Miracle-dz/UniFAR-FTUs huggingface dataset:
Multi-task Reinforcement Learning for shared action spaces in Robotic Systems

Motion planning is an important primitive for a robotic or mechanical system with closed kinematic chains that lets the robot find the shortest or otherwise optimal path in order to reach its goal position. Sampling based methods provide an efficient solution for motion planning in basic robot systems. However, complex robotic systems such as humanoids have a large number of degrees-of-freedom (DoF) which makes motion planning extremely difficult. Further, these systems also have constraints such as self-collision avoidance and active balancing. Thus, incorporating these constraints in existing motion planners is complex and computationally expensive. Therefore, real time calculation of inverse kinematics (IK) with dynamically stable configuration is of high necessity in humanoid robots as they are highly susceptible to lose balance. In the first part of this thesis, a methodology to generate joint-space trajectories of stable configurations for motion planning using Deep Reinforcement Learning (RL) is proposed. The methodology is based on Deep Deterministic Policy Gradient (DDPG), where the robot autonomously learns the optimal behavior through a series of trial-and-error interaction with the environment. The proposed strategy was evaluated for various motion planning tasks on the highly articulated upper body of a humanoid model with 27 degree-of-freedom (DoF). Most reinforcement learning algorithms are inefficient for learning multiple tasks in complex robotic systems, where actions between different tasks are not fully separable and share a set of actions. For cases where task-specific actions are fully separable, each task policy can be learnt independently using different policy networks. However when the task-specific actions are not fully separable, the policies cannot be learnt independently. In such environments, a compound policy may be learnt with shared neural network parameters which performs multiple tasks concurrently. However such compound policy may get biased towards a task or the gradients from different tasks negate each other, making the learning unstable and sometimes less data efficient. The main contribution of this work is a novel framework for simultaneous learning of multiple tasks sharing a set of common actions in continuous action spaces, which we call as DiGrad (Differential Policy Gradient). The proposed framework is based on differential policy gradients (DPG) and can accommodate multi-task learning in a single actor-critic network. We also propose a simple heuristic in the differential policy gradient update in case of partially separable actions to further improve learning. The experimental results show that the framework supports efficient multi-task learning in complex robotic systems, outperforming related methods in continuous action spaces such as DDPG.
Creating Spatio-temporal Spectrum Maps from Sparse Crowdsensed Data

Shared spectrum systems is an emerging paradigm to improve spectrum utilization and thus address the unabated increase in mobile data consumption. The paradigm allows the “unused” spectrum bands of licensed Primary Users (PUs) to be shared with Secondary Users (SUs), without causing any harmful interference to the PUs. Allocation of spectrum to the SUs is done based on spectrum availability at the SUs' locations; such allocation of spectrum is greatly facilitated by spectrum occupancy maps. In this work, we address the problem of creating spectrum occupancy maps from spectrum occupancy data over a large number of instants, in the challenging scenario of dynamically (temporally) changing spectrum occupancy due to intermittent transmission of primary users. The problem is particularly challenging when the available occupancy data is very sparse spatially, i.e., only very few locations report sensing data at any particular instant. We design various techniques to create spectrum maps in the above context, including a promising correlation-based merging method that merges observation vectors iteratively in conjunction with careful interpolation. Using extensive simulation over data including real data from cellular and deployed WiFi settings, we show that the correlation-based method is very effective in generating high-accuracy spatiotemporal spectrum maps even with very sparse observation vectors (as long as the number of such vectors is large enough).
Space‒Time Evolution Analysis of the Nanjing Metro Network Based on a Complex Network

Many cities in China have opened a subway, which has become an important part of urban public transport. How the metro line forms the metro network, and then changes the urban traffic pattern, is a problem worthy of attention. From 2005 to 2018, 10 metro lines were opened in Nanjing, which provides important reference data for the study of the spatial and temporal evolution of the Metro network. In this study, using the complex network method, according to the opening sequence of 10 metro lines in Nanjing, space L and space P models are established, respectively. In view of the evolution of metro network parameters, four parameters—network density, network centrality, network clustering coefficient, and network average distance—are proposed for evaluation. In view of the spatial structure change of the metro network, this study combines the concept of node degree in a complex network, analyzes the starting point, terminal point, and intersection point of metro line, and puts forward the concepts of star structure and ring structure. The analysis of the space‒time evolution of Nanjing metro network shows that with the gradual opening of metro lines, the metro network presents a more complex structure; the line connection tends to important nodes, and gradually outlines the city’s commercial space pattern.
Femoral and sciatic nerve blockades and incision site infiltration in rabbits undergoing stifle joint arthrotomy

This study was designed to determine whether perineural injections of local anaesthetics decreases intraoperative nociception and improves postoperative analgesia in New Zealand White rabbits undergoing experimental stifle arthrotomy. All animals were anaesthetized using isoflurane and received morphine intramuscularly. The sciatic and femoral nerves of the leg to be operated on were located using a nerve stimulator (1 Hz, 0.5 mA). Rabbits were assigned to a treatment group (LB; n = 12) or a placebo group (P; n = 12) in a randomized blinded fashion. Group LB received lidocaine 2% (1 mg/kg) combined with bupivacaine 0.5% (0.25 mg/kg) injections around the sciatic and femoral nerves (0.1 mL/kg total volume per site) and subcutaneous infiltration of the incision site with lidocaine 1% (1.25 mg/kg). Group P received the same volume of 0.9% NaCl. Rabbits in group P required higher doses of intraoperative fentanyl and propofol to reduce heart rate and suppress increase in systolic blood pressure, and maintain an adequate anaesthetic plane. Interventional analgesia (buprenorphine and carprofen) was required significantly earlier in rabbits in group P (2 and 6 h after the first nerve blockade, respectively) based on assessment of their pain-related behaviour and range of motion. Using a visual analogue scale (0 mm= no pain to 100 mm= maximal possible pain), rabbits in group LB were judged to show significantly less pain compared with rabbits in group P (14 ± 10 mm and 37 ± 25 mm, respectively) 2 h after nerve blockade. In conclusion, this technique of perineural analgesia combined with incision site infiltration reduced intraoperative fentanyl requirements and improved postoperative analgesia in rabbits.
Seismic response of a set of blocks Réponse sismique d ' un ensemble de blocs partiellement encastrés dans un terrain mou

The seismic response of a set of ten non-equally spaced, non-equally sized, homogeneous blocks partially imbedded in a soft soil layer overlying a hard halfspace is studied numerically and shown to be generally larger, in terms of amplitude, duration and spatial variability than that of the ground in the presence of one block or in the absence of blocks. This is qualitatively similar to observed seismic response in the past at sites such as Mexico City and suggests that the built portion of cities may, under certain conditions, play a significant role in the global seismic response of a city.
A cost effective hybrid HVDC transmission system with high performance in DC line fault handling

A key challenge with OHL (Over Head Lines), is that temporary DC faults must be handled. Considering that in many HVDC applications the power is transferred in only one direction, half bridge MMC together with a diode valve for blocking DC fault current is a very cost effective solution. The diode valve enables the VSC converter to provide continuous reactive power support to its local AC grid, and also enables very fast active power recovery.
How Do Capital Requirements Affect Loan Rates? Evidence From High Volatility Commercial Real Estate

We study how bank loan rates responded to a 50% increase in capital requirements for a subcategory of construction lending, High Volatility Commercial Real Estate (HVCRE). To identify this effect, we exploit variation in the loan terms determining whether a loan is classified as HVCRE and the time that a treated loan would be subject to the increased capital requirements. We estimate that the HVCRE rule increases loan rates by about 40 basis points for HVCRE loans, indicating that a one percentage point increase in required capital raises loan rates by about 9.5 basis points.
Burnout and Medical Errors Among American Surgeons

Objective:To evaluate the relationship between burnout and perceived major medical errors among American surgeons. Background:Despite efforts to improve patient safety, medical errors by physicians remain a common cause of morbidity and mortality. Methods:Members of the American College of Surgeons were sent an anonymous, cross-sectional survey in June 2008. The survey included self-assessment of major medical errors, a validated depression screening tool, and standardized assessments of burnout and quality of life (QOL). Results:Of 7905 participating surgeons, 700 (8.9%) reported concern they had made a major medical error in the last 3 months. Over 70% of surgeons attributed the error to individual rather than system level factors. Reporting an error during the last 3 months had a large, statistically significant adverse relationship with mental QOL, all 3 domains of burnout (emotional exhaustion, depersonalization, and personal accomplishment) and symptoms of depression. Each one point increase in depersonalization (scale range, 0–33) was associated with an 11% increase in the likelihood of reporting an error while each one point increase in emotional exhaustion (scale range, 0–54) was associated with a 5% increase. Burnout and depression remained independent predictors of reporting a recent major medical error on multivariate analysis that controlled for other personal and professional factors. The frequency of overnight call, practice setting, method of compensation, and number of hours worked were not associated with errors on multivariate analysis. Conclusions:Major medical errors reported by surgeons are strongly related to a surgeon's degree of burnout and their mental QOL. Studies are needed to determine how to reduce surgeon distress and how to support surgeons when medical errors occur.
The Effects of Gliricidia-Derived Biochar on Sequential Maize and Bean Farming

The addition of biochar to soils can improve soil fertility and increase agricultural productivity. We carried out a field experiment in which biochar produced from Gliricidia sepium (Jacq.) Kunth ex Walp. was added to low-fertility Brazilian planosol and tested to increase the yield of maize (Zea mays) and snap beans (Phaseolus vulgaris L.) in sequential, organic cultivation. Biochar was applied at a 15 t/ha rate, combined or not with Azospirillum Brasiliense inoculation and organic fertilizer (Bokashi). The application of biochar resulted in an increase in soil pH and of the content of macronutrients such as phosphorus and potassium. Contrary to evidence from elsewhere, biochar had a limited effect on increasing maize yield. In the case of beans, when combined with fertilizer, biochar increased the production of beans pods and biomass, but the significant increase was observed only for inoculation. Beans are the principal component of Brazilian diet and increasing productivity of beans is of upmost importance for the poorest in Brazil, and in other tropical countries.
Interaction of Epstein-Barr virus DNA polymerase and 5'-triphosphates of several antiviral nucleoside analogs

The 5'-triphosphates of 1-(2'-deoxy-2'-fluoro-beta-D-arabinofuranosyl)-5-methyluracil, 1-(2'-deoxy-2'-fluoro-beta-D-arabinofuranosyl)-5-iodocytosine, 1-(2'-deoxy-2'-fluoro-beta-D-arabinofuranosyl)-5-methylcytosine, 9-[(2-hydroxyethoxy)methyl]guanine, and 9-(1,3-dihydroxy-2-propoxymethyl)guanine had lower Ki values for Epstein-Barr virus DNA polymerase than has been reported elsewhere for host DNA polymerase. Inhibition of DNA elongation by these analogs ranged from moderate to strong, suggesting that preferential incorporation of these analogs into DNA by virus DNA polymerase may contribute to antiviral selectivity.
Ratings of Perceived Exertion Throughout an Ultramarathon during Carbohydrate Ingestion

Ratings of perceived exertion (RPE) and their relation to selected physiological mediators during endurance exercise have been limited to laboratory settings. The present study characterized the pattern of change in perceptual responses and examined the relation between RPE and selected physiological variables during a long competitive sporting event, i.e., an ultramarathon race (68 km). A single-group design was employed in which all of the 28 subjects provided their perceptual ratings (11.9 ± 0.2) and heart rate (HR) (138 ± 3) periodically (every 5 km) throughout the ultramarathon, and selected physiological responses were measured before, once during (32 km), and immediately after the race. Runners drank approximately 1,000 ml of carbohydrate beverage each hour (60 gm carbohydrate hr.−1) and ate 2 or 3 carbohydrate gel packs per hour (25 gm each−1). RPE increased significantly throughout the course of the ultramarathon. No significant correlations were found between RPE and HR at any time throughout the ultramarathon. RPE averaged 10.4 ± 0.4 at the beginning of the race (6.4 km) and 15.4 ± 0.4 at the conclusion of the race. Subjects maintained 76.9 ± 1.1% of maximal heart rate; however, there was a tendency for heart rate to drop significantly after 32 km. Significant time main effects were found for serum glucose, insulin, and cortisol throughout the race. However, no significant correlations were found between RPE and any of these physiological mediators. These data indicate that during an ultramarathon race there is a progressive increase in RPE without an accompanying increase in HR or decrease in blood glucose. Therefore, during competitive self-paced exercise the perceptual responses may be mediated through other neurological and physiological mechanisms.
A Society-First Approach to Flood Mitigation

Flood mitigation involves the lessening or limitation of the adverse impacts of floods. The adverse impacts of floods often cannot be prevented fully, but their scale or severity can be substantially lessened by various strategies and actions. Floodplain managers tend to mainly use engineering techniques, urban planning and hazard-resistant construction for flood mitigation. After these strategies and actions have been put in place, the residual or unmanaged risk is then transferred to communities and emergency agencies for preparedness, response and recovery. However, there is compelling evidence from around the world that shows that disasters are socially produced and their origins lie within the transferred residual risk. The causes of disasters are not found in nature, or the limitations of engineering and planning, but rather in the workings of society itself. Therefore, a key element of mitigating future flood disasters is to better understand the social forces that produce them, and then to take action to address those forces. This paper explores psychological and sociological evidence from around the world to identify key society-first flood mitigation strategies. It finds that flood mitigation options should include the formation of social capital (trust, shared norms, networks), capacity building (e.g. leadership skills) and psychological resilience building (including for vulnerable populations). There are several implications for floodplain managers related to these findings including the need to: • Work with psychologists, sociologists and local council community development staff to couple existing flood mitigation strategies with society-first ones. This will further minimise residual risk in flood-prone communities. • Broaden the scope of content in community flood education and engagement programs to include learning about the value of connected communities and ways to build personal resilience to help cope with a flood event.
Behavioral approach to policy making of the internet banking industry: The evaluation of factors influenced on the customers' adoption of internet banking services

This study combines the Theory of Perceived Risk (TPR) with the Theory of planned Behavior (TPB) to understand customers’ adoption of internet banking in Iran. The questionnaires are designed to survey the randomly selected sample of Iranian national bank customers. The selected sample contains 349 customers who responded to the questionnaire. This research used the structural equation modeling (SEM) to test the causalities in the proposed model and the strength of the hypothesized relationships. The results provide support of the integrated TPR with TPB models and confirm its robustness in predicting customers' intention for adoption of internet banking; also it shown that the security risk has the most destructive effect on the intention of using internet banking, as well as financial risk, and it is made strongly by attitude.
Variation in assessing the need for change of snacking habits in schoolchildren's oral health counselling.

OBJECTIVES This study examined counselling communication activities that were used for assessing schoolchildren's need for change of snacking habits. In addition, the schoolchildren's assessment of their need for change was explored after a follow-up year (2002-2003). MATERIAL AND METHODS The follow-up research data included 66 counselling sessions in 2002 and 31 counselling sessions in 2003, with 31 schoolchildren. The sessions were conducted by four dental hygienists. The audio-taped data were analysed qualitatively by using content analysis. RESULTS In 2002, the needs assessment was realized in three ways. Infrequently, the schoolchildren either disclosed their need for change or the counsellor explicitly determined the schoolchildren's need for change. Usually, however, the schoolchildren's needs assessment for change occurred through the counsellors' communication activities of assessment, advice, and change-inducing questions. In one-third of the cases, the schoolchildren's need for change remained ambiguous during the sessions in 2002. With respect to positive changes in 2003, the schoolchildren themselves were aware of the need for change. Alternatively, the sessions included change discussion that addressed readiness for change and making changes during the counselling in 2002. CONCLUSION Our results revealed that a thorough needs assessment of schoolchildren's snacking habits provides a foundation for behaviourally focused counselling.
Factors influencing trust and partnership in shipper-carrier relationship: How do these affect electronic trading transactions in South Korea?

In electronic trading transaction, forming trust is very important in business relations due to its anonymity feature or the many non-face-to-face transactions with numerous and unspecified interested parties. This study centered on the importance of trust and partnership in shipper-carrier relationships for the vitalization of electronic trading transactions in South Korea. Thus, this study aimed to identify the characteristics of cooperative relations between interested parties through trust and partnership, focusing on the carriage contract between shipper and carrier under an environment of electronic trading transactions. Specifically, this study drew determinants influencing the trust and partnership between shipper and carrier in electronic trading transactions through an empirical analysis of Korean trading companies. In terms of transaction cost, there may be an impact of transaction frequency on trust. Marketing literature judges that trust is formed when the seller tries to build up a trust relationship and when man-to-man interaction takes place frequently between the buyer and the seller. Also, in terms of the theory of relational contract, there may be significant impact on the formation of trust such as commercial information interchange and human networks, etc. To sum up, cooperation in transactions is influenced by trust in a carriage contract under electronic trading transaction, and trust is influenced by the frequency of transactions with a specific carrier, the specific carrier's capability to provide service, the specific carrier's sincerity, the specific carrier's reputation and the size of the business. Key words: Trust, partnership, e-trade, shipper-carrier relationship.
Factors influencing the seasonal abundance of Aedes ( Stegomyia ) aegypti and the control strategy of dengue and dengue haemorrhagic fever in Thanlyin Township , Yangon City ,

From June 2006 to May 2007, mosquito surveys were conducted in Thanlyin Township, Yangon City, Myanmar, to determine factors influencing the abundance of Aedes aegypti (Stegomyia aegypti) during the rainy season. Both the biological and environmental factors were included in this study. Increase in the hatchability of egg, larval survival rate, the shortened larval life-span and increased pupation rates supplemented by rainfall (i.e. continuous flooding of the containers, stimulate the continuous hatching of eggs) were observed for correlation with the increase in population density of Ae. aegypti during the rainy season in the study area. Control strategy of Ae. aegypti to analyze the infestation in the community (study area) with larval Ae. aegypti, integrated management measures including health education, attitudes and practices regarding dengue and dengue haemorrhagic fever, transmission of the disease and possible preventive measures, reduction of breeding sites and testing the efficacy of Bacillus thuringiensis israelensis (B.t.i.) with respect to the reduction level of Ae. aegypti larvae in breeding sources, were taken into consideration.