Privately owned public space attached to office buildings in Manhattan : economic and urban perspectives of incentive zoning

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Architecture; and, (S.M.)--Massachusetts Institute of Technology, Dept. of Urban Studies and Planning, 2003.Includes bibliographical references (leaves 93-94).This thesis examines the Incentive Zoning Policy of New York City from economic and urban perspectives. In the first part, it evaluates empirically the economic contribution of privately owned public space to the value of the office buildings to which they are attached. An economic model is postulated to predict the equilibrium rental behavior as a function of a series of independent variables, including a dummy variable representing the existence and the quality of privately owned public spaces. The model is tested against disaggregated cross-sectional data from a set of 475 office buildings in downtown and midtown Manhattan. Results confirm a strong economic influence of privately owned public spaces on office rents. Office buildings with favorable privately owned public spaces are predicted to extract $5.05/sq. ft. more in rent annually, a premium of 12.3$41.03/sqft average annual rate. Based on the rating system defined by Jerold Kayden, on average, for each level increase of quality, there is $1.36/sqft of value (a premium of 3.3%) added to the annual rent, which can further be translated into a premium in the property value when properties are sold. The second part of the thesis addresses the possible impact that this result may bring to the different players in the process of urban development, including developers, owners, tenants, urban designers, and city planners. In particular, the thesis explores how the economic benefit illustrated by this research might change the often reluctant attitude of the private sector regarding the maintenance of these privately owned public spaces. Further investigation also reflects on the lessons learned from the more than 40 years history of incentive zoning practice in New York City. Potentials issues for further study are also put forward.by Hongyu Cai.S.M

Learn to Grasp via Intention Discovery and its Application to Challenging Clutter

Humans excel in grasping objects through diverse and robust policies, many of which are so probabilistically rare that exploration-based learning methods hardly observe and learn. Inspired by the human learning process, we propose a method to extract and exploit latent intents from demonstrations, and then learn diverse and robust grasping policies through self-exploration. The resulting policy can grasp challenging objects in various environments with an off-the-shelf parallel gripper. The key component is a learned intention estimator, which maps gripper pose and visual sensory to a set of sub-intents covering important phases of the grasping movement. Sub-intents can be used to build an intrinsic reward to guide policy learning. The learned policy demonstrates remarkable zero-shot generalization from simulation to the real world while retaining its robustness against states that have never been encountered during training, novel objects such as protractors and user manuals, and environments such as the cluttered conveyor.Comment: Accepted to IEEE Robotics and Automation Letters (RA-L

Flipbot: Learning Continuous Paper Flipping via Coarse-to-Fine Exteroceptive-Proprioceptive Exploration

This paper tackles the task of singulating and grasping paper-like deformable objects. We refer to such tasks as paper-flipping. In contrast to manipulating deformable objects that lack compression strength (such as shirts and ropes), minor variations in the physical properties of the paper-like deformable objects significantly impact the results, making manipulation highly challenging. Here, we present Flipbot, a novel solution for flipping paper-like deformable objects. Flipbot allows the robot to capture object physical properties by integrating exteroceptive and proprioceptive perceptions that are indispensable for manipulating deformable objects. Furthermore, by incorporating a proposed coarse-to-fine exploration process, the system is capable of learning the optimal control parameters for effective paper-flipping through proprioceptive and exteroceptive inputs. We deploy our method on a real-world robot with a soft gripper and learn in a self-supervised manner. The resulting policy demonstrates the effectiveness of Flipbot on paper-flipping tasks with various settings beyond the reach of prior studies, including but not limited to flipping pages throughout a book and emptying paper sheets in a box.Comment: Accepted to International Conference on Robotics and Automation (ICRA) 202

Transplantation of Porcine Hepatocytes Cultured with Polylactic Acid-O-Carboxymethylated Chitosan Nanoparticles Promotes Liver Regeneration in Acute Liver Failure Rats

In this study, free porcine hepatocytes suspension (Group A), porcine hepatocytes embedded in collagen gel (Group B), porcine hepatocytes cultured with PLA-O-CMC nanoparticles and embedded in collagen gel (Group C), and PLA-O-CMC nanoparticles alone (Group D) were transplanted into peritoneal cavity of ALF rats, respectively. The result showed that plasma HGF levels were elevated post-transplantation with a peak at 12 hr. The rats in Group C showed highest plasma HGF levels at 2, 6, 12, 24 and 36 hr post-transplantation and lowest HGF level at 48 hr. Plasma VEGF levels were elevated at 48 hr post-transplantation with a peak at 72 hr. The rats in Group C showed highest plasma HGF levels at 48, 72, and 96 hr post-transplantation. The liver functions in Group C were recovered most rapidly. Compared with Group B, Group C had significant high liver Kiel 67 antigen labeling index (Ki-67 LI) at day 1 post-HTx (P < .05). Ki-67 LI in groups B and C was higher than that in groups A and D at days 5 and 7 post-HTx. In conclusion, intraperitoneal transplantation of porcine hepatocytes cultured with PLA-O-CMC nanoparticles and embedded in collagen gel can promote significantly liver regeneration in ALF rats

ERRA: An Embodied Representation and Reasoning Architecture for Long-horizon Language-conditioned Manipulation Tasks

This letter introduces ERRA, an embodied learning architecture that enables robots to jointly obtain three fundamental capabilities (reasoning, planning, and interaction) for solving long-horizon language-conditioned manipulation tasks. ERRA is based on tightly-coupled probabilistic inferences at two granularity levels. Coarse-resolution inference is formulated as sequence generation through a large language model, which infers action language from natural language instruction and environment state. The robot then zooms to the fine-resolution inference part to perform the concrete action corresponding to the action language. Fine-resolution inference is constructed as a Markov decision process, which takes action language and environmental sensing as observations and outputs the action. The results of action execution in environments provide feedback for subsequent coarse-resolution reasoning. Such coarse-to-fine inference allows the robot to decompose and achieve long-horizon tasks interactively. In extensive experiments, we show that ERRA can complete various long-horizon manipulation tasks specified by abstract language instructions. We also demonstrate successful generalization to the novel but similar natural language instructions.Comment: Accepted to IEEE Robotics and Automation Letters (RA-L

Pancreas++: Automated Quantification of Pancreatic Islet Cells in Microscopy Images

The microscopic image analysis of pancreatic Islet of Langerhans morphology is crucial for the investigation of diabetes and metabolic diseases. Besides the general size of the islet, the percentage and relative position of glucagon-containing alpha-, and insulin-containing beta-cells is also important for pathophysiological analyses, especially in rodents. Hence, the ability to identify, quantify and spatially locate peripheral, and “involuted” alpha-cells in the islet core is an important analytical goal. There is a dearth of software available for the automated and sophisticated positional quantification of multiple cell types in the islet core. Manual analytical methods for these analyses, while relatively accurate, can suffer from a slow throughput rate as well as user-based biases. Here we describe a newly developed pancreatic islet analytical software program, Pancreas++, which facilitates the fully automated, non-biased, and highly reproducible investigation of islet area and alpha- and beta-cell quantity as well as position within the islet for either single or large batches of fluorescent images. We demonstrate the utility and accuracy of Pancreas++ by comparing its performance to other pancreatic islet size and cell type (alpha, beta) quantification methods. Our Pancreas++ analysis was significantly faster than other methods, while still retaining low error rates and a high degree of result correlation with the manually generated reference standard

Independent and Combined Associations Between Multiple Lifestyle Behaviours and Academic Grades of Inner Urban and Peri-Urban High School Students: A Cross-Sectional Study in Chongqing, China

Objectives This study aims to assess the independent and combined associations between multiple lifestyle behaviours and academic grades of inner urban high school students (IUHSSs) and peri-urban high school students (PUHSSs). Design A cross-sectional study was conducted. Participants There are 1481 high school students (49.9% boys) in this study, who were enrolled from one inner urban and two peri-urban schools in Chongqing, China. Outcome measures Academic grades were assessed based on the students’ self-reported grade ranking in the last cumulative examination. Results In IUHSSs and PUHSSs, high frequency of sugar-sweetened beverage consumption was unlikely to obtain high academic grades (OR 0.56, 95% CI 0.32 to 0.99 and 0.63, 95% CI 0.42 to 0.96), respectively). Among IUHSSs, meeting the recommendations for weekday screen time and egg consumption (OR 1.57, 95% CI 1.06 to 2.34 and 1.60, 95% CI 1.04 to 2.47, respectively) and high frequency of fruit consumption (1.67, 95% CI 1.11 to 2.50) were significantly associated with high academic grades; meeting the recommendation for weekday sleep duration was unlikely to obtain high academic grades (0.46, 95% CI 0.21 to 0.98). Among PUHSSs, meeting the recommendations for weekend sleep duration (1.40, 95% CI 1.02 to 1.93) and eating dinner regularly (1.55, 95% CI 1.01 to 2.37) had significant associations with high academic grades. No significant associations were found between physical activity and academic grades in both IUHSSs and PUHSSs (p \u3e 0.05). Moreover, IUHSSs with 9–13 healthy lifestyle behaviours were 3.25 times more likely to achieve high academic grades than IUHSSs with 1–6 healthy lifestyle behaviours (3.25, 95% CI 1.96 to 5.40). No significant associations were found in the combined associations between multiple lifestyle behaviours and academic grades among PUHSSs (p \u3e 0.05). Conclusions Correlations were observed between lifestyle behaviours and academic grades among high school students, and cumulative associations between multiple healthy lifestyle behaviours and academic outcomes appear to be stronger than the independent associations. These findings are particularly applicable to IUHSSs