Miracle-dz/UniFAR-FTUs huggingface dataset:
Obtaining High-Dimensional Configuration Space for Robotic Systems Operating in a Common Environment

 Abstract — In this research, a method is developed to obtain high-dimensional configuration space for path planning problems. In typical cases, the path planning problems are solved directly in the 3-dimensional (D) workspace. However, this method is inefficient in handling the robots with various geometrical and mechanical restrictions. To overcome these difficulties, path planning may be formalized and solved in a new space which is called configuration space. The number of dimensions of the configuration space comes from the degree of freedoms of the system of interest. The method can be applied in two ways. In the first way, the point clouds of all the bodies of the system and interaction of them are used. The second way is performed via using the clearance function of simulation software where the minimum distances between surfaces of bodies are simultaneously measured. A double-turret system is held in the scope of this study. The 4-D configuration space of a double-turret system is obtained in these two ways. As a result, the difference between these two methods is around 1%, depending on the density of the point cloud. The disparity between the two forms steadily decreases as the point cloud density increases. At the end of the study, in order to verify 4-D configuration space obtained, 4-D path planning problem was realized as 2-D + 2-D and a sample path planning is carried out with using A* algorithm. Then, the accuracy of the configuration space is proved using the obtained paths on the simulation model of the double-turret system.
Causal Transmission in Reduced-Form Models

We propose a method to explore the causal transmission of an intervention through two endogenous variables of interest. We refer to the intervention as a catalyst variable. The method is based on the reduced-form system formed from the conditional distribution of the two endogenous variables given the catalyst. The method combines elements from instrumental variable analysis and Cholesky decomposition of structural vector autoregressions. We give conditions for uniqueness of the causal transmission.
Formation of InAs self-assembled quantum rings on InP

Shape transformations of partially capped self-assembled InAs quantum dots grown on InP are studied. Atomic force microscopy images show large anisotropic redistribution of the island material after coverage by a 1-nm-thick InP layer. The anisotropic material redistribution occurs within a few minutes and leads to a change from lens-like to elongated ring-like islands. The shape transformation is not accompanied by dot material compositional change. The formation of InAs/InP quantum rings disagrees with a previous model of InAs/GaAs ring formation that assumes that the driving force for the dot to ring transformation is the difference in surface diffusion velocity of indium and gallium atoms.
of Micro-financing”

Bangladesh is one of the poorest countries in the world. The paper discusses the barriers to economic growth as well as diverse strategies and programs that are responsible for Bangladesh’s recent reduction in poverty. More importantly, this paper discusses how Bangladesh’s innovative approach to micro-credit has contributed to the reduction of rural poverty and serves as a model of micro-entrepreneurship. The article presents a profile of the Bangladeshi micro-entrepreneurs and identifies the factors influencing their performance.
Provably Post-Quantum Secure Messaging with Strong Compromise Resilience and Immediate Decryption

Recent years have seen many advances in provably secure messaging protocols, both in features and detailed security proofs. However, some important areas of the design space have not yet been explored. In this work we design the first provably secure protocol that at the same time achieves (i) strong resilience against fine-grained compromise, (ii) post-quantum security, and (iii) immediate decryption with constant-size overhead. Besides these main design goals, we prove that our protocol achieves even stronger security than protocols previously conjectured to be in this space. Finally, we introduce a novel definition of offline deniability suitable for our setting, and prove that our protocol meets it, notably when combined with a post-quantum initial key exchange. We use game-based security notions to be able to prove post-quantum and strong compromise resilience. At a technical level, we build on the SM protocol and security notion from [1], but the security properties that we aim for require a different proof approach. Our work shows how these properties can be simultaneously achieved, and our temporal healing and offline deniability notions are of independent interest.
The Late-type Eclipsing Binaries in the Large Magellanic Cloud: Catalog of Fundamental Physical Parameters

We present a determination of the precise fundamental physical parameters of 20 detached, double-lined, eclipsing binary stars in the Large Magellanic Cloud (LMC) containing G- or early K-type giant stars. Eleven are new systems; the remaining nine are systems already analyzed by our team for which we present updated parameters. The catalog results from our long-term survey of eclipsing binaries in the Magellanic Clouds suitable for high-precision determination of distances (the Araucaria Project). The V-band brightnesses of the systems range from 15.4 to 17.7 mag, and their orbital periods range from 49 to 773 days. Six systems have favorable geometry showing total eclipses. The absolute dimensions of all eclipsing binary components are calculated with a precision of better than 3%, and all systems are suitable for a precise distance determination. The measured stellar masses are in the range 1.4 to 4.6 M⊙, and comparison with the MESA isochrones gives ages between 0.1 and 2.1 Gyr. The systems show an age–metallicity relation with no evolution of metallicity for systems older than 0.6 Gyr, followed by a rise to a metallicity maximum at age 0.5 Gyr and then a slow metallicity decrease until 0.1 Gyr. Two systems have components with very different masses: OGLE LMC-ECL-05430 and OGLE LMC-ECL-18365. Neither system can be fitted by a single stellar evolution isochrone, explained by a past mass transfer scenario in the case of ECL-18365 and a gravitational capture or hierarchical binary merger scenario in the case of ECL-05430. The longest-period system, OGLE LMC SC9_230659, shows a surprising apsidal motion that shifts the apparent position of the eclipses. This is a clear sign of a physical companion to the system; however, neither investigation of the spectra nor light-curve analysis indicates a third-light contribution larger than 2%–3%. In one spectrum of OGLE LMC-ECL-12669, we noted a peculiar dimming of one of the components by 65% well outside of the eclipses. We interpret this observation as arising from an extremely rare occultation event, as a foreground Galactic object covers only one component of an extragalactic eclipsing binary.
ScholarlyCommons ScholarlyCommons

Abstract We consider monitoring and checking formally specified properties in a network. We are addressing the problem of deploying the checkers on different network nodes that provide correct and efficient checking. We present the DMaC system that builds upon two bodies of work: the Monitoring and Checking (MaC) framework, which provides means to monitor and check running systems against formally specified requirements, and declarative networking, a declarative domain-specific approach for specifying and implementing distributed network protocols. DMaC uses a declarative networking system for both specifying network protocols and performing checker execution. High-level properties are automatically translated from safety property specifications in the MaC framework into declarative networking queries and integrated into the rest of the network for monitoring the safety properties. We evaluate the flexibility and efficiency of DMaC using simple but realistic network protocols and their properties
The BIMA Survey of Nearby Galaxies. I. The Radial Distribution of CO Emission in Spiral Galaxies

We present the first results of the Berkeley-Illinois-Maryland Association Survey of Nearby Galaxies (BIMA SONG), an imaging survey of the CO J = 1-0 emission in 44 nearby spiral galaxies at a typical resolution of 6''. BIMA SONG differs from previous high-resolution CO surveys in that (1) CO brightness was not an explicit selection criterion, (2) a larger area (200'' diameter for most galaxies) of each galaxy was imaged, and (3) fully sampled single-dish CO data (55'' resolution) were obtained for over half of the sample galaxies, so all of the CO flux is imaged in these galaxies. Here we present CO maps for a subsample of 15 BIMA SONG galaxies for which we have also obtained near-infrared or optical broadband data. The CO maps display a remarkable variety of molecular gas morphologies, and, as expected, the CO surface brightness distributions show considerably more substructure than the stellar light distributions, even when averaged over kiloparsec scales. The radial distribution of stellar light in galactic disks is generally characterized as an exponential. It is, therefore, of interest to investigate whether the molecular gas, which is the star-forming medium, has a similar distribution. Though our low-resolution single-dish radial profiles of CO emission can be described by simple exponentials, this is not true for the emission at our full 6'' resolution. The scale lengths of the CO disks are correlated with the scale lengths of the stellar disks, with a mean ratio of the scale lengths of about 1. There is, however, considerable intrinsic scatter in the correlation. We also find that (1) there is also a weak correlation between the ratio of K-band to CO luminosity and Hubble type; (2) in half of the galaxies presented here, CO emission does not peak at the location of the stellar nucleus; (3) averaged over the inner kiloparsec, the CO emission in one-half of the galaxies exhibits an excess over that expected from an exponential disk, which is similar to the excess in stellar light caused by the bulge stars; and (4) this excess CO emission may be due to an increase in the total molecular gas content in the bulge region, or alternatively, to an increase in the CO emissivity caused by the increased pressure of the bulge region.
A microstrip Yagi antenna using EBG structure

In this paper a detailed design, development and performances of a 5 GHz microstrip Yagi antenna, which uses a two‐dimensional (2‐D) electromagnetic band gap (EBG) structure in the ground plane, are presented. The results indicate that the use of the EBG structure improves the radiation pattern of the antenna. The cross polarization is suppressed by properly choosing the period and dimensions of EBGs. Also, the broadside gain is improved in comparison with the analogous antenna without the EBGs.
A Chandra Survey of Milky Way Globular Clusters. I. Emissivity and Abundance of Weak X-Ray Sources

Based on archival Chandra data, we have carried out an X-ray survey of 69, or nearly half the known population of, Milky Way globular clusters (GCs), focusing on weak X-ray sources, mainly cataclysmic variables (CVs) and coronally active binaries (ABs). Using the cumulative X-ray luminosity per unit stellar mass (i.e., X-ray emissivity) as a proxy of the source abundance, we demonstrate a paucity (lower by 41% ± 27% on average) of weak X-ray sources in most GCs relative to the field, which is represented by the Solar Neighborhood and Local Group dwarf elliptical galaxies. We also revisit the mutual correlations among the cumulative X-ray luminosity (LX), cluster mass (M), and stellar encounter rate (Γ), finding , and . The three quantities can further be expressed as , which indicates that the dynamical formation of CVs and ABs through stellar encounters in GCs is less dominant than previously suggested, and that the primordial formation channel has a substantial contribution. Taking these aspects together, we suggest that a large fraction of primordial, soft binaries have been disrupted in binary–single or binary–binary stellar interactions before they could otherwise evolve into X-ray-emitting close binaries, whereas the same interactions also have led to the formation of new close binaries. No significant correlations between and cluster properties, including dynamical age, metallicity, and structural parameters, are found.
Pair interaction of particles in electric field. 1. Features of hydrodynamic interaction of polarized particles

The goal set for this work was a generalization of the theory of pair interaction of disperse particles in an electric field. The particles in the long-range interaction zone move relative to each other, entrained by flows of the dispersion medium. This motion of the liquid is caused by polarization electroosmotic flows on the particle surfaces. A quantitative description of this motion has shown that when it is taken into account, the present concepts of the stability of dispersions in an electric field may be modified substantially. The energy of interaction that is characteristic for this motion decreases in inverse proportion to the first power of the distance between particles.
An Attempt to Reproduce One-day Human Mobility Using Time-Varying Markov Chain Model

: Human mobility has been studied by researchers from many fields such as urban planning, transportation research, geography, computational epidemiology, etc. It has also been modeled using various data sources from different attributes. However, human mobility shows great spatial and temporal complexity, and many aspects remain unknown. In this study, we propose a method of reproducing one-day human mobility based on the time-varying Markov Chain model. A step of choosing individual’s future status before the Markov process is conducted, which uses the information of previous mobility. Results show that the spatial and the temporal attributes are well-reproduced, and individual future status can be inferred from the type of previously mobility, regardless of where exactly the person has traveled and when trips happened. Our method can be a tool to infer spatial and temporal attributes of individual mobility from knowledge about aggregated mobility.
Transmission-electron-microscopy study of charge-stripe order in La 1.725 Sr 0.275 NiO 4

We characterize the local structure and correlations of charge stripes in ${\mathrm{La}}_{1.725}{\mathrm{Sr}}_{0.275}{\mathrm{NiO}}_{4}$ using transmission-electron microscopy. We present direct evidence that the stripe modulation is indeed one-dimensional within each ${\mathrm{NiO}}_{2}$ plane. Furthermore, we show that individual stripes tend to be either site centered or bond centered, with a bias towards the former. The spacing between stripes often fluctuates about the mean separation, contributing to a certain degree of frustration of the approximate body-centered stacking along the c axis. These results confirm ideas inferred from previous neutron-diffraction measurements on doped nickelates, and demonstrate that charge-stripe order is quite different from the conventional concept of charge-density-wave order.
Exact indices for D-particles, flow trees and the derived category

In arXiv:0909.0508 D-particle degeneracies were calculated using novel methods. By analysing this refined computation of the index in the setting of the topological B model, a correspondence is found between flow trees in the supergravity description and B-branes in the topological theory. This enables us to use the same refinement also for single flows. A concrete example will be given, providing strong support for this method, while at the same time confirming the prediction of a new elliptic genus in arXiv:0909.0508.
Contextual-Utterance Training for Automatic Speech Recognition

Recent studies of streaming automatic speech recognition (ASR) recurrent neural network transducer (RNN-T)-based systems have fed the encoder with past contextual information in order to improve its word error rate (WER) performance. In this paper, we first propose a contextual-utterance training technique which makes use of the previous and future contextual utterances in order to do an implicit adaptation to the speaker, topic and acoustic environment. Also, we propose a dual-mode contextual-utterance training technique for streaming automatic speech recognition (ASR) systems. This proposed approach allows to make a better use of the available acoustic context in streaming models by distilling"in-place"the knowledge of a teacher, which is able to see both past and future contextual utterances, to the student which can only see the current and past contextual utterances. The experimental results show that a conformer-transducer system trained with the proposed techniques outperforms the same system trained with the classical RNN-T loss. Specifically, the proposed technique is able to reduce both the WER and the average last token emission latency by more than 6% and 40ms relative, respectively.
Improving short-video speech recognition using random utterance concatenation

One of the limitations in end-to-end automatic speech recognition framework is its performance would be compromised if train-test ut-terance lengths are mismatched. In this paper, we propose a random utterance concatenation (RUC) method to alleviate train-test utterance length mismatch issue for short-video speech recognition task. Speciﬁcally, we are motivated by observations our human-transcribed training utterances tend to be much shorter for short-video spontaneous speech ( ∼ 3 seconds on average), while our test utterance generated from voice activity detection front-end is much longer ( ∼ 10 seconds on average). Such a mismatch can lead to sub-optimal performance. Experimentally, by using the proposed RUC method, the best word error rate reduction (WERR) can be achieved with around three fold training data size increase as well as two ut-terance concatenation for each. In practice, the proposed method consistently outperforms the strong baseline models, where 3.64% average WERR is achieved on 14 languages.
Game-Theoretical Perspectives on Active Equilibria: A Preferred Solution Concept over Nash Equilibria

Multiagent learning settings are inherently more difficult than single-agent learning because each agent interacts with other simultaneously learning agents in a shared environment. An effective approach in multiagent reinforcement learning is to consider the learning process of agents and influence their future policies toward desirable behaviors from each agent's perspective. Importantly, if each agent maximizes its long-term rewards by accounting for the impact of its behavior on the set of convergence policies, the resulting multiagent system reaches an active equilibrium. While this new solution concept is general such that standard solution concepts, such as a Nash equilibrium, are special cases of active equilibria, it is unclear when an active equilibrium is a preferred equilibrium over other solution concepts. In this paper, we analyze active equilibria from a game-theoretic perspective by closely studying examples where Nash equilibria are known. By directly comparing active equilibria to Nash equilibria in these examples, we find that active equilibria find more effective solutions than Nash equilibria, concluding that an active equilibrium is the desired solution for multiagent learning settings.
Birdwatch: Crowd Wisdom and Bridging Algorithms can Inform Understanding and Reduce the Spread of Misinformation

We present an approach for selecting objectively informative and subjectively helpful annotations to social media posts. We draw on data from on an online environment where contributors annotate misinformation and simultaneously rate the contributions of others. Our algorithm uses a matrix-factorization (MF) based approach to identify annotations that appeal broadly across heterogeneous user groups - sometimes referred to as"bridging-based ranking. "We pair these data with a survey experiment in which individuals are randomly assigned to see annotations to posts. We find that annotations selected by the algorithm improve key indicators compared with overall average and crowd-generated baselines. Further, when deployed on Twitter, people who saw annotations selected through this bridging-based approach were significantly less likely to reshare social media posts than those who did not see the annotations.
Thermal vestiges of avalanches in the driven random field Ising model

We investigate the non-equilibrium behaviour of the 3 d random field Ising model at finite temperature, as an external field is increased through its coercive field. We show by numerical simulations that the phenomenology of avalanches—which are sharply defined only at zero temperature—also persists over a significant range of finite temperatures. We analyse the main differences between the thermal and zero-temperature systems, including an excess of small avalanches in the thermal case, whose behaviour is consistent with activated dynamical scaling. We also investigate the extent to which individual avalanches at finite temperature can be traced back to parent avalanches in the athermal system.
GRB 221009A: A Light Dark Matter Burst or an Extremely Bright Inverse Compton Component?

Gamma-ray bursts (GRBs) have been considered as potential very high energy photon emitters due to the large amount of energy released as well as the strong magnetic fields involved in their jets. However, the detection of teraelectronvolt photons is not expected from bursts beyond a redshift of z ≳ 0.1, due to their attenuation with the extragalactic background light (EBL). For these reasons, the recent observation of photons with energies of 18 and 251 TeV from GRB 221009A (z = 0.151) last 2022 October 9 has challenged what we know about the teraelectronvolt-emission mechanisms and the extragalactic background. In order to explain the teraelectronvolt observations, recent works exploring candidates of dark matter have started to appear. In this paper, we discuss the required conditions and limitations within the most plausible scenario, synchrotron self-Compton radiation in the GRB afterglow, to interpret the one 18 TeV photon observation besides the EBL. To avoid the Klein–Nishina effect, we find an improbable value of the microphysical magnetic parameter below 10−6 for a circumburst medium value >1 cm−3 (expected in the collapsar scenario). Therefore, we explore possible scenarios in terms of axion-like particles (ALPs) and dark photon mechanisms to interpret this highly energetic photon and we discuss the implications in the GRB energetics. We find that the ALPs and dark photon scenarios can explain the 18 teraelectronvolt photon but not the 251 teraelectronvolt photon.