gebhart/patrepeval huggingface dataset:
SayPlan: Grounding Large Language Models using 3D Scene Graphs for Scalable Robot Task Planning (2023)

Large language models (LLMs) have demonstrated impressive results in developing generalist planning agents for diverse tasks. However, grounding these plans in expansive, multi-floor, and multi-room environments presents a significant challenge for robotics. We introduce SayPlan, a scalable approach to LLM-based, large-scale task planning for robotics using 3D scene graph (3DSG) representations. To ensure the scalability of our approach, we: (1) exploit the hierarchical nature of 3DSGs to allow LLMs to conduct a 'semantic search' for task-relevant subgraphs from a smaller, collapsed representation of the full graph; (2) reduce the planning horizon for the LLM by integrating a classical path planner and (3) introduce an 'iterative replanning' pipeline that refines the initial plan using feedback from a scene graph simulator, correcting infeasible actions and avoiding planning failures. We evaluate our approach on two large-scale environments spanning up to 3 floors and 36 rooms with 140 assets and objects and show that our approach is capable of grounding large-scale, long-horizon task plans from abstract, and natural language instruction for a mobile manipulator robot to execute. We provide real robot video demonstrations on our project page https://sayplan.github.io.
Direct Laser Additive Manufacturing of TiAl Intermetallic Compound by Powder Directed Energy Deposition (DED) (2020)

Directed Energy Deposition of the commercial intermetallic Ti-48Al-2Cr-2Nb alloy was investigated. The CLAD® process is dependent on multiple parameters, which were successfully optimised through several experiments, including series of beads, small blocks, and massive blocks, under argon atmosphere. The use of adapted temperature management leads to massive blocks manufacturing that bear no apparent macroscopic defects, such as cracks, which are generally observed in this brittle material due to strong temperature cycling during the manufacturing. The microstructure and geometrical parameters were characterised by scanning electron microscopy (SEM). This process generates an ultra-fine and anisotropic microstructure, which is restored to a homogeneous duplex microstructure by a subsequent heat-treatment. Mechanical characterisation is in progress and will be used to validate the soundness of the materials produced in these conditions.
Formal Analysis Based Evaluation Of Software Defined Networking For Time-Sensitive Ethernet (2016)

Software defined networking (SDN) aims to standardize the control and configuration of network infrastructure. It consolidates network control by moving the network's control plane to a (logically) centralized controller and downgrading switches to simple forwarding devices. This offers huge advantages for future automotive Ethernet networks, including admission control (e.g. to prevent/limit congestion) or network reconfiguration (e.g. in case of faults), both based on a centralized view of the current network state. SDN's centralized architecture, however, requires additional communication, which entails a certain overhead. If SDN is used in safety-critical real-time networks, this communication is subject to strict timing requirements. In this paper, we present a formal analysis based evaluation of the general suitability of SDN for time-sensitive networks including overhead, scalability, and timing guarantees by using a realistic automotive setup.
Mitigating ISI Through Self-Calibrating Continuous-Time Equalization (2006)

A method for designing self-calibrating continuous-time equalizers is proposed. Two distinct error terms, generated from the channel pulse response, may be used to adaptively calibrate the equalizer, resulting in a significant reduction of intersymbol interference (ISI). Both error terms are based on the minimization of accumulating ISI versus total ISI. By limiting the change in ISI from bit to bit, reasonable voltage and timing margins are achieved. Matlab simulations show the clear opening of 10-Gb/s data eyes across 6 in and 20 in of FR4, as well as the clear opening of a 20-Gb/s data eye across 6 in of the same medium
Columnar Architecture Sculpted by GABA Circuits in Developing Cat Visual Cortex (2004)

The mammalian visual cortex is organized into columns. Here, we examine cortical influences upon developing visual afferents in the cat by altering intrinsic gamma-aminobutyric acid (GABA)-mediated inhibition with benzodiazepines. Local enhancement by agonist (diazepam) infusion did not perturb visual responsiveness, but did widen column spacing. An inverse agonist (DMCM) produced the opposite effect. Thus, intracortical inhibitory circuits shape the geometry of incoming thalamic arbors, suggesting that cortical columnar architecture depends on neuronal activity.
Learning and Interacting in the Web : Social networks and social software in the Web 2.0 (2007)

Knowledge and learning are social phenomena as well as human-centric. In simple terms, the deployment of emerging technologies in knowledge and learning requires the multilevel support of individuals, teams, communities and networks. The evolution of technologies has made difficult the distinction between the various levels of reference. Put simply, people are not isolated from their micro- or macro-environment. However, technology-supported information highways have developed unforeseen opportunities for knowledge and learning flows between the peers in this network. This paper summarises the Guest Editorial of the Special Issue on Learning and Interacting in the Web: Social Networks and Social Software in the Web 2.0.
Visible Light-Curable Chitosan Ink for Extrusion-Based and Vat Polymerization-Based 3D Bioprintings (2021)

Three-dimensional bioprinting has attracted much attention for biomedical applications, including wound dressing and tissue regeneration. The development of functional and easy-to-handle inks is expected to expand the applications of this technology. In this study, aqueous solutions of chitosan derivatives containing sodium persulfate (SPS) and Tris(2,2'-bipyridyl) ruthenium(II) chloride (Ru(bpy)<sub>3</sub>) were applied as inks for both extrusion-based and vat polymerization-based bioprinting. In both the printing systems, the curation of ink was caused by visible light irradiation. The gelation time of the solution and the mechanical properties of the resultant hydrogels could be altered by changing the concentrations of SPS and Ru(bpy)<sub>3</sub>. The 3D hydrogel constructs with a good shape fidelity were obtained from the chitosan inks with a composition that formed gel within 10 s. In addition, we confirmed that the chitosan hydrogels have biodegradability and antimicrobial activity. These results demonstrate the significant potential of using the visible light-curable inks containing a chitosan derivative for extrusion and vat polymerization-based bioprinting toward biomedical applications.
Cardiovascular conditions in hemodialysis patients may be worsened by extensive interdialytic weight gain (2009)

The risk of death is increased for hemodialysis (HD) patients compared with age-matched healthy subjects, the main reason for this being cardiovascular conditions. This prospective study investigated whether the burden of interdialytic weight gain (IDWG) was of importance for cardiovascular end points and survival. A total of 97 HD patients were studied. The end points included death (reasons given), acute myocardial infarction, or coronary vascular intervention. The extent of ultrafiltration was measured at predefined follow-up points. The IDWG was calculated as ultrafiltration/body weight given in weight%. The burden of IDWG was analyzed. End points occurred in 77 (79%) of the patients during the 5-year study period. The extent of IDWG was higher in those with end points due to cardiovascular reasons (3.77 weight% vs. 3.19 P<0.001), cardiac reasons (P<0.001), congestive heart failure (P<0.01), aortic aneurysm, and intracerebral bleeding (P<0.024). To reduce the risk for cardiovascular events, it is important to avoid too extensive IDWG in HD patients.
The lipophilic behaviour of organic compounds: 3. The search for interconnections between reversed-phase chromatographic data and log Pfoct values (1998)

In the first part of this paper we briefly describe experimental approaches to quantifying molecular lipophilicity by reversed-phase thin-layer chromatography (RP-TLC) and reversed-phase high performance liquid chromatography (RP-HPLC). The central part is devoted to representative cases of RP-TLC and RP-HPLC investigations of both simple organic structures and more complex drug molecules. Conditions for a valid comparability of these chromatographic data with log P are discussed.
I−/TBHP catalyzed Csp3–N/Csp2–N bond formation via oxidative coupling with benzophenone imine in water (2015)

An I − /TBHP catalyzed oxidative amination with benzophenone imine under environmentally benign conditions was developed to afford primary amines and amides.
Modeling, simulation, analysis and control of freeway traffic corridors (2009)

Vehicular traffic congestion remains one of the major world-wide sources of productivity and efficiency loss, wasteful energy consumption, and avoidable air pollution. For example it is estimated that in 2007, congestion caused urban Americans to travel an additional 4.2 billion hours and to purchase an extra 2.9 billion gallons of fuel. In this talk I will describe a set of modeling and simulation Tools for Operational Planning (TOPL) developed to provide quick and quantitative assessments of the benefits that Transportation Management Center (TMC) control policies can provide on freeway corridors, in order to decrease congestion. A freeway corridor typically comprises a 40 kilometer freeway segment on a highly populated urban area, together with its adjoining major urban streets or arterials. The movement of vehicles in a corridor is regulated by programmable field control elements including arterial intersection signals, ramp-metering signals, and message signs that announce emergency conditions, set speed limits and tolls, and provide driver information. Traffic data is primarily collected through inductive loop detectors buried roughly every kilometer along the freeways' payment, as well as detectors located in some of the major corridor arterials. TOPL contains a self-calibrated Cell Transmission Model (CTM) traffic macroscopic simulator. This simulator relies on a well-accepted theoretical model of traffic flow; it is parsimonious and does not require parameters that cannot be estimated from traffic data; and has been tested for reliability on several freeways. Moreover, it is fast, running several hundred times faster than real time, which can be used with real-time measurements and statistically predicted short term future traffic demands to keep track of the current freeway traffic state, as well as make short-term predictions. I will also discuss the qualitative behavior of a single freeway based on the CTM, and will focus on several results regarding the structure and stability of the set of equilibrium states in single freeway, including the fact that the freeway decomposes into disjoint contiguous segments demarcated by bottleneck links, with each segment having qualitatively the same behavior. These properties will be further explored in the formulation of traffic responsive and coordinated ramp-metering policies, including a coordinated policy that minimizes travel time, model calibration and missing on-ramp imputation techniques, and congestion and state estimation techniques.
Developing Web Applications from Conceptual Models. (2003)

This paper presents a strategy for the systematic development of dynamic web applications. The proposal extends an existing OO software production method introducing navigation and presentation expressiveness for applications of this kind. This extensions allow the method going from the problem space to the solution space in a systematic way.
High Strength Nanostructured Materials and Their Oil Field Applications (2012)

Abstract High strength Al nanostructured materials have attracted increasing attention for weight critical and high reliability completion tools applications in the oil and gas industry. The novel nanostructured materials have demonstrated ultrahigh specific strength (i.e. ∼3 times of steel), enhanced specific stiffness, and great potential in tailoring the desirable dynamic and corrosion properties. Traditional light weight material for ball or plug applications are prone to early yielding or shape changes. The yield strength of conventional aluminum alloys is usually less than 400 MPa. Nanotechnology can be effectively employed to enhance the mechanical properties and other desirable properties through engineering the material microstructure. Mechanical milling is used as approach for synthesis of nanostructured powders by conducting severe cyclic plastic deformation in powders and thereby promoting the formation of nanostructures. Our results showed that ultrahigh strength up to 1000 MPa can be achieved for Al-based nano-composites by controlling the distribution of the micro-and nanoparticles in the matrix. And corrosion behavior of the material can be controlled by tuning the matrix grain size from 100 to 500 nm depending on the processing parameters. The nanostructured materials also demonstrated excellent high strain rate ductility while maintaining its high strength. Examples of oil field applications of the nanostructured materials will be presented.
HIGHLY FE-DOPED InGaAs/InP SATURABLE ABSORBER MODE-LOCKING OF AN ERBIUM FIBER LASER (2005)

Erbium-doped unidirectional fiber ring laser has been passively mode-locked with a novel ultra-fast semiconductor saturable absorber used in transmission. The structure is based on InGaAs/InP multiple quantum wells grown on an InP substrate. Different structures with recovery time down to picosecond have been tested. Relaxation time reduction have been obtained by iron doping. With such structures, detrimental regimes such as Q-switch and Q-switch/ModeLock regimes have been avoided. Solitonic and slightly stretched-pulse dispersion regimes have been tested. The laser delivers for both, completely self-starting picosecond pulses of 8 mW maximum average output power at a repetition rate around 25 MHz.
DESCRIPTION OF THE Tl, Pb and Bi CUPRATE HIGH-Tc SUPERCONDUCTORS AS INTERCALATION COMPOUNDS (1989)

Treating the new superconducting oxides as intercalation compounds, especially, as analogues to graphite intercalation compounds (GIC), clarifies the understanding of a number of their properties; in this description, the ratio of the number of cuprate layers per intercalant unit is equivalent to the stage number in GIC’s. In particular, the role of charge transfer (presumably, electron transfer from oxygen in the [Formula: see text] sheets to an acceptor site located in the intercalant) in optimizing T c can be well discussed in these terms, leading to the prediction that the curve of T c versus n, the number of [Formula: see text] layers, must have a maximum at a specific value of n.
ChemInform Abstract: Glycosyl Imidates. Part 70. Synthesis of a Coumarin C‐Glucoside (1995)

Abstract ChemInform is a weekly Abstracting Service, delivering concise information at a glance that was extracted from about 100 leading journals. To access a ChemInform Abstract of an article which was published elsewhere, please select a “Full Text” option. The original article is trackable via the “References” option.
Characteristics of stationary-phase variation affecting virulence in Xanthomonas oryzae pv. oryzae (1997)

Xanthomonas oryzae pv. oryzae is the causal agent of bacterial leaf blight, a serious disease of rice. Spontaneous loss of virulence in X. oryzae pv. oryzae is associated with mutants that produce reduced levels of extracellular polysaccharide. Evidence is presented that these mutants accumulate in long-term stationary phase cultures but are not obtained from exponentially growing cultures. A number of independent spv (stationary-phase variation) mutants have been isolated and characterized. These mutants differ from each other with respect to the stability of the mutant phenotype, extent of loss of virulence, ability to outcompete wild type cells in stationary-phase cocultures, and hypersensitivity to hydrogen peroxide.Key words: stationary-phase variation, spontaneous loss of virulence, Xanthomonas oryzae.
Ray tracing of a molecular lens with velocity map imaging (2000)

Summary form only given. We demonstrate the experimental tracing of a molecular beam passing through a cylindrical lens made of a non-resonant laser pulse. The beam of CS/sub 2/ molecules was deflected by a focused laser pulse (1064 nm, 7 ns, peak intensity I/sub 0//spl sim/10/sup 12/ W/cm/sup 2/). We probed the deflection of molecular beam directly by using the velocity map imaging technique. A resonance enhanced multiphoton ionization process was used for the detection of neutral molecules.
Effects of CYP3A4 inhibitors on the pharmacokinetics of maraviroc in healthy volunteers (2008)

Potent CYP3A4 inhibitors, including ketoconazole and protease inhibitors (except TPV/r), increase maraviroc exposure. Downward adjustment of the maraviroc dose during co-administration with protease inhibitors can compensate for the interaction. TPV/r does not affect the steady-state pharmacokinetics of maraviroc, and hence no dose adjustment would be warranted.
Physical and chemical properties of aerosols (1998)

Preface. 1. Introduction to Aerosol Science I. Colbeck. 2. Aerosol Generation and Instrument Calibration J.P. Mitchell. 3. Transport and Sampling of Aerosols D. Mark. 4. Diffusion and Coagulation S.K. Friedlander. 5. Electrical and Thermodynamic Properties C.F. Clement. 6. Fibrous Filtration J.I.T. Stenhouse. 7. Atmospheric Aerosols U. Baltensperger, S. Nyeki.
CXCL12 Activates a Robust Transcriptional Response in Human Prostate Epithelial Cells (2007)

CXCL12 is a CXC-type chemokine that plays important roles in hematopoiesis, development, and organization of the immune system and supports the survival or growth of a variety of normal or malignant cell types. Our laboratory recently showed that CXCL12 is secreted by aging stromal fibroblast cells and is a major paracrine factor that specifically stimulates the proliferation of prostate epithelial cells. The current study shows that this CXCL12-mediated proliferative response may be either ERK-dependent or ERK-independent. Moreover, CXCL12 initiates a previously undefined and complex global transcriptional response in prostate epithelial cells. This CXCL12-mediated transcriptional response directly stimulates the expression of genes encoding proteins that are involved in the promotion of cellular proliferation and progression through the cell cycle, tumor metastasis, and cellular motility, and directly represses the transcription of genes encoding proteins involved in cell-cell adhesion and resistance to apoptosis. Thus, CXCL12 may play a major role in the etiology of benign proliferative disease in the context of an aging tissue microenvironment.
Climax Conversion Practice III (1977)

Climax molybdenite conversion practice has been modified and modernized to meet pollution abatement requirements and to improve temperature control within the process. The conventional roasting scheme has been modified so that automatic temperature control is achieved within the roasting process and off-gas composition is suitable for sulphur dioxide recovery in a double-pass sulphuric acid plant. Rabbling, brickwork and changes in reaction pro file within the multiple-hearth roasters have been modified to achieve superior operability under these new technological roasting constraints. Résumé La pratique de la conversion optimale du molybdène a été modifiée et modernisée pour satisfaire aux normes de diminution de pollution et pour améliorer le contrôle de température lors du processus. La méthode de grillage conventionnelle a été modifiée de façon à ce que le contrôle de température devienne effectif pendant la phase de grillage et que la composition des gaz de sortie soit adaptée à la récuperation du dioxyde Sie soufre dans une installation à double circulation d'acide sulphurique. L'agitation, le briquetage et les changements dans le profil de réaction dans les fours de grillage à multiplateaux ont ete modifiés pour atteindre une efficacité supérieure, satisfaisant à ces nouvelles contraintes technologiques de grillage.
Liver X receptors (LXRs). Part II: non-lipid effects, role in pathology, and therapeutic implications. (2007)

Liver X receptors (LXRs) alpha and ss belong to a group of nuclear receptors which, after ligand binding, regulate gene transcription. Their natural agonists are oxidized cholesterol derivatives (oxysterols). The main function of LX receptors is the regulation of cholesterol metabolism. In the first part of this work we discussed the structure and mechanism of action of LXRs, their agonists and antagonists, the regulation of LXR expression, and their role in cholesterol and lipid metabolism. In the present article we describe other roles of LXRs. Agonists of these receptors increase insulin sensitivity and stimulate insulin secretion. Activation of LXRs inhibits inflammation and autoimmune reactions. Moreover, pharmacological studies and genetic manipulations indicate that these receptors inhibit atherogenesis. LX receptors are also involved in the regulation of renin secretion, inhibit the formation of amyloid ss in the central nervous system, regulate gonadal function and steroidogenesis both in gonads and in adrenals, influence the proliferation and differentiation of keratinocytes, and inhibit the proliferation of tumor cells. Changes in the expression of these receptors and in the level of their agonists are observed in many diseases. Taking into account the multiple roles of LX receptors, their agonists may be applied in the future in the treatment of many disorders, including diabetes, inflammatory diseases, atherosclerosis, Alzheimer's disease, and hypogonadism. However, possible side effects should be taken into account, including enhancement of lipogenesis, hypertriglyceridemia, and liver steatosis. The function of LX receptors is also modulated by many currently used drugs such as statins, fibrates, and thazolidinedione derivatives.
LIGHT-INDUCED DEGRADATION IN CZ SILICON SOLAR CELLS: FUNDAMENTAL UNDERSTANDING AND STRATEGIES FOR ITS AVOIDANCE (2002)

Solar cells manufactured on boron-doped Czochralski-grown silicon (Cz-Si) degrade in performance when exposed to light or minority carriers are injected in the dark until a stable efficiency is reached. This effect, which is now known for almost 30 years, is due to the activation of a specific metastable defect in the Cz-Si material. Although a conclusive explanation of the effect is still to be found, recent investigations have clearly revealed that the Cz-specific defect is correlated with the boron and the oxygen concentration in the material. The first part of this paper reviews the current status of the physical understanding of the effect and gives an overview of the defect models proposed in the literature. In the second part, an overview of different strategies for avoiding or reducing the light-induced degradation in Cz-Si solar cells is presented.
Towards pharmacological intervention in inositol pyrophosphate signalling (2016)

To help define the molecular basis of cellular signalling cascades, and their biological functions, there is considerable value in utilizing a high-quality chemical 'probe' that has a well-defined interaction with a specific cellular protein. Such reagents include inhibitors of protein kinases and small molecule kinases, as well as mimics or antagonists of intracellular signals. The purpose of this review is to consider recent progress and promising future directions for the development of novel molecules that can interrogate and manipulate the cellular actions of inositol pyrophosphates (PP-IPs)--a specialized, 'energetic' group of cell-signalling molecules in which multiple phosphate and diphosphate groups are crammed around a cyclohexane polyol scaffold.