Miracle-dz/UniFAR-FTUs huggingface dataset:
Visual servo walking control for humanoids with finite-time convergence and smooth robot velocities

ABSTRACT In this paper, we address the problem of humanoid locomotion guided from information of a monocular camera. The goal of the robot is to reach a desired location defined in terms of a target image, i.e., a positioning task. The proposed approach allows us to introduce a desired time to complete the positioning task, which is advantageous in contrast to the classical exponential convergence. In particular, finite-time convergence is achieved while generating smooth robot velocities and considering the omnidirectional waking capability of the robot. In addition, we propose a hierarchical task-based control scheme, which can simultaneously handle the visual positioning and the obstacle avoidance tasks without affecting the desired time of convergence. The controller is able to activate or inactivate the obstacle avoidance task without generating discontinuous velocity references while the humanoid is walking. Stability of the closed loop for the two task-based control is demonstrated theoretically even during the transitions between the tasks. The proposed approach is generic in the sense that different visual control schemes are supported. We evaluate a homography-based visual servoing for position-based and image-based modalities, as well as for eye-in-hand and eye-to-hand configurations. The experimental evaluation is performed with the humanoid robot NAO.
Characterization of the Bovine Pseudoautosomal Region and Comparison with Sheep, Goat, and Other Mammalian Pseudoautosomal Regions

The pseudoautosomal region (PAR) is a small region of sequence homology between mammalian X and Y chromosomes and is needed for sex chromosome segregation in male meiosis. The region, though studied as yet in only a few species, shows considerable variation in size and gene content. We have constructed a medium-density gene map for the cattle PAR and the adjacent X-specific region by isolating and mapping 18 BAC clones which contain 20 PAR- and 5 X-specific genes. One BAC clone containing TBL1XY and GPR143 spanned the recently demarcated bovine pseudoautosomal boundary (PAB). Comparing the gene map of cattle PAR with the high-resolution maps of human, horse, and dog PAR allowed to estimate that the size of cattle PAR is approximately 5–9 Mb. BAC end sequence analysis showed that there is a gradient of decreasing GC content from PARter towards the PAB which is consistent with findings in human, mouse, and horse. The 20 PAR- and 5 X-specific cattle genes were mapped also in goat and sheep, showing that PAR in the 3 species is similar in size, gene content, and gene order. For the first time the PAB was determined in goat sex chromosomes. Comparison of cattle, goat, and sheep PAR with homologous regions on human and horse X chromosomes showed a high degree of linkage conservation between all species. However, the most terminal human, horse, and dog PAR gene, PLCXD1, is X-specific in ruminants. Since the human/horse linkage group containing PLCXD1 is of ancestral origin, the location of PLCXD1 can be considered as a de novo event in ruminant sex chromosome evolution. The gene map of the cattle PAR adds to our knowledge about the comparative organization and evolution of the eutherian PAR and aids the sequencing, sequence assembly, and annotation of the terminal region of BTAXq.
Optimal Excitation Angles of a High Speed Switched Reluctance Generator by Efficiency Maximization

This paper deals with the optimal excitation angles of switched reluctance generator (SRG) in order to minimize the losses or to maximize the efficiency. The proposed SRG operates at relatively high speed in the single-pulse mode operation. In this regime, the turn-on and turn-off angles are the only control parameters that may be used to optimize the performance of the SRG. Previous work on the optimal excitation angles was for maximizing efficiency based on mapping the phase current (rms) of the SRG. In the present paper, maximization of the efficiency is carried out by minimizing the losses. The SRG is simulated using the magnetization characteristics obtained by static tests of the machine and the losses in different parts are evaluated. The SRG is simulated over all feasible turn-on and conduction angles for speeds equal to 2000 rpm. The average output power, rms phase current and losses with each pair of angles are calculated in order to generate the required output power. Finally the results obtained using the two above-mentioned methods are compared.
The LIM Domains of WLIM1 Define a New Class of Actin Bundling Modules*

Actin filament bundling, i.e. the formation of actin cables, is an important process that relies on proteins able to directly bind and cross-link subunits of adjacent actin filaments. Animal cysteine-rich proteins and their plant counterparts are two LIM domain-containing proteins that were recently suggested to define a new family of actin cytoskeleton regulators involved in actin filament bundling. We here identified the LIM domains as responsible for F-actin binding and bundling activities of the tobacco WLIM1. The deletion of one of the two LIM domains reduced significantly, but did not entirely abolish, the ability of WLIM1 to bind actin filaments. Individual LIM domains were found to interact directly with actin filaments, although with a reduced affinity compared with the native protein. Variants lacking the C-terminal or the inter-LIM domain were only weakly affected in their F-actin stabilizing and bundling activities and trigger the formation of thick cables containing tightly packed actin filaments as does the native protein. In contrast, the deletion of one of the two LIM domains negatively impacted both activities and resulted in the formation of thinner and wavier cables. In conclusion, we demonstrate that the LIM domains of WLIM1 are new autonomous actin binding and bundling modules that cooperate to confer WLIM1 high actin binding and bundling activities.
Typologies of cannabis users and associated characteristics relevant for public health: a latent class analysis of data from a nationally representative Canadian adult survey

Cannabis is the most prevalently used illicit drug in Canada. Current policy consists primarily of universal use prohibition rather than interventions targeting specific risks and harms relevant for public health. This study aimed to identify distinct groups of cannabis users based on defined use characteristics in the Canadian population, and examine the emerging groups' associations with differential risk and harm outcomes. One thousand three hundred and three current (i.e. use in the past three months) cannabis users, based on data from the representative cross‐sectional 2004 Canadian Addiction Survey (N = 13,909), were statistically assessed by a ‘latent class analysis’ (LCA). Emerging classes were examined for differential associations with socio‐demographic, health and behavioral indicators on the basis of chi‐square and analysis of variance techniques. Four distinct classes based on use patterns were identified. The class featuring earliest onset and highest frequency of use [22% of cannabis user sample or 2.2% (95% confidence interval (CI) = 1.8–2.7%) of the Canadian adult population] was disproportionately linked to key harms, including other illicit drug use, health problems, cannabis use and driving, and cannabis use problems. A public health framework for cannabis use is needed in Canada, meaningfully targeting effective interventions towards the minority of users experiencing elevated levels of risks and harms. Copyright © 2010 John Wiley & Sons, Ltd.
Deciding Schema k-Secrecy for XML Databases

SUMMARY We study a static analysis problem on k -secrecy, which is a metric for the security against inference attacks on XML databases. In-tuitively, k -secrecy means that the number of candidates of sensitive data of a given database instance or the result of unauthorized query cannot be narrowed down to k − 1 by using available information such as authorized queries and their results. In this paper, we investigate the decidability of the schema k -secrecy problem deﬁned as follows: for a given XML database schema, an authorized query and an unauthorized query, decide whether every database instance conforming to the given schema is k -secret. We ﬁrst show that the schema k -secrecy problem is undecidable for any ﬁnite k > 1 even when queries are represented by a simple subclass of linear deterministic top-down tree transducers (LDTT). We next show that the schema ∞ -secrecy problem is decidable for queries represented by LDTT. We give an algorithm for deciding the schema ∞ -secrecy problem and analyze its time complexity. We show the schema ∞ -secrecy problem is EXPTIME-complete for LDTT. Moreover, we show similar results LDTT with regular look-ahead.
Facilitating Tolerance of Delayed Reinforcement During Functional Communication Training

Fewclinical investigations have addressed the problem of delayed reinforcement. In this investigation, three individuals whose destructive behavior was maintained by positive reinforcement were treated using functional communication training (FCT) with extinction (EXT). Next, procedures used in the basic literature on delayed reinforcement and self-control (reinforcer delay fading, punishment of impulsive responding, and provision of an alternative activity during reinforcer delay) were used to teach participants to tolerate delayed reinforcement. With the first case, reinforcer delay fading alonewas effective at maintaining lowrates of destructive behavior while introducing delayed reinforcement. In the second case, the addition of a punishment component reduced destructive behavior to near-zero levels and facilitated reinforcer delay fading. With the third case, reinforcer delay fading was associated with increases in masturbation and head rolling, but prompting and praising the individual for completing work during the delay interval reduced all problem behaviors and facilitated reinforcer delay fading.
Semantics: The Forgotten Component in Teaching Language to Hearing-Impaired Children

The purpose of this article is to indicate to professionals engaged in the teaching of language to hearing-impaired children that although there are many materials, activities, and suggestions relating to syntax and phonology available and used, there is a disproportionately low emphasis on semantics. It suggests that the use of a total communication approach might be of value in meeting the need to include this language component in formal teaching.
La evolución del cluster y su análisis: Estudio bibliométrico del concepto y aplicación de metodologías evolutivas en casos aplicados

La literatura sobre los clusters ha ido evolucionando a lo largo del tiempo y de distintos enfoques que los han ido utilizando, sin embargo no existia un analisis cuantitativo de la situacion actual de dicha evolucion. En el presente trabajo de investigacion se ha utilizado una metodologia mediante el analisis bibliometrico denominado ? apareo bibliografico? , basada en la identificacion y cuantificacion de las referencias bibliograficas comunes citadas por los documentos objeto de estudio, que nos ha permitido senalar y explicar los enfoques mas relevantes que utilizan los conceptos de cluster y distrito industrial en el ano 2013. Una de las demandas mas extendida, dentro de esta literatura o por ejemplo de los enfoques detectados como es el caso de la Geografia Economica Evolutiva, es la necesidad de mas casos de analisis evolutivos (o dinamicos) para el estudio de los clusters o distritos industriales. Dado que no existen en la literatura actual ningun caso de cluster espanol analizado evolutivamente a traves de sus patentes, en el presente trabajo de investigacion se ha analizado desde dicha perspectiva el cluster del juguete-plastico de la Foia de Castalla, dicho analisis esta basado en el conocimiento del entorno del cluster, el desarrollo de las empresas que lo forman y la evolucion de sus habilidades y capacidades por el analisis de sus patentes, para conocer mejor sus patrones y procesos de innovacion. Aportando asi un nuevo caso de analisis a la literatura sobre la evolucion de los clusters. Por tanto, la presente tesis doctoral aporta a la literatura sobre la evolucion de los clusters dos elementos, por un lado un caso de analisis evolutivo basado en las patentes y por otro un procedimiento cuantitativo ? el apareo bibliografico? aplicado a dicha literatura lo que permite detectar los principales enfoques o lineas de investigacion en esta area.
A low-power PAM4 receiver using 1/4-rate sampling decoder with adaptive variable-gain rectification

This paper presents a 1/4-rate PAM4 receiver employing a sampling decoder with an adaptive variable-gain rectifier (AVGR) to achieve a bit efficiency of 1.38 pJ/bit. By concurrently performing gain adaptation and amplitude rectification for decoding the least significant bit (LSB), the proposed decoder greatly reduces power consumption compared with the conventional full-rate topology using three comparators. The sense amplifier (SA) in the AVGR is designed to have large gain and wide programmability in order to accommodate wide PAM4 input dynamic range (DR) while using a single constant reference voltage for decoding. Experimental results verify that the receiver IC, implemented in SMIC 28-nm high-k CMOS process, can receive and decoder a 24-Gb/s 190-mVpp PAM4 signal at a BER of 10−11.
Coded differential space-time modulation for flat fading channels

In this paper, powerful coding techniques for differential space-time modulation (DSTM) over Rayleigh flat fading channels and noncoherent detection without channel state information at the receiver are investigated. In particular, multilevel coding, bit-interleaved coded modulation, and so-called hybrid coded modulation (HCM) are devised and compared. For improved noncoherent reception multiple-symbol differential detection (MSDD) is adapted to DSTM. In order to reduce the computational effort required for MSDD, a low-complexity version of MSDD is applied. Evaluating the ergodic channel capacity for the different schemes as appropriate performance measure, HCM with simplified MSDD is shown to offer a favorable tradeoff between complexity and achievable power efficiency. Simulation results employing turbo codes in properly designed HCM schemes confirm the predictions from information theory.
Associations between age-related nuclear cataract and lutein and zeaxanthin in the diet and serum in the Carotenoids in the Age-Related Eye Disease Study, an Ancillary Study of the Women's Health Initiative.

OBJECTIVE To evaluate associations between nuclear cataract (determined from slitlamp photographs between May 2001 and January 2004) and lutein and zeaxanthin in the diet and serum in patients between 1994 and 1998 and macula between 2001 and 2004. DESIGN A total of 1802 women aged 50 to 79 years in Iowa, Wisconsin, and Oregon with intakes of lutein and zeaxanthin above the 78th (high) and below the 28th (low) percentiles in the Women's Health Initiative Observational Study (1994-1998) were recruited 4 to 7 years later (2001-2004) into the Carotenoids in Age-Related Eye Disease Study. RESULTS Women in the group with high dietary levels of lutein and zeaxanthin had a 23% lower prevalence of nuclear cataract (age-adjusted odds ratio, 0.77; 95% confidence interval, 0.62-0.96) compared with those with low levels. Multivariable adjustment slightly attenuated the association (odds ratio, 0.81; 95% confidence interval, 0.65-1.01). Women in the highest quintile category of diet or serum levels of lutein and zeaxanthin as compared with those in the lowest quintile category were 32% less likely to have nuclear cataract (multivariable-adjusted odds ratio, 0.68; 95% confidence interval, 0.48-0.97; P for trend = .04; and multivariable-adjusted odds ratio, 0.68; 95% confidence interval, 0.47-0.98; P for trend = .01, respectively). Cross-sectional associations with macular pigment density were inverse but not statistically significant. CONCLUSIONS Diets rich in lutein and zeaxanthin are moderately associated with decreased prevalence of nuclear cataract in older women. However, other protective aspects of such diets may in part explain these relationships.
New algorithms for maintaining all-pairs shortest paths

This paper presents a new solution to the dynamic all-pairs shortest path routing problem, using a linear reinforcement learning scheme. It involves finding the shortest path in a stochastic network, where there are continuous probabilistically-based updates in link-costs. In this paper we present the details of the algorithm and also provide an example to illustrate how the algorithm would function. The initial experimental results of the algorithm show that the algorithm is few orders of magnitude superior to the algorithms available in the literature. It can be used to find the shortest path (between all pairs of nodes in a network) within the "statistical" average network, which converges irrespective of whether there are new changes in link-costs or not. On the other hand, the existing algorithms fails to exhibit such a behavior and would recalculate the affected shortest paths after each link-cost update.
What Is Correct Chinese

To ERR IS HIJ; to correct is worse. For the trouble with men, to paraphrase Mencius a little, is that they like to correct others.l But the urge to be correct and to correct others is incorrigible. There has always been a quest for and the upholding of a norm in such a basic human institution as language. You are all familiar with (:onfucius' dictum about the importance of the rectification of names 2 and about Mencius' interest in the technique of teaching the more civilized language of the state of (:hyi to a speaker from the state of Chuu.3 For correctness in language is not correctness in language merely, but all that goes with language, and what aspect of life does not go with language ? Before taking up the main question of what is correct, let us first have a brief review of what was correct in the recent past. During the days when I went to school in China, back in the 1890's, there was no such thing as a standard national language. Nevertheless, every literate person had to write the correct characters, form the right sentences in the classical language, and pronounce in their reading according to the tradition which went back, at the latest, to the Swei and Tarng dynasties. It was easy enough to tell what were the correct forms of characters. There was even a standard handbook, Tzyhshyue Jeuyu (GFuide to Character Study), by Long Chiiruey,b published in 1872, which scholars scoffed at, because the standards of form were not always based on real etymology, and often quite arbitrary, but which the candidates at the civil service examinations could not afford to ignore without incurring the risk of disqualification. As for diction, grammar, and style, the only acceptible practice was to follow the practice of the ancient writers and nobody in those days I am talking about the pre-Hu Shih days would think of writing anything except in classical Chinese.
Simultaneous Determination and Investigation of Nine Fungicides in Fruits Using Diethylenetriamine-Functional Magnetic Core-Shell Polymer Modified Graphene Oxide as an Efficient Adsorbent Coupled to UPLC-HRMS

In this study, diethylenetriamine-functional magnetic core-shell polymer modified graphene oxide (DETA-MPs-GO) was prepared via precipitation polymerization and amidation reaction, and it was characterized by transmission electron microscopy (TEM), Fourier-transformed infrared spectroscopy (FTIR), and X-ray diffractometer (XRD). Subsequently, a magnetic solid-phase extraction (MSPE) procedure was applied to the as-synthesized DETA-MPs-GO for the detection of nine fungicides in fruit samples, prior to ultra-performance liquid chromatography-high resolution mass spectrometry (UPLC-HRMS). The homogenized fruit samples, spiked with D-labelled internal standards, were firstly extracted by 5 mL of acetonitrile twice and then purified by DETA-MPs-GO adsorbents. The optimization of the adsorption and elution conditions of DETA-MPs-GO toward fungicides was carried out to attain a satisfactory adsorption performance and desorption efficiency. The adsorption mechanism was carefully investigated, and the results revealed that a synergistic adsorption mechanism, including hydrogen bond and a π–π stacking interaction, was confirmed. Moreover, the limits of quantitation (LOQs) of the proposed approach were in the range of 0.01 to 0.30 μg/kg under the optimum conditions. The average recoveries at three spiking levels were 84.9% to 105.2%, with relative standard deviations (RSDs) varying from 0.8% to 8.2% (n = 6). The developed method was successfully utilized for the screening and detection of fungicides in 81 fruit samples purchased from markets. A detailed survey was carried out about the concentration distribution, types of fungicides, and combined use of fungicides in different fruits.
Supervised Spoken Document Summarization jointly Considering Utterance Importance and Redundancy by Structured Support Vector Machine

In extractive spoken document summarization, it is desired to select important utterances from documents to construct the summary while avoiding redundancy among the selected utterances, but it is not easy to balance the two different goals. In this paper, a supervised spoken document summarization approach is proposed based on structured support vector machine (SVM), in which the above two goals are jointly considered during training. A set of parameters not only describing the ways to evaluate the importance of the utterances but minimizing the redundancy is directly learned from the training set. Encourag-ing results were obtained on a lecture corpus in the preliminary experiments.
Low latency virtual network embedding for mobile networks

Network virtualization has become one of the most prominent solutions that can efficiently deal with the dramatic increase of data demand in mobile networks. In order to allow multiple virtual networks to coexist in the same substrate network, the need for development of efficient virtual network embedding algorithms and techniques is imperative. The main purpose of this paper is to provide an optimization framework for virtual network embedding that minimizes the end-to-end delay. The proposed scheme takes also into account the actual user mobility effect in order to allow efficient mapping for mobile networks. In addition, it provides service differentiation allowing delay sensitive services to use the formed virtual networks with the minimum possible delay in comparison to elastic services. The performance of the proposed algorithm is evaluated and compared to existing optimal shortest path virtual network embedding algorithms. The numerical results reveal that the proposed algorithm converges to an optimal solution and its performance can achieve significant improvement in comparison to shortest path optimization algorithms.