Miracle-dz/UniFAR-FTUs huggingface dataset:
Risk based motion planning and navigation in uncertain dynamic environment

Navigation in large dynamic spaces has been often adressed using deterministic representations, fast updating and reactive avoidance strategies. However, probabilistic representations are much more informative and their use in mapping and prediction methods improves the quality of obtained results. The paper proposes a new concept to integrate a probabilist collision risk function linking planning and navigation methods with the perception and the prediction of the dynamic environments. Moving obstacles are supposed to move along typical motion patterns represented by Gaussian Processes. The likelihood of the obstacles' future trajectory and the probability of occupation are used to compute the risk of collision. The proposed planning algorithm is a sampling-based partial planner guided by the risk of collision. The perception and prediction information are updated on-line and reused by the planner. The decision takes into account the most recent estimation. Results show the performance for a robotic wheelchair in a simulated environment among multiple dynamic obstacles.
New Nonthermal Filaments at the Galactic Center: Are They Tracing a Globally Ordered Magnetic Field?

New high-resolution, wide-field 90 cm VLA observations of the Galactic center (GC) region by Nord and coworkers have revealed 20 nonthermal filament (NTF) candidates. We report 6 cm polarization observations of six of these. All of the candidates have the expected NTF morphology, and two show extended polarization, confirming their identification as NTFs. One of the new NTFs appears to be part of a system of NTFs located in the Sgr B region, 64 pc in projection north of Sgr A. These filaments cross the Galactic plane with an orientation similar to the filaments in the Galactic center radio arc. They extend the scale over which the NTF phenomena is known to occur to almost 300 pc along the Galactic plane. Another NTF was found in the Galactic plane south of the Sgr C filament but with an orientation of 45° to the Galactic plane. This is only the second of 12 confirmed NTFs that is not oriented perpendicular to the Galactic plane. An additional candidate in the Sgr C region was resolved into multiple filamentary structures. Polarization was detected only at the brightness peak of one of the filaments. Several of these filaments run parallel to the Galactic plane and can be considered additional evidence for nonpoloidal magnetic fields at the GC. Together the 90 and 6 cm observations indicate that the GC magnetic field may be more complex than a simple globally ordered dipolar field.
The honeycomb model of GL(n) tensor products I: proof of the saturation conjecture

We introduce the honeycomb model of BZ polytopes, which calculate Littlewood-Richardson coefficients, the tensor product rule for GL(n). Our main result is the existence of a particularly well-behaved honeycomb with given boundary conditions (choice of triple of representations to be tensored together). This honeycomb is necessarily integral, which proves the "saturation conjecture", extending results of Klyachko to give a complete answer to which L-R coefficients are positive. This in turn has as a consequence Horn's conjecture from 1962 characterizing the spectrum of the sum of two Hermitian matrices.
Networked switching and polymorphing control of electrical loads with web and wireless sensor network

All the electrical load cannot be controlled using occupancy sensors in buildings/home especially in large public building, this results need for manual control on supervisory manner due to importance of the load or the service requirement. This requires switch box to be fixed on wall/nearby close to the load. To operate the same the person has to travel to the switch box. As the technology keeps growing to serve the mankind the expectation keeps on increasing There is no limit for sophistication. This paper intended to demonstrate web based control for Electrical loads in combination with the wireless sensor network based switch box which provides local mobility to control the load and also the same function can be done through internet. We introduce the wireless sensor network based mobile switch box for sophistication along with embedded web server based control the user can use the wsn switch box or internet to control the electrical load. The load status can be monitored in the web page. We also introduce the concept called polymorphing control by which one mobile switch box designed for one location can be used to control the electrical load in other location. We use open standard embedded controller Arduino mega with Ethernet and xbee nodes. The switch box operates at 3V which more safe and saves the wiring cost partially. Also the power to room completely cut off when the loads were in off condition by fixing the controller outside the room which increases the fire safety. This flexible operation brings energy efficiency.
A Small Cysteine-Rich Protein from the Asian Soybean Rust Fungus, Phakopsora pachyrhizi, Suppresses Plant Immunity

The Asian soybean rust fungus, Phakopsora pachyrhizi, is an obligate biotrophic pathogen causing severe soybean disease epidemics. Molecular mechanisms by which P. pachyrhizi and other rust fungi interact with their host plants are poorly understood. The genomes of all rust fungi encode many small, secreted cysteine-rich proteins (SSCRP). While these proteins are thought to function within the host, their roles are completely unknown. Here, we present the characterization of P. pachyrhizi effector candidate 23 (PpEC23), a SSCRP that we show to suppress plant immunity. Furthermore, we show that PpEC23 interacts with soybean transcription factor GmSPL12l and that soybean plants in which GmSPL12l is silenced have constitutively active immunity, thereby identifying GmSPL12l as a negative regulator of soybean defenses. Collectively, our data present evidence for a virulence function of a rust SSCRP and suggest that PpEC23 is able to suppress soybean immune responses and physically interact with soybean transcription factor GmSPL12l, a negative immune regulator.
Robust Predictive Models on MOOCs : Transferring Knowledge across Courses

As MOOCs become a major player in modern education, questions about how to improve their eﬀectiveness and reach are of increasing importance. If machine learning and predictive analytics techniques promise to help teachers and MOOC providers customize the learning experience for students, diﬀerences between platforms, courses and iterations pose speciﬁc challenges. In this paper, we develop a framework to deﬁne classiﬁcation problems across courses, provide proof that ensembling methods allow for the development of high-performing predictive models, and show that these techniques can be used across platforms, as well as across courses. We thus build a universal framework to deploy predictive models on MOOCs and demonstrate our case on the dropout prediction problem.
E2SIW: An Energy Efficient Scheme Immune to Wormhole Attacks in Wireless Ad Hoc Networks

Wormhole attacks are considered as a severe security threat in multi-hop wireless ad hoc networks. In this paper, we propose an Energy-Efficient Scheme Immune to Wormhole attacks (our so-called E2SIW). This protocol uses the location information of nodes to detect the presence of a wormhole, and in case a wormhole exists in the path, it finds alternate routes involving the nodes of the selected path so as to obtain a secure route to the destination. The protocol is capable of detecting wormhole attacks employing either hidden or participating malicious nodes. Simulations are conducted, showing that E2SIW can detect wormholes with a high detection rate, less overhead, and can consume less energy in less time, compared to the De Worm wormhole detection protocol, chosen as benchmark.
The impact of stakeholders' geographical distribution on managing requirements in a multi-site organization

The increasing globalization of software industry demands an investigation of requirements engineering (RE) in multisite software development organizations. Requirements engineering is a task difficult enough when done locally-but it is even more difficult when cross-functional stakeholder groups specify requirements across cultural, language and time zone boundaries. This paper reports on a field study that investigated RE challenges introduced by stakeholders' geographical distribution in a multi-site organization. The goal was to examine RE practice in global software development, to formulate recommendations for improvement as well as to provide directions for future research on methods and tools. Based on the empirical evidence, we have constructed a model of how remote communication and knowledge management, cultural diversity and time differences negatively impact on requirements gathering, negotiation and specification. Findings reveal that aspects such as a lack of a common understanding of requirements, together with reduced awareness of working local context, trust level and ability to share work artifacts significantly challenge the effective collaboration of remote stakeholders in negotiating a set of requirements that satisfies geographically distributed customers. The paper concludes with recommendations for improving RE practice in this setting.
A study of reinforcement learning with knowledge sharing -Applications to real mobile robots-

In this paper, we consider multi-agent system in which every agents have own tasks that differs each other. We propose a method that decreases learning time of reinforcement learning by using the model of environment. In the proposed algorithm, the model is created by sharing the experiences of agents each other. To demonstrate the effectiveness of the proposed method, simulations of a puddle world and experiments of a maze world have been carried out. As a result effective behaviors have been obtained quickly
Accurate identification but no priming and chance recognition memory for pictures in RSVP sequences

In 1969, Potter and Levy reported that recognition memory of accurately perceived RSVP pictures was extremely low, an effect that they attributed to disruption of memory consolidation. Here we report that the repetition of an RSVP picture (72-126 msec/picture) up to 31 times prior to when it became a target had no effect on identification accuracy. At these rates, forced-choice recognition memory was at chance. Single presentations of the pictures outside of the RSVP sequences readily resulted in substantial priming of their identification within the sequences. We offer a neural interpretation of Potter and Levy's explanation, as well as contemporary two-stage accounts of RSVP memory and attentional phenomena, based on the recent finding (Tovee & Rolls, 1995) that most of the information in inferior temporal cells is conveyed in the first 50msec of firing but the cells continue their activity for an additional 350msec. The additional activity, by our account, is required for memory and it is this activity that may be disrupted by attention to the next image during RSVP presentations. The critical factor for priming, if not memory in general, may be attention to the stimulus for a few hundred milliseconds beyond that required for its identification. Single-trial presentations thus manifest robust memory and priming effects - even when the stimulus cannot be identified - whereas RSVP conditions in which the stimulus can be identified result in poor memory.
Influence of Percutaneous Coronary Intervention on Coronary Microvascular Resistance Index

Background—Coronary microvascular resistance during maximal hyperemia is generally assumed to be unaffected by percutaneous coronary interventions (PCIs). We assessed a velocity-based index of hyperemic microvascular resistance (h-MRv) by using prototypes of a novel, dual-sensor (Doppler velocity and pressure)–equipped guidewire before and after PCI to test this hypothesis. Methods and Results—Aortic pressure, flow velocity (h-v), and pressure (h-Pd) distal to 24 coronary lesions were measured simultaneously during maximal hyperemia induced by intracoronary adenosine. Measurements were obtained in the reference vessel before PCI and in the target vessel before and after PCI, stenting, and ultrasound-guided, upsized stenting. h-Pd increased from 57.9±17.0 to 85.5±15.6 mm Hg, and h-MRv (ie, h-Pd/h-v) decreased from 2.74±1.40 to 1.58±0.61 mm Hg · cm−1 · s after stenting (both P<0.001). The reduction in h-MRv accounted for 34% of the decrease in total coronary resistance achieved by PCI. h-MRv of the target vessel after PCI was lower than that of the corresponding reference vessel despite a higher h-Pd in the reference vessel (P<0.01). Post-PCI baseline MRv was correlated with baseline Pd before PCI (P<0.01). Conclusions—PCI-induced restoration of Pd resulted in a reduction of h-MRv in accordance with the pressure dependence of h-MRv. The decrease in h-MRv to a level below that of the corresponding reference vessel in the immediate post-PCI period and a lowered baseline MRv suggest microvascular remodeling induced by long-term exposure to a low-pressure environment.
Service system fundamentals: Work system, value chain, and life cycle

Service systems produce all services of significance and scope, yet the concept of a service system is not well articulated in the service literature. This paper presents three interrelated frameworks as a first attempt to define the fundamentals of service systems. These frameworks identify basic building blocks and organize important attributes and change processes that apply across all service systems. Although relevant regardless of whether a service system uses information technology, the frameworks are also potentially useful in visualizing the realities of moving toward automated service architectures. This paper uses two examples, one largely manual and one highly automated, to illustrate the potential usefulness of the three frameworks, which can be applied together to describe, analyze, and study how service systems are created, how they operate, and how they evolve through a combination of planned and unplanned change.
Object Recognition with Kinect Sensor

This paper proposes a new algorithm for object recognition with high precision and an efficient execution time using the Kinect sensor. The proposed algorithm is based on geometric hashing and provides a more detailed geometric description of objects that can be further used to identify object parts or other information localized on the object's surface. The algorithm was tested on a dataset that consists of 11 reference objects and 32 snapshots. The obtained precision was 81%.
The Timing of Conscious States

Striking experimental results by Benjamin Libet and colleagues have had an impor-tant impact on much recent discussion of consciousness. Some investigators havesought to replicate or extend Libet’s results (Haggard, 1999; Haggard & Eimer, 1999;Haggard, Newman, & Magno, 1999; Trevena & Miller, 2002), while others havefocused on how to interpret those ﬁndings (e.g., Gomes, 1998, 1999, 2002; Pockett,2002), which many have seen as conﬂicting with our commonsense picture of mentalfunctioning.Libet’s experiments focus on the timing of two types of conscious mental occur-rence. One has to do with subjects’ conscious experiences of somatosensory stimula-tion. Libet’s work shows that these conscious experiences can occur as much as 500ms later than the stimulation, though subjects also automatically experience thosestimulations as occurring earlier. This subjective referral of sensations backward intime results in the sensations’ seeming to occur within 10 to 20 ms of the actualstimulus (Libet, 1981; see Libet, 1978; Libet, Wright, Feinstein, & Pearl, 1979). Other experimental work seems to show that, when we consciously decide to dosomething, the neural event that initiates the action occurs prior to that consciousvolition. This result seems to conﬂict with our commonsense idea that volitions causevoluntary actions. But Libet believes that a second ﬁnding diminishes somewhat thatapparent conﬂict. Although the neural initiation of actions we consciously decide onoccurs prior to our conscious decisions, subjects retain some ability consciously tocall the action off. Conscious decisions to ‘‘veto’’ the action can occur after thenonconscious neural initiation and still prevent the nonconscious initiation from lead-ing all the way to action.Both results appear to conﬂict with our commonsense picture of how mental func-tioning interacts with bodily occurrences. As Susan Pockett puts it, Libet’s results‘‘seem to deny to consciousness any major role in the conduct of our day-to-dayaffairs’’ (2002). Our conscious experiences of bodily stimuli may, she suggests, occurtoo late to inﬂuence our voluntary reactions to those stimuli. And the conscious voli-tions we think determine voluntary actions actually occur after that behavior is initi-ated. Perhaps most striking, this second result seems to compromise our sense of
Negotiation of Meaning and Codeswitching in Online Tandems

This paper analyses negotiation of meaning and codeswitching in discourse between 29 language students from classes at a German and a North American university, who teamed up with their peers to collaborate on projects whose results they had to present to the other groups in the MOO during the final weeks of the project. From October to December 1998, these learners, who formed a total of eight groups, met twice a week for 75 minutes in MOOssiggang MOO, a textbased environment that can be compared to chatrooms, but which also differs from these in several important respects. The prime objective of the study was to give those students who participated in the online exchanges a chance to meet with native speakers of their target language in real time and to investigate if the concept of tandem learning as promoted by initiatives like the International Tandem Network could be successfully transferred from e-mail-based discourse to a format in which the learners could interact with each other in real time over a computer network. An analysis of electronic transcripts from eight successive meetings between the teams suggests that online tandem does indeed work even if the learners have to respond more quickly to each other than if they had communicated with their partners via electronic mail. Yet a comparison of the data (184,000 running words) with findings from research on the negotiation of meaning in face-to-face discourse also revealed that there was a marked difference between conversational repair in spoken interactions and in the MOO-based exchanges. This paper discusses potential reasons for these differences, investigates the learners' exploitation of the bilingual format of their exchange, and thereby attempts to demonstrate how online tandems can contribute to successful second language acquisition (SLA) and the development of learners' metalinguistic abilities.
4D Wormhole with Signature Change in the Presence of Extra Dimensions

A regular vacuum solution in 5D gravity on the principal bundle with the U(1) structural group is proposed as a 4D wormhole. This solution has two null hypersurfaces where an interchange of the sign of some 5D metric components happens. For a 4D observer living on the base of this principal bundle this is a wormhole with two asymptotically flat Lorentzian (Euclidean) spacetimes connected by a Euclidean (Lorentzian) throat. The 4D Lorentzian observer sees these two null hypersurfaces as electric charges.
Leader-Member Exchange: Antecedents and Consequences of the Cadre and Hired Hand*

Castleberry and Tanner (1986) introduced Leader-Member Exchange (LMX) conceptually into the sale literature. This study evaluates the scale with 189 salespeople using LMX-7 investigating its reliability, dimensionality and convergent and discriminant validity. MANOVAS were run to determine different variables which may differentiate the “cadre” from the “hired-hand. ” Demographics, personality traits, and outcome variables were investigated. The results support the use of LMX for future research and offer practitioners ample “food for thought. ”
Feature-based graph visualization

One of the oldest problems in graph drawing is producing layouts of undirected graphs in two and three dimensions. A graph G(V,E) consists of a set of nodes V and a set of relationships or edges E such that E ⊆ V ×V . A drawing or layout of this graph is an assignment of coordinates to the nodes in V . Most of graph drawing has been focused on producing uniform views of this data. These algorithms treat every node and edge in the data equally. However, these drawings often hide important features in the data. These features can be thought of as subgraphs of interest. They are detected recursively and can be defined in graph hierarchy terminology. Features close to the leaf level of the hierarchy, or relationships just beyond strict adjacency of the nodes, are low-level structure. Features close to the root of the hierarchy are high-level structure. The many levels of structure, which may exist between these two extremes, is mid-level structure. The principal theme of this thesis is a feature-based approach to graph drawing. In feature-based graph drawing, we detect these levels of structure explicitly and exploit them for drawing. This methodology fits well with the goals of visualization, since it presents features in large datasets so that they are visually apparent. We have already explored two such approaches to featurebased graph drawing. In the first, TopoLayout, topological structure in the graph is recursively detected and exploited for drawing. In our second approach, SPF, high-level tree structure is exploited to draw quasi-trees. These two approaches demonstrate promise for a feature-based approach to graph drawing in terms of running time and visual quality results.
Gaze input for mobile devices by dwell and gestures

This paper investigates whether it is feasible to interact with the small screen of a smartphone using eye movements only. Two of the most common gaze-based selection strategies, dwell time selections and gaze gestures are compared in a target selection experiment. Finger-strokes and accelerometer-based interaction, i. e. tilting, are also considered. In an experiment with 11 subjects we found gaze interaction to have a lower performance than touch interaction but comparable to the error rate and completion time of accelerometer (i.e. tilt) interaction. Gaze gestures had a lower error rate and were faster than dwell selections by gaze, especially for small targets, suggesting that this method may be the best option for hands-free gaze control of smartphones.
Fixed point theorems for (;; ; )-contractive multi-valued mappings on - -complete partial metric spaces

In this paper, the notion of strictly (;; ; )-contractive multi-valued mappings is introduced where the continuity of is relaxed. The existence of xed point theorems for such mappings in the setting of - -complete partial metric spaces are provided. The results of the paper can be viewed as the extension of the recent results obtained in the literature. Furthermore, we assure the