Graph-based task libraries for robots: generalization and autocompletion

In this paper, we consider an autonomous robot that persists over time performing tasks and the problem of providing one additional task to the robot's task library. We present an approach to generalize tasks, represented as parameterized graphs with sequences, conditionals, and looping constructs of sensing and actuation primitives. Our approach performs graph-structure task generalization, while maintaining task ex- ecutability and parameter value distributions. We present an algorithm that, given the initial steps of a new task, proposes an autocompletion based on a recognized past similar task. Our generalization and auto- completion contributions are eective on dierent real robots. We show concrete examples of the robot primitives and task graphs, as well as results, with Baxter. In experiments with multiple tasks, we show a sig- nicant reduction in the number of new task steps to be provided

Multiple cyclical fractional structures in financial time series

This paper analyses multiple cyclical structures in financial time series. In particular, we focus on the monthly structure of the Nasdaq, the Dow Jones and the Standard&Poor stock market indices. The three series are modelled as long-memory processes with poles in the spectrum at multiple frequencies, including the long-run or zero frequency

Whole genome metagenomic analysis of the gut microbiome of differently fed infants identifies differences in microbial composition and functional genes, including an absent CRISPR/Cas9 gene in the formula-fed cohort

Background: Advancements in sequencing capabilities have enhanced the study of the human microbiome. There are limited studies focused on the gastro-intestinal (gut) microbiome of infants, particularly the impact of diet between breast-fed (BF) versus formula-fed (FF). It is unclear what effect, if any, early feeding has on short- term or long-term composition and function of the gut microbiome. Results: Using a shotgun metagenomics approach, differences in the gut microbiome between BF (n = 10) and FF (n = 5) infants were detected. A Jaccard distance principle coordinate analysis was able to cluster BF versus FF infants based on the presence or absence of species identified in their gut microbiome. Thirty-two genera were identified as statistically different in the gut microbiome sequenced between BF and FF infants. Furthermore, the computational workflow identified 371 bacterial genes that were statistically different between the BF and FF cohorts in abundance. Only seven genes were lower in abundance (or absent) in the FF cohort compared to the BF cohort, including CRISPR/Cas9; whereas, the remaining candidates, including autotransporter adhesins, were higher in abundance in the FF cohort compared to BF cohort. Conclusions: These studies demonstrated that FF infants have, at an early age, a significantly different gut microbiome with potential implications for function of the fecal microbiota. Interactions between the fecal microbiota and host hinted at here have been linked to numerous diseases. Determining whether these non- abundant or more abundant genes have biological consequence related to infant feeding may aid in under- standing the adult gut microbiome, and the pathogenesis of obesity

Explicit characterization of the identity configuration in an Abelian Sandpile Model

Since the work of Creutz, identifying the group identities for the Abelian Sandpile Model (ASM) on a given lattice is a puzzling issue: on rectangular portions of Z^2 complex quasi-self-similar structures arise. We study the ASM on the square lattice, in different geometries, and a variant with directed edges. Cylinders, through their extra symmetry, allow an easy determination of the identity, which is a homogeneous function. The directed variant on square geometry shows a remarkable exact structure, asymptotically self-similar.Comment: 11 pages, 8 figure

ISOGAL-DENIS detection of red giants with weak mass loss in the Galactic Bulge

The ISOGAL project is a survey of the stellar populations, structure, and recent star formation history of the inner disk and bulge of the Galaxy. ISOGAL combines 15 and 7micron ISOCAM observations with DENIS IJKs data to determine the nature of a source and the interstellar extinction. In this paper we report an ISOGAL study of a small field in the inner Galactic Bulge (l=0deg, b=1.0deg, area=0.035 sq. deg) as a prototype of the larger area ISOGAL survey of the inner Galaxy. The five wavelengths of ISOGAL+DENIS, together with the relatively low and constant extinction in front of this specific field, allow reliable determination of the nature of the sources. The primary scientific result of this paper is evidence that the most numerous class of ISOGAL 15micron sources are Red Giants in the Galactic bulge and central disk, with luminosities just above or close to the RGB tip and weak mass-loss rates. They form loose sequences in the magnitude-colour diagrams [15]/Ks-[15] and [15]/[7]-[15]. Their large excesses at 15micron with respect to 2micron and 7micron is due to circumstellar dust produced by mass-loss at low rates. These ISOGAL results are the first systematic evidence and study of dust emission at this early stage (''Intermediate'' AGB), before the onset of the large mass-loss phase. It is thus well established that efficient dust formation is already associated with such low mass-loss rates during this early phase.Comment: 15 pages, 9 figures, accepted for publication in Astronomy and Astrophysics Journa

The effects of pioglitazone, a PPARγ receptor agonist, on the abuse liability of oxycodone among nondependent opioid users

Aims: Activation of PPARγ by pioglitazone (PIO) has shown some efficacy in attenuating addictive-like responses in laboratory animals. The ability of PIO to alter the effects of opioids in humans has not been characterized in a controlled laboratory setting. The proposed investigation sought to examine the effects of PIO on the subjective, analgesic, physiological and cognitive effects of oxycodone (OXY). Methods: During this investigation, nondependent prescription opioid abusers (N = 17 completers) were maintained for 2-3 weeks on ascending daily doses of PIO (0 mg, 15 mg, 45 mg) prior to completing a laboratory session assessing the aforementioned effects of OXY [using a within-session cumulative dosing procedure (0, 10, and 20 mg, cumulative dose = 30 mg)]. Results: OXY produced typical mu opioid agonist effects: miosis, decreased pain perception, and decreased respiratory rate. OXY also produced dose-dependent increases in positive subjective responses. Yet, ratings such as: drug "liking," "high," and "good drug effect," were not significantly altered as a function of PIO maintenance dose. Discussion: These data suggest that PIO may not be useful for reducing the abuse liability of OXY. These data were obtained with a sample of nondependent opioid users and therefore may not be applicable to dependent populations or to other opioids. Although PIO failed to alter the abuse liability of OXY, the interaction between glia and opioid receptors is not well understood so the possibility remains that medications that interact with glia in other ways may show more promise

Business cycles, international trade and capital flows: Evidence from Latin America

This paper adopts a flexible framework to assess both short- and long-run business cycle linkages between six Latin American (LA) countries and the four largest economies in the world (namely the US, the Euro area, Japan and China) over the period 1980:I-2011:IV. The result indicate that within the LA region there are considerable differences between countries, success stories coexisting with extremely vulnerable economies. They also show that the LA region as a whole is largely dependent on external developments, especially in the years after the great recession of 2008 and 2009. The trade channel appears to be the most important source of business cycle comovement, whilst capital flows are found to have a limited role, especially in the very short run

Multiple shifts and fractional integration in the us and uk unemployment rates

This paper analyses the long-run behaviour of the US and UK unemployment rates by testing for possibly fractional orders of integration and multiple shifts using a sample of over 100 annual observations. The results show that the orders of integration are higher than 0 in both series, which implies long memory. If we assume that the underlying disturbances are white noise, the values are higher than 0.5, i.e., nonstationary. However, if the disturbances are autocorrelated, the orders of integration are in the interval (0, 0.5), implying stationarity and mean-reverting behaviour. Moreover, when multiple shifts are taken into account, unemployment is more persistent in the US than in the UK, implying the need for stronger policy action in the former to bring unemployment back to its original level

Search for Direct CP Violation in Non-Leptonic Decays of Charged Ξ\Xi and Λ\Lambda Hyperons

A search for direct CP violation in the non-leptonic decays of hyperons has been performed. In comparing the product of the decay parameters, $\alpha_{\Xi}\alpha_{\Lambda}$, in terms of an asymmetry parameter, $A_{\Xi\Lambda}$, between hyperons and anti-hyperons in the charged $\Xi \to \Lambda \pi$ and $\Lambda \to p \pi$ decay sequence, we found no evidence of direct CP violations. The parameter $A_{\Xi\Lambda}$ was measured to be $0.012 \pm 0.014$.Comment: Submitted for publication; RevTex, 13 pages, 4 figure