Miracle-dz/UniFAR-FTUs huggingface dataset:
Teaching a robot manipulation skills through demonstration

An automated software system has been developed to allow robots to learn a generalized motor skill from demonstrations given by a human operator. Data is captured using a teleoperation suit as a task is performed repeatedly on Leonardo, the Robotic Life group’s anthropomorphic robot, in different parts of his workspace. Stereo vision and tactile feedback data are also captured. Joint and end effector motions are measured through time, and an improved Mean Squared Velocity [MSV] analysis is performed to segment motions into possible goal-directed streams. Further combinatorial selection of subsets of markers allows final episodic boundary selection and time alignment of tasks. The task trials are then analyzed spatially using radial basis functions [RBFs] to interpolate demonstrations to span his workspace, using the object position as the motion blending parameter. An analysis of the motions in the object coordinate space [with the origin defined at the object] and absolute world-coordinate space [with the origin defined at the base of the robot], and motion variances in both coordinate frames, leads to a measure [referred to here as objectivity ] of how much any part of an action is absolutely oriented, and how much is object-based. A secondary RBF solution, using end effector paths in the object coordinate frame, provides precise end-effector positioning relative to the object. The objectivity measure is used to blend between these two solutions, using the initial RBF solution to preserve quality of motion, and the secondary end-effector objective RBF solution to increase the robot’s capability to engage objects accurately and robustly. Thesis Supervisor: Cynthia Breazeal Title: Assistant Professor Thesis Supervisor: J.J. Slotine Title: M.E. Faculty Reader, Professor
Passively mode-locked multi-mode fiber laser

Summary form only given. Fiber amplifiers and lasers based on multimode (MM) fibers have recently allowed a great increase in the pulse peak powers and pulse energies available from a fiber optic geometry. These advances are made possible due to the increase in mode-size of the fundamental mode feasible with MM fibers. To date, however, applications of MM fibers in the field of fiber optics were somewhat restricted due to the limitations in mode-quality achievable from a MM fiber amplifier. Here we overcome the spatial mode problem by precision splicing a single-mode mode-filter fiber to the MM fiber for fundamental mode excitation.
Inter‐digital coupled dual‐mode patch resonator with crossed‐island configuration for tri‐band filter design

The miniaturized dual‐mode tri‐band band‐pass filters (BPF) using crossed‐island patch resonator is proposed in this article. The BPF is mainly formed by a square patch resonator in which a crossed‐island configuration is embedded in the patch. The patch size reduction with 74.4% is achieved. By the perturbation and the alternative inter‐digital coupling, the tri‐band responses are obtained. The proposed filter covers the required bandwidths for WLAN band (2.26–3.11 GHz and 5.02–6.0 GHz) and X‐band (7.58–8.41 GHz) applications. Five transmission zeros are placed between three pass‐bands and resulted in a good isolation. © 2013 Wiley Periodicals, Inc. Int J RF and Microwave CAE 24:457–463, 2014.
Google and ITE: The Road Ahead for Self-Driving Cars

Having logged more than 500,000 miles of autonomous driving, the Google self-driving car has captured attention worldwide with its progress and promise for a technology that will transform vehicle travel as it is known. Andrew Chatham, principal software engineer for the Self-Driving Car Project at Google, Inc., captivated an audience at the Institute of Transportation Engineers (ITE) 2014 Technical Conference and Exhibit when he led the plenary session, "Google’s Self-Driving Car: What We've Done and What We Need. " With his presentation, Chatham gave ITE an inside look at how and why Google has come this far with its self-driving car, and what the company needs to make this technology a reality.
INJURY PROBABILITY FOR CAR OCCUPANTS IN FRONTAL AND SIDE IMPACTS

An in-depth crash injury investigation was undertaken to provide data for an analysis of the probability of injury related to crash severity, as calculated using the CRASH 2 computer program. By use of probit analysis techniques estimates of the probabilities of injury have been calculated for unbelted and belted car occupants in frontal and side impacts. In the case of frontal impacts probabilities of injury are given for the head, chest and lower limbs and pelvis separately as well as for the body as a whole. In side impacts the probabilities of injury to individual body regions are not given but probabilities for the whole body are given separately for occupants seated on the impact side of the vehicle and for those seated on the opposite side. For those occupants seated on the impact side, the probability of injury has also been related to the extent of intrusion into the passenger compartment. In addition, the effects of overloading occupants by other unrestrained occupants in the car have been examined. (Author/TRRL)
Enzymes, 4. Non-food Application

The article contains sections titled: 1. Enzymes in Household Detergents 2. Enzymes in Automatic Dishwashing 3. Enzymes in Grain Wet-Milling 4. Enzymes in Animal Feeds 5. Enzymes in Textile Production 6. Enzymes in Pulp and Paper Processing
SWOG S1216: A phase III randomized trial comparing androgen deprivation therapy (ADT) plus TAK-700 with ADT plus bicalutamide in patients (pts) with newly diagnosed metastatic hormone-sensitive prostate cancer (mHSPC) (NCT01809691).

5001 Background: Tak is an oral selective nonsteroidal 17, 20-lyase inhibitor that blocks the synthesis of gonadal and adrenal androgens. We evaluated the clinical benefit of Tak with ADT in pts with newly diagnosed mHSPC. Methods: Pts with mHSPC with a Zubrod performance status (PS) of 0-2 and a PSA of ≥ 2 ng/ml were randomized 1:1 to ADT+Tak (300 mg twice daily) or ADT+Bic (50 mg daily). Stratification factors included PS (0-1 vs ≥2), extent of disease (minimal vs extensive), and receipt of ADT prior to registration (yes vs no). The primary endpoint was overall survival (OS). Secondary endpoints were progression free survival (PFS; based on PSA, imaging or clinical progression), PSA at 7 months (≤0.2 vs 0.2 < PSA; ≤-4 vs. > 4 ng/ml) and adverse event (AE) profile. With 2.75 yrs to accrue 1,186 eligible pts and 3 additional yrs of follow-up, we would have 90% power to determine a 33% improvement in OS from 54 to 72 mos (1-sided α = 0.025). A final analysis was pre-specified after 523 deaths using a 1-sided α = 0.022 to account for interim analyses. Results: Between 3/2013 and 7/2017, 1,313 pts were randomized and 1,279 were included in the intention-to-treat (ITT) analysis (32 pts were ineligible and 2 pts withdrew consent). Median age was 68 yrs and 10% of subjects were Black. Median PSA was 30 ng/mL (range 2-6710) and 49% of pts had extensive disease. After a median follow-up of 4.9 yrs, PFS and PSA response were significantly improved with Tak over Bic but no significant improvement in OS was observed (Table). More grade 3/4 AEs occurred in Tak vs. Bic arms (43% vs. 14%), and included hypertension (20% vs. 5%) and fatigue (5% vs. 2%). Five pts in Tak and 1 pt in the Bic arm had grade 5 AE. Conclusions: Despite clinically meaningful improvement in various outcome measures with Tak+ADT over Bic+ADT in this representative population of mHSPC, the improvement in OS did not meet the pre-specified criteria for statistical significance. The median OS of 70 mos in the control arm (standard ADT) was higher than that reported in contemporary phase 3 trials in this setting, and 16 mos higher than originally estimated. This trial sets a new landmark for survival estimates when pts with mHSPC have access to multiple approved subsequent life-prolonging therapies. Funding: NIH/NCI/NCTN grants U10CA180888, U10CA180819, U10CA180820; U10CA180821; and in part by Millennium Pharmaceuticals, Inc. (Takeda Pharmaceutical Company LTD) Clinical trial information: NCT01809691. [Table: see text]
Codificador de Entropia Segundo o Perfil Baseline do padrão H.264/AVC de Compressão de Vídeo

This paper presents the design of a hardware architecture for the Entropy Encoder of H.264/AVC video compression standard according to the Baseline Profile. This paper presents the architectural design of Exp-Golomb and CAVLC encoders, which were described in VHDL and synthesized to a Xilinx FPGA. From synthesis it was possible to verify that both designs present interesting results: 10.2 and 117.62 million samples per second for the throughputs, respectively. The entropy encoder is currently being designed through the integration of these two main blocks and preliminary results indicate that the obtained solution will be able to process HDTV frames in real time.
Analytical approach to optimise the efficiency of switching mode power amplifiers loaded with distributed matching networks

This study describes the design methodology of optimising the power-added efficiency (PAE) of switching mode power amplifiers (SMPAs). To maximise efficiency, design optimisation of the harmonic loading networks using an analytical analysis approach is proposed. Indeed, by carefully designing a distributed harmonic control network at the output of the SMPA, the insertion loss through the load network can be minimised. To validate the PAE optimisation approach, two 10 W inverse class F power amplifiers (PAs) were designed, manufactured and tested at a frequency of 2.45 GHz using a GaN HEMT transistor. The first PA prototype was matched with a standard distributed harmonic loading network and the second with the proposed distributed harmonic loading network. The measured PAE and gain for the second prototype were improved by 3% and 0.17 dB to reach 73% and 14 dB, respectively.
Evaluating the Environmental Impacts of Poultry Farming on Stream Water Quality: A Study From Abeokuta, Nigeria

Poultry farms provide one of the most important sources of high-grade, protein-rich foods (eggs and meat) for large populations in the world (Gueye, 2003). These farms are also a source of revenue for most of their operators. According to Okonkwo and Akubuo (2001), about 10 percent of the Nigerian population is engaged in poultry production, mostly at subsistence levels or on small or medium-sized farms. Unfortunately, contaminants from poultry farms can have adverse effects on air, soil, and water quality if their wastes are improperly managed (Ajayi, Kodaolu, Adeyemo, & Ogunsuyi, 2003). The improper disposal of wastes generated by poultry operations has been a long-standing concern because of its contribution to nutrient pollution in water resources (Burkholder et al., 2007). Poultry wastes can degrade water quality when they are channeled directly into surface waters or enter the water via surface runoff. In this article, we investigate the effects of a former poultry farm operation on the water quality of a stream that is the source of water for domestic use by nearby village residents.
The Competition of Ideas: The World of the Washington Think Tanks

Murray Weidenbaum has been a visiting scholar at the American Enterprise Institute and the Center for Strategic and International Studies, a speaker at meetings at the Brookings Institution, the Cato Institute, and the Heritage Foundation and has also written for their publications, and served as a reviewer of ongoing studies. In "The Competition of Ideas", Weidenbaum examines the political economy of these vital institutions, drawing heavily on several decades of involvement in their activities. He is uniquely able to see their accomplishments as well as their shortcomings.Because of the importance of the activities of their organizations, and their tax-exempt status, think tanks are held to a high standard. Weidenbaum shows that sometimes think tanks are more tank than think - major think tanks are often predictable in the positions they take on public issues and are far better at analyzing the shortcomings of other elements of society than of their own operations. The overarching issue of quality control, Weidenbaum holds, deserves more attention than it has attained in the think tank world.This book presents a careful, balanced account of where think tanks have been and where thay are now headed. Given the high levels of professionalism in many think tanks, a fundamental change in the attitude of their management is important. The compelling need is less for the wielder of policy than for the lucid synthesizer of relevant research and analysis. Likewise, society needs sensitivity to the long-term concerns of the citizenry more urgently than rapid response to the opportunities of the moment. Future competition, particularly among the major think tanks, could well be centered, not on achieving greater visibility, but on developing responses to economic, environmental, and national security problems that are likely to be adopted and carried out.
A Simplified Performance-Based Procedure for the Prediction of Lateral Spread Displacements

A Simplified Performance-Based Procedure for the Prediction of Lateral Spread Displacements Levi Thomas Ekstrom Department of Civil and Environmental Engineering, BYU Master of Science Characterization of the seismic hazard and ground-failure hazard of a site using traditional empirical lateral spread displacement models requires consideration of uncertainties in seismic loading, site conditions, and model prediction. Researchers have developed performance-based design methods to simultaneously account for these sources of uncertainty through the incorporation of a probabilistic analytical framework. While these methods can effectively handle the various sources of uncertainty associated with empirical lateral spread displacement prediction, they can be difficult for engineers to perform in a practical manner without the use of specialized numerical tools. To make the benefits of a performance-based approach accessible to a broader audience of geotechnical engineers, a simplified performancebased procedure is introduced in this paper. This map-based procedure utilizes a reference soil profile to provide hazard-targeted reference displacements across a geographic area. Equations are provided for engineers to correct those reference displacements for site-specific soil conditions and surface geometry to produce site-specific, hazard-targeted estimates of lateral spread displacement. The simplified performance-based procedure is validated through a comparative study assessing probabilistic lateral spread displacements across several cities in the United States. Results show that the simplified procedure closely approximates the results from the full performance-based model for all sites. Comparison with deterministic analyses are presented, and the place for both in engineering practice are discussed.
ApoE and apoC-III-defined HDL subtypes: A descriptive study of their LCAT and CETP content and activity

Background High-density lipoproteins (HDL) functionality predicts cardiovascular risk better than HDL concentrations. The apolipoprotein composition of HDL may be a determinant of their function. Lecithin-cholesterol acyl transferase (LCAT) and cholesterol-ester transfer protein (CETP) are key enzymes for HDL-mediated reverse cholesterol transport. We assessed the distribution and activity of LCAT and CETP in HDL subspecies defined by their content of apolipoproteins E (apoE) and C-III (apoC-III) in humans. Methods We isolated in 18 adult humans of both sexes (mean age 55.6, BMI 26.9 Kg/m2, HbA1c 5.4%), four subspecies of HDL containing respectively: No apoE and no apoC-III (E-C-), apoE but not apoC-III (E+C-), apoC-III but no apoE (E-C+) and both apoE and apoC-III (E+C+). In each HDL subspecies, we measured LCAT and CETP concentration and activity using immunoenzymatic and fluorometric methods. Additionally, we determined the size distribution of HDL in each apolipoprotein-defined fraction using non-denaturing electrophoresis and anti-ApoA-I western blot. Results Similar to previous studies, HDL in the E-C- fraction was the predominant subtype. The size distribution of HDL was very similar across all four apolipoprotein-defined fractions. LCAT was most abundant in E-C- HDL (3.58 mg/mL, 59.6 % of plasma LCAT mass), while HDL with apoE or apoC-III had much less LCAT (19.8%, 12.2% and 8.37% of plasma LCAT respectively for E+C-, E-C+ and E+C+). LCAT mass was lower in E+C- HDL relative to E-C- HDL, but LCAT activity was similar in both fractions, signaling a greater activity-to-mass ratio associated with the presence of apoE. Both CETP mass and CETP activity showed only slight variations across HDL subspecies. There was an inverse correlation between plasma LCAT activity and both E-C+ pre-beta HDL (r=-0.55, p=0.017) and E-C- alpha 1 HDL (r=-0.49, p=0.041). Conversely, there was a direct correlation between E-C+ alpha 1 HDL and CETP activity in plasma (r=0.52, p=0.025). Conclusions Our results suggest that LCAT activity in humans is influenced by the presence of small interchangeable apolipoproteins. The presence of apoE in small HDL is correlated with increased LCAT activity and esterification of plasma cholesterol.
Maximization of the channel utilization in wireless heterogeneous multi-access networks

This paper addresses the problem of maximizing the channel utilization in a wireless heterogeneous network with finite population. Slotted ALOHA is used as the multi-access protocol with packet capture in the presence of background noise and Rayleigh fading. To take account of unfairness caused by capture effect, throughputs of individual users are used as constraints in the problem with network throughput being the maximization objective. The problem is then studied under various conditions by controlling transmission power and/or probability. It is shown that for a narrow-band system under equal throughput requirement, transmission probability control is more effective than power control, and when a joint control strategy is employed, perfect or near perfect channel utilization can be achieved in the absence or presence of Rayleigh fading.
Resolving the four – Bar Link Mechanism by Kinamatics and Revolving Angle Solution

Four bar link mechanism now days are beneficial for various vehicles for power transmission and Mechanical stability with respect to the motion on various Terrains. The stability regarding the motion transitional is easier rather than motion related to rotational. Author trying to resolve the complexity with respect to Matlab codes helpful in the automation of various four bar link mechanism vehicles. The author indicated the source code for four bar link mechanism, as well as simulating the module based on the real time system, lines of code determines the new configurations of the mechanism for an incrementally varying position of the crank. This is based on the standard cosine formulas and other triangle properties used for analyzing four-bar linkages. Obviously, torque and power are not the amount that has been in the kinematics and whatever kinematic amount we use to characterize the presentation of the instrument, this amount will just inexact the static power qualities of the component.
Linking technology choice with operation and maintenance in the context of community water supply and sanitation: a reference document for planners and project staff

Linking technology choice with operation and maintenance in the context of community water supply and sanitation: a reference document for planners and project staff / prepared by François Brikké and Maarten Bredero. email: bookorders@who.int). Requests for permission to reproduce or translate WHO publications – whether for sale or for noncommercial distribution – should be addressed to Publications, at the above address (fax: +41 22 791 4806; email: permissions@who.int). The designations employed and the presentation of the material in this publication do not imply the expression of any opinion whatsoever on the part of the World Health Organization concerning the legal status of any country, territory, city or area or of its authorities, or concerning the delimitation of its frontiers or boundaries. Dotted lines on maps represent approximate border lines for which there may not yet be full agreement. The mention of specific companies or of certain manufacturers' products does not imply that they are endorsed or recommended by the World Health Organization in preference to others of a similar nature that are not mentioned. Errors and omissions excepted, the names of proprietary products are distinguished by initial capital letters. The World Health Organization does not warrant that the information contained in this publication is complete and correct and shall not be liable for any damages incurred as a result of its use. Designed by minimum graphics Printed in Malta CONTENTS Contents Preface v Acknowledgements vi 1. Introduction 1 1.1 The importance of operation and maintenance for water-supply and sanitation technologies 1 1.2 Defining sustainability 2 1.3 Organization of the document – Fact Sheets 5 2. The technology selection process 6 2.1 Introduction 6 2.2 Factors that influence the selection of community water-supply technology 6 2.3 The selection process for community water-supply technology 8 2.4 Factors that influence the selection of community sanitation technology 10 2.5 The selection process for community sanitation technology 10 2.6 Assessing O&M needs 12
The technofusion project for fusion technology development: opportunities for the inertial community

Technofusion will be the new Spanish singular scientific-technical installation for fusion research. The research activities will be focused on seven areas of materials research considered the most relevant ones for further technological developments of fusion energy. In principle, most of the infrastructure in Technofusion will be useful for both, magnetic (MC) and inertial (IC) confinement fusion communities and most of the research and developments carried out for one of the fusion concepts will be valid and transferable to the other. However, some aspects related to first wall materials strongly differ in MC and IC approaches. This is due to the very different typical ion energy and deposited powers in both cases.
Use of the analytical hierarchy process for the assessment of petrochemical industry technologies

The relevant question facing petrochemical manufacturing corporations in oil and gas rich developing countries is probably not whether ranking of foreign process technologies should be done, but rather how it should be accomplished and what criteria should be applied. In this paper a methodology based on the analytic hierarchy process (AHP) is proposed to assist in this selection process.
Healthy Volunteers

This chapter describes the involvement of healthy volunteers in biomedical research. Healthy individuals are valuable to research because they can offer data about biological processes or investigational products that are not distorted by illness or disease. In addition, healthy individuals are generally much easier to recruit to research than are ill patients. Recruitment of healthy participants is aided by the offer of financial compensation in exchange for their participation. The involvement of healthy individuals in research is meant to resolve ethical problems associated with enrolling patients, such as exposing sick individuals to risk and creating misunderstandings for patients about the difference between research and clinical care. However, as this chapter details, using healthy individuals in biomedical research raises different concerns about risk exposure as well as ethical dilemmas associated with paid research participation, the exploitation of vulnerable groups, and the validity of the data produced.