Miracle-dz/UniFAR-FTUs huggingface dataset:
Can Chance-Constrained Contact Uncertainty Quantiﬁcation Improve Feasibility of Robust Trajectory Optimization?

As robots move from the laboratory into the real world, motion planning and control will need to account for model uncertainty and risk. For robot motions involving intermittent contact, planning for uncertainty in contact is especially important, as failure to successfully make and maintain contact can be catastrophic. Here, we model uncertainty in terrain geometry and friction characteristics, and combine a risk-sensitive objective with chance constraints to provide a trade-off between robustness to uncertainty and constraint satisfaction with an arbitrarily high feasibility guarantee. We evaluate our approach in two simple examples: a push-block system and a single-legged hopper. We demonstrate that chance constraints alone produce trajectories similar to those produced using strict complementarity constraints; however, when equipped with a robust objective, we show the chance constraints can mediate a trade-off between robustness to uncertainty and strict constraint satisfaction (i.e. feasibility). Thus, our study may represent a step towards reasoning about contact uncertainty in motion planning.
Does Digital Native Status Impact End-User Antivirus Usage?

Due to the increasingly online nature of business (e-commerce), it is essential to understand how end-users can be protected from malicious online activities such as malware. Several factors have been examined in the research on this topic. Digital native status was identified as a factor that has not been investigated thoroughly. This study examined how the security decision-making process is impacted by digital native status by looking at Protection Motivation Theory. Digital Native Status was investigated as a mediating factor in the PMT model. Intent to use antivirus was utilized as the protective measure. The findings indicate that digital native status does not mediate Fear. However, other factors, such as Fear, selfefficacy, and response efficacy, play a part in the intent to use antivirus. Conversely, the other constructs in the model, response-costs and maladaptive rewards, did not have a relationship with antivirus usage. Practically speaking, employers and eCommerce businesses could use these findings to identify factors that play into their end-user behaviors. These findings can be utilized to help guide training programs and professionals researching end-user behavior. These findings also suggest that future research should focus on factors other than age.
RISK AND INFORMATION IN DISPUTE RESOLUTION: AN EMPIRICAL STUDY OF ARBITRATION

This paper provides a structural analysis of arbitration, a widespread dispute resolution method. We develop an arbitration model where disputing parties choose strategic actions given asymmetric risk attitudes and learning by the arbitrator. We establish identi(cid:12)cation of the parties’ information structure and risk attitudes from the distribution of observed o(cid:11)ers and arbitration awards. We also model a pre-arbitration negotiation stage, to analyze how the prospect of arbitration a(cid:11)ects settled disputes. In the negotiation stage, we identify the parties’ private information about costs of disagreement using observed negotiation outcomes. We estimate the model using public sector wage disputes in New Jersey. Counterfactual simulations comparing two popular arbitration designs|(cid:12)nal-o(cid:11)er and conventional|support the view that (cid:12)nal-o(cid:11)er arbitration leads to less divergent o(cid:11)ers and superior information revelation but higher-variance awards. Simulations also (cid:12)nd that the more risk-averse party obtains superior outcomes in arbitration but inferior outcomes upon accounting for negotiated settlements.
IDENTIFICATION OF END OF LIFE ON LITHIUM-ION BATTERIES CELLS THROUGH SUPPORT VECTOR MACHINES FOR IN-CHARGER BATTERY MANAGEMENT SYSTEM STRATEGY

Battery management systems are used to monitor power batteries in electric vehicles and solar power systems. They control the charge and discharge, identity and correct many problems in these batteries. Nowadays, measurements on each cell or stack of cells, which compose the battery, are necessary to ensure the safety and integrity of the system, because the battery cells degrade unequally since they are not built identically. A new methodology is presented in this work, for identification cells with finished life cycle in batteries parallel cells associations, without using temperature measurements, cell monitoring and State of Health estimators, through Support Vector Machines and Wavelet Transform. The proposed method opens possibilities for a new strategy of battery management in electric vehicles, inserting Battery Management System in the charging stations and allowing more sophisticated diagnoses.
Software Engineering • Role-Playing Game: an interactive game for Software Engineering education

: The Education on Software Engineering is based on the use of models that provide assistance to the management and development of software project. SE•RPG appears as a pedagogical proposal that intents to support the learning process through the simulation of a software company environment, challenging the students with the activities and problems from the development process management. A classroom evaluation proved SE•RPG to be a tool capable to minimize the gap between theory and practice in the learning process, and also a stimulating resource.
Determinants of Multidimensional Poverty Index of Niger State, Nigeria

Poverty as a concept is diverse, assorted, and multidimensional; nevertheless, the basic poverty measurement either the income or consumption methodology is inadequate to explain the multiple deprivations experienced by the poor. Hence, this study aims to construct a multidimensional poverty index of households in Nigeria using Alkire and Foster methodology. Next, this study also examines the determinants of multidimensional poverty among households. Questionnaire was employed to collect data from 432 households, and logit regression is used to assess the determinants of multidimensional poverty. The results show the households is 37 percent impoverished in terms of multidimensional poor; particularly, the living standard dimension. The findings also show higher education results fosters the well-being of the households, on contrary to the high number of children. The results of this study suggest efficient policies regarding general infrastructural development and encouragement of higher educational attainment will greatly contribute to poverty reduction.
Notes on the Lie Operad

The purpose of these notes is to compare two distinct approaches to the Lie operad. The first approach closely follows work of Joyal [9], which gives a species-theoretic account of the relationship between the Lie operad and homology of partition lattices. The second approach is rooted in a paper of GinzburgKapranov [7], which generalizes within the framework of operads a fundamental duality between commutative algebras and Lie algebras. Both approaches involve a bar resolution for operads, but in different ways: we explain the sense in which Joyal’s approach involves a “right” resolution and the Ginzburg-Kapranov approach a “left” resolution. This observation is exploited to yield a precise comparison in the form of a chain map which induces an isomorphism in homology, between the two approaches.
Predicting Voting Outcomes in Presence of Communities

Individuals in a social network may form their views as a result of the influence exerted by their connections. In elections, for example, while they might initially support one candidate, social influence may lead them to support another. Here, we investigate whether a recently proposed metric, influence gap , designed to measure the effect of social influence in voting on social networks, is able to predict the outcome of a vote on networks exhibiting community structure, i.e., made of highly interconnected components, and therefore more resembling of real-world interaction. To encode communities, we extend the classical model of cave-man graphs to a richer graph family that displays levels of ho-mophily , i.e., where connections and opinions are highly inter-twined. We show that, across these graphs, there are important cases when the influence gap correlation is a weak predictor due to communities, and a simpler metric, counting the initial partisan majority, provides a more accurate prediction overall. Using regression models, we further demonstrate that the influence gap combined with the more successful metrics does increase their predictive power for some levels of homophily.
EFFECT OF DIFFRERENT CONCENTRATIONS OF BEE GLUE EXTRACT AS REPLACEMENT OF ANTIBIOTIC ON THE CHEMICAL COMPOSITION OF THE OF BROILER CHICKEN

The current study was designed with the aim of affecting of different concentrations of Bee Glue extract as replacement of antibiotic as (growth promoters)on some of blood parameters and carcass traits and meat quality, breast and thigh weight, and lipid oxidation stability of broiler chicken. This study was conducted at poultry farm, Department of Animal Production, College of Agriculture, Kirkuk University for 35 Days during the period from 8 of May to the 13 of June 2019.A total number of 200 unsexed one-day-old ROSS308 chicks were distributed randomly into five experimental treatments . Each of 40 chicks in 4 replicates (10chicks/ replicate). The first experimental group T1 was fed on the control diet.T2 was fed on control diet supplemented with (5mg/kg) Neomycin. T3, T4, T5 were fed on control diet supplemented with 250, 500, 750 mg/kg Bee Glue (BG) respectively. The experiment was terminated when chicks were 35 day of age. The results were shown that Feed additives with Bee Glue showed significantly (p≤0.05) on the chemical composition of the meat, were a noticeable improvement in the moisture and ash content in the fifth group, the protein content improved in the groups fed on bee glue, and the percentage of fats and carbohydrates in the groups decreased compared to the control.
A Proposed Counseling Program to Confronting Cyberbullying among High School Students

The present study aims to identify the most significant psychological, social, and community aspects of cyberbullying from the perspective of the social worker and to define the most important roles of the social worker among high school students to develop a counseling program that helps confront cyberbullying among the participants. The author developed a questionnaire to identify the most significant psychological, social, and community aspects of cyberbullying and to define the most important roles of the social worker. The author adopted the analytical-descriptive approach and applied the questionnaire to (120) social workers in public high schools in Riyadh. The results showed that the means of the community aspects were ranked first. The roles of the social worker with students, teachers, and guardians were high, suggesting the importance of these roles in handling and confront the psychological problems experienced by students. The most important roles of the social worker were used to develop the proposed counseling program to confront cyberbullying among high school students. The study recommends adopting counseling programs in handling the psychological problems among students because of their positive results in reducing such problems. Received: 17 October 2020 / Accepted: 9 December 2020 / Published: 17 January 2021
Learning Node-Selection Strategies in Bounded-Suboptimal Conflict-Based Search for Multi-Agent Path Finding

Multi-Agent Path Finding (MAPF) is an NP-hard problem that has important applications for distribution centers, traffic management and computer games, and it is still difficult for current solvers to solve large instances optimally. Bounded suboptimal solvers, such as Enhanced Conflict-Based Search (ECBS) and its variants, are more efficient than optimal solvers in finding a solution with subop-timality guarantees. ECBS is a tree search algorithm that expands the search tree by repeatedly selecting search tree nodes from a focal list. In this work, we propose to use machine learning (ML) to learn a node-selection strategy to speed up ECBS. In the first phase of our framework, we use imitation learning and curriculum learning to learn node-selection strategies iteratively for different numbers of agents from training instances. In the second phase, we deploy the learned models in ECBS and test their solving performance on unseen instances drawn from the same distribution as the training instances. We demonstrate that our solver, ECBS+ML, shows substantial improvement in terms of the success rates and runtimes over ECBS on five different types of grid maps from the MAPF benchmark.
Degradable Poly(lactic acid)/Metal–Organic Framework Nanocomposites Exhibiting Good Mechanical, Flame Retardant, and Dielectric Properties for the Fabrication of Disposable Electronics

Nano metal–organic frameworks (ZIF-8) particles were synthesized, and poly(lactic acid) (PLA)/ZIF-8 nanocomposite films were prepared by solution-blending and film-casting methods. The addition of nano ZIF-8 particles improved the mechanical properties and had an impact on the crystallization of PLA. The electrical properties of the PLA/ZIF-8 nanocomposites were found to be dependent on the frequency and the ZIF-8 content. The prepared PLA/ZIF-8 films had good transparency even as the content of the nano ZIF-8 particles reached 3 wt %. Compared with 21.5% of pure PLA, the limited oxygen index value of the nanocomposite film containing 1 wt % ZIF-8 reached 26.0%. Therefore, it is proposed that the prepared nanocomposites can be used as the substrates and dielectric to make disposable electronics. The char residues after burning were studied in detail by scanning electron microscopy and Raman and X-ray photoelectron spectroscopies, and the flame retardant mechanism was also discussed.
X Modal X Cultural X Lingual X Domain X Site Global OER Network

The main objective of WP5 is to pilot successive versions of project components developed in WP1–WP4 by means of Task 5.1, Piloting on individual components (M6-M24, Leader UPV), and Task 5.2, Piloting on integrated components (M13-M36, Leader UCL). The work carried out in these tasks until M24 (August 2019) was reported in D5.1 (M6–M12) and D5.2 (M13–M24). D5.3 is to report the work done in Task 5.2 from M25 to M36 (Y3), and also during X5gon’s four-month extension to complete the user studies led by UCL (M37–M40). For simplicity, in what follows Y3 refers to the actual Y3 (M25-M36) plus the four-month extension (M37–M40), that is, from September 2019 (M25) to December 2020 (M40). As in D5.1 and D5.2, D5.3 first provides a brief summary of past work and an update on recent (Y3) work at each of the three official pilots individually (VideoLectures.Net, poliMedia and virtUOS). Other pilots are then covered in a similar way. This is followed by a detailed account of the work done in Y3 on the two main planned subtasks of Task 5.2. The first of these subtasks, led by UCL, is to pilot advanced analytics and social context meetings. To this end, UCL has conducted a number of user studies using the X5Learn platform also developed at UCL. The second of these these subtasks, led by UPV, is to pilot advanced cross-lingual and cross-modal features. In this regard, UPV has explored the use of different techniques on the leading edge of knowledge in AI for natural language processing. In particular, excellent results are reported on OER for streaming automatic speech recognition, simultaneous and multilingual machine translation, and cross-lingual text-to-speech dubbing.
Spousal Presence in Childbirth Pain Relief

The purpose of this study was to examine the use of spousal presence as a nonpharmacological pain relief method for managing childbirth pain in Nigeria. It was also aimed at ascertaining the prevailing perceptions and barriers of spousal presence in childbirth pain relief from the viewpoints of the midwives, women, and their spouses. The study was a descriptive cross-sectional study in four hospitals in Nigeria from June to December 2014 of midwives (n=100), women (n=142) and spouses (n=142). The data were collected using three pretested questionnaires: a self-administered questionnaire for the midwives and interview-administered questionnaires for the women and spouses respectively. The data were analyzed using statistical methods, quantitative and qualitative content analysis. Although spousal presence is underutilized as a pain relief method by midwives in Nigeria, more than half of the midwives, women and spouses who participated perceived spousal presence to be an important contributor to childbirth pain relief. Most of the women believed that spouses played an important role and provided emotional and psychological pain relief during childbirth. Even though spousal participation during childbirth in Nigeria was poor, this study showed a positive trend and willingness of spouses to participate in childbirth. This study also indicated that spouses wanted to share their partner’s pain and to be part of the pain relief. Despite the receptiveness of spousal presence as a useful nonpharmacological intervention in the management of childbirth pain in Nigeria, the practice is inhibited by numerous challenges including poor infrastructure, lack of spousal presence, inadequate institutional pain management policies, poor midwife attitude and negative perceptions of spousal participation during childbirth. The study has contributed to fresh knowledge and has provided an insight into the extent to which spousal presence is poorly integrated into childbirth pain relief in Nigeria. Uniquely, this study filled a gap in related scholarly research by identifying the perceptions of tripartite stakeholders about spousal presence during childbirth and therefore recommended remedial policy and practice options to improve spousal presence as a non-pharmacological pain relief during childbirth. National Library of Medicine Classification: WL 704.6, WQ 105, WQ 300 Medical Subject Headings: Maternal Health; Parturition; Labor Pain; Pain Management; Spouses; Women; Nurse Midwives; Hospitals; Cross-Sectional Studies; Surveys and Questionnaires; Nigeria Yleinen suomalainen asiasanasto: äidit; terveys; synnytys; kipu; lääkkeetön hoito; puolisot; läsnäolo; naiset; kätilöt; sairaalat; poikittaistutkimus; kyselytutkimus; Nigeria
Efficient Exact Computation of Setwise Minimax Regret for Interactive Preference Elicitation

A key issue in artificial intelligence methods for interactive preference elicitation is choosing at each stage an appropriate query to the user, in order to find a near-optimal solution as quickly as possible. A theoretically attractive method is to choose a query that minimises max setwise regret (which corresponds to the worst case loss response in terms of value of information). We focus here on the situation in which the choices are represented explicitly in a database, and with a model of user utility as a weighted sum of the criteria; in this case when the user makes a choice, an agent learns a linear constraint on the unknown vector of weights. We develop an algorithmic method for computing minimax setwise regret for this form of preference model, by making use of a SAT solver with cardinality constraints to prune the search space, and computing max setwise regret using an extreme points method. Our experimental results demonstrate the feasibility of the approach and the very substantial speed up over the state of the art.
A Concurrent Language for Negotiation and Debate with Argumentation

This paper summarises the main results obtained within my Ph.D. thesis where I studied argumentation from the point of view of dynamics, focusing, in particular, in the ability to manage the evolution of information. I considered different aspects of argumentation and devised theoretical and practical tools useful for developing argumentation-based applications in the context of multi-agent systems, where complex interactions between agents need to be modelled and handled.
Not your Grandpa's SSD: The Era of Co-Designed Storage Devices

Gone is the time when a Solid-State Drive (SSD) was just a fast drop-in replacement for a Hard-Disk Drive (HDD). Thanks to the NVMe ecosystem, nowadays, SSDs are accessed through specific interfaces and modern I/O frameworks. SSDs have also grown versatile with time and can now support various use cases ranging from cold, high-density storage to hot, low-latency ones. The body of knowledge about building such different devices is mostly available, but it is less than accessible to non-experts. Finding which device variation can better support a given workload also requires deep domain knowledge. This tutorial's first goal is to make these tasks--understanding the design of SSDs and pairing them with the data-intensive workloads they support well--more inviting. The tutorial goes further, however, in that it suggests that a new kind of SSD plays an essential role in post-Moore computer systems. These devices can be co-designed to align their capabilities to an application's requirements. A salient feature of these devices is that they can run application logic besides just storing data. They can thus gracefully scale processing capabilities with the volume of data stored. The tutorial's second goal is thus to establish the design space for co-designed SSDs and show the tools available to hardware, systems, and databases researchers that wish to explore this space.
Unhealthy lifestyle is an important risk factor for BPPV recurrence

Background: Benign paroxysmal positional vertigo (BPPV) is self-limiting and recurrent but the cost is considerable. The recurrence of BPPV increased significantly under the quarantine policy in Hangzhou. The unhealthy lifestyle risk factors of the recurrence of BPPV have not yet been investigated. So, the objective is to analyze the unhealthy lifestyle risk factors of recurrent BPPV.Methods: A retrospective observational study was conducted in the Department of Neurology in Tongde Hospital of Zhejiang Province from December 2018 to March 2020. The study included 186 patients aged 23–86 years. All patients received the definitive diagnosis and canalith repositioning maneuvers (CRM) treatment and finally accomplished follow-up for one year. Demographic variables, potential recurrence risk factors, neurological examination, cranial computed tomography and lifestyle were assessed.Data Analyses: The t-test or chi-squared test was first performed for group comparison, then logistic regression analysis was performed to investigate the recurrence risk factors in all of the patients.Results: The 1-year recurrence rates of BPPV patients after reposition maneuvers were 36.02%, is significantly higher than other study especially in the first quarter of 2020 (38.8% of patients with BPPV recurrence). Logistic regression analysis shows that BPPV patients who was poor physical activities and prolonged recumbent position time have more recurrence risks. Poor physical activities (odds ratio =5.690, 95% confidence interval: 1.650-19.618, p <0.006), prolonged recumbent position time (odds ratio = 1.651, 95% confidence interval: 1.370-2.003, p = 0.000), were risk factors for the recurrence of BPPV in patients.Conclusion: We conclude that poor physical activities and prolonged recumbent position time may be independent risk factors for the recurrence of BPPV patients, but aging, Ménière’s disease, sudden deafness migraine, hypertension, hyperlipemia, diabetes, CHD, POCI, mental factors, and mental labor do not increase the recurrence risk.