Assistive robots enable people with disabilities to conduct everyday tasks on their own. However, these tasks can be complex, containing both coarse reaching motions and fine-grained manipulation. For example, when eating, not only does one need to move to the correct food item, but they must also precisely manipulate the food in different ways (e.g., cutting, stabbing, scooping). Shared autonomy methods make robot teleoperation safer and more precise by arbitrating user inputs with robot controls. However, these works have focused mainly on the high-level task of reaching a goal from a discrete set, while largely ignoring manipulation of objects at that goal. Meanwhile, dimensionality reduction techniques for teleoperation map useful high-dimensional robot actions into an intuitive low-dimensional controller, but it is unclear if these methods can achieve the requisite precision for tasks like eating. Our insight is that---by combining intuitive embeddings from learned latent actions with robotic assistance from shared autonomy---we can enable precise assistive manipulation. In this work, we adopt learned latent actions for shared autonomy by proposing a new model structure that changes the meaning of the human's input based on the robot's confidence of the goal. We show convergence bounds on the robot's distance to the most likely goal, and develop a training procedure to learn a controller that is able to move between goals even in the presence of shared autonomy. We evaluate our method in simulations and an eating user study.

An approach is given for solving large linear systems that combines Krylov methods with use of two different grid levels. Eigenvectors are computed on the coarse grid and used to deflate eigenvalues on the fine grid. GMRES-type methods are first used on both the coarse and fine grids. Then another approach is given that has a restarted BiCGStab (or IDR) method on the fine grid. While BiCGStab is generally considered to be a non-restarted method, it works well in this context with deflating and restarting. Tests show this new approach can be very efficient for difficult linear equations problems.

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Welcome to the Design Patterns Demystified (DPD) series, in this edition we are going to discuss Template Design Pattern. So let us understand the why, how, what, and where of Template Design Pattern.

The Why

Let us understand first, why we need this pattern with the help of an example. Let's you are building a reusable library which is orchestrating the operation of buying an item on an e-commerce platform. Now, irrespective of what you are buying, you will follow the same sequence of steps like building your cart, adding an address, filling in payment details, and then finishing the payment. The details in these steps will vary based on what you are buying, how much you are buying, the delivery address, and the preferred mode of payment, but the complete orchestration of steps remains the same.

We at the Inlander are committed to keeping people informed and connected throughout the coronavirus outbreak. We'll continue to update this page with the latest headlines.…

UPDATE: The Department of Veterans Affairs announced after this article was first published that Spokane Veterans Home residents with COVID-19 would be moved to the Mann-Grandstaff VA Medical Center.…

A process for preparing alkylated p-phenylenediamine having the steps of reacting aniline and nitrobenzene in presence of a complex base catalyst to obtain 4-aminodiphenylamine intermediates, hydrogenating the 4-aminodiphenylamine intermediates to 4-aminodiphenylamine in presence of a hydrogenation catalyst, and reductively alkylating the 4-aminodiphenylamine to alkylated p-phenylenediamine.

An improved process for making ethoxylated amine compounds such as ethanolamines. The improvement comprises the addition of an acid to the amine compound prior to the addition of ethylene oxide to a reactor wherein the ethoxylated amine compound is prepared. The improvement reduces the concentration of undesirable glycol ether and/or vinyl ether ethoxylate byproducts which may contribute to undesirable properties, such as color and foaming, of the ethoxylated amine compounds.

To provide a latent variable model estimation apparatus capable of implementing the model selection at high speed even if the number of model candidates increases exponentially as the latent state number and the kind of the observation probability increase. A variational probability calculating unit 71 calculates a variational probability by maximizing a reference value that is defined as a lower bound of an approximation amount, in which Laplace approximation of a marginalized log likelihood function is performed with respect to an estimator for a complete variable. A model estimation unit 72 estimates an optimum latent variable model by estimating the kind and a parameter of the observation probability with respect to each latent state. A convergence determination unit 73 determines whether a reference value, which is used by the variational probability calculating unit 71 to calculate the variational probability, converges.

Dental compositions are provided comprising a compound of Formula (I) or a pharmaceutically acceptable salt thereof: wherein n is an integer from about 2 to about 5.

Described herein are dicarboxylate-capped estolide compound and methods of making the same. Exemplary dicarboxylate-capped estolide compounds include those of the formula x is, independently for each occurrence, an integer selected from 0 to 20; y is, independently for each occurrence, an integer selected from 0 to 20; W is, independently for each occurrence, selected from —CH2— and —CH═CH—; z is an integer selected from 1 to 40; n is an integer equal to or greater than 0; R5 is selected from hydrogen, optionally substituted alkyl that is saturated or unsaturated, and branched or unbranched, and an estolide residue; and R2 is selected from hydrogen and optionally substituted alkyl that is saturated or unsaturated, and branched or unbranched, wherein each fatty acid chain residue of said at least one compound is independently optionally substituted.

The invention relates to the use of a composition of A) at least one quaternary ammonia compound comprising at least one organic radical bonded to the ammonia nitrogen atom and optionally comprising heteroatoms and having 1 to 36 carbon atoms, and B) at least one amine alkoxylate ester of formula (1) or a salt thereof, where A, B are, independently of each other, a C2- through C5-alkylene radical R1, a C8- through C24-alkyl radical or alkenyl radical R2, R3, R4 independent of each other, H, or a C8- through C24-acyl radical, with the stipulation that at least one of the radicals R2, R3 or R4 stands for a C8- through C24-acyl radical, and x, y, z, independently of each other, stand for a whole number from 0 through 50, with the stipulation that x+y+z is a whole number from 1 through 100, in quantities of 10 through 5000 g/tonne of ore as a collector in silicate floation.

The invention relates to radiation curable coating systems on the basis of aqueous polyurethane dispersions, to a method for the production thereof, to the use of the coating systems as paints and/or adhesives, and to objects and substrates provided with said paints and/or adhesives.

Disclosed is an adhesive for a polarizing plate that comprises a polyvinyl alcohol-based resin with an acetoacetyl group and an amine-based metal compound crosslinking agent, and a method of manufacturing the same.

An aqueous dispersion includes particles at least partially encapsulated in a microgel where the microgel is prepared from a hyperbranched acrylic polymer. In addition, a method for making an aqueous dispersion includes: (1) mixing in an aqueous medium: (a) particles, (b) at least one ethylenically unsaturated monomer, and (c) a water-dispersible hyperbranched acrylic polymer having ethylenic unsaturation; and (2) polymerizing the at least one ethylenically unsaturated monomer and water-dispersible hyperbranched acrylic polymer having ethylenic unsaturation to at least partially encapsulate the particles in a microgel.

A primer solution for enhanced adhesion to a rigid substrate for aviation and aerospace applications includes an aminosilane-capped polyurethane prepolymer and a first solvent. The first solvent reacts with or modifies the surface of the rigid substrate, enabling the primer solution including the aminosilane-capped polyurethane prepolymer to become a part of the surface of the rigid substrate.

1,4-Dihydropyridine-3-carboxylate derivatives are produced having vasodilating and hypotensive action.

Methods and a kit. A cement forming method includes nucleating an acidic metallophosphate reaction mixture with first particles, resulting in forming a settable metallophosphate cement from the acidic metallophosphate reaction mixture. The first particles include a first metal oxide. Each particle of the first particles independently have a particle size in a range from about 15 microns to about 450 microns. A method for applying cement includes seeding a solution with particles, resulting in forming a settable cement from the solution. The particles have a size in a range from about 15 microns to about 450 microns. The solution includes a first metal oxide reacting with phosphate. The settable cement is applied to a substrate. A cement application kit is also described.

A process according to various approaches includes flushing an intermediate transfer line between a raffinate stream transfer line and a desorbent stream transfer line away from the adsorptive separation chamber to remove residual fluid including desorbent from intermediate transfer line. The process may include directing the residual fluid flushed from the intermediate transfer line to a recycle stream to introduce the residual fluid into the adsorptive separation chamber.

Disclosed are a biomolecular sensor and a method of fabricating the same having high sensitivity and resolution by using a plurality of metal plates that change electrical properties of a plurality of nanostructures according to the attachment of biomolecules. The biomolecular sensor includes a substrate, first and second electrodes disposed to be spaced apart from each other on the substrate, a plurality of nanostructures disposed on the substrate to connect the first and second electrodes to each other, and a plurality of metal plates that change electrical properties of the plurality of nanostructures according to the attachment of biomolecules.

Disclosed herein are acrylic and methacrylic acid ester-based polymeric materials containing as flexibilizing and brittleness reducing agents 1-60% of C4-C8 polyalkylene or polyalkyldiene compounds, preferably having a molecular weight of 300-2100, and the use of such materials in dentistry and medicine.

A method for preparing poly(butylene terephthalate-co-adipate) copolymer by polymerizing 1,4-butane diol, an adipic acid component and an aromatic dicarboxy compound derived from polyethylene terephthalate, and a polyester component residue in the presence of a catalyst under conditions effective to form poly(butylene terephthalate-co-adipate) oligomers; adding a quencher; and reacting the quenched poly(butylene terephthalate-co-adipate) oligomers with a chain extender.

A method and apparatus may be used to evaluate a polynomial by initializing a multiply and accumulate feedback apparatus (260) comprising a multiplier stage (264) having an output coupled to an input of an accumulator stage (267) having an accumulator feedback output (269) selectively coupled to an input of the multiplier stage over a plurality of clock cycles; iteratively calculating a final working loop variable z over an additional plurality of clock cycles; multiplying the final working loop variable z and a complex input vector x to compute a final multiplier value; and adding a least significant complex polynomial coefficient to the final multiplier value using the multiplier stage of the multiply and accumulate feedback apparatus to yield a result of the polynomial evaluation.

Described is a radiation-crosslinkable hotmelt adhesive comprising at least one radiation-crosslinkable poly(meth)acrylate formed to an extent of at least 60% by weight of C1 to C10 alkyl(meth)acrylates and at least one oligo(meth)acrylate which comprises nonacrylic C C double bonds and has a K value of less than or equal to 20. The hotmelt adhesive comprises a photoinitiator which may be present in the form of an additive not attached to the poly(meth)acrylate and/or not attached to the oligo(meth)acrylate, may be incorporated by copolymerization into the poly(meth)acrylate, and/or may be attached to the oligo(meth)acrylate. The hotmelt adhesive can be used for producing adhesive tapes.

The invention relates to an acrylate-based UV-curable ink, in particular ink jet ink, having a content of pigments, radical photoinitiators, dispersing agent(s)and optionally additional additives, characterized in that said ink contains at least two radical photoinitiators of the Norrish type I and at least one radically curable monomer in the form of a polyfunctional alkoxylated and/or polyalkoxylated acrylate monomer, which comprises one or more diacrylates and/or triacrylates, wherein the mol ratio of all acrylates to all initiators is approximately 5:1 to 19:1. The invention further relates to a method for producing a UV-curable ink, in particular an ink jet ink of the aforementioned type, wherein 1) a ground product or an ink base is produced by grinding one or more radically curable monomers in the form of a polyfunctional alkoxylated and/or polyalkoxylated acryl monomer, which comprise one or more diacrylate(s) and/or triacrylate(s), with one or more pigments and dispersing agents, in particular optionally additionally with synergists, stabilizers and further additives, in a high-performance mill, in particular in a pearl mill, until a constant viscosity and/or constant particle size develops, and 2) the resulting ground product is mixed with further acrylate monomers and the radical photoinitiators in the form of the Norrish type I, and optionally other additives. Said ground product exhibits advantageous physical properties at elevated temperatures and in long-term storage.

Systems, mediums, and methods are provided for scheduling input/output requests to a storage system. The input output requests may be received, categorized based on their priority, and scheduled for retrieval from the storage system. Lower priority requests may be divided into smaller sub-requests, and the sub-requests may be scheduled for retrieval only when there are no pending higher priority requests, and/or when higher priority requests are not predicted to arrive for a certain period of time. By servicing the small sub-requests rather than the entire lower priority request, the retrieval of the lower priority request may be paused in the event that a high priority request arrives while the lower priority request is being serviced.

A method for efficient dispatch/completion of a work element within a multi-node data processing system. The method comprises: selecting specific processing units from among the processing nodes to complete execution of a work element that has multiple individual work items that may be independently executed by different ones of the processing units; generating an allocated processor unit (APU) bit mask that identifies at least one of the processing units that has been selected; placing the work element in a first entry of a global command queue (GCQ); associating the APU mask with the work element in the GCQ; and responsive to receipt at the GCQ of work requests from each of the multiple processing nodes or the processing units, enabling only the selected specific ones of the processing nodes or the processing units to be able to retrieve work from the work element in the GCQ.

A data transfer control apparatus includes a transferring unit that transfers data from a transfer source memory to a transfer destination memory, according to an instruction from a first processor; and a first processor configured to detect a process execute by the first processor, determine whether transfer of the data is urgent, based on the type of the detected process, and control the transferring unit or the first processor to transfer the data, based on a determination result.

A method and circuit arrangement utilize a low latency variable transfer network between the register files of multiple processing cores in a multi-core processor chip to support fine grained parallelism of virtual threads across multiple hardware threads. The communication of a variable over the variable transfer network may be initiated by a move from a local register in a register file of a source processing core to a variable register that is allocated to a destination hardware thread in a destination processing core, so that the destination hardware thread can then move the variable from the variable register to a local register in the destination processing core.

A system for blueprint-driven environment template creation in a virtual infrastructure comprises a processor and a memory. The processor is configured to receive a blueprint, receive an environment template configuration, and build an environment template using the blueprint and the environment template configuration. The environment template is for provisioning an environment. The environment is for deploying an application. The memory is coupled to the processor and is configured to provide the processor with instructions.

Encapsulates, compositions, packaged products and displays comprising such encapsulates, and processes for making and using such encapsulates, compositions, packaged products and displays. Such compositions have improved deposition and retention properties that may impart improved benefit characteristics to a composition and/or situs.

A composition is described containing a branched nonionic surfactant of Formula (I): (I) wherein x is a real number from 1 to 11, y is a real number from 1 to 20, R 1 is an alkyl group having 1 to 3 carbon atoms, R 2 is an alkyl group having 4 to 6 carbon atoms, and a primary 5 alcohol ethoxylate.

The use of ferric hydroxycarboxylate as a chelator and builder for cleaning compositions is disclosed. The cleaning composition may be formulated for warewashing, laundering, and for other means of removing soils and includes a ferric hydroxycarboxylate, an alkalinity source and a surfactant system. The cleaning composition has a pH of between about 9 and about 12.

The present application relates to encapsulated, solid, water soluble benefit agents and products comprising such encapsulates, as well as processes for making and using such encapsulates and products comprising such encapsulates. In one aspect, the present application relates to a melamine formaldehyde and/or urea formaldehyde encapsulation process that offers as solution to the dissolution of solid, water soluble benefit agents during the process's emulsification step.

A granulated foam control composition comprises a foam control agent based on a polydiorganosiloxane fluid, an organic additive of melting point 45″17C to 100° C. comprising a polyol ester, a water-soluble particulate inorganic carrier and a polymer having a net cationic charge. The mean number of carbon atoms in the organo groups of the polydiorganosiloxane fluid is at least 1.3. The foam control agent includes a hydrophobic filler dispersed in the polydiorganosiloxane fluid, and optionally an organosilicone resin. The polyol ester is miscible with the polydiorganosiloxane fluid.

The invention relates to compositions, methods of use, and methods of manufacture for an intercalated bleach compound and compositions thereof. The intercalated bleach compound has the formula Mx(OCl)y(O)m(OH)n where M is an alkaline earth metal such as magnesium, calcium or mixture thereof. The values of x and y independently equal any number greater than or equal to 1 (e.g., 1, 2, 3, 4, etc.), and m and n independently equal any number greater than or equal to 0 (e.g., 0, 1, 2, 3, 4, etc.), but m and n are not both 0. In addition, the molar ratio of the alkaline earth metal (e.g., magnesium or calcium) to hypochlorite is at least 3:1. In other words, x is ≧3y. The compounds exhibit excellent stability, little or no chlorine bleach odor, exhibit excellent pH buffering characteristics, and less reactivity with organic materials as compared to alternative chlorine bleach products.

A system and methods for matching at least one word of an utterance against a set of template hierarchies to select the best matching template or set of templates corresponding to the utterance. Certain embodiments of the system and methods determines at least one exact, inexact, and partial match between the at least one word of the utterance and at least one term within the template hierarchy to select and populate a template or set of templates corresponding to the utterance. The populated template or set of templates may then be used to generate a narrative template or a report template.

Architectures and techniques are provided to control the rendering of supplemental content associated with electronic books. For example, electronic books may be associated with content that is in addition to the content originally provided to an individual acquiring the electronic book, such as annotations, social networking site information, media outlet information, and the like. Individuals may control the supplemental electronic book content that is rendered via their client devices via actuation of a physical input device or a representation of an input device shown via a touch sensitive display. The amount of supplemental content that is rendered may correspond to information associated with a specified number of categories of supplemental electronic book content based on a supplemental content rendering level. In other implementations, the amount of supplemental electronic book content that is rendered may correspond to an amount of supplemental content to be rendered for each category of supplemental content.

Alkyl nitrate ester compounds are provided for the delivery of nitric oxide to targeted muscle tissues, and in particular, to normal and dystrophic muscles. In one aspect, nitrate ester compounds are provided having the following formula: wherein, R1 is ONO2, CH2ONO2, CnH2n+1OH, CnH2n+1OH, or CH2CH2CH3, or H;R2 is ONO2, CH2ONO2, Cn'H2n'+1OH, Cn'H2n'+1OH, CH2CH2CH3 or H; andR3 is ONO2, CH2ONO2, Cn'″H2n″+1OH, Cn″H2n″+1OH, CH2CH2CH3 or H; wherein n is an integer from 0 to 9, n' is an integer from 0 to 9, and n″ is an integer from 0 to 9, and n+n'+n″≦9, and wherein at least one of R1, R2, and R3 is an ester nitrate selected from the group consisting of ONO2, CH2ONO2, and combinations thereof.

There is provided a method for producing an aqueous acrylamide solution by reacting a composition including acrylonitrile with water to produce acrylamide, in which the composition including acrylonitrile includes 3 to 15 mg of propionitrile per 1 kg of the total weight of the composition including acrylonitrile. According to the present invention, a production method with which it is possible to suppress acrylamide polymerization without lowering quality and thereby obtain a stable aqueous acrylamide solution can be provided.

Systems, methods, and computer-readable and executable instructions are provided for providing a simulated network. Providing a simulated network can include collecting a number of network parameters for a plurality of locations and determining an application frequency of an application for the plurality of locations. Furthermore, providing a simulated network can include providing a simulated network with the number of network parameters to a number of testers of the application, wherein the number of network parameters are provided proportionally to the application frequency.

Systems and methodologies are described that facilitate communicating encapsulation information for a related mobility protocol type utilized in communicating over a data flow with reduced specific implementation on the policy server to support different mobility protocol types. In this regard, encapsulation information can be transmitted to the policy server from a network gateway such that the policy server can forward the encapsulation information to a serving gateway along with policy rules related to a data flow type. The serving gateway can utilize the encapsulation information to detect and interpret the encapsulated data flow according to the policy rules. In this regard, the serving gateway can provide support (e.g., quality of service support) for the flow. The encapsulation information can relate to a mobility protocol type, an encapsulation header, an indication that encapsulation is required, parameters regarding locating an encapsulation header in a message, and/or the like.

Bio-based terephthalic acid (bio-TPA), bio-based dimethyl terephthalate (bio-DMT), and bio-based polyesters, which are produced from a biomass containing a terpene or terpenoid, such as limonene are described, as well as the process of making these products. The bio-based polyesters include poly(alkylene terephthalate)s such as bio-based poly(ethylene terephthalate) (bio-PET), bio-based poly(trimethylene terephthalate) (bio-PTT), bio-based poly(butylene terephthalate) (bio-PBT), and bio-based poly(cyclohexylene dimethyl terephthalate) (bio-PCT).

A composition for maintaining a function of platelets, the composition comprising, as an active ingredient, a compound represented by the following general formula (I) or a salt thereof, or a solvate thereof: wherein X represents a phenylene group;Y represents any one of a hydrogen atom and —(CH2)mR1;wherein m represents an integer of any one of 0 to 4; andR1 is any one of —NR5COR2, —NR5SO2R2, and —NR3R4;wherein R2 represents any one of a C1 to C6 alkyl group, an aryl group, a C1 to C6 alkoxy group, and the like;R3 and R4 represent a C1 to C6 alkyl group or the like; andR5 represents any one of a hydrogen atom, a C1 to C6 alkyl group, and the like; and Z represents any one of a hydrogen atom and a C1 to C6 alkyl group.

RNA interference is provided for inhibition of Frizzled Related Protein-1 mRNA expression, in particular, for treating patients having glaucoma or at risk of developing glaucoma.

The disclosure is directed to a system and method for establishing a secured wireless connection allowing the exchange of information between a wireless device and aircraft equipment. The secured wireless access system may require a user controlling the wireless device to interact with an onboard interface to initiate a connection. The user may be further required to enter a randomly generated security passcode to pair the mobile device to the aircraft equipment. Further security measures may be implemented, such as tiered user access levels restricting certain equipment and/or information based upon a user identity of the user requesting access.

MRI compatible localization and/or guidance systems for facilitating placement of an interventional therapy and/or device in vivo include: (a) a mount adapted for fixation to a patient; (b) a targeting cannula with a lumen configured to attach to the mount so as to be able to controllably translate in at least three dimensions; and (c) an elongate probe configured to snugly slidably advance and retract in the targeting cannula lumen, the elongate probe comprising at least one of a stimulation or recording electrode. In operation, the targeting cannula can be aligned with a first trajectory and positionally adjusted to provide a desired internal access path to a target location with a corresponding trajectory for the elongate probe. Automated systems for determining an MR scan plane associated with a trajectory and for determining mount adjustments are also described.

The invention relates to a process for preparing pentabromobenzyl acrylate through the reaction of pentahalobenzyl halide with a salt of acrylic acid in water-immiscible solvent, wherein said salt is in aqueous form and the reaction is carried out in the presence of a phase transfer catalyst. A process for polymerizing the pentabromobenzyl acrylate in halogenated aromatic solvent and the poly (pentabromobenzyl acrylate) obtained are also disclosed.

The invention relates to the production of 2-octylacrylate of high purity and in good yield using ethyl titanate in solution in 2-octanol or 2-octyl titanate as a transesterification catalyst.

The invention provides certain bis-acylated hydroxylamine derivative compounds, pharmaceutical compositions and kits comprising such compounds, and methods of using such compounds or pharmaceutical compositions. In particular, the invention provides methods of using such compounds or pharmaceutical compositions for treating, preventing, or delaying the onset and/or develop of a disease or condition. In some embodiments, the disease or condition is selected from cardiovascular diseases, ischemia, reperfusion injury, cancerous disease, pulmonary hypertension and conditions responsive to nitroxyl therapy.