Miracle-dz/UniFAR-FTUs huggingface dataset:
ICTINEUAUV Wins the First SAUC-E Competition

A pioneer team of students of the University of Girona decided to design and develop an autonomous underwater vehicle (AUV) called ICTINEUAUV to face the Student Autonomous Underwater Challenge-Europe (SAUC-E). The prototype has evolved from the initial computer aided design (CAD) model to become an operative AUV in the short period of seven months. The open frame and modular design principles together with the compatibility with other robots previously developed at the lab have provided the main design philosophy. Hence, at the robot's core, two networked computers give access to a wide set of sensors and actuators. The Gentoo/Linux distribution was chosen as the onboard operating system. A software architecture based on a set of distributed objects with soft real time capabilities was developed and a hybrid control architecture including mission control, a behavioural layer and a robust map-based localization algorithm made ICTINEUAUV the winning entry.
Accuracy of ARGOS Locations of Pinnipeds at-Sea Estimated Using Fastloc GPS

Background ARGOS satellite telemetry is one of the most widely used methods to track the movements of free-ranging marine and terrestrial animals and is fundamental to studies of foraging ecology, migratory behavior and habitat-use. ARGOS location estimates do not include complete error estimations, and for many marine organisms, the most commonly acquired locations (Location Class 0, A, B, or Z) are provided with no declared error estimate. Methodology/Principal Findings We compared the accuracy of ARGOS locations to those obtained using Fastloc GPS from the same electronic tags on five species of pinnipeds: 9 California sea lions (Zalophus californianus), 4 Galapagos sea lions (Zalophus wollebaeki), 6 Cape fur seals (Arctocephalus pusillus pusillus), 3 Australian fur seals (A. p. doriferus) and 5 northern elephant seals (Mirounga angustirostris). These species encompass a range of marine habitats (highly pelagic vs coastal), diving behaviors (mean dive durations 2–21 min) and range of latitudes (equator to temperate). A total of 7,318 ARGOS positions and 27,046 GPS positions were collected. Of these, 1,105 ARGOS positions were obtained within five minutes of a GPS position and were used for comparison. The 68th percentile ARGOS location errors as measured in this study were LC-3 0.49 km, LC-2 1.01 km, LC-1 1.20 km, LC-0 4.18 km, LC-A 6.19 km, LC-B 10.28 km. Conclusions/Significance The ARGOS errors measured here are greater than those provided by ARGOS, but within the range of other studies. The error was non-normally distributed with each LC highly right-skewed. Locations of species that make short duration dives and spend extended periods on the surface (sea lions and fur seals) had less error than species like elephant seals that spend more time underwater and have shorter surface intervals. Supplemental data (S1) are provided allowing the creation of density distributions that can be used in a variety of filtering algorithms to improve the quality of ARGOS tracking data.
Optimizing Service Differentiation Scheme with Sized-based Queue Management in DiffServ Networks

In this paper we introduced Modified Sized-based Queue Management as a dropping scheme that aims to fairly prioritize and allocate more service to VoIP traffic over bulk data like FTP as the former one usually has small packet size with less impact to the network congestion. In the same time, we want to guarantee that this prioritization is fair enough for both traffic types. On the other hand we study the total link delay over the congestive link with the attempt to alleviate this congestion as much as possible at the by function of early congestion notification. Our M-SQM scheme has been evaluated with NS2 experiments to measure the packets received from both and total link-delay for different traffic. The performance evaluation results of M-SQM have been validated and graphically compared with the performance of other three legacy AQMs (RED, RIO, and PI). It is depicted that our M-SQM outperformed these AQMs in providing QoS level of service differentiation.
Low-cost fabrication of PMMA and PMMA based magnetic composite cantilevers

We present a simple and low-cost fabrication process for microcantilevers from both pure Polymethylmethacrylate (PMMA) and magnetic PMMA composites with maghemite nanoparticle concentrations up to 3 vol.% (12 wt.%). The fabricated cantilevers have lengths of 30 – 300 µm, widths of 14 µm and a thickness of 3 µm. The presented fabrication process consists of structural layer patterning by hot embossing, removal of the residual layer by a deep ultraviolet (DUV) exposure step through a partially transparent mold and a sacrificial layer etch to release the suspended microstructures. Process parameters including hot embossing temperature and pressure have been studied. The optimized parameters for pure PMMA are 180° C and 2370 N/cm2 and for magnetic composite with 3 vol.% nanoparticle concentration 195° C and 2660 N/cm2. The molded cantilevers show a well transferred pattern and a sharp side wall profile.
Robust Rate Maximization Game Under Bounded Channel Uncertainty

We consider the problem of decentralized power allocation for competitive rate maximization in a frequency-selective Gaussian interference channel under bounded channel uncertainty. We formulate a distribution-free robust framework for the rate maximization game. We present the robust optimization equilibrium for this game and derive sufficient conditions for its existence and uniqueness. We show that an iterative waterfilling algorithm converges to this equilibrium under certain sufficient conditions. We analyze the social properties of the equilibrium under varying channel uncertainty bounds for the two-user case. We also observe an interesting phenomenon that the equilibrium moves toward a frequency-division multiple-access solution for any set of channel coefficients under increasing channel uncertainty bounds. We further prove that increasing channel uncertainty can lead to a more efficient equilibrium and, hence, a better sum rate in certain two-user communication systems. Finally, we confirm, through simulations, that this improvement in equilibrium efficiency is also observed in systems with a higher number of users.
Modified strip packing heuristics for the rectangular variable-sized bin packing problem

Two packing problems are considered in this paper, namely the well-known strip packing problem (SPP) and the variable-sized bin packing problem (VSBPP). A total of 252 strip packing heuristics (and variations thereof) from the literature, as well as novel heuristics proposed by the authors, are compared statistically by means of 1170 SPP benchmark instances in order to identify the best heuristics in various classes. A combination of new heuristics with a new sorting method yields the best results. These heuristics are combined with a previous heuristic for the VSBPP by the authors to find good feasible solutions to 1357 VSBPP benchmark instances. This is the largest statistical comparison of algorithms for the SPP and the VSBPP to the best knowledge of the authors.
On source coding with side-information-dependent distortion measures

High-resolution bounds in lossy coding of a real memoryless source are considered when side information is present. Let X be a "smooth" source and let Y be the side information. First we treat the case when both the encoder and the decoder have access to Y and we establish an asymptotically tight (high-resolution) formula for the conditional rate-distortion function R/sub X|Y/(D) for a class of locally quadratic distortion measures which may be functions of the side information. We then consider the case when only the decoder has access to the side information (i.e., the "Wyner-Ziv problem"). For side-information-dependent distortion measures, we give an explicit formula which tightly approximates the Wyner-Ziv rate-distortion function R/sup WZ/(D) for small D under some assumptions on the joint distribution of X and Y. These results demonstrate that for side-information-dependent distortion measures the rate loss R/sup WZ/(D)-R/sub X|Y/(D) can be bounded away from zero in the limit of small D. This contrasts the case of distortion measures which do not depend on the side information where the rate loss vanishes as D/spl rarr/0.
Consistent Gradient Operators

We propose optimal gradient operators based on a newly derived consistency criterion. This criterion is based on an orthogonal decomposition of the difference between a continuous gradient and discrete gradients into the intrinsic smoothing effect and the self-inconsistency involved in the operator. We show that consistency assures the exactness of gradient direction of a locally 1D pattern in spite of its orientation, spectral composition, and sub-pixel translation. Stressing that inconsistency reduction is of primary importance, we derive an iterative algorithm which leads to accurate gradient operators of arbitrary size. We compute the optimum 3/spl times/3, 4/spl times/4, and 5/spl times/5 operators, compare them with conventional operators and examine the performance for one synthetic and several real images. The results indicate that the proposed operators are superior with respect to accuracy, bandwidth and isotropy.
Zoning land for agricultural protection by the integration of remote sensing, GIS, and cellular automata

Zoning strategic agricultural land for protection has become important in reducing agricultural land loss in rapidly growing areas. In this paper, a constrained CA model based on the integration of remote sensing, GIs, and cellular automata (CA) techniques was developed to overcome the limitations of the existing methods commonly used by planners in zoning land for agricultural protection. Remote sensing data were used to calculate the normalized difference vegetation index (NDVI) which was the initial map used for the model. The factors of land suitability and geometry were embedded in the model to facilitate the rational allocation of land for agricultural protection. The CA model was implemented within a geographic information system which provided useful constraint information and modeling environment. "Grey cells" were defined in the CA model to improve modeling accuracy. The model has been tested in the Pearl River Delta, one of the fastest growing areas in China.
Fetal alcohol spectrum disorders are clearly brain‐based

childhood, sometimes without any study confirming the efficacy and the possible side effects of a certain drug in children. However, since during maturation the neural activities can change, the pathophysiological mechanisms of a disease may be different whether it affects a young brain or an older central nervous system. Therefore, therapeutic treatments during childhood may also differ from those in adulthood. In other words, we should get used to not considering a disease in isolation but in relation to the patient, which could be radically different according to his/her developmental stage. An important question which remains unanswered in Zanini et al.’s study concerns the timing of the processes which reduce somatosensory cortex excitability during development of the central nervous system. Indeed, the authors show a difference between a group of children and adolescents (ranging from 5 to 15y), and adults. Since it is unlikely that brain excitability will not vary from 5 to 15 years of age, further studies should include groups of different ages in order to investigate the progressive modifications of the developing brain’s excitability.
Three‐Dimensional Surface Deformation in the 2016 MW 7.8 Kaikōura, New Zealand, Earthquake From Optical Image Correlation: Implications for Strain Localization and Long‐Term Evolution of the Pacific‐Australian Plate Boundary

We generated dense, high‐resolution 3‐D ground displacement maps for the 2016 MW 7.8 Kaikōura, New Zealand earthquake—the most geometrically and kinematically complex rupture yet recorded—from stereo WorldView optical satellite imagery using a new methodology that combines subpixel image correlation with a ray‐tracing approach. Our analysis reveals fundamental new details of near‐field displacement patterns, which cannot easily be obtained through other methods. From our detailed correlation maps, we measured fault slip in 3‐D along 19 faults at 500‐m spacing. Minimum resolvable horizontal slip is ~0.1 m, and vertical is ~0.5 m. Net slip measurements range from <1 to ~12 m. System‐level kinematic analysis shows that slip on faults north of the Hope fault was oriented primarily subparallel to the Pacific‐Australian plate motion direction. In contrast, slip on faults to the south was primarily at high angle to the plate motion and secondarily parallel to plate motion. Fault kinematics are in some locations consistent with long‐term uplift patterns, but inconsistent in others. Deformation within the Seaward Kaikōura Range may indicate an attempt by the plate boundary fault system to geometrically simplify. Comparison of published field measurements along the Kekerengu fault with our correlation‐derived measurements reveals that ~36% of surface displacement was accommodated as distributed off‐fault deformation when considering only field measurements of discrete slip. Comparatively, field measurements that project previously linear features (e.g., fence lines) into the fault over apertures >5–100 m capture nearly all (~90%) of the surface deformation.
Node isolation of secure wireless sensor networks under a heterogeneous channel model

We investigate the secure connectivity of wireless sensor networks under a heterogeneous random key predistribution scheme and a heterogeneous channel model. In particular, we study a random graph formed by the intersection of an inhomogeneous random key graph with an inhomogeneous Erdős-Rényi graph. The former graph is naturally induced by the heterogeneous random key predistribution scheme while the latter graph constitutes a heterogeneous on/off channel model; wherein, the wireless channel between a class-i node and a class-j node is on with probability αij independently. We present conditions (in the form of zero-one laws) on how to scale the parameters of the intersection model so that it has no isolated node with high probability as the number of nodes gets large. We also present numerical results to support these zero-one laws in the finite-node regime.
Changes in glacier volume on Mt. Gongga, southeastern Tibetan Plateau, based on the analysis of multi-temporal DEMs from 1966 to 2015

ABSTRACT The accelerated retreat of glaciers and the reduction of glacier ice reserves caused by climate change can significantly affect regional water resources and hydrological cycles. Changes in glacier thickness are among the key indicators that reflect this process. We analyzed changes observed in the elevation of glacier surfaces in the Gongga Mountains (GGM) using multi-temporal Digital Elevation Models (DEMs) derived from topographic maps, SRTM, ICESat and ZY-3 data. The results showed that the mean rate of change in glacier surface altitude in the GGM was ~−26.7 ± 2.03 m (0.54 ± 0.04 m a−1) between 1966 and 2015. The mean melt rates differed over different time periods, latterly showing an accelerating trend. As a general rule, glaciers appear to be losing more volume at lower than at higher elevations. Further analysis of these results suggests that supraglacial debris coverage in the GGM promotes higher rates of mass loss.
Planning by Rewriting

Domain-independent planning is a hard combinatorial problem. Taking into account plan quality makes the task even more dificult. This article introduces Planning by Rewriting (PbR), a new paradigm for efficient high-quality domain-independent planning. PbR exploits declarative plan-rewriting rules and efficient local search techniques to transform an easy-to-generate, but possibly suboptimal, initial plan into a high-quality plan. In addition to addressing the issues of planning efficiency and plan quality, this framework offers a new anytime planning algorithm. We have implemented this planner and applied it to several existing domains. The experimental results show that the PbR approach provides significant savings in planning effort while generating high-quality plans.
More data means less inference: A pseudo-max approach to structured learning

The problem of learning to predict structured labels is of key importance in many applications. However, for general graph structure both learning and inference are intractable. Here we show that it is possible to circumvent this difficulty when the distribution of training examples is rich enough, via a method similar in spirit to pseudo-likelihood. We show that our new method achieves consistency, and illustrate empirically that it indeed approaches the performance of exact methods when sufficiently large training sets are used.
Studying emotion in invertebrates: what has been done, what can be measured and what they can provide

ABSTRACT Until recently, whether invertebrates might exhibit emotions was unknown. This possibility has traditionally been dismissed by many as emotions are frequently defined with reference to human subjective experience, and invertebrates are often not considered to have the neural requirements for such sophisticated abilities. However, emotions are understood in humans and other vertebrates to be multifaceted brain states, comprising dissociable subjective, cognitive, behavioural and physiological components. In addition, accumulating literature is providing evidence of the impressive cognitive capacities and behavioural flexibility of invertebrates. Alongside these, within the past few years, a number of studies have adapted methods for assessing emotions in humans and other animals, to invertebrates, with intriguing results. Sea slugs, bees, crayfish, snails, crabs, flies and ants have all been shown to display various cognitive, behavioural and/or physiological phenomena that indicate internal states reminiscent of what we consider to be emotions. Given the limited neural architecture of many invertebrates, and the powerful tools available within invertebrate research, these results provide new opportunities for unveiling the neural mechanisms behind emotions and open new avenues towards the pharmacological manipulation of emotion and its genetic dissection, with advantages for disease research and therapeutic drug discovery. Here, we review the increasing evidence that invertebrates display some form of emotion, discuss the various methods used for assessing emotions in invertebrates and consider what can be garnered from further emotion research on invertebrates in terms of the evolution and underlying neural basis of emotion in a comparative context. Summary: Recent work has adapted methods for assessing emotions in humans and other animals, to invertebrates, with intriguing results. This Review interprets and discusses their utility with respect to the evolution and neurobiology of emotion.
An Introspective Comparison of Random Forest-Based Classifiers for the Analysis of Cluster-Correlated Data by Way of RF++

Many mass spectrometry-based studies, as well as other biological experiments produce cluster-correlated data. Failure to account for correlation among observations may result in a classification algorithm overfitting the training data and producing overoptimistic estimated error rates and may make subsequent classifications unreliable. Current common practice for dealing with replicated data is to average each subject replicate sample set, reducing the dataset size and incurring loss of information. In this manuscript we compare three approaches to dealing with cluster-correlated data: unmodified Breiman's Random Forest (URF), forest grown using subject-level averages (SLA), and RF++ with subject-level bootstrapping (SLB). RF++, a novel Random Forest-based algorithm implemented in C++, handles cluster-correlated data through a modification of the original resampling algorithm and accommodates subject-level classification. Subject-level bootstrapping is an alternative sampling method that obviates the need to average or otherwise reduce each set of replicates to a single independent sample. Our experiments show nearly identical median classification and variable selection accuracy for SLB forests and URF forests when applied to both simulated and real datasets. However, the run-time estimated error rate was severely underestimated for URF forests. Predictably, SLA forests were found to be more severely affected by the reduction in sample size which led to poorer classification and variable selection accuracy. Perhaps most importantly our results suggest that it is reasonable to utilize URF for the analysis of cluster-correlated data. Two caveats should be noted: first, correct classification error rates must be obtained using a separate test dataset, and second, an additional post-processing step is required to obtain subject-level classifications. RF++ is shown to be an effective alternative for classifying both clustered and non-clustered data. Source code and stand-alone compiled versions of command-line and easy-to-use graphical user interface (GUI) versions of RF++ for Windows and Linux as well as a user manual (Supplementary File S2) are available for download at: http://sourceforge.org/projects/rfpp/ under the GNU public license.
Constraints for coded tunnels across long latency bottlenecks with ARQ-based congestion control

This paper considers capacity and delay constraints for coded tunnels across an erasure channel which occurs on shared Internet satellite links. Such links are long latency bottlenecks with a limited memory input queue which drops packets when it overflows. The latency delays ARQ ACK feedback to senders, making it difficult for them to tune their packet transmission rate. This can cause the input queue to oscillate between empty and overflow. Queue oscillation leaves the link underutilised during the empty phases and slows down large packet flows. Channel coding can in principle provide goodput improvement in this scenario by letting senders accelerate to higher packet rates before burst losses occur and by mitigating exponential backoff after losses. However, this is only possible if the codes preserve sufficient spare channel transmission rate for the improved goodput to expand into. We formulate rate and delay constraints that such block codes must meet. Using loss data obtained on a purpose-built simulator network, we show that such coding is feasible in a practical scenario and that partial unit memory (PUM) codes are particularly suitable for this task. In this context, we propose a part-systematic encoding for PUM codes, which performs slightly better than non-systematic encoding.