Miracle-dz/UniFAR-FTUs huggingface dataset:
Design and control of an autonomous variable-pitch quadrotor helicopter

The aerospace community, particularly in academia, has seen a recent rise in the popularity of fixed-pitch quadrotor helicopters. The fixed-pitch quadrotor is popular largely because of its mechanical simplicity relative to other hovering aircraft. This simplicity, however, places fundamental limits on the achievable actuator bandwidth and the types of maneuvers possible to fly. This thesis explores the extent to which the addition of variable-pitch propellers to a quadrotor helicopter overcomes these limitations. A detailed analysis of the potential benefits of variable-pitch propellers over fixed-pitch propellers for a quadrotor is presented. This analysis is supported with experimental testing to show that variable-pitch propellers, in addition to allowing for efficient generation of negative thrust, substantially increase the maximum rate of thrust change. A nonlinear, quaternion-based control algorithm is presented for controlling the quadrotor. An accompanying trajectory generation method is detailed with an optimization routine for finding minimum-time paths through waypoints. The control law and trajectory generation algorithms are implemented in simulation and on a custom variable-pitch quadrotor. The quadrotor attitude control is performed on the vehicle using a custom autopilot. Position and attitude measurements are made with an off-board motion capture system. Several flight tests are shown with a particular emphasis on the benefits of a variable-pitch qaudrotor over a standard fixed-pitch quadrotor for performing aggressive and aerobatics maneuvers. To the best of the author's knowledge, this work marks the first documented, autonomous variable-pitch quadrotor built for agile and aggressive flight.
Privacy Preserving Detection of Patterns in Event Sequences

We propose to use pattern matching on data streams from sensors in order to monitor and detect events of interest. We consider a privacy preserving pattern matching problem where patterns are given as sequences of constraints on input elements. We describe a new privacy preserving pattern matching algorithm over an infinite alphabet A where a pattern P is given as a sequence {p<sub>i</sub> <sub>1</sub>, p<sub>i</sub> <sub>2</sub>,. , p<sub>i</sub> <sub>m</sub>} of predicates pi<sub>j</sub> defined on A. The algorithm address the following problem: given a pattern P and an input sequence t, find privately all positions in t where P matches t. The privacy preserving in the context of this paper means that sensor measurements will be evaluated as predicates p<sub>i</sub>(e<sub>j</sub>) privately, that is, sensors will not need to disclose the measurements x<sub>i</sub> <sup>(j)</sup>, x<sub>2</sub> <sup>(j)</sup>,. , x<sub>n</sub> <sup>(j)</sup> to the evaluator.
Data Integration in Vector (Vertically Partitioned) Databases

Data integration requires not only the absorption of data, b ut the transformation of that data. For instance, manufacturing companies must combine customer o rd information for ordering supplies as well as for financial planning; large banks may need to produc e consolidated profit-and-loss statements daily, or even more frequently, to manage liquidity and risk . The data may be spread across many heterogeneous databases located in different countries, w ith different standards of cleanliness, described in different currencies or different units of measure. The t ransformation rules may also change over time when, for instance, companies merge or split, or new rul es of accounting are imposed. Clearly it is best if the data integration tool is flexible enough not o nly to accomodate new sources of data, but also to change the rules of combining that data. This pape r describes one data integration tool, Aleri Inc.’s Modeler. We focus primarily on one aspect of Mod eler: the use of vectorization both as an implementation technique and as the fundamental unit of com putation. Vectorization improves both the efficiency and the ease-of-use of Modeler.
IMPLICATIONS OF AN ECONOMIC THEORY OF CONFLICT: Hindu-Muslim Violence in India BY ANIRBAN MITRA

We study inter-group conflict driven by economic changes within groups. We show that if group incomes are “low”, increasing group incomes raises violence against that group, and lowers violence generated by it. These correlations are tests for group aggression or victimization, which we apply to Hindu-Muslim violence in India. Our main result is that an increase in per-capita Muslim expenditures generates a large and significant increase in future religious conflict, an increase in Hindu well-being has no significant effect. This robust empirical finding, combined with the theory, suggests that Hindu groups have been primarily responsible for Hindu-Muslim violence in post-Independence India. Journal of Economic Literature Classification Numbers: C33, D31, D74.
The Value of Real and Financial Risk Management

We characterize a firm as a nexus of activities and projects with their associated cashflows. Production and operations activities and real risk management activities distribute cashflows over states of nature and time periods, leading to a transformation possibility frontier similar to a production function. The concavity of the frontier induces a firm to react more or less to changes in market prices of risks to attain the new value maximizing portfolio of real activities. Financial risk management helps implement these real project changes and alleviate the related reorganization and coordination problems. Empirically, we show that a firm's reactiveness to variations in risk prices is linked to its hedging activities. We also argue that financial risk management allows a firm to meet cashflow-at-risk or value-at-risk constraints at little or no cost. Nous caracterisons une entreprise comme un ensemble de projets avec les flux monetaires qui y sont associes. Les activites de production et d'exploitation de meme que les activites de gestion reelle des risques distribuent ces flux entre divers etats de la nature et periodes. Il en resulte une frontiere des possibilites de transformation des flux similaire a une frontiere de production. La concavite de la frontiere amene la firme a reagir plus ou moins aux changements dans les prix des risques pour atteindre le nouveau portefeuille optimal d'activites reelles. La gestion financiere des risques aide a implementer ces modifications dans les projets et allege ainsi les problemes associes de reorganisation et de coordination. Empiriquement, nous montrons que le degre de reactivite de la firme aux variations des prix des risques influence ses activites de couverture. De plus, nous montrons que la gestion financiere des risques permet a l'entreprise de rencontrer des contraintes de cashflow-a-risque ou de valeur-a-risque a peu ou pas de frais.
The (Economic) Effects of Lay Participation in Courts - A Cross-Country Analysis

Legal philosophers like Montesquieu, Hegel and Tocqueville have argued that lay participation in judicial decision-making would have benefits reaching far beyond the realm of the legal system narrowly understood. From an economic point of view, lay participation in judicial decision-making can be interpreted as a renunciation of an additional division of labor, which is expected to cause foregone benefits in terms of the costs as well as the quality of judicial decision-making. In order to be justified, these foregone benefits need to be overcompensated by other – actually realized – benefits of at least the same magnitude. This paper discusses pros and cons of lay participation, presents a new database and tests some of the theoretically derived hypotheses empirically. The effects of lay participation on the judicial system, a number of governance variables but also on economic performance indicators are rather modest. A proxy representing historic experiences with any kind of lay participation is the single most robust variable.
Work Values, Endogenous Sentiments and Redistribution

We examine the interactions between individual behavior, sentiments and the social contract in a model of rational voting over redistribution. Agents have moral work values. Individuals self-esteem and social consideration of others are endogenously determined comparing behaviors to moral standards. Attitudes toward redistribution depend on self-interest and social preferences. We characterize the politico-economic equilibria in which sentiments, labor supply and redistribution are determined simultaneously. The equilibria feature di¤erent degree of social cohesion and redistribution depending on pre-tax income inequality. In clustered equilibria the unskilled are accounted responsible for their low income since they work less than the skilled and redistribution is low. Keywords: Social Contract, Endogenous Sentiments, Voting over Taxes, Moral Work Values, Redistribution, Income Inequality, Politico-Economic Equilibria. JEL Classi cation: D64, D72, Z13, H3 and J2 We are very grateful to Roland Bénabou, Tim Besley, Melvyn Coles, Armin Falk, Eliana La Ferrara, Humberto Llavador, Kalle Moene, Sevi Mora, Debraj Ray, Uwe Sunde and audiences at UPF Barcelona, Bocconi Milan, Bologna, Bogazici, Birmingham, Carlos III de Madrid, CORE, IAE Barcelona, Ille Baleares, Queens, Rice, Salamanca, Siena, Stockholm and Venice. We thank Javier Valbuena for excellent research assistantship. Financial support from the Polarization and Conict Project CIT-2-CT-2004-506084 funded by the European Commission-DG Research Sixth Framework Programme, Barcelona Economics (CREA), CICYT grant no. SEJ2006-00369, and the Instituto de Estudios Fiscales are gratefully acknowledged. Contacts: Cervellati: University of Bologna, IAE Institut dAnalisi Economico and IZA Bonn, m.cervellati@unibo.it. Address: Piazza Scaravilli, 2 40126 Bologna, Italy. Esteban: IAE Institut dAnalisi Economico, joan.esteban@uab.es. Address: CSIC, Campus de la UAB, 08193 Bellaterra-Barcelona, Spain. Kranich: University at Albany, SUNY, lkranich@albany.edu. Address: 1400 Washington Avenue, Albany, NY 12222, USA.
Organizational working time regimes: Drivers, consequences and attempts to change patterns of excessive working hours

A 40-hour working week is the norm in Europe, yet some organizations require 60 or more working hours and in investment banks an alarming 120-hour weeks are known to be worked. What is more, these organizations often require workers to be permanently on call and demonstrate high production rates. Consequences of such practices include frazzled employees, with their families’ and their own health under pressure. This article introduces our special issue of the German Journal of Human Resource Management. It tackles the many reasons behind excessive work hours and failed attempts to change working time arrangements in organizations. It first identifies three core ideas in previous research, namely the dispersed nature of regimes of excessive working hours, their high levels of persistence and their constitution at multiple levels of analysis. It then summarizes the contributions in this special issue. Finally, it proposes avenues for future research, such as focusing on the genesis and the historicity of organizational working time regimes, studying the interrelation of factors across multiple levels of analysis, and probing new theories to explain the extreme persistence of excessive working hours. The overarching aim of our special issue in this core area of human resource management is to contribute to an understanding of organizational working time regimes and the tenacity of excessive working hours in an effort to deepen our knowledge of how to change them.
A Taxonomy of Propositional Logic Constraint Patterns for the Unified Modeling Language

— The Unified Modeling Language (UML) supports the capture and representation of conceptual semantics in analysis and modeling of arbitrary domains of discourse. It is now being used for modeling of database and agent-oriented applications in addition to its use with object-oriented software. An important activity in conceptual modeling is the capture and expression of domain constraints on the underlying data and object states. UML supports the capture of declarative constraints both directly in the graphical class diagram notation and in the separately denoted Object Constraint Language (OCL) syntax. In this paper, we present a set of constraint patterns that have been formalized for capturing a broader category of semantic constraints directly using the class diagram notation. The objective of this work is to enrich UML static models for greater precision in conceptual modeling applications by formalizing the syntax and semantics of these constraint patterns, thus giving analysts a tool for capturing these common patterns directly in the UML class diagram with a minimum of additional notation—without requiring a separate expression of constraints in the adjunct OCL syntax. We present a taxonomy for propositional constraints, discuss their semantics through the use of logic truth tables and Karnaugh maps, and illustrate their usage in UML class diagrams by way of an example from the Unix security domain.
Hypothesis Testing of Edge Organizations : Modeling the C 2 Organization Design Space

The Edge represents a fresh approach to organizational design. It appears to be particularly appropriate in the context of modern military warfare, but also raises issues regarding comparative performance of alternate organizational designs. Building upon prior C2 research, we seek to understand the comparative performance of the Edge and all organizational forms, across 21 st Century and all mission-environmental conditions, and hence characterize the entire organization design space systematically. Leveraging recent advances in computational organization theory, we extend our campaign of experimentation to specify six, diverse, archetypal organizational forms from theory, and evaluate their comparative performance empirically. Results confirm that no single organizational form is " best " for all circumstances; highlight contingent circumstances for which the Edge and other kinds of organizations perform relatively better than one another; and elucidate specific performance measures that provide multidimensional insight into different aspects of organizational performance. This research grounds the Edge organization firmly in well-established organization theory, and provides empirical support for and against claims regarding this novel organizational form, particularly in terms of agility. Additionally, through organizational modeling and analysis, we articulate an organization design space for the first time. We discuss the model, experimental setup and results in considerable detail, and offer theoretical implications for the organization scholar and actionable guidance for the C2 practitioner.
Midterm Report: Does Structure Discovery and Structured Understanding Matter in Conversational Question Answering?

Conversational question answering (CoQA) (Reddy et al., 2018) task combines the properties of machine comprehension and chatbots. In order to predict the answer, we need to understand the question based on dialogue history, and find the answer conditioned on the question and the context paragraph. In this project, we hope to discover the usefulness of structure understanding in CoQA. Specifically, we want to learn the structure from dialogue history to understand the question better. In the domain of this midterm report, we discuss the setup and implementation details for baseline approaches on CoQA task. Specifically, we would describe in details about each of our baseline models, and evaluate their performances on the CoQA dataset, with further analysis.
The labour market integration of immigrants in Denmark

The current situation of the labour market integration of migrants in Germany has to be viewed in the light of its immigration history. During the post-war economic boom, until 1973, Germany focused on the recruitment of low-skilled foreign labour. Many of these “guestworker” immigrants settled and were joined by their foreign spouses, which has given rise to a second generation of persons with an immigrant background. In the late 1980s and early 1990s, Germany received massive immigration flows of ethnic Germans from Eastern Europe. Shortly after the peak immigration of ethnic Germans, Germany received large numbers of humanitarian migrants. German statistics only distinguish along nationality lines. This hampers assessment of the situation as this does not take account of ethnic Germans – who have German nationality and are now the most important immigrant group, although they face difficulties similar to those of other migrant groups. Assessment based on nationality is also problematic since immigrants with a foreign nationality have increasingly and selectively taken up German citizenship. There is a clear need for statistics based on the country of birth. Pour comprendre la situation actuelle en matiere d’insertion des immigres sur le marche du travail allemand, il convient de s’impregner de l’histoire de l’immigration dans le pays. Pendant l’essor economique de l’apres-guerre et jusqu’en 1973, l’Allemagne a privilegie le recrutement de main-d’oeuvre etrangere faiblement qualifiee. Un grand nombre de ces « travailleurs invites » se sont installes et ont ete rejoints par leur conjoint etranger, ce qui a donne naissance a une deuxieme generation d’immigres. A la fin des annees 80 et au debut des annees 90, l’Allemagne a accueilli des flux massifs d’Allemands de souche provenant d’Europe orientale. Peu apres la crete de cette vague d’immigration, le pays a recu de tres nombreux migrants pour raisons humanitaires. Les statistiques allemandes etablissent des distinctions uniquement en fonction de la nationalite, ce qui gene pour evaluer la situation. En effet, elles ne tiennent pas compte des Allemands de souche, qui possedent la nationalite allemande et constituent aujourd’hui le groupe d’immigres le plus important, alors qu’ils se heurtent a des difficultes analogues a celles rencontrees par d’autres groupes de migrants. La difficulte d’evaluation que cree cette distinction sur la base de la nationalite se trouve renforcee par le fait que les immigres qui n’etaient pas de souche allemande ont ete de plus en plus nombreux a obtenir leur naturalisation a l’issue d’un processus selectif. Nous aurions manifestement besoin de statistiques fondees sur le pays de naissance.
3D reconstructions of jets by multidirectional digital holographic tomography

In this presentation, we expose a 6 viewpoints set-up based on Mach-Zehnder off-axis digital holography to perform gas density measurement for unsteady jets. The obtained phases are inserted in an algebraic reconstruction technique algorithm to obtain the 3D flow density with a time resolution of 10Hz.
Optimal Beliefs, Asset Prices, and the Preference for Skewed Returns

This paper studies portfolio holdings and as-­ set prices in an economy in which people's natu-­ ral tendency to be optimistic about the payout from their investments is tempered by the ex post costs of basing their portfolio decisions on incorrect beliefs. We show that this model can generate the following three stylized facts. First, households' portfolios are not optimally diversified according to various theoretical-­based measures (Curcuru et al. forthcoming). The costs of this lack of diversification appear to be modest. Most households hold a well-­diversified portfolio of mutual funds and also a significant number of shares of one or two additional stocks. 1 Second, and part of the evidence for the first fact, household portfolios are tilted toward stocks with identifiable attributes, and, in partic-­ ular, toward holdings of individual stocks with positive skewness. Further, undiversified house-­ holds hold individual stocks that have relatively high idiosyncratically skewed returns, and their portfolios have relatively high idiosyncratically skewed returns (Todd Mitton and Keith Vorkink forthcoming). Finally, positively skewed assets tend to have lower returns. This is true for stocks in the US 1 Further, and complementary evidence for our purposes, household income risk is not insured fully by house-­ holds across groups of households, where moral hazard would seem an implausible reason for this failure (Orazio Attanasio and Steven J. Davis 1996). stock market in general (Yijie Zhang 2005) as well as for specific well-­studied examples, such as the value-­growth premium and the long-­run underperformance of IPOs. 2 This paper argues that these three patterns are observed because human beings want to believe what makes them happy and want to make good decisions that lead to good outcomes in the future. We consider an exchange economy with two periods and complete markets in which households with log utility invest in the first period and consume in the second period. We show that these patterns arise in this economy when investors hold beliefs that optimally trade off the ex ante benefits of anticipatory utility against the ex post costs of basing investment decisions on biased beliefs. Our model of beliefs follows the optimal expectations framework of Brunnermeier and Parker (2005, henceforth BP). We assume that people behave optimally given their beliefs, choosing portfolios that maximize their expected present discounted value of utility flows. Because investors care about expected future utility flows, they are happier if they overesti-­ mate the probabilities of states …
Identification of polarized macrophage subsets in zebrafish

While the mammalian macrophage phenotypes have been intensively studied in vitro, the dynamic of their phenotypic polarization has never been investigated in live vertebrates. We used the zebrafish as a live model to identify and trail macrophage subtypes. We generated a transgenic line whose macrophages expressing tumour necrosis factor alpha (tnfa), a key feature of classically activated (M1) macrophages, express fluorescent proteins Tg(mpeg1:mCherryF/tnfa:eGFP-F). Using 4D-confocal microscopy, we showed that both aseptic wounding and Escherichia coli inoculation triggered macrophage recruitment, some of which started to express tnfa. RT-qPCR on Fluorescence Activated Cell Sorting (FACS)-sorted tnfa+ and tnfa− macrophages showed that they, respectively, expressed M1 and alternatively activated (M2) mammalian markers. Fate tracing of tnfa+ macrophages during the time-course of inflammation demonstrated that pro-inflammatory macrophages converted into M2-like phenotype during the resolution step. Our results reveal the diversity and plasticity of zebrafish macrophage subsets and underline the similarities with mammalian macrophages proposing a new system to study macrophage functional dynamic. DOI: http://dx.doi. org/10.7554/eLife.07288. 001
OPTIMISTIC PARALLEL SIMULATION FRAMEWORK FOR LARGE-SCALE INTERNET MODELS

ROSS.Net brings together the four major areas of networ ing research: network modeling, simulation, measureme and protocol design. ROSS.Net is a tool for computin large scale design of experiments through components su as a discrete-event simulation engine, default and exte sible model designs, and a state of the art XML inte face. ROSS.Net reads in predefined descriptions of netwo topologies and traffic scenarios which allows for in-dept analysis and insight into emerging feature interactions, ca cading failures and protocol stability in a variety of situations Developers will be able to design and implement their ow protocol designs, network topologies and modeling scen ios, as well as implement existing platforms within the ROSS.Net platform. Also using ROSS.Net, designers a able to create experiments with varying levels of granularit allowing for the highest-degree of scalability.