89,127 results on '"Funk"'
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2. Grave Dancing on the Right: Conservative Hegemony and the Death of The Weekly Standard
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Speakman, Burton and Funk, Marcus
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- 2024
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3. Comparing Conventional Medical Management to Spinal Cord Stimulation for the Treatment of Low Back Pain in a Cohort of DISTINCT RCT Patients
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Deer T, Heros R, Tavel E, Wahezi S, Funk R, Buchanan P, Christopher A, Weisbein J, Gilligan C, Patterson D, Antony A, Ibrahim M, Miller N, Scarfo K, Johnson G, Panchalingam T, Okaro U, and Yue J
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distinct ,low back pain ,burstdr ,spinal cord stimulation ,healthcare utilization ,persistent spinal pain syndrome ,neuromodulation ,Medicine (General) ,R5-920 - Abstract
Timothy Deer,1,* Robert Heros,2,* Edward Tavel,3 Sayed Wahezi,4 Robert Funk,5 Patrick Buchanan,6 Anne Christopher,7 Jacqueline Weisbein,8 Christopher Gilligan,9 Denis Patterson,10 Ajay Antony,11 Mohab Ibrahim,12 Nathan Miller,13 Keith Scarfo,14 Gayle Johnson,15 Thadchaigeni Panchalingam,15 Udoka Okaro,15 James Yue16 1Pain Management, The Spine and Nerve Center of the Virginias, Charleston, WV, USA; 2Pain Management, Spinal Diagnostics, Tualatin, OR, USA; 3Pain Management, Clinical Trials of South Carolina, Charleston, SC, USA; 4Pain Management, Montefiore Medical Center, Bronx, NY, USA; 5Pain Management, Indiana Spine Group, Indianapolis, IN, USA; 6Pain Management, Spanish Hills Interventional Pain Specialists, Camarillo, CA, USA; 7Pain Management, Saint Louis Pain Consultants, Chesterfield, MO, USA; 8Pain Management, Napa Valley Orthopedic Medical Group, Napa, CA, USA; 9Pain Management, Robert Wood Johnson University Hospital, New Brunswick, NJ, USA; 10Pain Management, Nevada Advanced Pain Specialists, Reno, NV, USA; 11Pain Management, the Orthopedic Institute, Gainesville, FL, USA; 12Pain Management, Coastal Pain & Spinal Diagnostics Medical Group, Carlsbad, CA, USA; 13Pain Management, Banner University Medical Center, Tucson, AZ, USA; 14Pain Management, Rhode Island Hospital, Providence, RI, USA; 15Neuromodulation, Abbott Labs, Austin, TX, USA; 16Orthopaedic spine Surgery, Connecticut Orthopedics, Hamden, CT, USA*These authors contributed equally to this workCorrespondence: Timothy Deer, Pain Management, The Spine and Nerve Center of the Virginias, 400 Court Street, Suite 100, Charleston, WV, 25301, USA, Tel +1 304 347 – 6120, Fax +1 304 347 – 6126, Email doctdeer@aol.comAim: Low Back Pain (LBP) is a prevalent condition. Spinal cord stimulation (SCS) has emerged as a more effective, long-term treatment compared to conventional medical management (CMM). The DISTINCT study enrolled and randomized chronic LBP patients with no indication of traditional spine surgery. This analysis focuses comparing study outcomes on patients initially randomized to receive CMM treatment and subsequently crossed over to SCS after 6 months.Purpose: To compare the therapeutic effectiveness and cost-efficiency of passive recharge burst SCS to CMM.Patients and Methods: A total of 269 patients were enrolled with 162 randomly assigned to SCS and 107 to CMM. The DISTINCT study design allowed a crossover to the alternative treatment arm after 6 months. Patients underwent a trial and received a permanent implant if they reported ≥ 50% pain reduction. Outcome analysis included pain (NRS), disability (ODI), catastrophizing (PCS), quality of life (PROMIS-29) and health care utilization.Results: Seventy out of eighty-one patients opted to cross over to trial SCS at 6M with 94% (66/70) undergoing a trial. Among those, 88% (58/66) reported a ≥ 50% or more pain relief and 55 received a permanent implant. At 12M visit, 71.4% reported a ≥ 50% pain improvement sustained at the 18M visit, with 24.5% (12/49) indicating a ≥ 80% improvement. Disability reductions (79% meeting the minimally important difference of a 13-point decrease), decreased catastrophizing, and significant improvements in all PROMIS-29 domains were noted. Furthermore, 42% of the patients reported decreased or discontinued opioid usage. Clinical benefits at the 12M visit were sustained through the 18M visit accompanied by a significant reduction in healthcare utilization and a $1214 cost savings.Conclusion: SCS demonstrates superior, long-term performance and safety outcomes compared to CMM therapy in LBP patients who received both CMM and SCS therapy. Additionally, SCS patients experienced reduced healthcare resource utilization and lower costs compared to those receiving CMM.Keywords: DISTINCT, low back pain, BurstDR, spinal cord stimulation, healthcare utilization, persistent spinal pain syndrome, neuromodulation
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- 2024
4. Managing Social Media Through Crisis: A Content Analysis of Instagram Posts Before and During the COVID-19 Pandemic
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Kennedy, Heather, Bredikhina, Nataliya, Athanas-Linden, Grace, Kunkel, Thilo, and Funk, Daniel C.
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- 2024
5. Using Predictive Analytics to Measure Effectiveness of Social Media Engagement: A Digital Measurement Perspective
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Kennedy, Heather, Kunkel, Thilo, and Funk, Daniel C.
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- 2024
6. Is There an Association Between Inflammation and Serum-Vitamin D? – Results of a Retrospective Analysis of Hospitalized Geriatric Patients
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Funk L, Trampisch US, Pourhassan M, and Wirth R
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vitamin d ,25-hydroxyvitamin d ,inflammation ,older ,c-reactive protein ,geriatric ,Geriatrics ,RC952-954.6 - Abstract
Lukas Funk, Ulrike Sonja Trampisch, Maryam Pourhassan, Rainer Wirth Department of Geriatric Medicine, Marien Hospital Herne, Herne, GermanyCorrespondence: Lukas Funk Marien Hospital Herne, Universitätsklinikum der Ruhr-Universität Bochum, Herne, Hölkeskampring, 4044629, Deutschland, Tel +49 (0) 2323 499 5822, Email Lukas.Funk@rub.dePurpose: Vitamin D deficiency is a common finding in geriatric patients. The ESPEN micronutrient guideline states that vitamin D serum levels significantly decrease in the presence of inflammation and should be interpreted with caution. This is of great interest for hospital care and would imply a significant change to the current approach to hospitalized patients with suspected vitamin D deficiency.Patients and methods: To evaluate the association of vitamin D and inflammation, we reanalyzed the data set of serum 25(OH)D-Levels of 687 consecutive geriatric hospitalized patients of a previously published study.Results: We found that vitamin D deficiency (< 20 ng/dl) was prevalent in 78.0% and vitamin D insufficiency (20– 30 ng/dl) in 9.9% of patients. Sperman’s correlation showed a significant but very weak correlation (R = − 0.100, P < 0.01) of serum vitamin D and C-reactive protein. However, linear regression with the inclusion of age and gender revealed no significant association (beta-coefficient − 0.070; p=0.067).Conclusion: In this study, we could not confirm a significant and clinically relevant association between serum vitamin D levels and inflammation, contrasting with a previous study. However, longitudinal studies need to be performed to draw a final conclusion.Keywords: Vitamin D, 25-hydroxyvitamin D, inflammation, older, C-reactive protein, geriatric
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- 2024
7. Painted in Broad Strokes: English-Language News Media Coverage of Home Care in Relation to the COVID-19 Pandemic in Canada
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Yamamoto, Cynthia, Funk, Laura, Ethier, Alexandra, Carrier, Annie, Contandriopoulos, Damien, and Stajduhar, Kelli
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- 2024
8. On the Other Side
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Funk, Allison
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- 2024
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9. Physical Activity, Depression and Quality of Life in COPD – Results from the CLARA II Study
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Horner A, Olschewski H, Hartl S, Valipour A, Funk GC, Studnicka M, Merkle M, Kaiser B, Wallner EM, Brecht S, and Lamprecht B
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chronic obstructive pulmonary disease ,depression ,phq-9 ,pain ,quality of life ,st. george’s respiratory questionnaire ,physical activity ,Diseases of the respiratory system ,RC705-779 - Abstract
Andreas Horner,1 Horst Olschewski,2 Sylvia Hartl,3 Arschang Valipour,4 Georg-Christian Funk,5 Michael Studnicka,6 Monika Merkle,7 Bernhard Kaiser,1 Eva Maria Wallner,8 Stephan Brecht,8 Bernd Lamprecht1 1Johannes Kepler University Linz, Kepler University Hospital, Department of Pulmonology, Linz, Austria; 2Division of Pulmonology, Department of Internal Medicine, Medical University of Graz, and Ludwig Boltzmann Institute for Lung Vascular Research, Graz, Austria; 3Department of Respiratory and Critical Care Medicine, Klinik Penzing and Sigmund Freud University, Medical School, Vienna, Austria; 4Karl-Landsteiner-Institute for Lung Research and Pulmonary Oncology, Klinik Floridsdorf, Vienna, Austria; 5Department of Internal and Respiratory Medicine, Klinik Ottakring, Vienna, Austria; 6Department of Pulmonary Medicine, Paracelsus Medical University, Salzburg, Austria; 7Specialist Office for Pulmonology Dr. Merkle, Vienna, Austria; 8A. Menarini Pharma GmbH, Vienna, AustriaCorrespondence: Andreas Horner, Johannes Kepler University Linz, Kepler University Hospital, Department of Pulmonology, Altenberger Strasse, 69, 4040 Linz and Krankenhausstrasse 9, 4020 Linz, Austria, Email Andreas.Horner@kepleruniklinikum.atBackground: Symptoms of depression, pain and limitations in physical activity may affect quality of life in COPD patients independent from their respiratory burden. We aimed to analyze the associations of these factors in outpatients with COPD in Austria in a stable phase of disease.Methods: We conducted a national, cross-sectional study among patients with COPD. For depression, the Patient Health Questionnaire-9 (PHQ-9) and for respiratory symptoms the St. George’s Respiratory Questionnaire for COPD patients (SGRQ-C) were used along with 10-point scales for physical activity and pain.Results: After exclusion of 211 patients due to non-obstructive spirometry or missing data, 630 patients (62.5% men; mean age 66.8 ± 8.6 (SD) years; mean FEV1%pred. 54.3 ± 16.5 (SD)) were analyzed. Of these, 47% reported one or more exacerbations in the previous year, 10.4% with hospitalization. A negative depression score was found in 54% and a score suggesting severe depression (PHQ-9 score ≥ 15) in 4.7%. In a multivariate linear regression model, self-reported pain, dyspnea, and number of exacerbations were predictors for higher PHQ-9-scores. A negative pain score was found in 43.8%, and a score suggesting severe pain in 2.9% (8– 10 points of 10-point scale). Patients reporting severe pain were more often female, had more exacerbations, and reported more respiratory and depressive symptoms, a lower quality of life, and less physical activity. About 46% of patients rated their physical activity as severely impaired. These patients were significantly older, had more exacerbations, concomitant heart disease, a higher pain and depression score, and a lower quality of life (SGRQ-C – total score and all subscores).Conclusions: In Austria, nearly half of stable COPD outpatients reported symptoms of depression, which were associated with lower levels of self-reported physical activity, more pain, and respiratory symptoms. The associations were particularly strong for depression with SGRQ-C.Keywords: chronic obstructive pulmonary disease, depression, PHQ-9, pain, quality of life, St. George’s Respiratory Questionnaire, physical activity
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- 2023
10. Painted in Broad Strokes: English-Language News Media Coverage of Home Care in Relation to the COVID-19 Pandemic in Canada
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Yamamoto, Cynthia, Funk, Laura, Ethier, Alexandra, Carrier, Annie, Contandriopoulos, Damien, and Stajduhar, Kelli
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- 2023
11. 3. The Tradition of Dead Generations: On the Persistence of Place-Based Longings
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Funk, Kevin
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- 2022
12. Introduction: Capitalism and Class in Global Latin America
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Funk, Kevin
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- 2022
13. 5. The Flat Pluralist World of Business Class: On Constructing (and Contesting) Corporate Global Imaginaries
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Funk, Kevin
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- 2022
14. Conclusion: The Future of Global Imaginaries: Thinking Beyond Nativism and Neoliberal Propaganda
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Funk, Kevin
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- 2022
15. About the Author
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Funk, Kevin
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- 2022
16. Bibliography
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Funk, Kevin
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- 2022
17. Index
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Funk, Kevin
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- 2022
18. 4. Rootless Globalists? On Denationalization and Globality
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Funk, Kevin
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- 2022
19. 2. How Latin America Met the Arab World
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Funk, Kevin
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- 2022
20. 1. Progress and Lacunae in the Study of the Global Capitalist Class
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Funk, Kevin
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- 2022
21. Half-Title Page, Title Page, Copyright, Dedication
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Funk, Kevin
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- 2022
22. Acknowledgments
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Funk, Kevin
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- 2022
23. Contents
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Funk, Kevin
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- 2022
24. Antiprophylactic Citizenship
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Funk, Ian
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- 2022
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25. Quantifying soil losses and dust emissions by wind tunnel experiments in the cultivated steppe of Kazakhstan
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Koza Moritz, Marzen Miriam, Funk Roger, Akshalov Kanat, and Schmidt Gerd
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Environmental sciences ,GE1-350 - Abstract
Expanding agriculture and unsustainable farming practices in Central Asia’s steppes may increase the risk of wind erosion and severe dust emissions. However, empirical data from field experiments to assess a potential severe dust source is lacking. Therefore, a mobile wind tunnel was used in northern Kazakhstan to investigate the potential wind-induced soil loss and dust emissions under real field conditions common in agricultural practices. Field experiments were carried out on typical surfaces that act as dust sources: seedbeds as they occur after cultivation, in-field tracks, and dirt roads. Measurements were conducted by sediment collection of total eroded material and optical particle counting for particulate matter ≤30 µm. The results of the wind tunnel experiments show that the same soil can emit significantly different amounts of dust depending on the mechanical stress to which the soil was previously exposed. Soil loss and dust emissions increased from seedbeds to dirt roads due to the intensifying effect of pulverization by tires. In order to assess an area as a dust source or for emission inventories, the total emissions must be adjusted separately to these shares. Further insights of the field experiments will be presented at the conference.
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- 2024
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26. Imperfect Solutions to the Neoliberal Problem of Public Aging: A Critical Discourse Analysis of Public Narratives of Long-Term Residential Care
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El-Bialy, Rowan, Funk, Laura, Thompson, Genevieve, Smith, Malcolm, John, Philip St, Roger, Kerstin, Penner, Jamie, and Luo, Hai
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- 2022
27. The Impact of Homelessness on Mortality of Individuals Living in the United States: A Systematic Review of the Literature
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Funk, Amy M., Greene, R. Neil, Dill, Kate, and Valvassori, Pia
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- 2022
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28. Aggression and Older Adults: News Media Coverage across Care Settings and Relationships
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Funk, Laura M., Herron, Rachel V., Spencer, Dale, and Thomas, Starr Lee
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- 2021
29. Lessons from the US and German Reit Markets for Drafting a Polish Reit Act
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Kowalke Krzysztof and Funk Bernhard
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reit ,legal conditions of reit activity ,real estate market ,poland ,l85 ,r39 ,Real estate business ,HD1361-1395.5 - Abstract
Investors are increasingly allocating capital into the real estate market through indirect investment vehicles such as REITs. There are currently no classic REITs in Poland, but given the experience of other countries and the expectations of Polish investors, an act is being prepared to regulate their functioning. The introduction of legal regulations regarding REITs has not always resulted in successful proliferation of these vehicles in each country. The German market for G-REITs is such an example, were only six G-REITs have evolved. There is also the example of the market in the United States, where extremely dynamic development of such institutions has been observed, especially in the recent years. At the end of 2019, 219 institutions of this type were operating on the US market.
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- 2022
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30. The Four Lenses of Population Aging: Planning for the Future in Canada’s Provinces by Patrik Marier (review)
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Funk, Laura M.
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- 2023
31. Japan’s World War II on Kiska Island: Previously Undocumented Features on the Vega Bay Coastline
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Funk, Caroline, Corbett, Debra, Harmsen, Hans, and Goranson, Steve
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- 2021
32. A Subquadratic Time Approximation Algorithm for Individually Fair k-Center
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Ebbens, Matthijs, Funk, Nicole, Höckendorff, Jan, Sohler, Christian, and Weil, Vera
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Computer Science - Data Structures and Algorithms ,Computer Science - Computational Geometry - Abstract
We study the $k$-center problem in the context of individual fairness. Let $P$ be a set of $n$ points in a metric space and $r_x$ be the distance between $x \in P$ and its $\lceil n/k \rceil$-th nearest neighbor. The problem asks to optimize the $k$-center objective under the constraint that, for every point $x$, there is a center within distance $r_x$. We give bicriteria $(\beta,\gamma)$-approximation algorithms that compute clusterings such that every point $x \in P$ has a center within distance $\beta r_x$ and the clustering cost is at most $\gamma$ times the optimal cost. Our main contributions are a deterministic $O(n^2+ kn \log n)$ time $(2,2)$-approximation algorithm and a randomized $O(nk\log(n/\delta)+k^2/\varepsilon)$ time $(10,2+\varepsilon)$-approximation algorithm, where $\delta$ denotes the failure probability. For the latter, we develop a randomized sampling procedure to compute constant factor approximations for the values $r_x$ for all $x\in P$ in subquadratic time; we believe this procedure to be of independent interest within the context of individual fairness.
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- 2024
33. GigaHands: A Massive Annotated Dataset of Bimanual Hand Activities
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Fu, Rao, Zhang, Dingxi, Jiang, Alex, Fu, Wanjia, Funk, Austin, Ritchie, Daniel, and Sridhar, Srinath
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Computer Science - Computer Vision and Pattern Recognition - Abstract
Understanding bimanual human hand activities is a critical problem in AI and robotics. We cannot build large models of bimanual activities because existing datasets lack the scale, coverage of diverse hand activities, and detailed annotations. We introduce GigaHands, a massive annotated dataset capturing 34 hours of bimanual hand activities from 56 subjects and 417 objects, totaling 14k motion clips derived from 183 million frames paired with 84k text annotations. Our markerless capture setup and data acquisition protocol enable fully automatic 3D hand and object estimation while minimizing the effort required for text annotation. The scale and diversity of GigaHands enable broad applications, including text-driven action synthesis, hand motion captioning, and dynamic radiance field reconstruction.
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- 2024
34. Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion Models
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Möller, Christian, Funk, Niklas, and Peters, Jan
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Computer Science - Computer Vision and Pattern Recognition - Abstract
Object pose estimation from a single view remains a challenging problem. In particular, partial observability, occlusions, and object symmetries eventually result in pose ambiguity. To account for this multimodality, this work proposes training a diffusion-based generative model for 6D object pose estimation. During inference, the trained generative model allows for sampling multiple particles, i.e., pose hypotheses. To distill this information into a single pose estimate, we propose two novel and effective pose selection strategies that do not require any additional training or computationally intensive operations. Moreover, while many existing methods for pose estimation primarily focus on the image domain and only incorporate depth information for final pose refinement, our model solely operates on point cloud data. The model thereby leverages recent advancements in point cloud processing and operates upon an SE(3)-equivariant latent space that forms the basis for the particle selection strategies and allows for improved inference times. Our thorough experimental results demonstrate the competitive performance of our approach on the Linemod dataset and showcase the effectiveness of our design choices. Code is available at https://github.com/zitronian/6DPoseDiffusion .
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- 2024
35. Application of Graph Networks to a wide-field Water-Cherenkov-based Gamma-Ray Observatory
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Glombitza, Jonas, Schneider, Martin, Leitl, Franziska, Funk, Stefan, and van Eldik, Christopher
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Astrophysics - Instrumentation and Methods for Astrophysics - Abstract
Water-Cherenkov-based observatories form the high-duty-cycle and wide field of view backbone for observations of the gamma-ray sky at very high energies. For gamma-ray observations, precise event reconstruction and highly effective background rejection are crucial and have been continuously improving in recent years. In this work, we propose a deep learning application based on graph neural networks (GNNs) for background rejection and energy reconstruction and compare it to state-of-the-art approaches. We find that GNNs outperform hand-designed classification algorithms and observables in background rejection and find an improved energy resolution compared to template-based methods., Comment: 23 pages, 12 figures, 4 tables
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- 2024
36. Simultaneous Two Colour Intensity Interferometry with H.E.S.S
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Vogel, Naomi, Zmija, Andreas, Wohlleben, Frederik, Anton, Gisela, Mitchell, Alison, Zink, Adrian, and Funk, Stefan
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Astrophysics - Instrumentation and Methods for Astrophysics - Abstract
In recent years, intensity interferometry has been successfully applied to the Imaging Atmospheric Cherenkov Telescopes H.E.S.S. , MAGIC, and VERITAS. All three telescope systems have proven the feasibility and capability of this method. After our first campaign in 2022, when two of the H.E.S.S. telescopes in Namibia were equipped with our external setup and the angular diameter of two stars was measured, our setup was upgraded for a second campaign in 2023, where the goal is to perform simultaneous two colour measurements. The second campaign not only involves a third equipped telescope, but also each mechanical setup now includes two interference filters at two different wavelengths (375 nm and 470 nm) with a broader bandwidth of 10 nm. This enables having simultaneous two colour measurements, which yields information about the star's physical size at different wavelengths. This is the first time that simultaneous dual-waveband intensity interferometry measurements are performed. The angular diameter results of the 4 stars, Mimosa (beta Cru), Eta Centauri (eta Cen), Nunki (sigma Sgr) and Dschubba (delta Sco), are reported, where the effects of limb darkening are also taken into account.
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- 2024
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37. High-Statistics Measurement of the Cosmic-Ray Electron Spectrum with H.E.S.S
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Aharonian, F., Benkhali, F. Ait, Aschersleben, J., Ashkar, H., Backes, M., Martins, V. Barbosa, Batzofin, R., Becherini, Y., Berge, D., Bernlöhr, K., Bi, B., Böttcher, M., Boisson, C., Bolmont, J., de Lavergne, M. de Bony, Borowska, J., Bouyahiaoui, M., Brose, R., Brown, A., Brun, F., Bruno, B., Bulik, T., Burger-Scheidlin, C., Bylund, T., Casanova, S., Celic, J., Cerruti, M., Chand, T., Chandra, S., Chen, A., Chibueze, J., Chibueze, O., Collins, T., Cotter, G., Mbarubucyeye, J. Damascene, Devin, J., Djuvsland, J., Dmytriiev, A., Egberts, K., Einecke, S., Ernenwein, J. -P., Fegan, S., Feijen, K., Fontaine, G., Funk, S., Gabici, S., Gallant, Y. A., Glicenstein, J. F., Glombitza, J., Grolleron, G., Heß, B., Hofmann, W., Holch, T. L., Holler, M., Horns, D., Huang, Zhiqiu, Jamrozy, M., Jankowsky, F., Joshi, V., Jung-Richardt, I., Kasai, E., Katarzynski, K., Kerszberg, D., Khatoon, R., Khelifi, B., Kluzniak, W., Komin, Nu., Kosack, K., Kostunin, D., Kundu, A., Lang, R. G., Stum, S. Le, Leitl, F., Lemiere, A., Lemoine-Goumard, M., Lenain, J. -P., Leuschner, F., Luashvili, A., Mackey, J., Malyshev, D., Marandon, V., Marinos, P., Marti-Devesa, G., Marx, R., Meyer, M., Mitchell, A., Moderski, R., Moghadam, M. O., Mohrmann, L., Montanari, A., Moulin, E., de Naurois, M., Niemiec, J., Ohm, S., Olivera-Nieto, L., Wilhelmi, E. de Ona, Ostrowski, M., Panny, S., Panter, M., Parsons, D., Pensec, U., Peron, G., Pühlhofer, G., Punch, M., Quirrenbach, A., Ravikularaman, S., Regeard, M., Reimer, A., Reimer, O., Reis, I., Ren, H., Reville, B., Rieger, F., Rowell, G., Rudak, B., Ruiz-Velasco, E., Sahakian, V., Salzmann, H., Santangelo, A., Sasaki, M., Schäfer, J., Schüssler, F., Schutte, H. M., Shapopi, J. N. S., Sharma, A., Sol, H., Spencer, S., Stawarz, L., Steinmassl, S., Steppa, C., Suzuki, H., Takahashi, T., Tanaka, T., Taylor, A. M., Terrier, R., Tsirou, M., van Eldik, C., Vecchi, M., Venter, C., Vink, J., Wach, T., Wagner, S. J., Wierzcholska, A., Zacharias, M., Zdziarski, A. A., Zech, A., and Zywucka, N.
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Astrophysics - High Energy Astrophysical Phenomena - Abstract
Owing to their rapid cooling rate and hence loss-limited propagation distance, cosmic-ray electrons and positrons (CRe) at very high energies probe local cosmic-ray accelerators and provide constraints on exotic production mechanisms such as annihilation of dark matter particles. We present a high-statistics measurement of the spectrum of CRe candidate events from 0.3 to 40 TeV with the High Energy Stereoscopic System (H.E.S.S.), covering two orders of magnitude in energy and reaching a proton rejection power of better than $10^{4}$. The measured spectrum is well described by a broken power law, with a break around 1 TeV, where the spectral index increases from $\Gamma_1 = 3.25$ $\pm$ 0.02 (stat) $\pm$ 0.2 (sys) to $\Gamma_2 = 4.49$ $\pm$ 0.04 (stat) $\pm$ 0.2 (sys). Apart from the break, the spectrum is featureless. The absence of distinct signatures at multi-TeV energies imposes constraints on the presence of nearby CRe accelerators and the local CRe propagation mechanisms., Comment: main paper: 8 pages, 4 figures, supplemental material: 12 pages, 14 figures, accepted for publication in Physical Review Letters https://journals.aps.org/prl/
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- 2024
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38. Search for Extended GeV Sources in the Inner Galactic Plane
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Abdollahi, S., Acero, F., Acharyya, A., Adelfio, A., Ajello, M., Baldini, L., Ballet, J., Bartolini, C., Gonzalez, J. Becerra, Bellazzini, R., Bissaldi, E., Bonino, R., Bruel, P., Cameron, R. A., Caraveo, P. A., Castro, D., Cavazzuti, E., Cheung, C. C., Cibrario, N., Ciprini, S., Cozzolongo, G., Orestano, P. Cristarella, Cuoco, A., Cutini, S., D'Ammando, F., Di Lalla, N., Dinesh, A., Di Venere, L., Domínguez, A., Fiori, A., Funk, S., Fusco, P., Gargano, F., Gasbarra, C., Gasparrini, D., Germani, S., Giacchino, F., Giglietto, N., Giliberti, M., Giordano, F., Giroletti, M., Green, D., Grenier, I. A., Guillemot, L., Guiriec, S., Gupta, R., Hashizume, M., Hays, E., Hewitt, J. W., Horan, D., Hou, X., Kayanoki, T., Kuss, M., Laviron, A., Lemoine-Goumard, M., Liguori, A., Li, J., Liodakis, I., Loizzo, P., Longo, F., Loparco, F., Lorusso, L., Lovellette, M. N., Lubrano, P., Maldera, S., Malyshev, D., Martí-Devesa, G., Martin, P., Mazziotta, M. N., Mereu, I., Michelson, P. F., Mirabal, N., Mitthumsiri, W., Mizuno, T., Monti-Guarnieri, P., Monzani, M. E., Morselli, A., Moskalenko, I. V., Negro, M., Omodei, N., Orienti, M., Orlando, E., Paneque, D., Panzarini, G., Persic, M., Pesce-Rollins, M., Pillera, R., Porter, T. A., Rainò, S., Rando, R., Razzano, M., Reimer, A., Reimer, O., Bernal, M. Rocamora, Sánchez-Conde, M., Parkinson, P. M. Saz, Serini, D., Sgrò, C., Siskind, E. J., Smith, D. A., Spandre, G., Spinelli, P., Strong, A. W., Suson, D. J., Tajima, H., Thayer, J. B., Torres, D. F., Valverde, J., Wadiasingh, Z., Wood, K., and Zaharijas, G.
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Astrophysics - High Energy Astrophysical Phenomena - Abstract
The recent detection of extended $\gamma$-ray emission around middle-aged pulsars is interpreted as inverse-Compton scattering of ambient photons by electron-positron pairs escaping the pulsar wind nebula, which are confined near the system by unclear mechanisms. This emerging population of $\gamma$-ray sources was first discovered at TeV energies and remains underexplored in the GeV range. To address this, we conducted a systematic search for extended sources along the Galactic plane using 14 years of Fermi-LAT data above 10 GeV, aiming to identify a number of pulsar halo candidates and extend our view to lower energies. The search covered the inner Galactic plane ($\lvert l\rvert\leq$ 100$^{\circ}$, $\lvert b\rvert\leq$ 1$^{\circ}$) and the positions of known TeV sources and bright pulsars, yielding broader astrophysical interest. We found 40 such sources, forming the Second Fermi Galactic Extended Sources Catalog (2FGES), most with 68% containment radii smaller than 1.0$^{\circ}$ and relatively hard spectra with photon indices below 2.5. We assessed detection robustness using field-specific alternative interstellar emission models and by inspecting significance maps. Noting 13 sources previously known as extended in the 4FGL-DR3 catalog and five dubious sources from complex regions, we report 22 newly detected extended sources above 10 GeV. Of these, 13 coincide with H.E.S.S., HAWC, or LHAASO sources; six coincide with bright pulsars (including four also coincident with TeV sources); six are associated with 4FGL point sources only; and one has no association in the scanned catalogs. Notably, six to eight sources may be related to pulsars as classical pulsar wind nebulae or pulsar halos., Comment: 43 pages, 17 figures, 11 tables
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- 2024
39. A Retrospective on the Robot Air Hockey Challenge: Benchmarking Robust, Reliable, and Safe Learning Techniques for Real-world Robotics
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Liu, Puze, Günster, Jonas, Funk, Niklas, Gröger, Simon, Chen, Dong, Bou-Ammar, Haitham, Jankowski, Julius, Marić, Ante, Calinon, Sylvain, Orsula, Andrej, Olivares-Mendez, Miguel, Zhou, Hongyi, Lioutikov, Rudolf, Neumann, Gerhard, Zhalehmehrabi, Amarildo Likmeta Amirhossein, Bonenfant, Thomas, Restelli, Marcello, Tateo, Davide, Liu, Ziyuan, and Peters, Jan
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Computer Science - Robotics ,Computer Science - Artificial Intelligence ,Computer Science - Machine Learning - Abstract
Machine learning methods have a groundbreaking impact in many application domains, but their application on real robotic platforms is still limited. Despite the many challenges associated with combining machine learning technology with robotics, robot learning remains one of the most promising directions for enhancing the capabilities of robots. When deploying learning-based approaches on real robots, extra effort is required to address the challenges posed by various real-world factors. To investigate the key factors influencing real-world deployment and to encourage original solutions from different researchers, we organized the Robot Air Hockey Challenge at the NeurIPS 2023 conference. We selected the air hockey task as a benchmark, encompassing low-level robotics problems and high-level tactics. Different from other machine learning-centric benchmarks, participants need to tackle practical challenges in robotics, such as the sim-to-real gap, low-level control issues, safety problems, real-time requirements, and the limited availability of real-world data. Furthermore, we focus on a dynamic environment, removing the typical assumption of quasi-static motions of other real-world benchmarks. The competition's results show that solutions combining learning-based approaches with prior knowledge outperform those relying solely on data when real-world deployment is challenging. Our ablation study reveals which real-world factors may be overlooked when building a learning-based solution. The successful real-world air hockey deployment of best-performing agents sets the foundation for future competitions and follow-up research directions., Comment: Accept at NeurIPS 2024 Dataset and Benchmark Track
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- 2024
40. Healthy Live Births Should be Considered as Competing Events when Estimating the Total Effect of Prenatal Medication Use on Pregnancy Outcomes
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Latour, Chase D., Klose, Mark, Edwards, Jessie K., Song, Zoey, Funk, Michele Jonsson, and Wood, Mollie E.
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Statistics - Applications - Abstract
Pregnancy loss is recognized as an important competing event in studies of prenatal medication use. However, a healthy live birth also precludes subsequent adverse pregnancy outcomes, yet these events are often censored. Using Monte Carlo simulation, we examine bias that results from failure to account for healthy live birth as a competing event in estimates of the total effect of prenatal medication use on pregnancy outcomes. We simulated data for 12 trials estimating the effect of antihypertensive initiation versus non-initiation on two outcomes: (1) composite fetal death or severe prenatal preeclampsia and (2) small-for-gestational-age (SGA) live birth. We used time-to-event methods to estimate absolute risks, risk differences and risk ratios. For the composite outcome, we conducted two analyses where non-preeclamptic live birth was (1) a censoring event and (2) a competing event. For SGA live birth, we conducted three analyses where fetal death and non-SGA live birth were (1) censoring events, (2) a competing event and censoring event, respectively; and (3) competing events. In all analyses, censoring healthy live births led to inflated absolute risk estimates as well as bias and imprecise treatment effect estimates. Studies of prenatal exposures on pregnancy outcomes should analyze healthy live births as competing risks to estimate unbiased total treatment effects., Comment: 33 pages, 4 figures
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- 2024
41. Towards more realistic climate model outputs: A multivariate bias correction based on zero-inflated vine copulas
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Funk, Henri, Ludwig, Ralf, Kuechenhoff, Helmut, and Nagler, Thomas
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Statistics - Applications ,Statistics - Methodology - Abstract
Climate model large ensembles are an essential research tool for analysing and quantifying natural climate variability and providing robust information for rare extreme events. The models simulated representations of reality are susceptible to bias due to incomplete understanding of physical processes. This paper aims to correct the bias of five climate variables from the CRCM5 Large Ensemble over Central Europe at a 3-hourly temporal resolution. At this high temporal resolution, two variables, precipitation and radiation, exhibit a high share of zero inflation. We propose a novel bias-correction method, VBC (Vine copula bias correction), that models and transfers multivariate dependence structures for zero-inflated margins in the data from its error-prone model domain to a reference domain. VBC estimates the model and reference distribution using vine copulas and corrects the model distribution via (inverse) Rosenblatt transformation. To deal with the variables' zero-inflated nature, we develop a new vine density decomposition that accommodates such variables and employs an adequately randomized version of the Rosenblatt transform. This novel approach allows for more accurate modelling of multivariate zero-inflated climate data. Compared with state-of-the-art correction methods, VBC is generally the best-performing correction and the most accurate method for correcting zero-inflated events.
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- 2024
42. Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor Based on Finite Element Analysis
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Helmut, Erik, Dziarski, Luca, Funk, Niklas, Belousov, Boris, and Peters, Jan
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Computer Science - Robotics ,Computer Science - Machine Learning - Abstract
Contact-rich manipulation remains a major challenge in robotics. Optical tactile sensors like GelSight Mini offer a low-cost solution for contact sensing by capturing soft-body deformations of the silicone gel. However, accurately inferring shear and normal force distributions from these gel deformations has yet to be fully addressed. In this work, we propose a machine learning approach using a U-net architecture to predict force distributions directly from the sensor's raw images. Our model, trained on force distributions inferred from Finite Element Analysis (FEA), demonstrates promising accuracy in predicting normal and shear force distributions. It also shows potential for generalization across sensors of the same type and for enabling real-time application. The codebase, dataset and models are open-sourced and available at https://feats-ai.github.io .
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- 2024
43. Automatic Identification and Visualization of Group Training Activities Using Wearable Data
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Gahtan, Barak, Funk, Shany, Kodesh, Einat, Ketko, Itay, Kuflik, Tsvi, and Bronstein, Alex M.
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Computer Science - Machine Learning ,Computer Science - Human-Computer Interaction - Abstract
Human Activity Recognition (HAR) identifies daily activities from time-series data collected by wearable devices like smartwatches. Recent advancements in Internet of Things (IoT), cloud computing, and low-cost sensors have broadened HAR applications across fields like healthcare, biometrics, sports, and personal fitness. However, challenges remain in efficiently processing the vast amounts of data generated by these devices and developing models that can accurately recognize a wide range of activities from continuous recordings, without relying on predefined activity training sessions. This paper presents a comprehensive framework for imputing, analyzing, and identifying activities from wearable data, specifically targeting group training scenarios without explicit activity sessions. Our approach is based on data collected from 135 soldiers wearing Garmin 55 smartwatches over six months. The framework integrates multiple data streams, handles missing data through cross-domain statistical methods, and identifies activities with high accuracy using machine learning (ML). Additionally, we utilized statistical analysis techniques to evaluate the performance of each individual within the group, providing valuable insights into their respective positions in the group in an easy-to-understand visualization. These visualizations facilitate easy understanding of performance metrics, enhancing group interactions and informing individualized training programs. We evaluate our framework through traditional train-test splits and out-of-sample scenarios, focusing on the model's generalization capabilities. Additionally, we address sleep data imputation without relying on ML, improving recovery analysis. Our findings demonstrate the potential of wearable data for accurately identifying group activities, paving the way for intelligent, data-driven training solutions.
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- 2024
44. Empirical tests of trait–function relationships are crucial for advancing trait‐based restoration: a response to Merchant et al. (2023)
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Funk, Jennifer L, Eviner, Valerie T, Garbowski, Magda, and Valliere, Justin M
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Climate Change Impacts and Adaptation ,Environmental Sciences ,community assembly ,context-dependency ,ecosystem functionality ,functional traits ,plant performance ,practitioner collaboration ,Biological Sciences ,Ecology ,Biological sciences ,Environmental sciences - Abstract
Trait-based restoration strategies are gaining significant attention in the scientific community. A recent article in Restoration Ecology by Merchant et al. outlined four reasons why traits are underused in restoration practice. In their response to the paper, Gornish et al. highlighted examples of how practitioners do, in fact, use traits in restoration and made recommendations for researchers to better engage with practitioners to leverage existing knowledge. Here, we clarify a preeminent challenge for either perspective: that we continue to lack the empirical data needed to develop and apply the effective trait-based tools envisioned by many researchers. Long-term, spatially replicated studies designed to address context-dependency are needed to address critical knowledge gaps. Co-developing projects with practitioners not only fosters more realistic and relatable study designs but also increases the likelihood of adopting new methods, enabling long-term research that advances theory while improving local outcomes through more accurate trait-based predictions.
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- 2024
45. Solving the Wave Equation on Discrete Time Scales
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Funk, Davis and Tsikkou, Charis
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Mathematics - Analysis of PDEs ,Mathematics - Complex Variables ,39A14, 34N05, 35R07 - Abstract
This paper presents a solution to an initial value problem for the 1-dimensional wave equation on time scales through the application of a Fourier transform and its inverse via contour integrals. The time scale of the spatial dimension is set to the integers and a broader class of discrete time scales, while the time dimension is set to the positive real numbers., Comment: 15 pages, 2 figures
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- 2024
46. Scientific and technological knowledge grows linearly over time
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Kang, Huquan, Fu, Luoyi, Funk, Russell J., Wang, Xinbing, Ding, Jiaxin, Liang, Shiyu, Wang, Jianghao, Zhou, Lei, and Zhou, Chenghu
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Physics - Physics and Society ,Computer Science - Information Theory ,Computer Science - Social and Information Networks - Abstract
The past few centuries have witnessed a dramatic growth in scientific and technological knowledge. However, the nature of that growth - whether exponential or otherwise - remains controversial, perhaps partly due to the lack of quantitative characterizations. We evaluated knowledge as a collective thinking structure, using citation networks as a representation, by examining extensive datasets that include 213 million publications (1800-2020) and 7.6 million patents (1976-2020). We found that knowledge - which we conceptualize as the reduction of uncertainty in a knowledge network - grew linearly over time in naturally formed citation networks that themselves expanded exponentially. Moreover, our results revealed inflection points in the growth of knowledge that often corresponded to important developments within fields, such as major breakthroughs, new paradigms, or the emergence of entirely new areas of study. Around these inflection points, knowledge may grow rapidly or exponentially on a local scale, although the overall growth rate remains linear when viewed globally. Previous studies concluding an exponential growth of knowledge may have focused primarily on these local bursts of rapid growth around key developments, leading to the misconception of a global exponential trend. Our findings help to reconcile the discrepancy between the perceived exponential growth and the actual linear growth of knowledge by highlighting the distinction between local and global growth patterns. Overall, our findings reveal major science development trends for policymaking, showing that producing knowledge is far more challenging than producing papers.
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- 2024
47. CTC and CT5TEA: an advanced multi-channel digitizer and trigger ASIC for imaging atmospheric Cherenkov telescopes
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Schwab, Benjamin, Zink, Adrian, Depaoli, Davide, Hinton, Jim, Liu, Gang, Okumura, Akira, Ross, Duncan, Schäfer, Johannes, Schoorlemmer, Harm, Tajima, Hiro, Vandenbroucke, Justin, White, Richard, Watson, Jason John, Zorn, Justus, and Funk, Stefan
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Astrophysics - Instrumentation and Methods for Astrophysics - Abstract
We have developed a new set of Application-Specific Integrated Circuits (ASICs) of the TARGET family (CTC and CT5TEA), designed for the readout of signals from photosensors in cameras of Imaging Atmospheric Cherenkov Telescopes (IACTs) for ground-based gamma-ray astronomy. We present the performance and design details. Both ASICs feature 16 channels, with CTC being a Switched-Capacitor Array (SCA) sampler at 0.5 to 1 GSa/s with a 16,384 sample deep storage buffer, including the functionality to digitize full waveforms at arbitrary times. CT5TEA is its companion trigger ASIC (though may be used on its own), which provides trigger information for the analog sum of four (and 16) adjacent channels. Since sampling and triggering takes place in two separate ASICs, the noise due to interference from the SCA is suppressed, and allows a minimal trigger threshold of $\leq$ 2.5 mV (0.74 photo electrons (p.e.)) with a trigger noise of $\leq$ 0.5 mV (0.15 p.e.). For CTC, a maximal input voltage range from $-$0.5 V up to 1.7 V is achieved with an effective bit range of $>$ 11.6 bits and a baseline noise of 0.7 mV. The cross-talk improved to $\leq$ 1% over the whole $-$3 dB bandwidth of 220 MHz and even down to 0.2% for 1.5 V pulses of 10 ns width. Not only is the performance presented, but a temperature-stable calibration routine for pulse mode operation is introduced and validated. The resolution is found to be $\sim$ 2.5% at 33.7 mV (10 p.e.) and $\leq$ 0.3% at 337 mV (100 p.e.) with an integrated non-linearity of $<$ 1.6 mV. Developed for the Small-Sized Telescope (SST) and Schwarzschild-Couder Telescope (SCT) cameras of the Cherenkov Telescope Array Observatory (CTAO), CTC and CT5TEA are deployed for both prototypes and shall be integrated into the final versions., Comment: 18 pages, 26 figures, 1 table
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- 2024
- Full Text
- View/download PDF
48. Multilingual Dyadic Interaction Corpus NoXi+J: Toward Understanding Asian-European Non-verbal Cultural Characteristics and their Influences on Engagement
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Funk, Marius, Okada, Shogo, and André, Elisabeth
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Computer Science - Computation and Language ,Computer Science - Artificial Intelligence ,Computer Science - Human-Computer Interaction ,Computer Science - Machine Learning - Abstract
Non-verbal behavior is a central challenge in understanding the dynamics of a conversation and the affective states between interlocutors arising from the interaction. Although psychological research has demonstrated that non-verbal behaviors vary across cultures, limited computational analysis has been conducted to clarify these differences and assess their impact on engagement recognition. To gain a greater understanding of engagement and non-verbal behaviors among a wide range of cultures and language spheres, in this study we conduct a multilingual computational analysis of non-verbal features and investigate their role in engagement and engagement prediction. To achieve this goal, we first expanded the NoXi dataset, which contains interaction data from participants living in France, Germany, and the United Kingdom, by collecting session data of dyadic conversations in Japanese and Chinese, resulting in the enhanced dataset NoXi+J. Next, we extracted multimodal non-verbal features, including speech acoustics, facial expressions, backchanneling and gestures, via various pattern recognition techniques and algorithms. Then, we conducted a statistical analysis of listening behaviors and backchannel patterns to identify culturally dependent and independent features in each language and common features among multiple languages. These features were also correlated with the engagement shown by the interlocutors. Finally, we analyzed the influence of cultural differences in the input features of LSTM models trained to predict engagement for five language datasets. A SHAP analysis combined with transfer learning confirmed a considerable correlation between the importance of input features for a language set and the significant cultural characteristics analyzed., Comment: 8 pages. 6 figures. International Conference on Multimodal Interaction, November 4-8, 2024, San Jose, Costa Rica
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- 2024
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49. GRB 221009A: the B.O.A.T Burst that Shines in Gamma Rays
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Axelsson, M., Ajello, M., Arimoto, M., Baldini, L., Ballet, J., Baring, M. G., Bartolini, C., Bastieri, D., Gonzalez, J. Becerra, Bellazzini, R., Berenji, B., Bissaldi, E., Blandford, R. D., Bonino, R., Bruel, P., Buson, S., Cameron, R. A., Caputo, R., Caraveo, P. A., Cavazzuti, E., Cheung, C. C., Chiaro, G., Cibrario, N., Ciprini, S., Cozzolongo, G., Orestano, P. Cristarella, Crnogorcevic, M., Cuoco, A., Cutini, S., D'Ammando, F., De Gaetano, S., Di Lalla, N., Dinesh, A., Di Tria, R., Di Venere, L., Domínguez, A., Fegan, S. J., Ferrara, E. C., Fiori, A., Franckowiak, A., Fukazawa, Y., Funk, S., Fusco, P., Galanti, G., Gargano, F., Gasbarra, C., Germani, S., Giacchino, F., Giglietto, N., Giliberti, M., Gill, R., Giordano, F., Giroletti, M., Granot, J., Green, D., Grenier, I. A., Guiriec, S., Gustafsson, M., Hashizume, M., Hays, E., Hewitt, J. W., Horan, D., Kayanoki, T., Kuss, M., Laviron, A., Li, J., Liodakis, I., Longo, F., Loparco, F., Lorusso, L., Lott, B., Lovellette, M. N., Lubrano, P., Maldera, S., Malyshev, D., Manfreda, A., Martí-Devesa, G., Martinelli, R., Castellanos, I. Martinez, Mazziotta, M. N., McEnery, J. E., Mereu, I., Meyer, M., Michelson, P. F., Mirabal, N., Mitthumsiri, W., Mizuno, T., Monti-Guarnieri, P., Monzani, M. E., Morishita, T., Morselli, A., Moskalenko, I. V., Negro, M., Niwa, R., Omodei, N., Orienti, M., Orlando, E., Paneque, D., Panzarini, G., Persic, M., Pesce-Rollins, M., Petrosian, V., Pillera, R., Piron, F., Porter, T. A., Principe, G., Racusin, J. L., Rainò, S., Rando, R., Rani, B., Razzano, M., Razzaque, S., Reimer, A., Reimer, O., Ryde, F., Sánchez-Conde, M., Parkinson, P. M. Saz, Serini, D., Sgrò, C., Sharma, V., Siskind, E. J., Spandre, G., Spinelli, P., Suson, D. J., Tajima, H., Tak, D., Thayer, J. B., Torres, D. F., Valverde, J., Zaharijas, G., Lesage, S., Briggs, M. S., Burns, E., Bala, S., Bhat, P. N., Cleveland, W. H., Dalessi, S., de Barra, C., Gibby, M., Giles, M. M., Hamburg, R., Hristov, B. A., Hui, C. M., Kocevski, D., Mailyan, B., Malacaria, C., McBreen, S., Poolakkil, S., Roberts, O. J., Scotton, L., Veres, P., von Kienlin, A., Wilson-Hodge, C. A., and Wood, J.
- Subjects
Astrophysics - High Energy Astrophysical Phenomena - Abstract
We present a complete analysis of Fermi Large Area Telescope (LAT) data of GRB 221009A, the brightest Gamma-Ray Burst (GRB) ever detected. The burst emission above 30 MeV detected by the LAT preceded by 1 s the low-energy (< 10 MeV) pulse that triggered the Fermi Gamma-Ray Burst Monitor (GBM), as has been observed in other GRBs. The prompt phase of GRB 221009A lasted a few hundred seconds. It was so bright that we identify a Bad Time Interval (BTI) of 64 seconds caused by the extremely high flux of hard X-rays and soft gamma rays, during which the event reconstruction efficiency was poor and the dead time fraction quite high. The late-time emission decayed as a power law, but the extrapolation of the late-time emission during the first 450 seconds suggests that the afterglow started during the prompt emission. We also found that high-energy events observed by the LAT are incompatible with synchrotron origin, and, during the prompt emission, are more likely related to an extra component identified as synchrotron self-Compton (SSC). A remarkable 400 GeV photon, detected by the LAT 33 ks after the GBM trigger and directionally consistent with the location of GRB 221009A, is hard to explain as a product of SSC or TeV electromagnetic cascades, and the process responsible for its origin is uncertain. Because of its proximity and energetic nature, GRB 221009A is an extremely rare event., Comment: 60 pages, 38 figures, 9 tables
- Published
- 2024
50. ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching
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Funk, Niklas, Urain, Julen, Carvalho, Joao, Prasad, Vignesh, Chalvatzaki, Georgia, and Peters, Jan
- Subjects
Computer Science - Robotics ,Computer Science - Artificial Intelligence - Abstract
Spatial understanding is a critical aspect of most robotic tasks, particularly when generalization is important. Despite the impressive results of deep generative models in complex manipulation tasks, the absence of a representation that encodes intricate spatial relationships between observations and actions often limits spatial generalization, necessitating large amounts of demonstrations. To tackle this problem, we introduce a novel policy class, ActionFlow. ActionFlow integrates spatial symmetry inductive biases while generating expressive action sequences. On the representation level, ActionFlow introduces an SE(3) Invariant Transformer architecture, which enables informed spatial reasoning based on the relative SE(3) poses between observations and actions. For action generation, ActionFlow leverages Flow Matching, a state-of-the-art deep generative model known for generating high-quality samples with fast inference - an essential property for feedback control. In combination, ActionFlow policies exhibit strong spatial and locality biases and SE(3)-equivariant action generation. Our experiments demonstrate the effectiveness of ActionFlow and its two main components on several simulated and real-world robotic manipulation tasks and confirm that we can obtain equivariant, accurate, and efficient policies with spatially symmetric flow matching. Project website: https://flowbasedpolicies.github.io/
- Published
- 2024
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