36,828 research outputs found

    Towards One Shot Learning by Imitation for Humanoid Robots

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    Patient involvement in selection of immunosuppressive regimen following transplantation.

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    Transplantation has made a considerable difference to the lives of many patients. However, feedback from patients indicates that although having a transplant is a hugely positive experience, having to take medications indefinitely is one of the biggest challenges. An ideal scenario would be no medications following a transplant. A compromise would be a minimal number of medications, with minimal restrictions and as simple a regimen as possible. Although there is considerable research going into fine-tuning the management of the immune response to a transplant, to date there is no universal regimen that enables patients to remain free of immunosuppressant medications, making adherence paramount to maintain long-term allograft survival. This paper reviews the available immunosuppressant regimens and factors influencing choice from both the clinician's and the patient's perspective. Factors influencing the decision-making process, such as quality of life for patients, their satisfaction, acceptability, and adherence uptake are reviewed. We conclude with a further assessment of patient choice as a factor in regimen selection, its impact on adherence, and its implications

    Action for the eleven dimensional multiple M-wave system

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    We present the covariant supersymmetric and kappa-symmetric action for a system of N nearly coincident M-waves (multiple M0-brane system) in flat eleven dimensional superspace.Comment: 4+ pages, RevTeX4, no figures. V2: misprints corrected, discussion extended, references added, LaTeX, 10 pages. V3: misprints corrected. V4, extended version, 1+13 pages, to appear in JHE

    Heterotic Action in SUGRA-SYM Background

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    We consider the generalization of the heterotic action considered by Cherkis and Schwarz where the chiral bosons are introduced in a manifestly covariant way using an auxiliary field. In particular, we construct the kappa-symmetric heterotic action in ten-dimensional supergravity background coupled to super Yang-Mills theory and prove its kappa-symmetry. The usual Bianchi identity of Type I supergravity with super Yang-Mills dH_3= -\tr F\wedge F is crucially used. For technical reason, the Yang-Mills field is restricted to be abelian.Comment: 12 pages, no figures, added comments in the acknowledgmen

    Workspace and Singularity analysis of a Delta like family robot

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    Workspace and joint space analysis are essential steps in describing the task and designing the control loop of the robot, respectively. This paper presents the descriptive analysis of a family of delta-like parallel robots by using algebraic tools to induce an estimation about the complexity in representing the singularities in the workspace and the joint space. A Gr{\"o}bner based elimination is used to compute the singularities of the manipulator and a Cylindrical Algebraic Decomposition algorithm is used to study the workspace and the joint space. From these algebraic objects, we propose some certified three dimensional plotting describing the the shape of workspace and of the joint space which will help the engineers or researchers to decide the most suited configuration of the manipulator they should use for a given task. Also, the different parameters associated with the complexity of the serial and parallel singularities are tabulated, which further enhance the selection of the different configuration of the manipulator by comparing the complexity of the singularity equations.Comment: 4th IFTOMM International Symposium on Robotics and Mechatronics, Jun 2015, Poitiers, France. 201

    Effectiveness evaluation of contingency sum as a risk management tool for construction projects in Niger Delta, Nigeria

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    Construction managers in a bid to effectively manage risks prone projects have adopted several methods, one of which is contingency sum. This study aims at evaluating the effectiveness of contingency sum as a risk management tool for construction projects in Niger Delta region of Nigeria. The objectives are to establish the level of awareness and utilization of contingency estimating methods among construction stakeholders, evaluate their perceptions of the percentage allowed for contingency in construction projects and determine whether there is a relationship between initial project cost, cost overrun and percentage allowed for contingency. Structured questionnaire served as the research instrument and the data were analysed using simple percentage, mean score and correlation. The findings of the study show that the most used contingency estimating method in the region is traditional percentage and that the three most important factors that affect the sum or percentage allowed as contingency for projects are complexity of the project, experience of the estimator and location of the project. The percentage allowed for projects as contingency by consultants and contractors in this study ranges between 5- 20 while the average contingency allowed is 10.4 (%). Furthermore, there is no relationship between initial project cost and the percentage allowed for contingency(p=0.294> 0.05).It was concluded that the contingencies allowed for projects in Niger Delta are based on the discretions of the consultants and contractors and not a function of the estimated contract value and it is not adequate. The study therefore recommends that contingency sum or percentage allowed should not be limited to complexity of the project , experience of the estimator, location of the project or the total contract sum but should be based on a comprehensive assessment of all factors that generate risk in each particular project. Key Words: Construction project, Contingency sum, Evaluation, Management tool, Ris

    Supermembrane interaction with dynamical D=4 N=1 supergravity. Superfield Lagrangian description and spacetime equations of motion

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    We obtain the complete set of equations of motion for the interacting system of supermembrane and dynamical D=4 N = 1 supergravity by varying its complete superfield action and writing the resulting superfield equations in the special gauge where the supermembrane Goldstone field is set to zero. We solve the equations for auxiliary fields and discuss the effect of dynamical generation of cosmological constant in the Einstein equation of interacting system and its renormalization due to some regular contributions from supermembrane. These two effects (discussed in late 70th and 80th, in the bosonic perspective and in the supergravity literature) result in that, generically, the cosmological constant has different values in the branches of the spacetime separated by the supermembrane worldvolume.Comment: 23 pages, no figures. V2 two references added, 24 page

    Direct evidence for charge stripes in a layered cobalt oxide

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    Recent experiments indicate that static stripe-like charge order is generic to the hole-doped copper oxide superconductors and competes with superconductivity. Here we show that a similar type of charge order is present in La5/3 Sr1/3 CoO4 , an insulating analogue of the copper oxide superconductors containing cobalt in place of copper. The stripe phase we have detected is accompanied by short-range, quasi-one-dimensional, antiferromagnetic order, and provides a natural explanation for the distinctive hour- glass shape of the magnetic spectrum previously observed in neutron scattering mea- surements of La2−xSrx CoO4 and many hole-doped copper oxide superconductors. The results establish a solid empirical basis for theories of the hourglass spectrum built on short-range, quasi-static, stripe correlations
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