Miracle-dz/UniFAR-FTUs huggingface dataset:
A Monocular Vision Sensor-Based Obstacle Detection Algorithm for Autonomous Robots

This paper presents a monocular vision sensor-based obstacle detection algorithm for autonomous robots. Each individual image pixel at the bottom region of interest is labeled as belonging either to an obstacle or the floor. While conventional methods depend on point tracking for geometric cues for obstacle detection, the proposed algorithm uses the inverse perspective mapping (IPM) method. This method is much more advantageous when the camera is not high off the floor, which makes point tracking near the floor difficult. Markov random field-based obstacle segmentation is then performed using the IPM results and a floor appearance model. Next, the shortest distance between the robot and the obstacle is calculated. The algorithm is tested by applying it to 70 datasets, 20 of which include nonobstacle images where considerable changes in floor appearance occur. The obstacle segmentation accuracies and the distance estimation error are quantitatively analyzed. For obstacle datasets, the segmentation precision and the average distance estimation error of the proposed method are 81.4% and 1.6 cm, respectively, whereas those for a conventional method are 57.5% and 9.9 cm, respectively. For nonobstacle datasets, the proposed method gives 0.0% false positive rates, while the conventional method gives 17.6%.
Silicon photonics at the University of Surrey

Silicon Photonics is a field that has seen rapid growth and dramatic changes in the past 5 years. According to the MIT Communications Technology Roadmap [1], which aims to establish a common architecture platform across market sectors with a potential $20B in annual revenue, silicon photonics is among the top ten emerging technologies. This has in part been a consequence of the recent involvement of large semiconductor companies around the world, particularly in the USA. Significant investment in the technology has also followed in Japan, Korea, and in the European Union. Low cost is a key driver, so it is imperative to pursue technologies that are mass-producible. Therefore, Silicon Photonics continues to progress at a rapid rate. This paper will describe some of the work of the Silicon Photonics Group at the University of Surrey in the UK. The work is concerned with the sequential development of a series of components for silicon photonic optical circuits, and some of the components are discussed here. In particular the paper will present work on optical waveguides, optical filters, modulators, and lifetime modification of carriers generated by two photon absorption, to improve the performance of Raman amplifiers in silicon.
From circulating biomarkers to genomics and imaging in the prediction of cardiovascular events in the general population

Abstract Cardiovascular disease (CVD) is the leading cause of death and disability worldwide. In the last decades numerous markers have been considered and investigated for the prediction of CV events, but only a few of them resulted in improved global risk assessment beyond traditional risk factors when incorporated into coronary evaluation scores. Recent genetic studies have pointed out a few but consistent loci or genes which are independently associated with CV risk. The idea is fascinating that these genetic markers could lead to improved individual CV risk assessment and tailored pharmacological interventions. In this brief review we will not make a systematic review of all non-genetic and genetic markers of CV risk but we will try to make a brief overview of the most interesting ones with the aim to underline potential ‘pros’ and ‘cons’ of their implementation in clinical practice.
Regularized Modified BPDN for Noisy Sparse Reconstruction With Partial Erroneous Support and Signal Value Knowledge

We study the problem of sparse reconstruction from noisy undersampled measurements when the following knowledge is available. (1) We are given partial, and partly erroneous, knowledge of the signal's support, denoted by T . (2) We are also given an erroneous estimate of the signal values on T, denoted by (μ̂)T . In practice, both of these may be available from prior knowledge. Alternatively, in recursive reconstruction applications, like real-time dynamic MRI, one can use the support estimate and the signal value estimate from the previous time instant as T and (μ̂)T. In this paper, we introduce regularized modified basis pursuit denoising (BPDN) (reg-mod-BPDN) to solve this problem and obtain computable bounds on its reconstruction error. Reg-mod-BPDN tries to find the signal that is sparsest outside the set T, while being “close enough” to (μ̂)T on T and while satisfying the data constraint. Corresponding results for modified-BPDN and BPDN follow as direct corollaries. A second key contribution is an approach to obtain computable error bounds that hold without any sufficient conditions. This makes it easy to compare the bounds for the various approaches. Empirical reconstruction error comparisons with many existing approaches are also provided.
Experiments In Migration Mapping By Computer

Migration maps represent patterns of geographical movement by arrows or bands between places, using information arriving in “from-to” tables. In the most interesting cases the tables are of large size, suggesting that computer assistance would be useful in the preparation of the maps. A computer program prepared for this purpose shows that graphical representation is feasible for tables as large as fifty by fifty, and possibly larger. The program contains options for alternate forms of movement depiction, and rules are suggested for the parsing of migration tables prior to the cartographic display, without loss of spatial resolution.
The −675 4G/5G Polymorphism in Plasminogen Activator Inhibitor-1 Gene Is Associated with Risk of Asthma: A Meta-Analysis

Background A number of studies assessed the association of −675 4G/5G polymorphism in the promoter region of plasminogen activator inhibitor (PAI)-1 gene with asthma in different populations. However, most studies reported inconclusive results. A meta-analysis was conducted to investigate the association between polymorphism in the PAI-1 gene and asthma susceptibility. Methods Databases including Pubmed, EMBASE, HuGE Literature Finder, Wanfang Database, China National Knowledge Infrastructure (CNKI) and Weipu Database were searched to find relevant studies. Odds ratios (ORs) with 95% confidence intervals (CIs) were used to assess the strength of association in the dominant model, recessive model, codominant model, and additive model. Results Eight studies involving 1817 cases and 2327 controls were included. Overall, significant association between 4G/5G polymorphism and asthma susceptibility was observed for 4G4G+4G5G vs. 5G5G (OR = 1.56, 95% CI 1.12–2.18, P = 0.008), 4G/4G vs. 4G/5G+5G/5G (OR = 1.38, 95% CI 1.06–1.80, P = 0.02), 4G/4G vs. 5G/5G (OR = 1.80, 95% CI 1.17–2.76, P = 0.007), 4G/5G vs. 5G/5G (OR = 1.40, 95% CI 1.07–1.84, P = 0.02), and 4G vs. 5G (OR = 1.35, 95% CI 1.08–1.68, P = 0.008). Conclusions This meta-analysis suggested that the −675 4G/5G polymorphism of PAI-1 gene was a risk factor of asthma.
Identification of Type I and Type II Serine/Threonine Kinase Receptors for Growth/Differentiation Factor-5*

Growth/differentiation factor-5 (GDF-5) is a member of the bone morphogenetic protein (BMP) family, which plays an important role in bone development in vivo. Mutations in the GDF-5 gene result in brachypodism in mice and Hunter-Thompson type chondrodysplasia in human. BMPs transduce their effects through binding to two different types of serine/threonine kinase receptors, type I and type II. However, binding abilities appear to be different among the members of the BMP family. BMP-4 binds to two different type I receptors, BMP receptors type IA (BMPR-IA) and type IB (BMPR-IB), and a type II receptor, BMP receptor type II (BMPR-II). In addition to these receptors, osteogenic protein-1 (OP-1, also known as BMP-7) binds to activin type I receptor (ActR-I) as well as activin type II receptors (ActR-II and ActR-IIB). Here we investigate the binding and signaling properties of GDF-5 through type I and type II receptors. GDF-5 induced alkaline phosphatase activity in a rat osteoprogenitor-like cell line, ROB-C26. 125I-GDF-5 bound to BMPR-IB and BMPR-II but not to BMPR-IA in ROB-C26 cells and other nontransfected cell lines. Analysis using COS-1 cells transfected with the receptor cDNAs revealed that GDF-5 bound to BMPR-IB but not to the other type I receptors when expressed alone. When COS-1 cells were transfected with type II receptor cDNAs, GDF-5 bound to ActR-II, ActR-IIB, and BMPR-II but not to transforming growth factor-β type II receptor. In the presence of type II receptors, GDF-5 bound to different sets of type I receptors, but the binding was most efficient to BMPR-IB compared with the other type I receptors. Moreover, a transcriptional activation signal was efficiently transduced by BMPR-IB in the presence of BMPR-II or ActR-II after stimulation by GDF-5. These results suggest that BMPR-IB mediates certain signals for GDF-5 after forming the heteromeric complex with BMPR-II or ActR-II.
Experimental investigation on erosion resistance of iron boride coatings for steam turbines at high temperatures

In this paper, high temperature erosion tests are performed on four typical anti-erosion coatings for high-parameter steam turbine blades using pneumatic accelerated erosion method to simulate the actual erosion environment in power units. With the employment of scanning electron microscope, energy-dispersive X-ray spectroscopy, glancing-angle X-ray diffraction, and Vickers indentation testing techniques, detailed microscopic analysis of samples is conducted to reveal the underlying causes affecting the anti-erosion performance of coatings. Results show that, under the solid particle erosion at high temperature, boride coatings with more compact structure and higher hardness have stronger anti-erosion ability, whose erosion rate is only 30–50% that of HVOF Cr3C2 coatings under the same erosion condition. Boride coatings composed of duplex phase (FeB and Fe2B) have lower anti-erosion damage capability than that of boride coatings composed of single Fe2B phase. Under high-speed large incidence angle impingement, the surface layer of FeB cracks easily and rapidly propagates to the subsurface layer Fe2B phase under the sustained impingement from particles, resulting in the flaking off and failure of coatings. Single Fe2B phase boride coatings have smaller hardness gradient in the depth direction and higher fracture toughness than boride coatings composed of duplex phase, so that exhibit more stable excellent erosion resistance under different erosion parameters. Therefore, single Fe2B phase boride coatings should be used as the preferred wear resistant coating for turbine blades solid particle erosion problem.
MIMED – P ROPOSAL FOR A PROGRAMMING LANGUAGE AT THE MEETING POINT BETWEEN CHOREOGRAPHY , MUSIC AND SOFTWARE DEVELOPMENT

A new approach to programming is introduced involving a gesture and movement-based system combined with musical feedback. The concept is introduced through a proposal for the programming language MIMED (Musically-backed Input Movements for Expressive Development). In MIMED the programmer uses gestures to code, and as the program code is entered the computer performs music in realtime to highlight the structure of the programme. MIMED data is video data, and the language can be used as a tool for teaching programming for children, and as a form of programmable video editing. It can also be considered as a prototype for a more immersive form of programming that utilizes body rhythm and flow to create a different subjective experience of coding; almost a dance with the computer. This paper begins with an over of the motivation for MIMED, a survey of related work, and a description of the structure and symbols of the language and the soundtrack elements. This is done using examples of programming in MIMED, and is followed by a discussion of next steps in developing the language.
Poly (methyl methacrylate) grafted halloysite nanotubes and its epoxy acrylate composites by ultraviolet curing method

Addition of natural inorganic nanotubes to epoxy acrylate resin can significantly improve their mechanical properties. Halloysite nanotubes are one kind of novel reinforcing and toughening materials for polymers. In the present work, halloysite nanotubes were compounded to epoxy acrylate resin to improve the wear resistance and toughness of the composites. To improve the embedding of halloysite nanotubes within the epoxy acrylate resin matrix, the halloysite nanotubes surface was grafted by poly (methyl methacrylate). The morphology of the grafted halloysite nanotubes particles demonstrates a core-shell structure with halloysite nanotubes as the core and the grafted polymer as the shell. Poly (methyl methacrylate) was chemically attached to the halloysite nanotubes particles as indicated by the Fourier transform infrared and X-ray photoelectron spectroscopy results. The poly (methyl methacrylate) grafted halloysite nanotubes (poly (methyl methacrylate)-g-halloysite nanotubes) then compounded with epoxy acrylate resin and composites are formed via ultraviolet-curing method. The hardness, flexibility, impact resistance and wear resistance of epoxy acrylate/poly (methyl methacrylate)-g-halloysite nanotubes composites were markedly improved in comparison with that of neat epoxy acrylate. The improvement was correlated to the well-dispersed halloysite nanotubes and the interfacial bonding between epoxy acrylate resin and poly (methyl methacrylate)-g-halloysite nanotubes. The well dispersion of halloysite nanotubes in the matrix is attributed to the modification on the surface of halloysite nanotubes.
Formal test-driven development with verified test cases

In this paper we propose the combination of several techniques into an agile formal development process: model-based testing, formal models, refinement of models, model checking, and test-driven development. The motivation is a smooth integration of formal techniques into an existing development cycle. Formal models are used to generate abstract test cases. These abstract tests are verified against requirement properties by means of model checking. The motivation for verifying the tests and not the model is two-fold: (1) in a typical safety-certification process the test cases are essential, not the models, (2) many common modelling tools do not provide a model checker. We refine the models, check refinement, and generate additional test cases capturing the newly added details. The final refinement step from a model to code is done with classical test-driven development. Hence, a developer implements one generated and formally verified test case after another, until all tests pass. The process is scalable to actual needs. Emphasis can be shifted between formal refinement of models and test-driven development. A car alarm system serves as a demonstrating case-study. We use Back's Action Systems as modelling language and mutation analysis for test case generation. We define refinement as input-output conformance (ioco). Model checking is done with the CADP toolbox.
Betalain-Rich Concentrate Supplementation Improves Exercise Performance in Competitive Runners

This study aimed to determine the effects of a betalain-rich concentrate (BRC) of red beets, containing antioxidant and anti-inflammatory properties, on performance and exercise-related muscle damage. Thirteen (25.3 ± 5.4 years) competitive male runners completed two double-blind, cross-over, randomized trials (BRC and control) separated by seven days. Each trial was preceded by six days of supplementation with 100 mg of BRC or control. On the seventh day, exercise trials commenced 150 min after supplementation with 50 mg BRC or control and consisted of 30 min of treadmill running (77 ± 4% VO2max) followed by a 5-km time trial (TT). During exercise at the same intensity, BRC resulted in a 3% lower heart rate, a 15% lower rate of perceived exertion (RPE) and a 14% lower blood lactate concentration compared to the control (p = 0.05). Five-kilometer TT duration (23.0 ± 4.2 versus 23.6 ± 4.0 min) was faster in 10 of the 13 subjects, and RPE was lower (p < 0.05) with the BRC treatment compared to the control. Lactate dehydrogenase, a marker of muscle damage, increased less from baseline to immediately and 30 min after the 5-km TT with the BRC treatment, despite no differences in subjective measures of muscle soreness and fatigue. In summary, BRC supplementation improved 5-km performance time in male competitive runners.
Kaiser Permanente Oakland Medical Center Optimizes Operating Room Block Schedule for New Hospital

In July 2014, Kaiser Permanente, a major integrated healthcare delivery consortium, opened a new hospital, replacing an existing hospital, adjacent to its headquarters in Oakland, California. Hospital staff needed to devise a new operating room schedule. In developing the schedule, the key decisions the staff would have to make were the type of block i.e., a combination of surgery types that can be performed in the same operating room on the same day to assign to each operating room on each day of the planning horizon. We report on the development and implementation of an integer programming model to generate a near-optimal block schedule. The approach differs from many in the literature because it considers both direct nursing costs and patient-related costs, and can accommodate a variety of practical constraints. Kaiser Permanente Oakland implemented the proposed schedule and continues to use it with minor modifications in response to subsequent growth and changes in patient demand patterns. Three major benefits of the schedule are that it: 1 satisfies almost all of the monthly block requirements in only four weeks, thereby releasing capacity to reduce the surgical backlog; 2 eliminates days with excess admissions, which would have required additional nursing staff; and 3 reduces the number of surgeries canceled due to an insufficient number of available beds.
Quality Preserving Compression of a Concatenative Text-To-Speech Acoustic Database

A concatenative text-to-speech (CTTS) synthesizer requires a large acoustic database for high-quality speech synthesis. This database consists of many acoustic leaves, each containing a number of short, compressed, speech segments. In this paper, we propose two algorithms for recompression of the acoustic database, by recompressing the data in each acoustic leaf, without compromising the perceptual quality of the obtained synthesized speech. This is achieved by exploiting the redundancy between speech frames and speech segments in the acoustic leaf. The first approach is based on a vector polynomial temporal decomposition. The second is based on 3-D shape-adaptive discrete cosine transform (DCT), followed by optimized quantization. In addition we propose a segment ordering algorithm in an attempt to improve overall performance. The developed algorithms are generic and may be applied to a variety of compression challenges. When applied to compressed spectral amplitude parameters of a specific IBM small footprint CTTS database, we obtain a recompression factor of 2 without any perceived degradation in the quality of the synthesized speech.
Aging behavior of ECAP processed AZ80 Mg alloy

Equal-channel angular pressing (ECAP) can produce ultrafine grain structures in metals. The processing can also dissolve second phases through mechanical alloying effects over the equilibrium solubility of alloying elements. Therefore, one can enhance mechanical properties by combining ECAP and subsequent precipitation treatment by proper aging. In this preliminary study, an AZ80 Mg alloy was investigated. The original extruded bars were subjected to ECAP at 473 K for 4 passes to achieve a significant grain refinement down to the submicrometric regime. The possibility of exploiting the aging effect to improve mechanical strength of the alloy was studied by the following two different methods. The first method consisted of ECAP processing the samples followed by aging. The second method consisted of performing a solution treatment prior to ECAP processing and then the final aging of the samples. Micro-hardness measurements and microstructure analyses showed that reprecipitation of the Mg17Al12 phase can occur during warm temperature ECAP and aging in the AZ80 alloy at grain cores in a more finely dispersed form. This precipitation behavior can potentially generate a significant contribution to the strength of the UFG alloy.
Physically-aware exploitation of component reuse in a partially reconfigurable architecture

The major drawback of partial dynamic reconfiguration is the reconfiguration delay overhead. To reduce the reconfiguration bitstream between two consecutive implementations, design components are reused. However, this incurs additional physical constraints to design which can lead to unroutability and congestion in design. In this paper, we propose a physically-aware component reuse strategy. We propose a floorplanning algorithm to support two-dimensional partial reconfiguration. The proposed floorplanning tool enables a wide design space exploration for component reuse. Key features are selection of the fixed modules, location of the fixed modules, mapping to the fixed modules, and interconnect planning between the fixed and reconfigurable modules. We implemented a sequence of dataflow graphs on Xilinx Virtex 4 devices using our tool for component reuse. When reuse is exploited, the experimental results report more than 50% reduction in the number of reconfiguration frames compared to the flow during which component reuse is not applied. Our proposed floorplan-aware matching technique (to map the modules to fixed components) can reduce the reconfiguration frames by 10% on average compared to dependency-based matching algorithm. In addition, we show that by different placement of the modules for two consecutive tasks, the variation in the number of reconfiguration frames can be between 25%-60% or it may even lead to unroutability of the circuits. The results imply that there is a need to tune the physical design tools for minimizing runtime reconfiguration delay overhead
Stereo Vision on an ARM/DSP Multicore Platform based on Code Generation using the MATLAB Embedded Coder

Vision based techniques are by now well established means for contactless measuring applications, e.g. in industrial automation, optical inspection, medical imaging or robot navigation. However, the development and implementation of these applications on small-sized embedded systems is still challenging, because image processing algorithms require quite a lot CPU performance. Therefore, code optimization has to be considered in the development process. In this work we present our results on implementation and benchmarking of stereo disparity algorithms on an ARM/DSP embedded multicore platform. The algorithms are developed with the computer algebra framework MATLAB from Mathworks®, which allows to generate generic and processor-specific C/C++ code automatically. The analysis of the code generation process and the benchmark of the target performance are the main focus of this contribution.
Measurement of the stacking-fault energy of gold using the weak-beam technique of electron microscopy

Abstract The separation of Shockley partial dislocations in gold has been measured as a function of dislocation line orientation by means of the weak-beam technique of electron microscopy (Cockayne, Ray and Whelan 1969). The results have been interpreted on the basis of anisotropic elasticity theory to give a value of the stacking-fault energy γgold = 32±5 erg cm−2.