nils-herrmann/clean_scirepeval huggingface dataset:
Socially compliant mobile robot navigation via inverse reinforcement learning
Venue: Int. J. Robotics Res.

Mobile robots are increasingly populating our human environments. To interact with humans in a socially compliant way, these robots need to understand and comply with mutually accepted rules. In this paper, we present a novel approach to model the cooperative navigation behavior of humans. We model their behavior in terms of a mixture distribution that captures both the discrete navigation decisions, such as going left or going right, as well as the natural variance of human trajectories. Our approach learns the model parameters of this distribution that match, in expectation, the observed behavior in terms of user defined features. To compute the feature expectations over the resulting high dimensional continuous distributions, we use Hamiltonian Markov chain Monte Carlo sampling. Furthermore, we rely on a Voronoi graph of the environment to efficiently explore the space of trajectories from the robot's current position to its target position. Using the proposed model, our method is able to imitate the behavior of pedestrians or, alternatively, to replicate a specific behavior that was taught by tele operation in the target environment of the robot. We implemented our approach on a real mobile robot and demonstrated that it is able to successfully navigate in an office environment in the presence of humans. An extensive set of experiments suggests that our technique outperforms state of the art methods to model the behavior of pedestrians, which also makes it applicable to fields such as behavioral science or computer graphics.
Trajectory Tracking Control of Mobile Robot Systems Incorporating Neural Dynamic Optimized Model Predictive Approach
Venue: IEEE Transactions on Systems, Man, and Cybernetics: Systems

Mobile robots tracking a reference trajectory are constrained by the motion limits of their actuators, which impose the requirement for high autonomy driving capabilities in robots. This paper presents a model predictive control (MPC) scheme incorporating neural dynamic optimization to achieve trajectory tracking of nonholonomic mobile robots (NMRs) By using the derived tracking error kinematics of nonholonomic robots, the proposed MPC approach is iteratively transformed as a constrained quadratic programming (QP) problem, and then a primal dual neural network is used to solve this QP problem over a finite receding horizon. The applied neural dynamic optimization can make the cost function of MPC converge to the exact optimal values of the formulated constrained QP. Compared with the existing fast MPC, which requires repeatedly calculating the Hessian matrix of the Langragian and then solves a quadratic program. The computation complexity reaches O(n3) while the proposed neural dynamic optimization contains O(n2) operations. Finally, extensive experiments are provided to illustrate that the MPC scheme has an effective performance on a real mobile robot system.
Multiple Mobile Robot Systems
Venue: Springer Handbook of Robotics, 2nd Ed.

Within the context of multiple mobile, and networked robot systems, this chapter explores the current state of the art. After a brief introduction, we first examine architectures for multirobot cooperation, exploring the alternative approaches that have been developed. Next, we explore communications issues and their impact on multirobot teams in Sect. 53.3, followed by a discussion of networked mobile robots in Sect. 53.4. Following this we discuss swarm robot systems in Sect. 53.5 and modular robot systems in Sect. 53.6. While swarm and modular systems typically assume large numbers of homogeneous robots, other types of multirobot systems include heterogeneous robots. We therefore next discuss heterogeneity in cooperative robot teams in Sect. 53.7. Once robot teams allow for individual heterogeneity, issues of task allocation become important; Sect. 53.8 therefore discusses common approaches to task allocation. Section 53.9 discusses the challenges of multirobot learning, and some representative approaches. We outline some of the typical application domains which serve as test beds for multirobot systems research in Sect. 53.10. Finally, we conclude in Sect. 53.11 with some summary remarks and suggestions for further reading.
Actions from head to toe: An update on Bone/Body Morphogenetic Proteins in health and disease.
Venue: Cytokine growth factor reviews

The pleiotropic actions of Bone Morphogenetic Proteins in many different tissues has led us to the conclusion that they may be viewed as Body Morphogenetic Proteins (BMPs) This is supported by a broad range of distinct BMP related diseases. Here, we summarize highlights from the 10th international BMP conference, which took place from September 16th to 20th 2014 in Berlin. Attendees updated us on recently identified common and context specific mechanisms of BMP signaling and function. This included for example new insights into BMP pro domains, BMP receptors, role of BMPs in muscle and novel consequences of ACVRI mutations. Currently, new BMPs are entering clinical trials with the BMP pathway considered as a 'druggable' target. We conclude that various recent and ongoing approaches could indeed help patients in the near future.
Technology supported student interaction in post secondary education: A meta analysis of designed versus contextual treatments
Venue: Comput. Educ.

The present study extends the results of a larger meta analysis that addressed the effects of technology use on student achievement and attitudes in postsecondary education. The focus of the current meta analysis is the use of technology to enable instructional conditions that promote collaborative interactions among learners. More specifically, it aims to compare the impact of designed interaction treatments (i.e. collaborative activities intentionally built into course design) and contextual interaction treatments (i.e. course conditions that result in high levels of student student interaction but are not intentionally designed to promote collaboration) on student learning outcomes. Results indicate that designed treatments outperform contextual treatments g ?0.52, k??25 vs. g ?0.11, k??20, QBetween??7.91, p?.02) on measures of achievement, emphasizing the importance of planning and instructional design in technology integration in postsecondary education. The results are discussed in relation to the literature of student student interaction and collaborative learning. Meta analysis of designed and contextual interaction treatments.Covers studies published from 1990 up to 2010.Designed (k??25) versus contextual interaction treatments (k??20).Comparison was significant g ?0.52, vs. g ?0.11, QBetween??7.91, p?.02).Moderator variable analysis yielded positive outcomes for cognitive support tools.
Deep sea mass flow sediments and their exotic blocks from the Ropianka Formation (Campanian Paleocene) in the Skole Nappe a case from the Wola Rafalowska section (SE Poland)

Flysch deposits of the Ropianka Formation (Wiar and Leszczyny members; Skole Nappe) at Wola Rafalowska include two different sediments that contain exotic pebbles, cobbles and boulders. The first one is a graded conglomerate that contains mostly cobbles of sandstones, gneisses, Stramberk type limestones, volcanic rocks, pegmatites and ferruginous siltstones. The second one is a pebbly mudstone that contains clasts of sandstones, stone coal, grey mudstones, volcanic rocks, schists, limestones, marls, black mudstones, conglomerates, volcaniclastic rocks and quartz gravels that are floating within a muddy matrix. Genesis of the conglomerate is unclear because it shows features typical of debris flows (poorly sorted, matrix to clast supported, large amount of cobble to boulder fraction) as well as high density turbiditic currents (indistinct normal gradation, small amount of cohesive material, crushed clasts that suggest interaction between grains during transportation and at least partly turbulence during flow) The pebbly mudstone represents typical debris flow deposits (large amount of cohesive material, matrix supported, poorly sorted, lack of grain gradation and traction structures that suggest laminar flow) Limestones occurring in both exotic bearing sediments show different Upper Jurassic lowest Cretaceous facies of a carbonate platform, which was involved in the source area of the Skole Basin, along with its basement. They can be interpreted as deposits of: 1) platform margin reefs and a platform slope: a) partly silicified coral boundstone, b) microbial coral boundstone, c) silicified sponge microbial boundstone grading into peloidal ooidal grainstone with bioclasts, and d) strongly silicified limestone with intraclasts and bioclasts; 2) deeper, platform slope to toe of slope area bioclastic wackstone; 3) inner platform, including: a) partly silicified wackstone with peloids, small intraclasts and bioclasts, and b) microbial bindstone. Moreover, some exotic clasts are built of Albian Cenomanian wackstone with abundant sponge spicules and planktonic foraminifers, which are interpreted as deeper shelf sediments. Taking into account the geometry of thrust sheets from the site of the exotic bearing sediments to the edge of the Skole Nappe, along the most probable transportation path, including tectonic/erosional reduction and different variants of slope inclination, the distance of the mass flows attained at least 25 97 km from the shelf edge.
Integrating Global Content Into Special Education Teacher Preparation Programs

Globalization affects many aspects of our lives in the 21st century and requires us to adopt an international perspective. For this study, global content was integrated into one course of an undergraduate special education teacher education program. A total of 118 teacher candidates were enrolled in the course over two semesters. A pre post test design was used with the comparison group following the traditional course syllabus and the intervention group following an enhanced syllabus that included enriched global content delivered via course instruction and class discussions. Teacher candidates' perceptions of their global competence were compared using a survey. In addition, global learning outcomes were assessed using a rubric to evaluate a lesson plan assignment. Results demonstrated that the candidates in the intervention group scored significantly higher than those in the comparison group. The findings were consistent across both semesters. Implications for integrating global content in teacher education programs are discussed.
BioCreative V track 4: a shared task for the extraction of causal network information using the Biological Expression Language
Venue: Database J. Biol. Databases Curation

Automatic extraction of biological network information is one of the most desired and most complex tasks in biological and medical text mining. Track 4 at BioCreative V attempts to approach this complexity using fragments of large scale manually curated biological networks, represented in Biological Expression Language (BEL) as training and test data. BEL is an advanced knowledge representation format which has been designed to be both human readable and machine processable. The specific goal of track 4 was to evaluate text mining systems capable of automatically constructing BEL statements from given evidence text, and of retrieving evidence text for given BEL statements. Given the complexity of the task, we designed an evaluation methodology which gives credit to partially correct statements. We identified various levels of information expressed by BEL statements, such as entities, functions, relations, and introduced an evaluation framework which rewards systems capable of delivering useful BEL fragments at each of these levels. The aim of this evaluation method is to help identify the characteristics of the systems which, if combined, would be most useful for achieving the overall goal of automatically constructing causal biological networks from text.
Lq Helmholtz decomposition and Lq spectral theory for the Maxwell operator on periodic domains

We investigate the Helmholtz decomposition on periodic domains and prove the existence of the Lq Helmholtz decomposition on periodic domains for a suitable range of q depending on the regularity of the boundary. As applications, we prove a spectral multiplier theorem for a Maxwell type operator and study the incompressible Navier Stokes equations on periodic domains in the Lq setting.
Assessment model of classroom acoustics criteria for enhancing speech intelligibility and learning quality

In this paper, a new classroom acoustics assessment model (CAAM) based on analytic hierarchy process (AHP) for enhancing speech intelligibility and learning quality is proposed. The model is based on five main criteria that affect the learning process and related to classrooms acoustical properties. These include classroom specifications, noise sources inside and outside the classroom, teaching style, and vocal effort. The priority and weights of these major criteria along with their alternatives are identified using the views of students, staff, education consultants, and expertise by using a developed questionnaire, and the AHP methodology. This model can be considered as a helpful framework enabling universities decision makers to take effective decisions on classroom acoustics treatment issues. It also provides colleges' higher authorities the suitable guidelines that help for determining necessary requirements that help to raise the quality and efficiency of the educational environment; in order to reach an excellent learning environment; and hence increasing students learning outcomes.
Manage perceived e learning quality in Egyptian context

With the rapid growth of e learning around the globe, it is becoming increasingly important to assess the perceived e learning quality and its impact on learners' satisfaction. Although e learning is still a considerably young phenomenon in the Arab world, it is currently viewed by Arab government officials as a viable solution to their educational problems. This paper aims to suggest e learning quality dimensions in Egyptian universities and investigate its impact on perceived e learning quality and students' level of satisfaction. The study sheds light on the importance of transferring traditional higher education into online education in order to enhance the effectiveness of higher education institutions as well as contributing to a better understanding of the role of quality in e learning from the perspective of instructors and investigating its impact on perceived e learning quality. Throughout the paper, the author focuses on the body of literature concerned with higher education, e learning service quality and students' satisfaction importance in universities; consequently, a set of hypothesised quality dimensions were introduced for Egyptian universities to measure and understand perceived e learning quality and its influence on students' satisfaction.
Forecasting tourism demand with composite search index

Researchers have adopted online data such as search query volumes to forecast tourism demand for a destination, including tourist volumes and hotel occupancy. However, the massive yet highly correlated query data pose challenges when researchers attempt to include them in the forecasting model. We propose a framework and procedure for creating a composite search index adopted in a generalized dynamic factor model (GDFM) to forecast tourist demand in a destination. This research empirically tests the framework in predicting monthly Beijing tourist volumes. Findings suggest that the proposed method improves the forecast accuracy of monthly Beijing tourist volumes compared with two benchmark models: a time series model and a model with an index created by principal component analysis. The method demonstrates the combination of composite search index and a GDFM in accurately forecasting tourism demand.
Protest Camps and Repertoires of Contention

Protest camps have become a prominent feature of the post 2010 cycle of social movements and while they have gripped the public and media's imagination, the phenomenon of protest camping is not new. The practice and performance of creating protest camps has a rich history, which has evolved through multiple movements, from Anti Apartheid to Anti war. However, until recently, the history of the protest camp as part of the repertoire of social movements and as a site for the evolution of a social movement's repertoire has largely been confined to the histories of individual movements. Consequently, connections between movements, between camps and the significance of the protest camp itself have been overlooked. In this research profile, we argue for the importance of studying protest camps in relation to social movements and the evolution of repertoires noting how protest camps adapt infrastructures and practices from tent cities, festival cultures, squatting communities and land based autonomous movements. We also acknowledge protest camps as key sites in which a variety of repertoires of contention are developed, tried and tested, diffused or sometimes dismissed. To facilitate the study protest camps we suggest a theory and practice of 'infrastructural analysis' and differentiated between four protest camp infrastructures: (1) media communication, (2) action, (3) governance and (4) re creation. We then use the infrastructures of media and communications as a brief example as to how our proposed infrastructural analysis can contribute to the study of repertoires and our understanding of the rich dynamics of a protest camp.
Two Dimensional Phase Unwrapping Theory Algorithms And Software

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An acute, epitope specific modification in the dopamine transporter associated with methamphetamine induced neurotoxicity
Venue: Synapse

Preclinical studies demonstrate that repeated, high dose methamphetamine administrations rapidly decrease plasmalemmal dopamine uptake, which may contribute to aberrant dopamine accumulation, reactive species generation, and long term dopaminergic deficits. The present study extends these findings by demonstrating a heretofore unreported, epitope specific modification in the dopamine transporter caused by a methamphetamine regimen that induces these deficits. Specifically, repeated, high dose methamphetamine injections (4 x 10 mg/kg/injection, 2 h intervals) rapidly decreased immunohistochemical detection of striatal dopamine transporter as assessed 1 h after the final methamphetamine exposure. In contrast, neither a single high dose (1 x 10 mg/kg) nor repeated injections of a lower dose (4 x 2 mg/kg/injection) induced this change. The high dose regimen induced alteration was only detected using antibodies directed against the N terminus. Immunohistochemical staining using antibodies directed against the C terminus did not reveal any changes. The high dose regimen also did not alter dopamine transporter expression as assessed using [125I]RTI 55 autoradiography. These data suggest that the repeated, high dose methamphetamine regimen alters the N terminus of the dopamine transporter. Further, these data may be predictive of persistent dopamine deficits caused by the stimulant. Future studies of the signaling cascades involved should provide novel insight into potential mechanisms underlying the physiological and pathophysiological regulation of the dopamine transporter. Synapse, 2016.
Visualization of the IMIA Yearbook of Medical Informatics Publications over the Last 25 Years.
Venue: Yearbook of medical informatics

The last 25 years have been a period of innovation in the area of medical informatics. The International Medical Informatics Association (IMIA) has published, every year for the last quarter century, the Yearbook of Medical Informatics, collating selected papers from various journals in an attempt to provide a summary of the academic medical informatics literature. The objective of this paper is to visualize the evolution of the medical informatics field over the last 25 years according to the frequency of word occurrences in the papers published in the IMIA Yearbook of Medical Informatics.  A literature review was conducted examining the IMIA Yearbook of Medical Informatics between 1992 and 2015. These references were collated into a reference manager application to examine the literature using keyword searches, word clouds, and topic clustering. The data was considered in its entirety, as well as segregated into 3 time periods to examine the evolution of main trends over time. Several methods were used, including word clouds, cluster maps, and custom developed web based information dashboards.  The literature search resulted in a total of 1210 references published in the Yearbook, of which 213 references were excluded, resulting in 997 references for visualization. Overall, we found that publications were more technical and methods oriented between 1992 and 1999; more clinically and patient oriented between 2000 and 2009; and noted the emergence of "big data" decision support, and global health in the past decade between 2010 and 2015. Dashboards were additionally created to show individual reference data, as well as, aggregated information.  Medical informatics is a vast and expanding area with new methods and technologies being researched, implemented, and evaluated. Determining visualization approaches that enhance our understanding of literature is an active area of research, and like medical informatics, is constantly evolving as new software and algorithms are developed. This paper examined several approaches for visualizing the medical informatics literature to show historical trends, associations, and aggregated summarized information to illustrate the state and changes in the IMIA Yearbook publications over the last quarter century.