Miracle-dz/UniFAR-FTUs huggingface dataset:
A Localizability Constraint-Based Path Planning Method for Autonomous Vehicles

During autonomous navigation, environmental information and map noises at different locations may have dissimilar influence on a vehicle’s localization process. This implies that the vehicle’s localizability, i.e., the ability to localize itself in an environment using laser range finder (LRF) readings, varies over a given map. It is essential to take this factor into consideration when planning a path to avoid large localization errors or placing the vehicle at risk of failure to perform localization. We propose a localizability constraint (LC)-based path planning method for autonomous vehicles which plans the navigation path according to LRF sensor model of the vehicle in an effort to maintain a satisfactory level of localizability throughout the path, as well as to reduce the overall localization error. Our method is not limited to any specific algorithm in the optimization stage. Paths planned with and without LC are compared, and the influence of the LRF sensor model on planning outcomes is discussed through simulations. By conducting comparative experiments on a “JiaoLong” intelligent wheelchair in both indoor and outdoor environments, we show that the proposed method effectively lowers the localization error along the planned paths.
A avaliação da atenção à saúde de crianças com menos de um ano de idade na Atenção Primária

OBJETIVO: analisar a presenca e extensao dos atributos da Atencao Primaria e o grau de afiliacao de criancas, com menos de um ano de idade, na Unidade de Saude da Familia. METODO: estudo transversal e descritivo, conduzido entre 25 de outubro de 2010 e 14 de maio de 2011, com 44 maes. O Instrumento de Avaliacao da Atencao Primaria a Saude foi usado para coleta de dados. Os dados foram analisados para calcular os Escores Essencial e Geral da Atencao Primaria. RESULTADOS: as maes reconhecem e tem experiencia com os aspectos da acessibilidade, atencao integral e coordenacao da atencao, assim como orientacao a comunidade, marcada pela preocupacao e envolvimento da equipe de saude na atencao a saude das criancas, de suas familias e comunidade. CONCLUSAO: observaram-se os esforcos da equipe de saude na Atencao Primaria para abordar a comunidade e atender suas necessidades de saude, procurando instrumentos para ajudar a promover a prestacao de cuidado de qualidade as criancas.
Metal-catalyzed growth of In2O3 nanotowers using thermal evaporation and oxidation method

Large-scale In2O3 nanotowers with different cross sections were synthesized by a thermal evaporation and oxidation technique using metal as the catalyst. The morphologies and structural characterizations of In2O3 nanotowers are dependent on growth processes, such as different metal (Au, Ag or Sn) catalysts, the relative position of the substrate and evaporation source, growth temperature, gas flow rate, and growth time. In2O3 nanotowers cannot be observed using Sn as the catalyst, which indicates that metal liquid droplets play an important role in the initial stages of the growth of In2O3 nanotowers. The formation of an In2O3 nanotower is attributed to the competitive growth model between a lateral growth controlled by vapor–solid mechanism and an axial vapor–liquid–solid growth mechanism mediated by metal liquid nanodroplets. The synthesized In2O3 nanostructures with novel tower-shaped morphology may have potential applications in optoelectronic devices and gas sensors.
人工智能的就业影�? (The Impact of Artificial Intelligence on Employment)

Chinese Abstract: “人工智能革命”在对生产力产生巨大推进的同时，也带来了潜在的失业威胁。 本文在对技术性失业的相关理论和历史进行回顾的基础上，对“人工智能革命”可能对中国劳动力市场造成的影响进行了预测。 根据估计，在未来20年中，总就业人的76.76%会遭受到人工智能的冲击，如果只考虑非农业人口，这一比例是65.58%。 我们认为，要应对这一冲击，关键是要用公共政策激活技术进步对就业的几个补偿机制，从而使得新创造出的就业机会足以弥补被替代的就业岗位。 English Abstract: While the "artificial intelligence revolution" has brought about great progress in productivity, it also brings about the potential increase of the unemployment rate. By reviewing relevant theories and history of technological unemployment, this paper predicts the impact of "artificial intelligence revolution" on China's labor market. It is estimated that 76.76 percent of total employment will be influenced by artificial intelligence in the next 20 years, 65.58 percent if only non-agricultural population is considered. We believe that to cope with the impact, the key is to make the best use of public policy to activate a few compensation mechanism of technological progress to employment, so that the newly created jobs outnumber the substituted jobs.
Modified hybrid modulation strategy with power balance control for H-bridge hybrid cascaded seven-level inverter

Compared with the traditional cascaded H-bridge multi-level inverters, the hybrid cascaded multi-level inverters have been receiving attention because they can generate more levels with the same number of power cells. However, with the general hybrid pulse width modulation (PWM), the output power distribution between the high-voltage and low-voltage H-bridge cells is extremely uneven in low amplitude modulation, and it may appear that the high-voltage cell feeds power into the low-voltage cell in some modulation ratio intervals causing the low-voltage cell capacitor voltage boost. To avoid this problem, a method of a modified hybrid PWM strategy with power balance control is proposed. It has achieved the output power balance of H-bridge cells in full amplitude modulation, the occurrence of the phenomena of extremely uneven output power distribution between the high- and low-voltage cells in low amplitude modulation is avoided, and the performance of the inverter is improved. Simulation and experimental results verify the correctness and feasibility of the proposed strategy.
A uniform phase noise QVCO with a feedback current source

A novel integrated quadrature voltage controlled oscillator (QVCO) with a feedback current source is presented in this paper. Benefiting from the current adjusting function of the feedback current source, the proposed QVCO exhibits a uniform phase noise over the entire tuning range. This QVCO is implemented in 65-nm CMOS technology. The measurement results show that it draws less than 3-mA average current from a 1.2-V supply and the phase noise is less than −110 dBc/Hz @1MHz offset over the entire tuning range. The fluctuation of phase noise @1MHz offset from the center frequency of 2.84-GHz to 3.27–GHz is less than 1 dBc/Hz, which validates the correctness of the proposed current source feedback technique.
Investigation of piezoelectric energy harvesting from human walking

Energy harvesting from human foot motion is attractive for the electrical power source of wearable sensors. For human foot motion, three types of energies are available: bending in the sole, heel strike and swing motion. In this study, the magnitudes of these energies were analyzed by dynamic measurements using various sensors. Then, appropriate piezoelectrics and device structure for the energy harvesting were discussed for each energy. From these results, it was concluded that utilizing bending in the sole and organic piezoelectrics such as PVDF is the best way for the energy harvesting from walking.
Improvement of the Reporting Method for Closed-Loop Human Localization Experiments

Sound Field Synthesis reproduces a desired sound field within an extended listening area using up to hundreds of loudspeakers. The perceptual evaluation of such methods is challenging, as many degrees of freedom have to be considered. Binaural Synthesis simulating the loudspeakers over headphones is an effective tool for the evaluation. A prior study has investigated, whether non-individual anechoic binaural synthesis is perceptually transparent enough to evaluate human localisation in sound field synthesis. With the used apparatus, an undershoot for lateral sound sources was observed for real loudspeakers and their binaural simulation. This paper reassesses human localisation for the mentioned technique using a slightly modified setup. The results show that the localisation error decreased and no undershoot was observed.
The Impact of Urban Expansion on Agricultural Land and Crop Output in Ankpa, Kogi State, Nigeria

Urban expansion is a human induced phenomenon with inherent effects on the environment. The aim of this study was to examine agricultural land loss and its effect on crop yield in the study area. Two methods of data collection were applied in this research. The first was geospatial technology used to obtain Land use/Land cover and to check the rate of urban expansion. The land-sat image of Ankpa was acquired for three different years of 1987, 2001 and 2016 with the aid of Idrisi Andes land use change modeler and Arc GIS 9.3 used to generate the statistics to show change over the period of 29 years of study. The second data was on crop yield obtained from Kogi Agricultural Development Project. The study revealed that land use and land cover of the study area had undergone considerable changes over the period examined. Built-up areas had expanded significantly during the twenty-nine years period under review. Agricultural lands, vegetation and bare surface declined due to the growths in population and physical developments. The trend analysis of farmland from 1995 to 2016 showed a decreasing pattern. The study therefore recommended the need for government to control urban development from spreading to agriculture land as this would have serious repercussion on food production.
Technology-enhanced team training in obstetrics : design and evaluation

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Vertical Integration and Common Agency : An Empirical Analysis of the U.S. Carbonated Soft Drink Industry

This paper empirically examines the price and share e¤ects of vertical integration with emphasis on the role of common agency in vertical relationships: a downstream distributor may also distribute its upstream rivals products. By using the unique feature of the U.S. carbonated soft drink industry, I nd that PepsiCos 2010 vertical merger lowered its retail prices by 4.4%. More importantly, these price e¤ects are stronger in the markets with Coca-Colas common agency than in the markets with PepsiCos common agency: I nd a price reduction of 2.5% for the markets where neither Coca-Colas nor PepsiCos bottler is a common agent for Dr Pepper. PepsiCos prices are additionally lowered by 2.32.5% if Coca-Colas bottler is a common agent for Dr Pepper, or by 1.11.3% if PepsiCos bottler is a common agent. It is also shown that the price e¤ects of PepsiCos vertical merger on Dr Peppers products are weaker in the markets with PepsiCos common agency, whereas the price e¤ects on Coca-Colas products are stronger in these markets, suggesting that the welfare e¤ects of PepsiCos vertical integration di¤er across the mode of common agency in an important way. Keywords: Vertical Integration; Common Agency; Di¤erence-in-Di¤erences Estimation. JEL Classi cation: L13; L49; L66. I am grateful to Victor Aguirregabria, Andrew Ching, Yao Luo, Naoki Wakamori, and Weina Zhou for helpful discussions. I also thank a Grant-in-Aid for Scienti c Research (C) (15K03425) from the Japan Society for the Promotion of Science and a nancial support from the Inamori Foundation. Special thanks are due to Mike Kruger for answering my inquiries about the structure of the IRI Academic Data Set. All remaining errors are mine. In particular, all empirical results from SymphonyIRI Groups data are based on my own work, not of SymphonyIRI Group. I declare no conict of interest with regard to the research presented in this paper. ySchool of Economics, Nagoya University, 1 Furo-cho, Chikusa-ku, Nagoya 464-8601, Japan. E-mail: adachi.t@soec.nagoya-u.ac. jp
Efeitos da intervenção com game na atenção e na independência funcional em idosos após acidente vascular encefálico

El envejecimiento de la poblacion aumenta el numero de enfermedades cronicas que resultan en limitaciones cognitivas y motoras, como el accidente cerebrovascular (ACV). El objetivo del estudio fue investigar los efectos del game Motion Rehab en la atencion y en la independencia en personas mayores despues de ACV. Se trata de un estudio con intervencion control antes y despues, en lo cual participaron 10 personas mayores de ambos los sexos, con edad media de 67,7±7,1 anos, con predominancia de ACV isquemico y frecuentadores de un Centro de Rehabilitacion Fisica. Las sesiones se realizaron individualmente una vez por la semana, con duracion de 15 minutos, en un periodo de 15 semanas. Los instrumentos utilizados fueron el "Mini examen del estado mental", la "Medida de independencia funcional" (MIF), la "Escala de depresion geriatrica" y la prueba de bandas coloridas. En el analisis de datos se utilizo la prueba t de Student para las muestras pareadas. Los resultados determinaron diferencias significativas en la atencion e independencia despues de las intervenciones con el game. En la prueba de bandas coloridas el tiempo de ejecucion disminuyo de 330,5±140,8 segundos en la evaluacion para 259,4±112,5 segundos en la revaluacion (p=0,039), ademas de la interferencia del profesional psicologico tambien disminuir de 0,8±0,5 para 0,4±0,3 (p=0,036). La MIF tuvo inicialmente una puntuacion de 102,3±23,4 (dependencia modificada) y en la revaluacion 107±18,6 (independencia modificada) (p=0,044). Se concluye que la intervencion trajo beneficios a las personas mayores, siendo una alternativa para la rehabilitacion fisica y cognitiva de esta poblacion.
Low‐cost InP–InGaAs PIN–HBT‐based OEIC for up to 20 Gb/s optical communication systems

A detailed study of the performance analysis of a low-cost PIN/heterojunction bipolar transistor (HBT) opto-electronic integated circuit (OEIC) is described. Measured f T and f max of 54 and 57 GHz for 10 × 10 μm 2 HBTs were achieved for such a large emitter size. The base and collector regions of the transistor were utilised to form a PIN photodiode which has a dc responsivity and quantum efficiency of 0.5 A/W and 0.45, respectively, without antireflection coating at a wavelength of 1.55 μm. For both active devices, a model was realised taking all parasitic and physical-based impacts into account, for example, equivalent circuit of the pads surrounding the devices and transit delay time across the collector depletion region. The simulation results of the discrete passive and active elements showed good agreement with experimental measurements. The OEIC module was implemented in Keysight-advanced design system software with a three-stage preamplifier which has a transimpedance gain of 40 dB Ω and a -3 dB bandwidth of 18 GHz. This corresponds to a transimpedance-gain product of 1.8 THz. A series peaking inductor technique was used in the design, contributing to an enhancement in the opto-electrical bandwidth of >60%. The optical/electrical response offers a bandwidth of ~15 GHz, adequate for up to 20 Gb/s data rate operation.
LIDAR Data for Deep Learning-Based mmWave Beam-Selection

Millimeter wave (mmWave) communication systems can leverage information from sensors to reduce the overhead associated with link configuration. Light detection and ranging (LIDAR) is one sensor widely used in autonomous driving for high resolution mapping and positioning. This letter shows how LIDAR data can be used for line-of-sight detection and to reduce the overhead in mmWave beam-selection. In the proposed distributed architecture, the base station broadcasts its position. The connected vehicle leverages its LIDAR data to suggest a set of beams selected via a deep convolutional neural network. Co-simulation of communications and LIDAR in a vehicle-to-infrastructure (V2I) scenario confirm that LIDAR can help configuring mmWave V2I links.
Analysis of Vibration Response Law of Multistory Building under Tunnel Blasting Loads

This paper takes the Dizong tunnel engineering as its background. Combined with the on-site monitoring data, the wavelet packet program based on MATLAB was compiled to study the vibration response of the four-story masonry building in a typical southwestern mountainous area of China under the blasting load. The results showed that the maximum particle velocity increased to the 3rd floor and attenuation occurred on the 4th floor. The particle velocity in the z-direction was the largest and should be paid attention. The dominant frequency of the building showed a trend from high frequency to low frequency, the duration became short, and the acceleration decreased to the 4th floor. With the increase of the building floor, the main frequency domain of the building decreased and then gradually tended to the low-frequency domain. The high-frequency particle velocity gradually decreased, gathered to the low frequency, and developed from the dispersed multiband to the concentrated low-frequency band. The total energy value of vibration increased to the 3rd floor and then decreased to the 4th floor. The energy of the building was between 0 and 171.6 Hz. The higher the floor was, the more concentrated the energy was in the low-frequency domain.
Applying machine learning to the dynamic selection of replenishment policies in fast-changing supply chain environments

Firms currently operate in highly competitive scenarios, where the environmental conditions evolve over time. Many factors intervene simultaneously and their hard-to-interpret interactions throughout the supply chain greatly complicate decision-making. The complexity clearly manifests itself in the field of inventory management, in which determining the optimal replenishment rule often becomes an intractable problem. This paper applies machine learning to help managers understand these complex scenarios and better manage the inventory flow. Building on a dynamic framework, we employ an inductive learning algorithm for setting the most appropriate replenishment policy over time by reacting to the environmental changes. This approach proves to be effective in a three-echelon supply chain where the scenario is defined by seven variables (cost structure, demand variability, three lead times, and two partners’ inventory policy). Considering four alternatives, the algorithm determines the best replenishment rule around 88% of the time. This leads to a noticeable reduction of operating costs against static alternatives. Interestingly, we observe that the nodes are much more sensitive to inventory decisions in the lower echelons than in the upper echelons of the supply chain.
Prior knowledge in mathematics and study success in engineering: informational value of learner data collected from a web-based pre-course

ABSTRACT The article describes the development and evaluation of a web-based pre-course in mathematics, delivered to four cohorts of engineering students at a German university. Based on demographic, personal, and learning-related data relationships between students’ preconditions, their learning gains in the pre-course, and study success in the degree programme were analysed. The results support the existing literature in that domain-related prior knowledge and secondary school achievement play a dominant role regarding study success in engineering. The analyses also showed that the influence of cognitive predictors could only be compensated for by a strong learner engagement. At-risk students with high pre-course learning gains showed significantly better first-year performance. The number of self-tests a student attempted was positively related to pre-course learning gains and even to first-year performance, suggesting that this variable is a good indicator of student engagement.
Experimental Study on Mechanical Properties, Energy Dissipation Characteristics and Acoustic Emission Parameters of Compression Failure of Sandstone Specimens Containing En Echelon Flaws

To further understand the fracture behavior of rock materials containing en echelon flawsand determine precursor information for the final collapse of damaged mineral assemblies undercompression, a series of uniaxial compression experiments using a loading system, an acousticemission system and a video camera was conducted on sandstone specimens containing en echelonflaws. The mechanical properties, energy dissipation characteristics and acoustic emissionparameters of compression failure of selected specimens were successively analyzed. The resultsshowed that crack initiation was accompanied by a stress drop, step-like characteristics on theenergy consumption curve and increased crackling noises, which were used as early warningsignals before the final collapse happened. In addition, we used the histogram statistics methodand maximum likelihood method to analyze the distribution of acoustic emission energy anddetermined that the acoustic emission energy distributions of sandstone specimens containing enechelon flaws followed a power law. With the progress of the experiment, the optimum exponentschanged in different stages and gradually decreased as failure was approached, which could alsobe used as an early warning signal before the final collapse happened. This paper may providesome theoretical basis for monitoring and warning about the collapse and instability of engineeringrock masses containing en echelon flaws.
Spectral action in noncommutative geometry: An example

This is a report on a joint work [12] with D. Essouabri, C. Levy and A. Sitarz. The spectral action on noncommutative torus is obtained, using a Chamseddine—Connes formula via computations of zeta functions. The importance of a Diophantine condition is outlined as far as the difficulties to go beyond. Some results on holomorphic continuation of series of holomorphic functions are presented.
Mechanical behavior of magnetorheological dampers after long‐term operation in a cable vibration control system

In this paper, 30 magnetorheological (MR) dampers used for vibration control of stay cables after one decade of service were selected to study their long‐term mechanical behavior. The damping capacity of the used MR dampers, including the damping force amplitude and the equivalent damping coefficient, was compared with those of new MR dampers. One used damper still with considerable damping capacity was utilized for the comparative study with a new MR damper under various input voltages, excitation frequencies, and excitation amplitudes. A modified phenomenological mechanical model for used MR dampers was developed based on the experimental observation. Moreover, some used dampers were cut in half, and the remaining volumes of the MR fluid were measured. The iron particles of the MR fluid in the used damper with the worst damping capacity were analyzed using a scanning electron microscopy (SEM). The results show that 24 dampers among the used dampers can still generate considerable damping force. However, the equivalent damping coefficient and the damping force amplitude of these 24 used MR dampers decreased by 32.4% and 29.8%, respectively, on the average. Furthermore, six dampers among the used dampers failed to provide enough damping. The proposed modified mechanical model is more accurate to reflect the mechanical behavior of used MR dampers. It was found that the performance degradation of the used dampers is related to the leakage of the MR fluid and the factor that the surface of MR iron particles became rough and uneven, as observed by the SEM.