and participation between the more and less educated as they vary by the quantity and type of news media use. We predicted that the gap between high and low education groups would be smaller among heavy television news users than among light users, whereas the gap between high and low education groups would be larger among heavy newspaper users than among light users. We also predicted that the gap in general political participation but not votingwould be greater among both heavy television news users and heavy newspaper users than among light news users. These predictions were based on logic derived from the communication effects gap hypothesis, the cognitive psychology of learning, and research on political behavior. Analyzing data collected as part of the American National Election Study during the 1996 U.S. presidential campaign, we found that gaps in knowledge between higher and lower education groups were greater among light than heavy users of television news. A similar pattern was found for knowledge gaps across levels of newspaper use, but this pattern was weaker and may possibly be attributed to ceilings imposed by the nature of the test or a natural ceiling in the information domain. By contrast, neither television news use nor newspaper use was related to gaps in voting; however, newspaper use, but not television news use, was related to gaps in general political participation.
Discriminant Feature Manifold for Facial Aging Estimation

Computerised facial aging estimation, which has the potential for many applications in human-computer interactions, has been investigated by many computer vision researchers in recent years. In this paper, a feature-based discriminant subspace is proposed to extract more discriminating and robust representations for aging estimation. After aligning all the faces by a piece-wise affine transform, orthogonal locality preserving projection (OLPP) is employed to project local binary patterns (LBP) from the faces into an age-discriminant subspace. The feature extracted from this manifold is more distinctive for age estimation compared with the features using in the state-of-the-art methods. Based on the public database FG-NET, the performance of the proposed feature is evaluated by using two different regression techniques, quadratic function and neural-network regression. The proposed feature subspace achieves the best performance based on both types of regression.
Uncovering student values for hiring in the software industry

This article provides an analysis of student responses to an exercise used in a computer ethics and a software engineering course to raise awareness of issues related to hiring, including issues of professional responsibility and diversity. Students from two different universities were asked to evaluate four candidates for two positions in a fictitious software company. They then developed a set of criteria for evaluation and constructed an argument to support their choices. After discussing their choice with others in the class, students could change their hiring decisions. Students' hiring criteria were coded using emergent categories, inferences in the arguments were coded according to the criteria, and reasons for changing hiring decisions were coded. Students considered criteria that fell into five areas: technical skills, soft skills, personal traits, previous employment, and career/job considerations. Reasons for changing hiring choices included previous experience, diversity considerations, people skills, leadership skills, and reaching consensus. The article also reports inferences students made about the job candidates.
First-order flow equations for extremal and non-extremal black holes

We derive a general form of first-order flow equations for extremal and non-extremal, static, spherically symmetric black holes in theories with massless scalars and vectors coupled to gravity. By rewriting the action as a sum of squares a la Bogomol'nyi, we identify the function governing the first-order gradient flow, the `generalised superpotential', which reduces to the `fake superpotential' for non-supersymmetric extremal black holes and to the central charge for supersymmetric black holes. For theories whose scalar manifold is a symmetric space after a timelike dimensional reduction, we present the condition for the existence of a generalised superpotential. We provide examples to illustrate the formalism in four and five spacetime dimensions.
Hypothesis-free identification of modulators of genetic risk factors

Genetic risk factors often localize in non-coding regions of the genome with unknown effects on disease etiology. Expression quantitative trait loci (eQTLs) help to explain the regulatory mechanisms underlying the association of genetic risk factors with disease. More mechanistic insights can be derived from knowledge of the context, such as cell type or the activity of signaling pathways, influencing the nature and strength of eQTLs. Here, we generated peripheral blood RNA-seq data from 2,116 unrelated Dutch individuals and systematically identified these context-dependent eQTLs using a hypothesis-free strategy that does not require prior knowledge on the identity of the modifiers. Out of the 23,060 significant cis-regulated genes (false discovery rate < 0.05), 2,743 genes (12%) show context-dependent eQTL effects. The majority of those were influenced by cell type composition, revealing eQTLs that are particularly strong in cell types such as CD4+ T-cells, erythrocytes, and even lowly abundant eosinophils. A set of 145 cis-eQTLs were influenced by the activity of the type I interferon signaling pathway and we identified several cis-eQTLs that are modulated by specific transcription factors that bind to the eQTL SNPs. This demonstrates that large-scale eQTL studies in unchallenged individuals can complement perturbation experiments to gain better insight in regulatory networks and their stimuli.
Marteiliasis affecting cultured mussels Mytilus galloprovincialis of Galicia (NW Spain). I: Etiology, phases of the infection, and temporal and spatial variability in prevalence

The histological location, morphological fedtures and ultrastructural characters of the sporulation of the parasite causing Marteiliasis affecting cultured mussels in Galicia fit the characteristics defined for the type species Marteilia relringens The early stages of the infection are confined to the host stomach epithelium. The spreading of the parasites through the host digestive diverticula involves a n exponential increase in the number of parasites as the infection progresses, suggesting the occurrence of merogony, in addition to the well known sporulation. The infection usually triggers a host hemocytic reaction that may slow down or even stop the infection at times. The study of 5 zones of culture disclosed great spatial variability in the prevalence of Marteiliasis on mussels throughout the bays of Galicia, including a n area in which no infection was detected. The culture zones located within the bays showed higher prevalences than those located outside. There was no significant difference in the intensity of the infections among the affected zones Sporulation occurred throughout the year Several peaks of both prevalence and occurrence of heavy ~nfections took place every year. Considering the areas affected by Marteiliasis, the higher the prevalence of the infect~on the higher the mortality. In some of the studied zones, mortality was significant for the mussel farming industry.
Activation of cannabinoid receptor CB2 regulates LPS-induced pro-inflammatory cytokine production and osteoclastogenic gene expression in human periodontal ligament cells

Background and Objective: It has been found that human periodontal ligament (hPDL) cells express cannabinoid receptor CB2. However, the functional importance of CB2 in hPDL cells exposed to bacterial endotoxins is not known. Here we investigate if the inflammation promoter lipopolysaccharide (LPS) affects CB2 expression and if activation of CB2 regulates LPS-induced pro-inflammatory cytokine production and osteoclastogenic gene expression in hPDL cells. Methods: The hPDL cells were obtained from extracted teeth of periodontally healthy subjects. CB2 expression in hPDL cells exposed to LPS was deter- mined by quantitative real-time PCR analysis. Then, the cells were incubated with or without CB2-specific agonist HU-308 before further stimulation with LPS. In some experiments, the cells were pre-treated with CB2-specific antagonist SR144528. The production of pro-inflammatory cytokines interleukin-1 beta (IL- 1β), interleukin-6 (IL-6) and tumor necrosis factoralpha (TNF-α) was assessed by enzyme-linked immunosorbent assay (ELISA). The mRNA expression of osteoclastogenic genes osteoprotegerin (OPG) and receptor activator of NF-κB ligand (RANKL) was examined using quantitative real-time PCR analysis. Results: CB2 expression in hPDL cells was markedly enhanced by LPS. HU-308 significantly suppressed the production of IL-1β, IL-6 and TNF-α exposed to LPS, whereas SR144528 attenuated this effect. The OPG/RANKL ratio decreased when exposed to LPS, furthermore increased significantly with the addition of HU-308 and finally decreased markedly after pretreatment with SR144528. Conclusion: Our study demonstrated that activation of CB2 had anti-inflammatory and anti-resorptive effects on LPS-stimulated hPDL cells. These findings suggest that activation of CB2 might be an effective therapeutic strategy for the treatment of inflammation and alveolar bone resorption in periodontitis.
An Explicit Spatial Model for Niching in Genetic Algorithms

A niching technique is an important component of the genetic algorithm when attempting to solve problems that have multiple optimal solutions. Traditional niching techniques use an explicit concept of similarity to perform the actual niche formation. Often, the definition of this similarity function is difficult or requires a priori knowledge of the problem domain. This paper investigates the use of an explicit spatial structure to perform niching. This technique differs from other niching techniques in that it does not require a definition of similarity between individuals in order to form niches. Early results indicate that using this technique can allow a GA to maintain multiple peaks in some multimodal functions.
Exploring Options for Fast Domain Adaptation of Dependency Parsers

The paper explores different domain-independent techniques to adapt a dependency parser trained on a general-language corpus to parse web texts (online reviews, newsgroup posts, weblogs): co-training, word clusters, and a crowd-sourced dictionary. We examine the relative utility of these techniques as well as different ways to put them together to achieve maximum parsing accuracy. While we find that co-training and word clusters produce the most promising results, there is little additive improvement when combining the two techniques, which suggests that in the absence of large grammatical discrepancies between the training and test domains, they address largely the same problem, that of unknown vocabulary, with word clusters being a somewhat more effective solution for it. Our highest results were achieved by a combination of word clusters and co-training, significantly improving on the baseline, by up to 1.67%. Evaluation of the best configurations on the SANCL-2012 test data (Petrov and McDonald, 2012) showed that they outperform all the shared task submissions that used a single parser to parse test data, averaging the results across all the test sets.
The Binary Pulsar Is Not the Ultimate Test for the Theory of Gravity

General relativity can be formulated either as in its original geometrical version (Einstein, 1915) or as a field theory (Feynman, 1962). In the Feynman presentation of Einstein theory an hypothesis concerning the interaction of gravity to gravity, which was hidden in the original version, becomes explicit. This is nothing but the assumed extension of the validity of the equivalence principle not only for matter-gravity interaction, but also for gravity-gravity. Recently we have presented a field theory of gravity (from here on called the NDL theory) which does not contain such a hypothesis. We have shown that, for this theory, both the cosmological structure and the PPN approximation for the solar tests are satisfied. The proposal of this paper is to go one step further and to show that NDL theory is able to solve the problem of radiation emission by a binary pulsar in the same degree of accuracy as it was done in the GR theory. In the post-Newtonian order of approximation we show that the quadrupole formula of this theory is equal to the corresponding one in general relativity. Thus, the unique actual observable distinction of these theories concerns the velocity of gravitational waves, which becomes then the true ultimate test for gravity theory.
Wideband spectrum sensing for cognitive radio networks: a survey

Cognitive radio has emerged as one of the most promising candidate solutions to improve spectrum utilization in next generation cellular networks. A crucial requirement for future cognitive radio networks is wideband spectrum sensing: secondary users reliably detect spectral opportunities across a wide frequency range. In this article, various wideband spectrum sensing algorithms are presented, together with a discussion of the pros and cons of each algorithm and the challenging issues. Special attention is paid to the use of sub-Nyquist techniques, including compressive sensing and multichannel sub- Nyquist sampling techniques.
Surveys in Combinatorics 2009: Counting planar graphs and related families of graphs

In this article we survey recent results on the asymptotic enumeration of planar graphs and, more generally, graphs embeddable in a fixed surface and graphs defined in terms of excluded minors. We also discuss in detail properties of random planar graphs, such as the number of edges, the degree distribution or the size of the largest k-connected component. Most of the results we present use generating functions and analytic tools.
DESIGN OF A DUALBAND OMNIDIRECTIONAL PLANAR MICROSTRIP ANTENNA ARRAY

This paper proposes and designs a new method of dualband omnidirectional planar microstrip antenna array. A cascade of transposed microstrip lines have been adapted to produce efiective antenna structures that radiate omnidirectionally, with high e-ciency, low re∞ection, and useful radiation patterns. In this paper, the antenna structure has been found to have low-pass characteristics due to the periodic discontinuities at the transposed junctions. The analysis and design of the low-pass characteristic are performed according to the fllter theory of periodic structures and full-wave simulation. Therefore, a relatively higher frequency radiating array is appropriately designed with a low-pass flltering attribute, which prevents the lower frequency radiators from resonating at the relatively higher frequency. An air gap between adjacent transposed sections is proposed in order to enhance impedance matching, and a fork shape stub at the end is used as a virtual short point to enhance radiation at the higher frequency. Finally a single port dualband omnidirectional antenna array is obtained by locating the higher frequency radiating array with low-pass flltering attribute near the antenna feed and a relatively lower frequency radiating array at the end. An example of a dualband omnidirectional planar array is demonstrated experimentally, which operates at 2:32 » 2:56GHz and 5:65 » 6:10GHz with S11 < i10dB and a stable radiation pattern, and corresponding gains of 7:0 » 7:6dBi and 6:9 » 7:9dBi respectively.
HIOS: A host interface I/O scheduler for Solid State Disks

Garbage collection (GC) and resource contention on I/O buses (channels) are among the critical bottlenecks in Solid State Disks (SSDs) that cannot be easily hidden. Most existing I/O scheduling algorithms in the host interface logic (HIL) of state-of-the-art SSDs are oblivious to such low-level performance bottlenecks in SSDs. As a result, SSDs may violate quality of service (QoS) requirements by not being able to meet the deadlines of I/O requests. In this paper, we propose a novel host interface I/O scheduler that is both GC-aware and QoS-aware. The proposed scheduler redistributes the GC overheads across non-critical I/O requests and reduces channel resource contention. Our experiments with workloads from various application domains reveal that the proposed scheduler reduces the standard deviation for latency over state-of-the-art I/O schedulers used in the HIL by 52.5%, and the worst-case latency by 86.6%. In addition, for I/O requests with sizes smaller than a superpage, our proposed scheduler avoids channel resource conflicts and reduces latency by 29.2% compared to the state-of-the-art.