Miracle-dz/UniFAR-FTUs huggingface dataset:
Real-time obstacle detection in complex scenarios using dense stereo vision and optical flow

Mobile robots as well as tomorrows intelligent vehicles acting in complex dynamic environments must be able to detect both static and moving obstacles. In intersections or crowded urban areas this task proves to be highly demanding. Stereo vision has been extensively used for this task, as it provides a large amount of data. Since it does not reveal any motion information, static and dynamic objects immediately next to each other, or closely positioned obstacles moving in different directions are often merged into a single obstacle. In this paper we address these problems through a powerful fusion between 3D position information delivered by the stereo sensor and 3D motion information, derived from optical flow, in a depth-adaptive occupancy grid. The proposed model is presented and then applied for determining obstacle localization, orientation and speed.
The Collapse of the Fact-value Dichotomy

A filter for removing particulate contaminants from a gas has a filter chamber divided into two compartments by a horizontal bed of sand or the like. The contaminated gas flows downward through the filter bed for its purification, and a purging gas backwashes the bed from time to time for regenerating the same. Independent valves control the two gas streams in such a manner that flow of the contaminated gas stream is throttled while the permeability of the filter bed is low immediately after regeneration while flow of the purging gas may be started suddenly for shaking the filter bed.
Simulating the performance of a Class-Based Weighted Fair Queueing system

Class Based Weighted Fair Queueing (CBWFQ) is a very important router discipline that allows different types of Internet Protocol (IP) traffic like voice, video, and best effort data to receive the required quality of service measures they individually need. CBWFQ dynamically allocates the available bandwidth to each traffic class based on the class¿s weight. This discipline is playing a vital role as IP brings these traffic classes together in a truly converged network. Under stress and in extreme emergencies, it is critical to be able to determine how the CBWFQ discipline will perform. In this paper, we present and discuss the critical role simulation has played in our development of performance analysis tools for the CBWFQ discipline.
Removing directory servers from anonymous communication systems using ID-Based Encryption to improve scalability

Since the problem of disclosing personal information on the Internet continues to increase, many anonymous communication systems have been studied. Such systems usually use directory servers to manage public keys of participant nodes. However, this reduces anonymity because the query messages for the directory servers can give adversaries route information of anonymous communication channels. To solve this problem, applying ID-Based Encryption has been proposed, but in the existing method, directory servers continue to exist. Our novel method, which can grasp assigned NodeIDs without directory servers, can be applied to existing DHT-based anonymous communication systems. Our proposal enhances scalability. This paper describes the structure of our proposed system and its application.
Notes on Backpressure Routing

Backpressure routing refers to an algorithm for dynamically routing traffic over a multi-hop network by using congestion gradients. It usually refers to a data network, but can apply to other types of networks as well. Below we focus on the data network application, where multiple data streams arrive to a network and must be delivered to appropriate destinations. The backpressure algorithm operates in slotted time, and every slot it seeks to route data in directions that maximize the differential backlog between neighboring nodes. This is similar to how water would flow through a network of pipes via pressure gradients. However, the backpressure algorithm can be applied to multi-commodity networks and to networks where transmission rates can be selected from different (possibly timevarying) options. Attractive features of the backpressure algorithm are: (i) it leads to maximum network throughput, (ii) it is provably robust to time-varying network conditions, (iii) it can be implemented without knowing traffic arrival rates or channel state probabilities. The original backpressure algorithm was developed by Tassiulas and Ephremides in [1]. There, they considered a multi-hop packet radio network with random packet arrivals and different link selection options. Their algorithm consisted of a max-weight link selection stage and a differential backlog routing stage. They did not call their algorithm “backpressure,” and at the time of [1] the term “backpressure” had a different meaning in the area of data networks (it refered to a class of window-based flow control techniques, see [2]). The Tassiulas-Ephremides algorithm was first called “backpressure” in [3] and [4], where the algorithm was extended to treat networks with mobility, including ad-hoc mobile networks. An algorithm related to backpressure, designed for computing multi-commodity network flows, was developed in [5]. Backpressure is mathematically analyzed via the theory of Lyapunov drift, and has been unified with utility optimization techniques in [3][6][7][8]. Below we present the backpressure algorithm and its analysis, based on material from [7] and [8] (see those texts for details).
State of Büchi Complementation ( Full Version ) ?

Büchi complementation has been studied for five decades since the formalism was introduced in 1960. Known complementation constructions can be classified into Ramsey-based, determinization-based, rank-based, and slice-based approaches. For the performance of these approaches, there have been several complexity analyses but very few experimental results. What especially lacks is a comparative experiment on all the four approaches to see how they perform in practice. In this paper, we review the state of Büchi complementation, propose several optimization heuristics, and perform comparative experimentation on the four approaches. The experimental results show that the determinizationbased Safra-Piterman construction outperforms the other three and our heuristics substantially improve the Safra-Piterman construction and the slice-based construction.
Algebraic Derivation of Elfving Theorem on Optimal Experiment Design and Some Connections With Sparse Estimation

Elfving theorem is a fundamental result in the area of optimal experiment design, and yet its available proofs require a number of somewhat indirect geometrical arguments that might detract a potential user from its full understanding and exploitation. In this letter, we provide a direct algebraic proof of this theorem. Furthermore, we make some connections with the ℓ1- norm minimization approach commonly used for sparse estimation, which suggest importation of algorithms and results from the latter area into that of optimal experiment design.
A Secure Group Agreement (SGA) Protocol for Peer-to-Peer Applications

The lack of a trusted central authority poses a unique security challenge to peer-to-peer networks. It must be assumed that some fraction of all peers in a network are corrupt and may collude to try to derive an advantage. Nonetheless, in some circumstances it is necessary to select a subset of the peer-to-peer network in such a way that all members of the selected group can be confident that most group members are honest. We propose a secure protocol for the selection of a subset of peers from the network without a trusted authority. Our protocol ensures, with any desired probability, that the percentage of corrupt members in the subset is no greater than a selected limit (up to the total percentage of corrupt peers). We then discuss the use of this protocol in the context of a peer-to-peer game.
Using noisy speech to study the robustness of a continuous F0 modelling method in HMM-based speech synthesis

In parametric text-to-speech synthesis using Hidden Markov Model (HMM), the fundamental frequency (F0) parameter modelling is important because it has a direct effect on the prosody of synthetic speech. F0 is typically modelled by a discrete distribution for unvoiced speech and a continuous distribution for voiced, by using a multi-space distribution (MSD). However, F0 modelling using MSD-HMM is not accurate around the voiced-unvoiced (V-UV) and (UV-V) transitions and it is affected by voicing decision errors of the F0 estimation algorithm. In order to reduce this problem, HMM-based speech synthesisers have been proposed that model F0 using continuous HMM. This approach usually obtains the continuous F0 contours by interpolating F0 in unvoiced regions. The problem with this method is that it is affected by voiced decision errors during speech analysis. For example, if voiced speech segments are incorrectly classified as unvoiced, the F0 contour in this region is obtained by interpolation which might be a poor estimate of the natural F0. This paper proposes to use an F0 estimation method that does not require a hard voiced/unvoiced classification and produces a reasonable smooth F0 contour. The robustness of this method was studied in the conditions of high-quality recorded speech and recorded speech with additive noise. The motivation for using noisy speech was to study the effect of voiced decision errors on the quality of the synthetic speech.
Registration and integration of multisensor data for photorealistic scene reconstruction

In this paper, we present a method for automatically registering a 3D range image and a 2D color image using the (chi) 2-similarity metric. The goal of this registration is to allow the reconstruction of a scene using multi-sensor information. Traditional registration algorithms use invariant image features to drive the registration process. This approach limits the applicability to multi-modal data since features of interest may not appear in each modality. However, the (chi) 2-similarity metric is an intensity- based approach that has interesting multi-modal characteristics. We explore this metric as a mechanism to govern the registration search. Using range data from a Perceptron laser camera and color data form a Kodak digital camera, we present result using this automatic registration with the (chi) 2-similarity metric.
Risk Factors and Outcomes of Candidemia Caused by Biofilm-Forming Isolates in a Tertiary Care Hospital

Background Very few data exist on risk factors for developing biofilm-forming Candida bloodstream infection (CBSI) or on variables associated with the outcome of patients treated for this infection. Methods and Findings We identified 207 patients with CBSI, from whom 84 biofilm-forming and 123 non biofilm-forming Candida isolates were recovered. A case-case-control study to identify risk factors and a cohort study to analyze outcomes were conducted. In addition, two sub-groups of case patients were analyzed after matching for age, sex, APACHE III score, and receipt of adequate antifungal therapy. Independent predictors of biofilm-forming CBSI were presence of central venous catheter (odds ratio [OR], 6.44; 95% confidence interval [95% CI], 3.21–12.92) or urinary catheter (OR, 2.40; 95% CI, 1.18–4.91), use of total parenteral nutrition (OR, 5.21; 95% CI, 2.59–10.48), and diabetes mellitus (OR, 4.47; 95% CI, 2.03–9.83). Hospital mortality, post-CBSI hospital length of stay (LOS) (calculated only among survivors), and costs of antifungal therapy were significantly greater among patients infected by biofilm-forming isolates than those infected by non-biofilm-forming isolates. Among biofilm-forming CBSI patients receiving adequate antifungal therapy, those treated with highly active anti-biofilm (HAAB) agents (e.g., caspofungin) had significantly shorter post-CBSI hospital LOS than those treated with non-HAAB antifungal agents (e.g., fluconazole); this difference was confirmed when this analysis was conducted only among survivors. After matching, all the outcomes were still favorable for patients with non-biofilm-forming CBSI. Furthermore, the biofilm-forming CBSI was significantly associated with a matched excess risk for hospital death of 1.77 compared to non-biofilm-forming CBSI. Conclusions Our data show that biofilm growth by Candida has an adverse impact on clinical and economic outcomes of CBSI. Of note, better outcomes were seen for those CBSI patients who received HAAB antifungal therapy.
Designing for Older Adults: Overcoming Barriers to a Supportive, Safe, and Healthy Retirement

Older adults (65+) are at increasing risk of being ‘digitally marginalized’ due to lower tech savviness, social isolation, and few peers who can provide the needed input. As a consequence, some seniors have difficulties and are exposed to security risks when accessing essential services which are increasingly moving online. These include making critical life decisions, understanding health information, accessing health services, staying connected to families, or simply doing online shopping. This chapter investigates how online technologies can be designed to be inclusive of older adults’ needs, abilities, and contexts. Several barriers barring technology adoption include mental models; attitudes related to critical decision making; privacy concerns; and overall cyber-safety concerns preventing seniors from engaging with such resources online. We also propose ways to help the FinTech sector incorporate new approaches so that services and applications better serve the needs and constraints of older adults.
"Minsky and the Narrow Banking Proposal: No Solution for Financial Reform"

Before the law has even been fully implemented, the inadequacies of the regulatory approach underlying the Dodd-Frank Act are becoming more and more apparent. Financial scandal by financial scandal, the realization is hardening that there is a pressing need to search for more robust regulatory alternatives. The real challenge for financial reform is to develop a vision for a financial structure that would simplify the system and the activities of financial institutions so that they can be regulated and supervised effectively. Some paths to such simplification, however, are not worth treading. Against the backdrop of renewed present-day interest in the Depression-era "Chicago Plan," featuring 100 percent reserve backing for deposits, Senior Scholar Jan Kregel turns to Hyman Minsky's consideration of a similar "narrow banking" proposal in the mid-1990s. For reasons that eventually led Minsky himself to abandon the proposal, as well as reasons developed here by Kregel that have even more pressing relevance in today's political climate, plans for a narrow banking system are found wanting.
Analysis of Image Transmission for Wireless Sensor Networks in the Mine Tunnel

The research aimed to use Wireless Sensor Networks(WSNs) applying in the mine tunnel environmental monitoring. The wireless sensor node has a camera which can transmit live image signal in order to monitor the status in the mine tunnel when an exception occurs that the wireless sensor nodes perceived such as humidity increases, gas concentration increases, etc. The quality of image signal depends on Group of Pictures (GOP) structure and Quantization Scale(Qscale). In this paper, the effects of the GOP length and Qscale to the image quality for wireless sensor networks in the mine tunnel are investigated. The encoded image signal converted in to trace files using the tools-MyEvalvid-NT, and then run in a simulated network environment -NS2. The image files which the sink node received are examined in terms of average PSNR. The simulation results indicate that in range of setting parameters, by increasing the GOP length and the value of Qscale, the average PSNR decreases gradually, the image quality is worse, which is significant for our future research on wireless sensor networks applying in the mine tunnel environmental monitoring.
Applications of the Mellin-Barnes integral representation

We apply the Mellin-Barnes integral representation to several situations of interest in mathematical physics. At the purely mathematical level, we derive useful asymptotic expansions of different zeta-functions and partition functions. These results are then employed in different topics in quantum field theory, which include the high-temperature expansion of the free energy of a scalar field in ultrastatic curved spacetime, the asymptotics of the p-brane density of states, and an explicit approach to the asymptotics of the determinants that appear in string theory.
The Impact of Teacher Certification Programs on Teacher Efficacy, Job Satisfaction, and Teacher Performance: A Comparison of Traditional and Alternative Certification

xiii CHAPTER I: INTRODUCTION 1 Significance of the Problem 10 Significance of the Study 11 Conceptual Underpinnings for the Study 11 Research Questions 12 Delimitations 14 Limitations 14 Definition of Terms 15 CHAPTER II: LITERATURE REVEIW 20 Routes to Acquire Teacher Certification 22 Traditional Teacher Certification 23 Alternative Teacher Certification 26 Factors Impacting Teacher Quality 28 Teacher Efficacy 29 Job Satisfaction 30 Job Performance 31
Good Governance via the OMC? The cases of Employment and Social Inclusion

Governance in social policy is critical in the context of a deeper, wider and increasingly diverse Union, but also a politically delicate Union. Via the Lisbon Strategy, there is increasing awareness of the legitimate existence of a role for the EU in the area of social policy, where 56% of EU citizens view the role of the EU positively. 1 It is thus crucial to understand exactly how the EU not only via directives, but also via the Open Method of Coordination (OMC), governs the employment and social inclusion policies of the Member States. A centre-piece in this debate is the White Paper on Governance that established five “Principles of Good Governance” Openness, Accountability, Participation, Effectiveness, Coherence – to establish “more democratic governance”. 2 This has been followed by vivid academic commentary 3 that influenced the debate and actions at European level. 4 The White Paper on Governance is, now as much as ever, a vibrant and relevant basis for assessing the empirical governance of different instruments in various policy areas.
An LMI Approach to Automatic Loop-Shaping of QFT Controllers

Quantitative Feedback Theory (QFT) is one of the most effective methods of robust controller design. In QFT design, we can consider the phase information of the perturbed plant so it is less conservative than H∞ and μ-synthesis methods. In this paper, we want to overcome the major drawback of QFT method, i.e., lack of an automated technique for loop-shaping. Clearly such an automatic process must involve some sort of optimization, and while recent results on convex optimization have found fruitful applications in other areas of control theory we have tried to use LMI theory for automating the loop-shaping step of QFT design.
Embedded coding of optical flow fields for scalable video compression

An embedded coding scheme for dense motion (optical flow) fields is proposed. Such a scheme is particularly useful in scalable video compression where one must compensate for inter-frame motion at various visual qualities and resolutions. However, the high cost of coding such fields has often made this option prohibitive. Using our previously developed `breakpoint'-adaptive wavelet transform, we show that it is possible to code dense motion fields efficiently while simultaneously endowing the coded motion representation with embedded resolution and quality scalability attributes. Performance comparisons with the traditional non-scalable block-based model are also made and presented with the aid of a modified H.264/AVC JM reference encoder.
Anti-collision enhancement of a SHA-1 digest using AES encryption by LABVIEW

A series of latest papers have pretended collision attacks on publicly used hash functions, including the widely published SHA-1 algorithm. To estimate this threat, the natural response has been to strengthening the system to overcoming the weakness that make the system apt to collision. The SHA-1 hash function used in many fields of security system such as digital signature, tamper detection, password protection and so on. SHA-1 is very important algorithm for integrity and authentication realization, SHA-1 is a one way algorithm to produce hash code of any message with 160 random hash bits, which cannot be reversible. AES with SHA-1 algorithm produce encrypted code that can be reversible to achieve confidentiality. From the implementation and simulation results of AES based on SHA-1 algorithm obtained in Lab VIEW project show simplicity in modelling hash function algorithm generating hash codes encrypted by AES method.
Sensing and decision-making in random search

Many organisms locate resources in environments in which sensory signals are rare, noisy, and lack directional information. Recent studies of search in such environments model search behavior using random walks (e.g., Lévy walks) that match empirical movement distributions. We extend this modeling approach to include searcher responses to noisy sensory data. We explore the consequences of incorporating such sensory measurements into search behavior using simulations of a visual-olfactory predator in search of prey. Our results show that including even a simple response to noisy sensory data can dominate other features of random search, resulting in lower mean search times and decreased risk of long intervals between target encounters. In particular, we show that a lack of signal is not a lack of information. Searchers that receive no signal can quickly abandon target-poor regions. On the other hand, receiving a strong signal leads a searcher to concentrate search effort near targets. These responses cause simulated searchers to exhibit an emergent area-restricted search behavior similar to that observed of many organisms in nature.
Change impact analysis for AspectJ programs

Change impact analysis is a useful technique for software evolution. It determines the effects of a source editing session and provides valuable feedbacks to the programmers for making correct decisions. Recently, many techniques have been proposed to support change impact analysis of procedural or object-oriented software, but seldom effort has been made for aspect-oriented software. In this paper we propose a new change impact analysis technique for AspectJ programs. At the core of our approach is the atomic change representation which captures the semantic differences between two versions of an AspectJ program. We also present an impact analysis model, based on AspectJ call graph construction, to determine the affected program fragments, affected tests and their responsible changes. The proposed techniques have been implemented in Celadon, a change impact analysis framework for AspectJ programs. We performed an empirical evaluation on 24 versions of eight AspectJ benchmarks. The result shows that our proposed technique can effectively perform change impact analysis and provide valuable information in AspectJ software evolution.