Miracle-dz/UniFAR-FTUs huggingface dataset:
Slung load transportation with a single aerial vehicle and disturbance removal

We present a trajectory tracking controller for a quadrotor-load system, composed of a single load and a single unmanned aerial vehicle connected by a cable or rope. The load is modeled as a point mass while the aerial vehicle is assumed to be fully actuated, with thrust and attitude of the quadrotor as inputs to the system quadrotor-load. We assume there is a constant input disturbance at the thrust input, and a disturbance estimator is presented that guarantees that asymptotic tracking is guaranteed in the presence of such a disturbance. The load and the aerial vehicle are connected by a cable of fixed length that behaves as a rigid link under tensile forces, and as a non-rigid link when under compressive forces. The proposed controller guarantees that the cable is always under tensile forces, provided that the position trajectory to be tracked satisfies some mild conditions. The system quadrotor-load can be transformed into a form that resembles that of systems describing underactuated aerial vehicles, and for which a variety of control strategies have been proposed. In particular, we propose a controller based on a backstepping procedure in conjunction with a bounded double integrator controller. We present simulations validating the proposed control algorithm, and some preliminary experimental results are also presented.
Synchronization and bifurcation in Limit Cycle oscillators with Delayed Couplings

In this paper, a system of three globally coupled limit cycle oscillators with a linear time-delayed coupling are investigated. Considering the delay as a parameter, we also study the effect of time delay on the dynamics. Next, Hopf bifurcations induced by time delays using the normal form theory and center manifold reduction are obtained. Based on the symmetric Hopf bifurcation theorem, we investigate stable phase-locking and unstable waves. Then later, the directions of Hopf bifurcations are determined in some region, where stability switches may occur. The results show that the bifurcating periodic solutions are orbitally asymptotically stable. Numerical simulations are applied to verify the theoretical predictions.
Impaired Inhibitory Control in Recreational Cocaine Users

Chronic use of cocaine is associated with impairment in response inhibition but it is an open question whether and to which degree findings from chronic users generalize to the upcoming type of recreational users. This study compared the ability to inhibit and execute behavioral responses in adult recreational users and in a cocaine-free-matched sample controlled for age, race, gender distribution, level of intelligence, and alcohol consumption. Response inhibition and response execution were measured by a stop-signal paradigm. Results show that users and non users are comparable in terms of response execution but users need significantly more time to inhibit responses to stop-signals than non users. Interestingly, the magnitude of the inhibitory deficit was positively correlated with the individuals lifetime cocaine exposure suggesting that the magnitude of the impairment is proportional to the degree of cocaine consumed.
Fuzzy Cognitive Maps as a tool for modeling construction labor productivity

Labor productivity is a fundamental building block of planning and controlling in construction, and therefore, predicting labor productivity levels for a given condition is very important in construction management. However, predicting labor productivity is extremely difficult due to a large number of factors that can affect productivity in perplexing ways. Another obstacle to predicting labor productivity is the qualitative nature and subjectivity of productivity factors. To address these issues, a soft computing technique called Fuzzy Cognitive Maps (FCMs) is proposed as a tool to model the complex inter-relationships between productivity factors based on expert knowledge, and for assessing the impact of the productivity factors on labor productivity. In this paper, the methodology for creating and using FCMs for this purpose is introduced, and then an exercise is presented for demonstration purposes. Additionally, issues identified from this exercise are described, and the way that FCMs can be practically used in the field for predicting labor productivity is also discussed in the paper.
A Characterization of Depth 2 Subfactors of II1 Factors

We characterize finite index depth 2 inclusions of type II1 factors in terms of actions of weak Kac algebras and weak C ∗ -Hopf algebras. If N ⊂ M ⊂ M1 ⊂ M2 ⊂ . is the Jones tower constructed from such an inclusion N ⊂ M, then B = M ′ ∩ M2 has a natural structure of a weak C ∗ -Hopf algebra and there is a minimal action of B on M1 such that M is the fixed point subalgebra of M1 and M2 is isomorphic to the crossed product of M1 and B. This extends the well-known results for irreducible depth 2 inclusions.
Associação entre exposição a resíduos e dificuldades emocionais e comportamentais de escolares

Introduction: The exposure to harmful toxicants is particularly important during childhood when the nervous system is rapidly developing. In many places around the world but especially in non-affluent countries urban waste is improperly handled and disposed, often being recycled amidst densely populated neighborhoods, where children play, pass through and breathe during long periods along their lifespan. Although many studies have evaluated the effect of specific pollutants over the neurodevelopment, there are very few analyzing the distance from the waste site to the house where children spent their lives. The aim of this study is to evaluate the impact of living close to waste sites with emotional and behavioral difficulties in school children. Methods: Cross-sectional study with school children from a non-affluent community, 6 to 13 years-old, living near waste sites in the city of Caxias do Sul, Brazil. Children were assigned into two groups: one living closer than 100 meters from the center of the waste site and another group with children living farther than 150 meters, allowing a washout distance between groups. It was used a geographic information system software – Quantum GIS – to determine the distance between the center of the waste site to children’s house. The Strengths and Difficulties Questionnaire (SDQ), translated and validated to Portuguese, was then applied to the parents to determine emotional or behavioral difficulties. Other variables were also studied to determine the burden of other social bias that could have interfered with the result. Results: Children living closer to waste sites had lower scores in SDQ questionnaire and higher prevalence of emotional and behavioral problems than children living farther. In the logistic regression model, no other covariates had shown significant impact over the results, except for preschool attendance. As expected, families from the exposed group had lower average monthly income and lower levels of education than the control group, showing characteristics of a highly vulnerable population. Conclusion: The association between living close to waste sites and a lower performance in tests that evaluate neurodevelopment in children raises important
A Constraint Model for Constrained Hidden Markov Models: a First Biological Application

A Hidden Markov Model (HMM) is a common statistical model which is widely used for analysis of biological sequence data and other sequential phenomena. In the present paper we extend HMMs with constraints and show how the familiar Viterbi algorithm can be generalized, based on constraint solving methods. HMMs with constraints have advantages over traditional ones in terms of more compact expressions as well as opportunities for pruning during Viterbi computations. We exemplify this by an enhancement of a simple prokaryote gene finder given by an HMM.
Road Detection Based on Off-Line and On-Line Learning

Vision-based road detection is a key component for autonomous vehicle. Existing techniques could be roughly categorized into two categories: off-line training based algorithms and on-line learning based algorithms. While off-line training based algorithms may not adapt well to the new testing scenario, on-line learning based algorithms may not produce robust results. In this paper, we present a method that combines the merits of both off-line and on-line algorithms. Firstly, we get the likelihood image using road and background detectors based on mixture models. Then, the likelihood image is combined with the result generated by classifier which is trained using off-line booting. And the graph cut segmentation will be performed to get an accurate road region. Experiments on road sequences of unstructured road show that the proposed method provides high road detection accuracy when compared to state-of-the-art methods.
Experimental investigation of OC-SVM for multibiometric score fusion

Different single biometric systems carry in their outputs redundant and complementary information. The concatenation of match scores from various systems in a single feature vector to feed the classifiers can provide an opportunity to develop more efficient system compared to other fusion schemes. In this work, we investigate the performance of classifier based biometric score fusion. For this purpose, the One-Class SVM (OC-SVM) classifier is employed since, in the general case of biometric systems, the data are highly unbalanced or available from only a single class. Experiments are conducted on the well known NIST-multimodal partition of the BSSRI database and results are reported using genuine acceptance and false acceptance criteria. The obtained results show the effectiveness of the OC-SVM compared to the standard two-class SVM classifier as well as to other score fusion schemes.
Gossip: Two complementary perspectives on the analysis of casual conversation in English

This paper argues that the linguistic analysis of gossip reveals not only a great deal about the social role and function of gossip in our society and is therefore important to social theory, but that an analysis of the language of gossip can provide insights into the analysis of casual conversation in English. This paper provides a generic analysis of gossip. The analysis demonstrates that gossip is a culturally determined process with a distinctive structure which can be described. It argues that, in order to describe gossip and other forms of casual conversation, two perspectives are needed: a synoptic approach which looks for complete, static, unified products or texts (generic approach) and a dynamic approach to conversational analysis which focuses on the processes by which moves succeed moves. The latter perspective then focuses on the dynamic unfolding of the interaction which occurs in a gossip text. It allows us to describe how the interactants in conversation can expand, in principle, indefinitely move by move.
An optimal admittance approach for physical human-robot interaction

One of the main issues in human-robot interaction is to control the forces arising from physical interaction. In this work, it is proposed an optimal admittance force controller for safe physical human-robot interaction (pHRI), which is obtained using optimization tools. First, the performance index of the optimization problem is proposed as the weighted sum of the force tracking error and its time derivative. Then, the impedance model of a robot is considered as an equality constraint, resulting in a dynamic optimization problem (DOP). Moreover, a constraint on the maximum pHRI force is included in the DOP to ensure safe pHRI. Finally, the solution to the DOP is obtained via the gradient flow approach, yielding a pHRI controller easily to implement on-line. The optimal controller modifies the commanded end effector trajectory in order to control the pHRI force and reducing excessive force arising during interaction. A stability proof is given and the implementation of the proposed pHRI controller is successfully verified via experiments.
On Multistep-Ahead Prediction Intervals Following Unit Root Tests for a Gaussian AR ( 1 ) Process with Additive Outliers

Recently, Diebold and Kilian [Unit root tests are useful for selecting forecasting models, Journal of Business and Economic Statistics 18, 265-273, 2007] and Niwitpong [Effect of Preliminary unit roots on predictors for an unknown mean AR(1) process, Thailand Statistician 7, 71-79, 2009] indicated that the preciseness of a predictor for an AR(1) process can be increased by using the preliminary unit root tests. This paper extends these mentioned concepts to the multistep-ahead prediction intervals of a Gaussian AR(1) process with additive outliers. The analytic expressions of the coverage probability of prediction intervals are derived and we have proved that the structure of the coverage probability is independent from the mean of the process and the parameter of a random error, but it is a function of an autoregressive parameter and the constant. Additionally, the coverage probabilities and the lengths of the standard prediction interval, the prediction interval following the Dickey-Fuller unit root test and the prediction interval following the Shin et al. unit root test are also compared via simulation studies. Simulation results have shown that the unit root test can improve the accuracy of the multistep-ahead prediction intervals for a near non-stationary AR(1) process with additive outliers. Mathematics Subject Classification: 62M10, 91B84 2298 W. Panichkitkosolkul and S. Niwitpong
A Second Stellar Color Locus: a Bridge from White Dwarfs to M stars

We report the discovery of a locus of binary stars in the Sloan Digital Sky Survey (SDSS) g-r versus u-g color-color diagram that connects the colors of white dwarfs and M dwarfs. While its contrast with respect to the main stellar locus is only ~1 : 2300, this previously unrecognized feature includes 863 stars from the SDSS Data Release 1 (DR1). The position and shape of the feature are in good agreement with predictions of a simple binary star model that consists of a white dwarf and an M dwarf, with the components' luminosity ratio controlling the position along this binary system locus. SDSS DR1 spectra for 47 of these objects strongly support this model. The absolute magnitude-color distribution inferred for the white dwarf component is in good agreement with the models of Bergeron et al.
The Contribution of Learner Self-Assessment for Improvement of Learning and Teaching Process: A Review

The present study is a literature review of 37 empirical studies from Greece and internationally of the last decade and aims at investigating the contribution of learner self-assessment to: a. enhancement of learning motivation, b. improvement of academic performance/learning, c. development of self-regulating learning and d. raise of self-esteem. According to the findings, enhancement of learning motivation as an outcome of learner self-assessment process has been identified in Greek Higher education, in Secondary education in Physics and in Primary education in English, whereas internationally has been identified in Secondary education in English and Physical education. In Greece, improvement of academic performance/learning as an outcome of learner self-assessment has been found in Higher education, in Secondary education in Physics and in Primary education in English, whereas internationally at all levels of education, in almost all subjects of Secondary education and in Primary education in Language Arts, English and Mathematics. Development of self-regulating learning has been identified in Higher education in Greece and internationally, whereas in Secondary education in Geography and Geometry only internationally. Furthermore, raise of student’s self-esteem as an outcome of self-assessment has been found internationally, in Secondary education in Religious education and in Greek Primary education in English language learning. Moreover, self-assessment process has also been examined internationally in non-formal education where English is taught as a second language with positive outcomes in performance/learning. Finally, self-assessment is implemented through various practices and tools such as rubrics, checklist, scripts, think boards, reflective journals, mind maps and in combination with learning or teaching models.
Subclass restriction of murine antibodies. II. The IgG plaque-forming cell response to thymus-independent type 1 and type 2 antigens in normal mice and mice expressing an X-linked immunodeficiency

Antigens have been classified previously into three categories, thymus- dependent (TD), thymus-independent type (TI) 1, and TI-2, based upon thymic dependence and ability to stimulate an immunodeficient strain of mouse, CBA/N. Here we demonstrate that the different antigen classes elicit IgG antibodies of different subclasses. TD antigens stimulate predominantly IgG1 antibodies, with smaller amounts of IgG2 and IgG3 being expressed. TI-1 antigens stimulate almost no IgG1 antibodies and equal amounts of IgG2 and IgG3. TI-2 antigens elicit predominantly IgG3 antibodies. Mice expressing the CBA/N phenotype are known to be nonresponsive to TI-2 antigens. This was confirmed in this study. In addition, we demonstrate that the IgG3 component of the response to TI- 1 antigens is virtually absent in mice expressing the CBA/N phenotype, which supports our previous finding that the CBA/N defect may be restricted to a B-lymphocyte subpopulation containing most of the precursors of IgG3-secreting cells.
Transcriptional Organization and In Vivo Role of theEscherichia coli rsd Gene, Encoding the Regulator of RNA Polymerase Sigma D

ABSTRACT The regulator of sigma D (Rsd) was identified as an RNA polymerase ς70-associated protein in stationary-phaseEscherichia coli with the inhibitory activity of ς70-dependent transcription in vitro (M. Jishage and A. Ishihama, Proc. Natl. Acad. Sci. USA 95:4953–4958, 1998). Primer extension analysis of rsd mRNA indicated the presence of two promoters, ςS-dependent P1 and ς70-dependent P2 with the gearbox sequence. To get insight into the in vivo role of Rsd, the expression of a reporter gene fused to either the ς70- or ςS-dependent promoter was analyzed in the absence of Rsd or the presence of overexpressed Rsd. In the rsd null mutant, the ς70- and ςS-dependent gene expression was increased or decreased, respectively. On the other hand, the ς70- or ςS-dependent transcription was reduced or enhanced, respectively, after overexpression of Rsd. The repression of the ςS-dependent transcription in the rsd mutant is overcome by increased production of the ςS subunit. Together these observations support the prediction that Rsd is involved in replacement of the RNA polymerase ς subunit from ς70 to ςS during the transition from exponential growth to the stationary phase.
Game-Theoretic Analysis of Cooperation Among Supply Chain Agents: Review and Extensions

This paper surveys some applications of cooperative game theory to supply chain management. Special emphasis is placed on two important aspects of cooperative games: profit allocation and stability. The paper first describes the construction of the set of feasible outcomes in commonly seen supply chain models, and then uses cooperative bargaining models to find allocations of the profit pie between supply chain partners. In doing so, several models are analyzed and surveyed, and include suppliers selling to competing retailers, and assemblers negotiating with component manufacturers selling complementary components. The second part of the paper discusses the issue of coalition formation among supply chain partners. An exhaustive survey of commonly used stability concepts is presented. Further, new ideas such as farsightedness among supply chain players are also discussed and analyzed. The paper also opens some avenues of future research in applying cooperative game theory to supply chain management.
Private Global Business Regulation

Regulations that govern the social and environmental impacts of global firms and markets without state enforcement are a relatively new dimension of global business regulation. The growth of such voluntary “civil regulations” reflects both the expansion of legitimate authority in the global economy outside the state and the increasing use of alternative regulatory instruments to govern firms, including self-regulation, market-based instruments, and soft laws. In response to global social activism, many firms have adopted voluntary regulatory standards to avoid additional regulation and/or to protect their reputations and brands. Activists have targeted highly visible firms and have been willing to work cooperatively with them. The most important civil regulations are multi-stockholder codes, whose governance is shared by firms and nongovernmental organizations (NGOs), and which rely on product and producer certifications. Such codes face the challenge of acquiring legitimacy and of persuading both firms a.
VIP1 response elements mediate mitogen-activated protein kinase 3-induced stress gene expression

The plant pathogen Agrobacterium tumefaciens transforms plant cells by delivering its T-DNA into the plant cell nucleus where it integrates into the plant genome and causes tumor formation. A key role of VirE2-interacting protein 1 (VIP1) in the nuclear import of T-DNA during Agrobacterium-mediated plant transformation has been unravelled and VIP1 was shown to undergo nuclear localization upon phosphorylation by the mitogen-activated protein kinase MPK3. Here, we provide evidence that VIP1 encodes a functional bZIP transcription factor that stimulates stress-dependent gene expression by binding to VIP1 response elements (VREs), a DNA hexamer motif. VREs are overrepresented in promoters responding to activation of the MPK3 pathway such as Trxh8 and MYB44. Accordingly, plants overexpressing VIP1 accumulate high levels of Trxh8 and MYB44 transcripts, whereas stress-induced expression of these genes is impaired in mpk3 mutants. Trxh8 and MYB44 promoters are activated by VIP1 in a VRE-dependent manner. VIP1 strongly enhances expression from a synthetic promoter harboring multiple VRE copies and directly interacts with VREs in vitro and in vivo. Chromatin immunoprecipitation assays of the MYB44 promoter confirm that VIP1 binding to VREs is enhanced under conditions of MPK3 pathway stimulation. These results provide molecular insight into the cellular mechanism of target gene regulation by the MPK3 pathway.
Object oriented data analysis: Sets of trees

Object oriented data analysis is the statistical analysis of populations of complex objects. In the special case of functional data analysis, these data objects are curves, where standard Euclidean approaches, such as principal component analysis, have been very successful. Recent developments in medical image analysis motivate the statistical analysis of populations of more complex data objects which are elements of mildly non-Euclidean spaces, such as Lie groups and symmetric spaces, or of strongly non-Euclidean spaces, such as spaces of tree-structured data objects. These new contexts for object oriented data analysis create several potentially large new interfaces between mathematics and statistics. This point is illustrated through the careful development of a novel mathematical framework for statistical analysis of populations of tree-structured objects.