An Adaptive Algorithm to Optimize the Dynamics of IEEE 802.15.4 Networks

Presentado en ICST 2013IEEE 802.15.4 standard is becoming one of the most popular technologies for the deployment of low rate Wireless Personal Area Networks with strong power constraints. In order to reduce the energy consumption, beacon-enabled networks with long network inactive periods can be employed. However, the duration of these inactivity periods, as some other configuration parameters, are conventionally set to default values and remain fixed during the whole network operation. This implies that if they are misconfigured the network will not adapt to changes in the conditions of the environment, particularly to the most determining one, i.e. the traffic load. This paper proposes a simple procedure for the dynamic adaptation of several key parameters of IEEE 802.15.4 networks. Under this procedure, the 802.15.4 parameters are modified as a function of the existing traffic conditions.Spanish National Project No.TEC2009-13763-C02-01

Language Models as Zero-Shot Trajectory Generators

Large Language Models (LLMs) have recently shown promise as high-level planners for robots when given access to a selection of low-level skills. However, it is often assumed that LLMs do not possess sufficient knowledge to be used for the low-level trajectories themselves. In this work, we address this assumption thoroughly, and investigate if an LLM (GPT-4) can directly predict a dense sequence of end-effector poses for manipulation skills, when given access to only object detection and segmentation vision models. We study how well a single task-agnostic prompt, without any in-context examples, motion primitives, or external trajectory optimisers, can perform across 26 real-world language-based tasks, such as "open the bottle cap" and "wipe the plate with the sponge", and we investigate which design choices in this prompt are the most effective. Our conclusions raise the assumed limit of LLMs for robotics, and we reveal for the first time that LLMs do indeed possess an understanding of low-level robot control sufficient for a range of common tasks, and that they can additionally detect failures and then re-plan trajectories accordingly. Videos, code, and prompts are available at: https://www.robot-learning.uk/language-models-trajectory-generators.Comment: 19 pages, 21 figure

Aperture Synthesis Imaging of V892 Tau and PV Cep: Disk Evolution

I present a study of two Herbig Ae stars that are in completely different evolutionary stages: V892 Tau and PV Cep. Using sub arc-second interferometric observations obtained with the Combined Array for Research in Millimeter-wave Astronomy (CARMA) at the 1.3 and 2.7 mm wavelengths, I have for the first time resolved their disks. I deduce that the 5 Myr old V892 Tau has a low dust opacity index $\beta$=1.1 and a disk mass of 0.03 \msun. These values correspond to the growth of its dust into large up to centimeters size structures. In contrast, the very young (a few 10$^5$yrs) PV Cep has a quite high opacity index $\beta$ =1.75 and a more massive disk 0.8 \msun. PV Cep has the youngest resolved disk around any Herbig Ae star. Unlike the youngest T Tauri and Class 0 stars, which contain large and processed grains, the young Herbig Ae star, PV Cep, disk contains ISM-like unprocessed dust. This suggests that PV Cep's dust evolution is slower than T Tauri stars'. I also present high spatial resolution interferometric observations of the PV Cep outflow. The outflow inclination is consistent with the orientation of the known Herbig-Haro flow in that region, HH315.Comment: 15 pages, Accepted for publication in Ap

The Zeroth Law of Thermodynamics and Volume-Preserving Conservative Dynamics with Equilibrium Stochastic Damping

We propose a mathematical formulation of the zeroth law of thermodynamics and develop a stochastic dynamical theory, with a consistent irreversible thermodynamics, for systems possessing sustained conservative stationary current in phase space while in equilibrium with a heat bath. The theory generalizes underdamped mechanical equilibrium: $dx=gdt+\{-D\nabla\phi dt+\sqrt{2D}dB(t)\}$, with $\nabla\cdot g=0$ and $\{\cdots\}$ respectively representing phase-volume preserving dynamics and stochastic damping. The zeroth law implies stationary distribution $u^{ss}(x)=e^{-\phi(x)}$. We find an orthogonality $\nabla\phi\cdot g=0$ as a hallmark of the system. Stochastic thermodynamics based on time reversal $\big(t,\phi,g\big)\rightarrow\big(-t,\phi,-g\big)$ is formulated: entropy production $e_p^{\#}(t)=-dF(t)/dt$; generalized "heat" $h_d^{\#}(t)=-dU(t)/dt$, $U(t)=\int_{\mathbb{R}^n} \phi(x)u(x,t)dx$ being "internal energy", and "free energy" $F(t)=U(t)+\int_{\mathbb{R}^n} u(x,t)\ln u(x,t)dx$ never increases. Entropy follows $\frac{dS}{dt}=e_p^{\#}-h_d^{\#}$. Our formulation is shown to be consistent with an earlier theory of P. Ao. Its contradistinctions to other theories, potential-flux decomposition, stochastic Hamiltonian system with even and odd variables, Klein-Kramers equation, Freidlin-Wentzell's theory, and GENERIC, are discussed.Comment: 25 page

ASSESSMENT OF EXISTING STEEL FRAMES WITH INFILLS UNDER MULTIPLE EARTHQUAKES

Many existing steel multi-storey frames in Europe were designed prior to the provisions of modern seismic design codes; therefore, they often exhibit low resistance to earthquakes due to their insufficient energy dissipation capacity. However, the current framework for assessing existing structures in EC8-3 is inadequate and should be reviewed. Particular attention should be paid to the contribution from masonry infill walls as they significantly affect the modal properties and the lateral stiffness of structures. To this end, two 3D models of a two-storey steel moment-resisting frame were developed to assess the applicability of the current framework in EC8-3 to the infilled structures under multiple earthquakes through nonlinear analyses. The modelling of masonry infill walls was achieved through a macro-model using equivalent diagonal struts. The ground motions utilised during the analyses took the records of the recent 2016 Central Italy earthquake sequence. As part of the project HITFRAMES, this paper serves as a preparation for the experiment to be conducted in Greece

Retrieval evidence of impingement at the third articulation in contemporary dual mobility cups for total hip arthroplasty

PURPOSE: We aimed to assess polyethylene liners of retrieved hips of one design of a dual mobility (DM) cup liner and two designs of femoral stems to better understand the role of femoral stem design on polyethylene impingement. METHODS: This was a case-control study involving 70 retrieved highly cross-linked polyethylene (X3) liners used with ABGII (n = 35) and Rejuvenate (n = 35) stems (Stryker). All polyethylene liners were assessed for evidence of rim deformation and the damage quantified using metrology methods. RESULTS: A total of 80% of polyethylene liners paired with ABGII necks had macroscopic evidence of neck impingement resulting in a raised lip whilst 23% of liners paired with Rejuvenate necks had evidence of a raised lip (p < 0.0001). The height of the raised rims of the DM cups paired with ABGII necks had a median (range) of 139 μm (72-255). The height of the raised rims of the DM cups paired with Rejuvenate necks had a median (range) of 52 μm (45-90) (p < 0.0001). CONCLUSION: Our new findings from retrieved dual mobility bearings showed that polyethylene liner rim deformation resulting from impingement with the femoral neck occurs in early in-human function, is circumferential in distribution, and is affected by the stem neck design. We recommend the use of highly polished and non-edged neck designs when used in conjunction with DM cups

Dynamic response of existing steel frames with masonry infills under multiple earthquakes

Existing steel moment-resisting frames in several seismic regions worldwide are often characterised by high vulnerability to earthquakes due to insufficient local and/or global ductility. Therefore, it is of paramount importance to assess their response under strong motions and provide cost-effective retrofitting remedies. However, the current code-based assessment framework utilized in Europe for assessing existing structures is inadequate and requires improvement, especially to account for the contribution of masonry infills as they significantly influence the seismic response of steel buildings. To this end, the H2020-INFRAIA-SERA project HITFRAMES (i.e., Hybrid Testing of an Existing Steel Frame with Infills under Multiple Earthquakes) aims at experimental evaluation of a case study building representative of non-seismically designed European steel frames. This paper presents the dynamic response analyses of the case study building and serves as a theoretical prediction of the experimental results for HTTFRAMES. The case study building is analysed as a bare, an infilled and a retrofitted frame with buckling restrained braces (BRBs), respectively. It is subjected to the natural seismic sequence recorded during the 2016-2017 Central Italy earthquakes. The modal properties of the case study building are determined first, followed by the investigation of its non-linear dynamic response. The dynamic tests are performed with the earthquake records scaled to different intensity levels to simulate the structural performance under different limit states according to Eurocode 8-Part 3. The impact of masonry infills and BRB-retrofit is also investigated by comparing the response of models with different configurations. It can be concluded that appropriately-designed BRBs are effective in protecting steel frames from experiencing critical damage during earthquakes and reducing significantly the transient and residual drift

3′,6′-Bis(diethyl­amino)-2-phenyl­spiro[isoindoline-1,9′-xanthen]-3-one

The title compound, C34H35O2N3, was synthesized by the reaction of 2-[3,6-bis­(diethyl­amino)-9H-xanthen-9-yl]benzoyl chloride with aniline. In the mol­ecular structure, the dihedral angles between the isoindoline and xanthene planes and between the isoindoline and benzene planes are 86.9 (3) and 47.0 (2)°, respectively. The mol­ecular packing in the crystal structure is stabilized by weak C—H⋯O hydrogen bonding

Neutron beam test of CsI crystal for dark matter search

We have studied the response of Tl-doped and Na-doped CsI crystals to nuclear recoils and $\gamma$'s below 10 keV. The response of CsI crystals to nuclear recoil was studied with mono-energetic neutrons produced by the $^3$H(p,n)$^3$He reaction. This was compared to the response to Compton electrons scattered by 662 keV $\gamma$-ray. Pulse shape discrimination between the response to these $\gamma$'s and nuclear recoils was studied, and quality factors were estimated. The quenching factors for nuclear recoils were derived for both CsI(Na) and CsI(Tl) crystals.Comment: 21pages, 14figures, submitted to NIM

A Hybrid Carcinoma of Epithelial-Myoepithelial Carcinoma and Adenoid Cystic Carcinoma in Maxillary Sinus

Hybrid carcinoma of the salivary gland is a very rare entity that has been described only in the parotid and palate. The occurrence of a hybrid carcinoma of maxillary sinus has not been reported. The diagnosis of hybrid carcinoma is important particularly when the components of tumor have different biologic behaviors. Diagnosis and treatment require a high index of suspicion, especially when the tumor is an epithelial-myoepithelial carcinoma, pathological effort to look for a more aggressive accompanying tumor, and proper oncologic treatment. We describe a case of 26-yr-old woman with a hybrid carcinoma composed of epithelial-myoepithelial carcinoma with an adenoid cystic carcinoma component (cribriform pattern) in the right maxillary sinus with a brief review of the relevant literature