99 research outputs found
Periodic DMP formulation for Quaternion Trajectories
No full textImitation learning techniques have been used as a way to transfer skills to
robots. Among them, dynamic movement primitives (DMPs) have been widely
exploited as an effective and an efficient technique to learn and reproduce
complex discrete and periodic skills. While DMPs have been properly formulated
for learning point-to-point movements for both translation and orientation,
periodic ones are missing a formulation to learn the orientation. To address
this gap, we propose a novel DMP formulation that enables encoding of periodic
orientation trajectories. Within this formulation we develop two approaches:
Riemannian metric-based projection approach and unit quaternion based periodic
DMP. Both formulations exploit unit quaternions to represent the orientation.
However, the first exploits the properties of Riemannian manifolds to work in
the tangent space of the unit sphere. The second encodes directly the unit
quaternion trajectory while guaranteeing the unitary norm of the generated
quaternions. We validated the technical aspects of the proposed methods in
simulation. Then we performed experiments on a real robot to execute daily
tasks that involve periodic orientation changes (i.e., surface polishing/wiping
and liquid mixing by shaking).Comment: 2021 20th International Conference on Advanced Robotics (ICAR
Developing a Data Management Plan (DMP) in the Cognitive Sciences
No full textObjective: To experience the process of using principles of scientific research data management (SRDM) to work with a researcher to create a data management plan (DMP). SRDM is an area where research in the traditional sciences intersects with information science. SRDM guides researchers through all stages of the data life cycle. A DMP is a document explaining how a study will progress through the data life cycle that is increasingly required by research funders. This project was undertaken as part of a class on SRDM through the Simmons College School of Library and Information Science. Methods: After corresponding via email with a researcher studying the cognitive and linguistic skills of deaf children with autism, a set of questions was created based on an interview instrument developed by the Digital Curation Centre and a Skype interview was conducted. Using the information gathered during the interview and in follow-up emails, as well as knowledge of SRDM principles learned in class and through independent research, a DMP (following National Science Foundation guidelines) was created. Additionally, aspects of the researcher’s study which proved challenging when creating a DMP were identified. Results: A seven-part DMP was created. Challenging aspects were identified as a set of teaching points. These included: data being collected via video camera; children as subjects; subject IDs; repository requirements. Conclusions: This project was successful in teaching both this author and the interviewed researcher about SRDM and DMPs. This will improve the cognitive science community’s understanding of the principles and importance of SRDM
A library’s learning from DMP feedback
No full textThe Technical University of Denmark (DTU) has 11.000 students and 6000 employees among which 3500 are researchers and Ph.D. students.At DTU Library, we are a small group of people dedicated to facilitate and coordinate development and activities within Research Data Management (RDM), as well as to provide and maintain RDM services and tools.As a result of DTU`s implementation of a Policy of the Retention of Primary Materials and Data from 2016, a data management plan (DMP) must now be prepared for all research projects at DTU, including all Ph.D. projects. Details for data management vary in the different departments and are therefore elaborated in local guidelines and procedures.Information about RDM at DTU and our services are described in our pamphlet and on our library`s external website. Guidance to writing a DMP and using the DMP tool are found at the DTU intranet, and beside that, we offer a personal DMP feedback service.Feedback service from the libraryIn the process of developing our feedback service, we are creating a schema with example suggestions and inputs for feedback on each aspect of a DMP customized to our own context and DMP template. In addition, we develop guidelines for ourselves so we can enhance the quality of the feedback we give. For instance, we found inspiration in the DMP review evaluation rubic grid .We deliberately articulate that we offer feedback and not a review, as we wish to avoid the misconception that a feedback is providing the final answers to aspects covered in the DMP.DMPOnline and the DTU TemplateDTU Library uses DMPOnline as a tool for writing DMPs. DMPOnline is provided by the Danish e-Infrastructure Cooperation and offered free of charge to all Danish research institutions.We have developed a DTU-specific template, which is divided into five sections: data collection, data storage, documentation, sharing and long-term storage. Example questions and DTU specific guidance are provided for each of these sections. Included are links to our RDM key concepts pages on the intranet, information about our data repository, links to storage systems at DTU as well as to GDPR guidelines and relevant DTU policies.Example questions should guide the author of a DMP to cover key practices of data management, for example; "Which file formats are the data in"?, "What metadata will be included"? or "How will the data be made discoverable?".Minimizing barriersThe core of the DTU DMP template is to aid the authors in describing their data and how they will work with data to follow good scientific conduct and to obtain FAIR data. However, complex FAIR data terminology are avoided as it could be perceived as an obstacle for getting started.The template is offered to all projects and in cases where a template from the funder doesn`t exist. In terms of templates and funders, researchers often ask which template to select in DMPOnline. They are also interested in knowing how H2020 DMP`s will be evaluated as a deliverable and what sort of feedback to expect from the European commission.Not all questions given in the template are equally relevant for all areas of research and a few research groups are adapting it in order to integrate domain specific data handling workflows in the their DMPs.In most cases authors of DMP`s are requesting feedback by using the function "request expert feedback" in DMPOnline, but some authors prefer to e-mail a copy of the DMP to our mailbox, and both ways are accepted in order to minimize barriers for using the service.Feedback emphasizes practicalitiesQuite often, our users accidentally click on the feedback button in DMPOnline while browsing the tool; therefore, we have started asking the author if this was an intentional request.Before submitting the DMP to us for feedback, we ask Ph.D. students to have their supervisor revise the plan. In general, we suggest having a peer to read and comment on the plan as well to check it is understandable to others.Giving feedback is a learning process and in order to standardize and ease the task we are continuously working on our procedure. When giving feedback, we suggest steps for making data FAIR and best practices that can easily be implemented in the research data workflows.Some DMPs are characterized by containing declarations of intent rather than describing concrete actions. In these DMPs, we emphasise that by answering the example questions of the template, a lot is achieved in terms of thinking practices through, write them down in a structured way and transforming the DMP into an active and living document.We suggest small concrete measures that can transform a DMP into a basis for efficient and transparent workflows: e.g. to publish underlying data in our repository, DTU Data, with metadata or metadata only, a license and DOI. We explain that this makes data openly available and ensures that others can discover, access and re-use the data.Often, our feedback addresses very practical content: what are the names of those who can access data, on which drive are data stored? We try to create a picture of the DMP as an asset for the research project and not an administrative burden.Creating awarenessResearchers are often in doubt of data management requirements from DTU and funders. Such questions are inevitable in a dynamic research environment with researchers continuously entering DTU. Thus, creating awareness about responsibilities that apply for research activities at DTU as well as guidelines, infrastructures and tools is an ongoing task.Our response to questions about the necessity of writing a DMP is that a DMP is a tool to identify and establish best practices and document this for others as well as one's future self. We aim to implement the DTU policy by sustaining a cultural change in RDM practices.What is data sharing?The sections in the DMP on sharing and publishing data are causing confusion. Researchers frequently describe that data will be published in scientific articles instead of dealing with the public sharing of research data. Statements like "no data will be shared in the project" are common and the concept of "sharing" is often perceived as sharing of data internally in the project.Metadata and standards for metadata is another aspect that is usually insufficiently addressed. Sometimes it is stated that the project doesn`t use or generate metadata. Researchers tend to skip questions in the DMP, for example questions regarding file formats and versioning, which all reflects that the familiarity with the FAIR principles are limited.Legal issues in terms of ownership to data and licenses for re-use of data are often not touched upon. Gradually, we are taking steps to rethink the template as we see emerging needs for closer GDPR reviews and support in legal aspects - especially in terms of the publication of code and software.In our role as supporting data management, we need to consider if the language and terminology we use in the DMP is helping to clarify the concepts.Change needs timeCompleting a feedback is a significant investment of time. However, we experience the feedback service is necessary and appreciated. On the long term, we wish to have appointed data managers at the departments instructed in the DMP procedures. Currently, we are the stepping stones for such a process and our prevailing focus is supporting the Ph.D. students and researchers, who are motivated. The DMP feedback helps to create awareness on RDM and build bridges between our infrastructure, tools and services - and those who need it.The researchers we support do see benefits of writing DMPs, but in practice, they lack time. Understanding and being in line with the FAIR principles requires training, resources and skills management. Encouragingly, we receive an increasing number of DMPs for feedback reflecting an attentive approach to data management
Acceleration of osteoblast differentiation by a novel osteogenic compound, DMP-PYT, through activation of both the BMP and Wnt pathways
No full textOsteoblast differentiation is regulated through the successive activation of signaling molecules by a complex interplay of extracellular signals such as bone morphogenetic protein (BMP) and Wnt ligands. Numerous studies have identified natural as well as synthetic compounds with osteogenic activity through the regulation of either BMP/SMADs or the Wnt/β-catenin pathway. Here, we attempted to isolate small molecules that concurrently activated both SMADs and β-catenin, which led to the discovery of a novel potent osteogenic compound, DMP-PYT. Upon BMP2 stimulation, DMP-PYT substantially increased osteoblast differentiation featured by enhanced expression of osteoblast-specific genes and accelerated calcification through activation of BMPs expression. DMP-PYT promoted BMP2-induced SMAD1/5/8 phosphorylation and β-catenin expression, the latter in a BMP2-independent manner. DMP-PYT alone enhanced nuclear localization of β-catenin to promote the DNA-binding and transcriptional activity of T-cell factor, thereby resulting in increased osteoblast differentiation in the absence of BMP2. Most importantly, DMP-PYT advanced skeletal development and bone calcification in zebrafish larvae. Conclusively, DMP-PYT strongly stimulated osteoblast differentiation and bone formation in vitro and in vivo by potentiating BMP2-induced activation of SMADs and β-catenin. These results suggest that DMP-PYT may have beneficial effects for preventing and for treating osteoporosis. © 2017 The Author(s)
Thermodynamic properties and performance evaluation of [EMIM] [DMP]-H2O working pair for absorption cooling cycle
No full textThe combination of ionic liquid‐refrigerant based [EMIM][DMP]‐H2O as an alternative working pair for single effect vapor absorption cycles (VACs) is assessed and optimized by using energy and exergy based performances. Thermodynamics properties of binary mixture of [EMIM] [DMP]‐H2O like Dühring's (P‐T‐x1) and h‐T‐X1 plots are computed from the activity coefficient based non‐random two‐liquid model (NRTL) model. Further modeling and simulation of VACs are accomplished in open source Scilab as mathematical programing software and used to ascertain the optimal generator temperature established on energetic and exergetic COP. Optimal results include an extensive range of temperatures like Te from 2.5 to 15°C and Ta and Tc from 30 to 45°C. Simulation of the single effect VAC with SHE by using [EMIM][DMP]‐H2O mixture at Te = 10°C, Tg = 100°C, Ta = 30°C, and Tc = 40°C were evaluated and compared with the 5 working fluids. Simulation outcomes depicted greater COP of 0.82 for [EMIM][DMP]‐H2O in comparison with NH3‐H2O, EMISE‐H2O, [EMIM][BF4]‐H2O and nearly equal to LiBr‐H2O (COP = 0.83). In addition, the effect of Tg on the COP, ECOP f , and composition are compared and optimized for the evaporation temperature range from 2.5 to 15°C, Ta/Tc from 30 to 45°C and cooling water (CW) flow in series and parallel. Additionally, the optimal Tg exhibited distinction based on energy and exergy analysis. Thus, it resulted in optimized performances of [EMIM] [DMP]‐H2O that can be suitable to replace corrosive aqueous LiBr in VACs.This publication was made possible by the NPRP grant (NPRP-8-547-2-222) from the Qatar National Research Fund (a member of Qatar Foundation). The statements made herein are solely the responsibility of author(s).Scopu
Dublin Metropolitan Police (DMP) Prisoners Books
No full textThe Dublin Metropolitan Police (DMP) Prisoners Books for 1905-1908 and 1911-1918 are amongst the most valuable new documents to come to light on the revolutionary decade. They include important information on social and political life in the capital during the last years of the Union, from the period of widespread anticipation of Home Rule, to the advent of the 1913 Lockout, the outbreak of the First World War, the Easter Rising and its aftermath, including the conscription crisis of 1918. They will also be invaluable to those interested in criminology, genealogy, and family history.Scope and content: The collection comprises of four large leather bound, double ledger volumes containing hand written entries that record the details of daily charge sheets issued by DMP members to offenders or alleged offenders. Each volume contains the name, age, address, occupation, alleged offence and, in most cases, outcome of cases involving over 30,000 people arrested by the DMP. Each volume also contains an index of prisoners with references to the pages containing details of the charge.Scope and content: Three of the four volumes bear the title “Prisoners Book” and each page of arrest records has the running title “Prisoners charged with offences involving dishonesty”. Three of the volumes are numbered on the spine - the first volume in the collection as 1, the third as 4, and the fourth as 5. The third volume in the collection is missing the number on the spine, but as the entries in this volume are dated immediately before those in book number 4, it has been assumed that this volume was numbered as 3. There is a gap in the dates between the volume numbered as 1 and this volume, so it is assumed that there was a volume number 2. It is unknown whether this volume survives. Volume 1 records all those arrested from April 1st 1905 to January 1st 1908. The second volume (assumed to be number 3) runs from January 1st 1911 to September 30th 1913. Volume 4 contains the entries from October 1st 1913 to 31st December 1915. Volume 5 records the arrests from January 1st 1916 to September 30th 1918.Biographical/historical information: The Dublin Metropolitan Police (DMP) was established in 1836, along with the Irish Constabulary (later to be known as the Royal Irish Constabulary (RIC)). The DMP and the RIC replaced the County Constabulary, a uniformed police force formed on a regional basis. Following the War of Independence and the truce of July 1921, the RIC disbanded and a new police force, “The Civic Guard” (renamed the Garda Síochána na hÉireann on 8 August 1923) was formed. The DMP merged with An Garda Síochána in 1925. There were 20 DMP stations located in Dublin City and the southern townships (most of County Dublin fell within the remit of the Royal Irish Constabulary). They were Blackrock, the Bridewell, Chancery Lane, Clarendon Street, Clontarf, College Street, Dalkey, Donnybrook, Fitzgibbon Street, Irishtown, Kevin Street, Kill O the Grange, Kilmainham, Kingstown, Lad Lane, Mountjoy, Newmarket, Rathmines, Store Street and Terenure. It is thought that the station sergeant in the Bridewell, which adjoined the Police Magistrates’ Courts, was responsible for collating the records from all the DMP stations. The alleged crimes detailed in the records range from murder to robbing sweet machines, and those arrested range in age from eight to 80. The passing of the Defence of the Realm Act (DORA) on August 8th 1914 created an important new series of offences that were used increasingly against political activists.Biographical/historical information: Besides describing the type of offences committed, whether ordinary or political crimes, the collection tells us a great deal about the type of people arrested, their gender balance, social problems in the city, sentencing policies of the Police Magistrates, and how events such as the 1913 Lockout and Easter Rising affected different groups in the community. For instance, these records confirm that the majority of people arrested during the 1913 Lockout were workers rather than “the foul reserves of the slums” as alleged by the Irish Catholic and other newspapers owned by William Martin Murphy. They also show a sharp rise in arrests of deserters and absentees from the British armed forces once the First World War broke out, a problem ignored in practically every account of the period. On the other hand, the large scale arrests of women in the aftermath of the Easter Rising for looting in the city centre do conform to the traditional narrative and correlate to areas of the city with widespread deprivation. The increasing incidence of public order offences and arrests under DORA from 1916 onwards often depict people not traditionally associated with criminal behaviour but more representative of the wider community, while the rising incidence of juvenile crime is a common feature across cities in wartime Europe. The information in these volumes serves, therefore, to provide new perspectives on life in Dublin during a time of war and revolution.Ownership/custodial history: Volume number 4, covering the latter end of 1913 to the end of 1915, has been in the continuous possession of the DMP and then the Garda Museum and Archives. The other three volumes were probably discarded when the DMP was abolished in 1924 and were held by a private individual or individuals, before being discarded again in 2015. They were retrieved in the north Dublin inner city by a group of community activists who contacted author, journalist, and trade union activist Pádraig Yeates, through Michael Finn, a retired Detective Superintendent of the Garda Síochána. Pádraig Yeates arranged, with the permission of the group, to have all the volumes digitised by Eneclann. The group subsequently agreed to hand the volumes over to SIPTU on two conditions: one was that a donation be made to support a local youth project, and the second was that the information contained in them would go online, free to the public. SIPTU agreed to make a substantial donation to the project and UCD Library undertook to provide an open access, online digital publishing platform for the volumes.Acquisition details: SIPTU provided three volumes to UCD Library, already digitised. UCD Library then digitised the volume for 1913 to 1915, held by the Garda Museum and Archives. On completion of the work, SIPTU presented the volumes in its possession to the Garda Museum and Archives.Location of original: All four volumes in this collection are now held by the Garda Museum and Archives
Data Management Plan (DMP) for OpeRaNew Project
No full textThis document describes the data management life cycle for the data to be collected, processed and/or generated within the OpeRaNew project. Carefully managing research data is an essential part of good research practice and starts with adequate planning. According to the Open Research Data Pilot open access to research data that is needed to validate the results presented in scientific publications has to be guaranteed. Moreover, open access to scientific peer-reviewed publications is obligatory in the Horizon 2020 programme. The purpose of this document is to help to make the research data relating to OpeRaNew findable, accessible, interoperable and reusable (FAIR; see below). Therefore, this document describes the data management life cycle for the data to be collected, processed and/or generated by the OpeRaNew project. It specifies how data will be handled both during and after the research project and reflects on data collection, data storage, data security and data retrieval. The Data Management Plan presented herein has been prepared by taking into account the template of the Version 3.0 of the “Guidelines on FAIR Data Management in Horizon 2020” and the "Template Horizon 2020 Data Management Plan" v1.0 - 13.10.2026 https://ec.europa.eu/research/participants/data/ref/h2020/other/gm/reporting/h2020-tploa-data-mgt-plan-annotated_en.pdf . The OpeRaNew Data Management Plan (DMP) is a living document that will be edited and updated over the course of the project whenever significant changes arise. This document is the initial version of the DMP that was prepared in project-month 7 (January 2022). The Marie Curie Fellow participates in the "Pilot on Open Research Data in Horizon2020" (see "Proposal," p. 15).The substantial bibliography devoted to the work of Frances Burney (1757-1840) has confirmed her stature as an author, but it has left the dramatic works that she wrote during her years at the Court of George III almost untouched. The longdelayed publication of these plays has prevented critics from addressing them. For the few scholars who have dealt with them, these texts remain devoid of dramatic qualities. I posit that this quartet of tragedies prompts our critical thinking in terms of such present-day practices and policies as gender relations, body politics, agency: the plays raise many provocative questions, and our current complex juncture seems an especially apt moment to grant them a long-overdue audience as well as a stage. Burney’s speaking bodies— particularly the female ones—unmask and debunk the fraught relationship of the individual with social and state apparatuses, social forces and techniques of disciplining, whose coercions become dangerously naturalised. OpeRaNew aims to restore to Burney’s small dramatic corpus the cultural depth that has been lost over time. By using digital methods alongside literary analysis, the project constructs an expanding multimedia ecology for Burney’s plays—a capacious mediascape that aspires to reproduce, through contemporary tools and channels of communication, the Romantic theatre experience. The action’s core agenda—whose dynamic conversations are evoked by the verb ‘to open’ in the project title—advocates the engagement with an interested public beyond scholarly communities. The project not only sheds light on the overlooked dramatic works of a highly versatile Romantic woman author, but it shows the perspicacity and research potential of positioning— precisely at a time of enormous paradigmatic shifts in research communication and dissemination—some long-neglected playtexts, relegated to critical obscurity for over two centuries, within an expansive mediascape capable of placing them, finally, in the limelight.Francesca Saggini. (2022). DMP for OpeRaNew Project. Zenodo. https://doi.org/10.5281/zenodo.648829
Assessing the influence of sensitivity and frequency on the performance of the Midge
No full textThe Midge is a wearable badge created by the Socially Perceptive Computing Lab, Pattern Recognition and Bioinformatics group of the Delft University of Technology, with as goal to analyse human behaviour. The badge has a digital motion processor (DMP) that can determine its orientation. This DMP makes use of an inertial measurement unit (IMU), that houses an accelerometer, a gyroscope and a magnetometer, to calculate its movement in a 3D-space. For both of the accelerometer and gyroscope the Full Scale Range (FSR) can be changed, in addition to the frequency. In this paper, the effects of both elements are analysed to determine if they influence the accuracy of the data gathered. The results show that the changing the FSR does not influence the accuracy of neither the two sensors nor the performance of the DMP. On the other hand, it was found that changing the frequency does influence the performance of the Midge. Even though the frequency did not affect the measurements of the accelerometer and gyroscope directly, the performance of the DMP was affected. The DMP performed best with a frequency of 150 Hz. Using a higher frequency also captured local extremes and turning points from the sensors and the interpreted orientation more precisely.CSE3000 Research ProjectComputer Science and Engineerin
A rotation experiment on the Digital Motion Processor of the Midge
No full textThis thesis has researched how the Midge compares to a modern mobile phone regarding the accuracy and reliability of the rotation vector from the DMP in both devices. The rotation of the main axis of the Midge accurately matches that of the modern mobile phone, which means that the accuracy and reliability of the rotation vector from the DMP of both devices are mostly similar. The rotation of the secondary axes of the Midges do not exactly match that of the mobile phone. Additionally, the rotation of the secondary axes differs for each Midge. These differences might suggest that the DMP of the Midges are less accurate at detecting small changes. Further research is required to draw a definite conclusion.CSE3000 Research ProjectComputer Science and Engineerin
A near-linear kernel for bounded-state parsimony distance
No full textThe maximum parsimony distance dMP(T1,T2) and the bounded-state maximum parsimony distance dMPt(T1,T2) measure the difference between two phylogenetic trees T1,T2 in terms of the maximum difference between their parsimony scores for any character (with t a bound on the number of states in the character, in the case of dMPt(T1,T2)). While computing dMP(T1,T2) was previously shown to be fixed-parameter tractable with a linear kernel, no such result was known for dMPt(T1,T2). In this paper, we prove that computing dMPt(T1,T2) is fixed-parameter tractable for all t. Specifically, we prove that this problem has a kernel of size O(klgk), where k=dMPt(T1,T2). As the primary analysis tool, we introduce the concept of leg-disjoint incompatible quartets, which may be of independent interest.Discrete Mathematics and Optimizatio
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