Miracle-dz/UniFAR-FTUs huggingface dataset:
Fearful Goal Generation for Reliable Policy Learning

: By learning from experience, reinforcement learning (RL) methods 1 learn from their environments adaptively, making them a promising direction for 2 generalizable robots. However, training robotic goal-conditioned RL policies of-3 ten requires careful tuning of reward functions, especially because of early termi-4 nation problems: giving the RL agent negative feedback (such as about crashes) 5 can cause it to be overly cautious. And yet, we desire agents that know to avoid 6 such crashes as they can damage robot hardware. We propose DEIMOS, a novel 7 safety-aware automatic training goal selector that requires no safety constraint Ja-8 cobian or conditional value at risk computation, nor any difference in observation 9 space or reward shaping, and no extra neural parameters at deployment, making 10 it ideal for agents acting on complex robotic morphologies. We showcase the ef-11 ficacy of our method on a challenging quadruped locomotion and manipulation 12 task. We empirically show that using our method, policies are tuned to optimize 13 for safety, producing populations of final agents that crash less often than popula-14 tions trained with baseline curricula. Their reward performance is also similarly 15 improved. 16
Trojan-D2: Post-Layout Design and Detection of Stealthy Hardware Trojans - a RISC-V Case Study

With the exponential increase in the popularity of the RISC-V ecosystem, the security of this platform must be re-evaluated especially for mission-critical and IoT devices. Besides, the insertion of a Hardware Trojan (HT) into a chip after the in-house mask design is outsourced to a chip manufacturer abroad for fabrication is a significant source of concern. Though abundant HT detection methods have been in-vestigated based on side-channel analysis, physical measurements, and functional testing to overcome this problem, there exists stealthy HTs that can hide from detection. This is due to the small overhead of such HTs compared to the whole circuit. In this work, we propose several novel HTs that can be placed into a RISC-V core's post-layout in an untrusted manufacturing environment. Next, we propose a non-invasive analytical method based on contactless optical probing to detect any stealthy HTs. Finally, we propose an open-source library of HTs that can be used to be placed into a processor unit in the post-layout phase. All the designs in this work are done using a commercial 28nm technology.
Underwound DNA under tension: L-DNA vs. plectoneme

In many biological processes DNA experiences force in the pN range and torque that underwinds it. Magnetic tweezers experiments show that the superhelicity -extension curve, the so-called bell curve, is asymmetric with respect to the inversion of σ. We study the case of underwound DNA which was not addressed theoretically before. While the case of overwound DNA is fully explained by the formation of supercoil, the extension of underwound DNA reveals non-trivial tension dependence. We show that plectonemic coils form at moderate tension, whereas left-handed DNA, so-called “L-DNA”, prevails at high tension (above ). In a narrow but physiologically relevant crossover range of tension, that is between 0.4 pN and 0.7 pN, extra unwinding turns are statistically distributed to either plectoneme or L-DNA. In this regime the states of a torsionally stressed DNA should be most sensitive to external mechanical stimuli.
Continuous output‐feedback finite‐time control for a class of second‐order nonlinear systems with disturbances

In this paper, a solution to the continuous output‐feedback finite‐time control problem is proposed for a class of second‐order MIMO nonlinear systems with disturbances. First, a continuous finite‐time controller is designed to stabilize system states at equilibrium points in finite time, which is proven correct by a constructive Lyapunov function. Next, because only the measured output is available for feedback, a continuous nonlinear observer is presented to reconstruct the total states in finite time and estimate the unknown disturbances. Then, a continuous output‐feedback finite‐time controller is proposed to track the desired trajectory accurately or alternatively converge to an arbitrarily small region in finite time. Finally, proposed methods are applied to robotic manipulators, and simulations are given to illustrate the applicability of the proposed control approach. Copyright © 2015 John Wiley & Sons, Ltd.
Imaging InGaAsP quantum-well lasers using near-field scanning optical microscopy

The application of near-field scanning optical microscopy (NSOM) to the characterization of InGaAsP multiquantum-well lasers is reported. Collection mode images are collected at varying drive currents from well below to well above the threshold current. The high resolution of NSOM (∼λ/20) provides a detailed mapping of the laser output from the active region as well as additional output from the surrounding mesa. Spectral analysis of the image shows that the extra emission is due to InP electroluminescence. In addition to the emission characteristics of the laser it is also possible to detect local heating of the laser facet via thermal expansion. Topographical images are achieved simultaneously with NSOM images by digitizing the feedback signal which maintains a constant tip-surface gap. It is shown that these data have direct implications on device performance and problems associated with carrier leakage and nonradiative defects.
Laser diodes for length determination using swept-frequency interferometry

A 780 nm diode laser swept-frequency heterodyne facility is described and its use demonstrated for accurate determination of the optical path length of two stable Fabry-Perot etalons. A frequency sweep of about 4 GHz is accurately determined by heterodyning against a fixed frequency stabilized reference laser. A measurement accuracy of 5*10-6 is demonstrated with one etalon by comparison with results from an independent multi-wavelength determination of the length. A standard error of the mean (1 sigma ) of a few parts per million or better is achieved. Ultimately, a 1 sigma length uncertainty of about 1.5*10-10 should be possible on stable optical structures by using frequency scans of ten to a hundred times the present range, in conjunction with a fixed frequency reference at 780 nm.
Análise facial numérica do perfil de brasileiros Padrão I

AIM: the aim of this study was to determine measurements of the facial profile in balanced faces of Pattern I Brazilian patients. METHODS: the sample was comprised by 50 Brazilian adults (32 women and 18 men) selected by morphologic facial analysis in frontal and lateral views. Standardized lateral facial photographs were taken. They were measured for two different researches to obtain the following: 1) nasolabial angle; 2) angle of mentolabial fold; 3) interlabial angle; 4) angle of facial convexity; 5) angle of total facial convexity; 6) angle of the lower third of the face; 7) proportion between medium facial height and lower facial height; 8) proportion of the lower third of the face. RESULTS AND CONCLUSIONS: there was no statistical difference between the two measurements. The averages, standard deviation, minimal and maximal values obtained were: 1) nasolabial angle: 108.13° ± 9.75° (81° to 127°); 2) angle of mentolabial fold: 132.37° ± 9.82° (110.5° to 152°); 3) interlabial angle: 135.35° ± 11.14° (116.5° to 159.5°); 4) angle of facial convexity: 12.32°± 3.93° (4° to 19.5°); 5) angle of total facial convexity: 137.85° ± 4.08° (129.5° to 147.5°); 6) angle of lower third of the face: 103.41° ± 8.12° (88° to 124°); 7) proportion between medium facial height and lower facial height: 0.93 ± 0.10 (0.80 to 1.21); 8) proportion of lower third of the face: 0.45 ± 0.06 (0.30 to 0.66). With those results, we intend to determine values of reference for the measurements of facial profile, establishing averages and standard deviation to be used comparatively in the study and treatment of compromised faces of white Brazilians adults.
Three-Steps Uncalibrated Rectification Using Epipolar Distance Transform

A direct, efficient method for the problem of epipolar rectification in the uncalibrated casewas proposed. The method was based on minimizing a measure ofdistortion, by introducing anepipolar distance transform. The transform converted image intensity values to a relative locationinside a planar segment along the epipolar line, so it was robust to noises. The ratio of the distancesbetween two matching points in the epipolar lines was theoretically proved invariant to an affinetransformation for planar surfaces. To calculate the relative rotation between both cameras, thealgorithm was decomposed into three-steps to limit the distortion. Results show that the new measureis more appropriate for image rectification, and the three-step algorithm has obtained an accuracycomparable result both in estimation error and visual effect, especially when the initial epipolar linesare far from horizontal.
Rapprochement between bounded‐error and stochastic estimation theory

There has been a recent surge of interest in estimation theory based on very simple noise descriptions; for example, the absolute value of a noise sample is simply bounded. to date, this line of work has not been critically compared with pre-existing work on stochastic estimation theory which uses more complicated noise descriptions. the present paper attempts to redress this by examining the rapprochement between the two schools of work. For example, we show that for many problems a bounded-error estimation approach is precisely equivalent in terms of the final result to the stochastic approach of Bayesian estimation. We also show that in spite of having the advantages of being simple and intuitive, bounded-error estimation theory is demanding on the quantitative accuracy of prior information. In contrast, we discuss how the assumptions underlying stochastic estimation theory are more complex but have the key feature that qualitative assumptions on the nature of a typical disturbance sequence can be made to reduce the importance of quantitative assumptions being correct. We also discuss how stochastic theory can be extended to deal with a problem at present tackled only by bounded-error estimation methods: the quantification of estimation errors arising from the presence of undermodelling.
The pressure-induced metallic amorphous state of SnI4. I. A novel crystal-to-amorphous transition studied by X-ray scattering

A high-pressure X-ray scattering study has revealed that the compressible molecular crystal SnI4 gradually transforms from the crystalline to the amorphous state, this process being accompanied by a remarkable decrease in electrical resistivity induced by the pressure. Taken together with the Raman scattering study described in the following paper, this indicates that the amorphous structure attained above about 20 GPa is formed by dimerised SnI4 tetrahedral molecules packing randomly and densely.
Extinction and scattering of metallic nanoparticles in ordered and random arrays

Here we investigate the interaction of metallic nanoparticles which support localized surface plasmon resonances (LSPR). We use dark-field spectroscopy and normal-incidence transmission spectroscopy to investigate the scattering and extinction of metallic nanoparticles on their own and in both ordered and random arrays. We compare experimental results with theory based on the coupled dipole approximation (CDA) and the finite-element method (FEM). CDA is used to demonstrate the ability to indirectly measure the extinction of an individual particle by considering a sparse, disordered, finite array of particles.
On Kaplun's optimal co-ordinates

Optimal co-ordinates were introduced by Kaplun (1954) as a result of his study on the role of co-ordinate systems in boundary-layer theory. In this paper the basic ideas of optimal co-ordinates are examined and many restrictions of Kaplun's optimal co-ordinates are removed. His rule for constructing optimal co-ordinates is found to apply unaltered to axisymmetric flows, to flows with oncoming streams containing vorticity, to free boundary layers such as jets, to free-convection flows and to compressible flows. It is also extended to unsteady boundary layers, and to three-dimensional boundary layers using a pair of stream functions.
Asymptotic Analysis for Penalty and Barrier Methods in Variational Inequalities

We study the convergence of a class of penalty and barrier methods for solving monotone variational inequalities with constraints. This class of methods is an extension of penalty and barrier methods for convex optimization to the setting of variational inequalities. Primal convergence is established under weaker conditions than usual: the solution set is supposed either to be a compact set or, for the case of interior barrier methods, the sum of a compact set and a linear space. Dual convergence is also analyzed. The analysis strongly exploits a new formula related to recession calculus.
Flow–structure–seabed interactions in coastal and marine environments

Flow–structure–seabed interaction in coastal and marine environments is a rapidly growing area of research and applications. In this vision paper, this area is discussed with a view of identifying its state of the art and current research challenges. The discussion draws attention to key issues related to structures such as marine pipelines, offshore windfarms, and multiuse offshore platforms. Tsunamis, which received considerable attention after two recent extreme events (2004 Indonesia tsunami and 2011 Japan tsunami) are also included in the discussion. Marine hydro-geomechanics is highlighted, among other areas, as an emerging branch of Marine Civil Engineering. Predictions of the field development for the forthcoming years are also briefly outlined.
Aggressive drowsy cache cells

An aggressive drowsy cache block management, where the cache block is forced into drowsy mode all the time except during write and read operations, is proposed. The word line (WL) is used to enable the normal supply voltage (V DD_high) to the cache line only when it is accessed for read or write whereas the drowsy supply voltage (V DD_low) is enabled to the cache cell otherwise. The proposed block management neither needs extra cycles nor extra control signals to wake the drowsy cache cell, thereby reducing the performance penalty associated with traditional drowsy caches. In fact, the proposed aggressive drowsy mode can reduce the total power consumption of the traditional drowsy mode by 13% or even more, depending on the cache access rate, access frequency and the CMOS technology used.
Corrosion detection in conducting boundaries

We consider a model for detecting corrosion on the (inaccessible) conducting top side of a metallic plate. We suppose that the effects of corrosion attack consist in material loss. The perturbation so induced in the geometry of the plate is described by a positive function θ. We prove that a suitable data set, collected on the bottom side of the plate, identifies θ uniquely.
Infrared dielectric constant of gallium arsenide

The real dielectric constant of gallium arsenide has been determined at 300 and at 5 K from fits to observed interference in transmission of thin samples with parallel surfaces. Measurement was carried out over all or part of the range 30–4000 cm−1. An accuracy of ±0.5% is estimated based on the quality of the analytic fits and the sample thickness measurement technique. We find at 300 K, e0=12.90 and e∞=10.86. At 5 K, e0=12.46 and e∞=10.58. An analytic expression for the dielectric function is given which allows accurate values of the real dielectric constant to be determined throughout most of the 0–4000 cm−1 spectral range. The observed ratio e0/e∞ agrees with the Lyddane–Sachs–Teller relation calculated with Raman values of transverse and longitudinal optical phonon frequencies to better than 0.1% at 300 and at 5 K.
Panel or jury testing methods in a metrological perspective

Panel or jury testing is a widely used technique in the measurement of quantities related to human perception. However, despite both scientific and applied interests, the confidence of potential users of this technique is less than in more familiar physical and engineering measurements. This lack of confidence arises mainly due to the lack of standardization and of internationally recognized metrological references for panel testing. Here we discuss some methodological aspects of panel testing, including the construction of the reference scale, the definition and realization of a measuring system based on a previously established scale, its calibration and related uncertainty evaluation. We provide illustrative examples concerning the measurement of the quality of sound (acceptability) of machinery used for the automatic sorting of post, presenting experimental results from tests performed in our laboratory, which seem encouraging. Finally, we propose some possible actions for standardization and for the promotion of a metrological approach.
Wiener-Hopf Analysis of the Dominant Mode Propagation in a Dual-Ridged Parallel Plate Waveguide with Impedance Loading

The dominant mode propagation in a parallel-plate waveguide with impedance-loaded interacting step discontinuities is analyzed rigorously through the Wiener-Hopf technique. Introducing the Fourier transform of the scattered field and applying the boundary conditions in the transform domain, the problem is reduced to a modified Wiener-Hopf equation of the third kind and solved approximately. Some numerical results displaying the effects of the surface impedance of the steps as well as their thicknesses and lengths on the reflection and radiation phenomenon are presented.
Electrical characterization of native-oxide InAlP/GaAs metal-oxide-semiconductor heterostructures using impedance spectroscopy

InAIP native oxide/GaAs metal-oxide-semiconductor (MOS) capacitors have been characterized using bias- and temperature-dependent swept-frequency impedance spectroscopy. An equivalent circuit model has been developed for these MOS capacitors that accurately fits the measured impedance over the full frequency range from 40 Hz to 10 MHz. From the bias dependence of the circuit model parameters, the distribution in energy of the interface states was found to be consistent with an exponential distribution, with a total interface state density of 8×1011 cm−2 and an average activation energy of 0.34 eV below the conduction band edge. The temperature dependence of the impedance spectra was also examined, and an activation energy of 0.44 eV from the conduction band edge was determined, in good agreement with the bias-dependent impedance measurements.
Self-steepening of ultrashort optical pulses without self-phase-modulation

We report the experimental manifestation in optical physics of wave propagation involving self-steepening without concomitant self-phase-modulation. The conditions are realized through the interplay of quadratic and cubic nonlinearities in a frequency-doubling crystal. The experiment constitutes the physical realization of the Chen-Lee-Liu equation, a derivative nonlinear Schroedinger equation that governs pulse propagation.
Recovery of an unknown axis of rotation from the profiles of a rotating surface

We consider a surface (semitransparent or opaque) in space, viewed by orthogonal projection to a view plane that is rotating uniformly about an unknown axis (equivalently, a surface rotating about an unknown axis and viewed by orthogonal projection to a fixed view plane). We consider profiles of this surface (also known as apparent contours, occluding contours, and outlines), and we do not track marked points or curves nor assume that a correspondence problem has been solved. We show that, provided the angular speed is known, the location of the axis, and hence the surface, can be recovered from measurements on the profiles over an interval of time. If the angular speed is unknown, then there is a one-parameter family of solutions similar to the bas-relief ambiguity. The results are obtained by use of frontier points on the surface, which can also be viewed as points of epipolar tangency. Results of a numerical experiment showed that the performance was best with larger extents of rotation or when the axis was nearly perpendicular to the view direction.
Highly uniform resistive switching characteristics of TiN/ZrO2/Pt memory devices

We fabricated the TiN/ZrO2/Pt sandwiched resistive switching memory devices. Excellent bipolar resistive switching characteristics, including a large number of switching cycles and highly uniform switching parameters, as well as long retention time were achieved. The improved switching behavior of TiN/ZrO2/Pt could be attributed to the oxygen reservoir effect of TiN electrodes on the formation and rupture of the filamentary conducting paths by modifying the concentration distributions of the oxygen ions and vacancies in ZrO2 thin films. The results demonstrate the feasibility of high performance resistive switching memory devices based on transition metal oxides by using TiN as the top electrode.
Conditions in the z = 0.692 absorber toward 3CR 286

We present Hubble Space Telescope/Faint Object Spectrograph (HST/FOS) ultraviolet and ground-based optical spectra of the z = 0.692 21 cm absorption system in the quasi-stellar object (QSO) 3CR 286. The strength of the damped Lyman-alpha absorption implies an H I column density, N(H I) approximately 2 x 10(exp 21)/sq cm. We derive a high spin temperature for the H I gas, T(sub s) greater than or approximately equal to 10(exp 3) K, as has been found for other high-redshift 21 cm absorbing systems; at least 80% of the H I is hotter than 1200 K. Curve-of-growth analysis yields Mg(+) and Fe(+) abundances which are approximately 1-2 dex below solar values; the Ca(+) abundance is even lower implying some depletion onto dust grains. The H2 fraction is not high. We speculate that the high inferred T(sub s) for the gas may reflect continuing active star formation at the 5-8 Gyr look-back time to the absorbing galaxy.
Linear stability of idealized detonations

In this paper we describe a new normal‐modes approach to the linear stability problem of an idealized detonation having an Arrhenius form of the reaction rate, with emphasis on Chapman–Jouguet detonations. We determine analytical asymptotic solutions of the ordinary differential equations for the linearized perturbations, which are used as initial conditions for the integration of these equations. A shooting method is employed to solve the eigenvalue problem. We compare with, and extend, the previous results of Lee & Stewart in the case of one‐dimensional perturbations, and show that the growth rates of the unstable spectrum are dominated by a real eigenvalue for large activation temperatures. We also present the dependence of the unstable spectrum on the heat of reaction. Dispersion relations are given for multidimensional perturbations.
A Novel GVF-Based Adaptive Extracting Formulation for Image Reconstruction

This paper proposed a fast boundary reconstruction algorithm based on adaptive gradient vector flow (GVF) deformable model. The novel dynamic GVF field performs faster and wider capture range over original GVF model, which efficiently attracts the model approaching the object contour more quickly and more stably. Based on the approximation error analysis the algorithm can automatically add new knots in contour curve, which makes the accelerated model achieve adaptive adjustment according to local characteristics of the boundary. The improved algorithm can greatly increase the reconstruction accuracy without compromising approximation efficiency. Additional experiments demonstrate the efficient procedure and fine performance of the approach.