Miracle-dz/UniFAR-FTUs huggingface dataset:
A modified FastSLAM for an autonomous mobile robot

Based on the standard FastSLAM, a new decomposing strategy is proposed in this paper. Although the method involves a little extra computation, it considers fully the relationship between the pose of robot and the individual map feature, and it is better to improve the precision and reliability of SLAM. In addition, a nonlinear adaptive square-root unscented Kalman filter (NASRUKF) is utilized to replace the extended Kalman filter (EKF) and the particle filter (PF) to estimate the pose of robot and the map feature, then several shortcomings of traditional FastSLAM (such as it needs to calculate Jacobian matrix, it is difficult to satisfy the requirement of consistency, and it always yields particle degradation) are overcome, the accuracy and adaptability are improved. In order to verify the concept, one experiment prototype was built. The result proved that the modified FastSLAM algorithm provides a high performance of localization and map building for an autonomous mobile robot (AMR).
Recombination and Selection in the Evolution of Picornaviruses and Other Mammalian Positive-Stranded RNA Viruses

ABSTRACT Picornaviridae are a large virus family causing widespread, often pathogenic infections in humans and other mammals. Picornaviruses are genetically and antigenically highly diverse, with evidence for complex evolutionary histories in which recombination plays a major part. To investigate the nature of recombination and selection processes underlying the evolution of serotypes within different picornavirus genera, large-scale analysis of recombination frequencies and sites, segregation by serotype within each genus, and sequence selection and composition was performed, and results were compared with those for other nonenveloped positive-stranded viruses (astroviruses and human noroviruses) and with flavivirus and alphavirus control groups. Enteroviruses, aphthoviruses, and teschoviruses showed phylogenetic segregation by serotype only in the structural region; lack of segregation elsewhere was attributable to extensive interserotype recombination. Nonsegregating viruses also showed several characteristic sequence divergence and composition differences between genome regions that were absent from segregating virus control groups, such as much greater amino acid sequence divergence in the structural region, markedly elevated ratios of nonsynonymous-to-synonymous substitutions, and differences in codon usage. These properties were shared with other picornavirus genera, such as the parechoviruses and erboviruses. The nonenveloped astroviruses and noroviruses similarly showed high frequencies of recombination, evidence for positive selection, and differential codon use in the capsid region, implying similar underlying evolutionary mechanisms and pressures driving serotype differentiation. This process was distinct from more-recent sequence evolution generating diversity within picornavirus serotypes, in which neutral or purifying selection was prominent. Overall, this study identifies common themes in the diversification process generating picornavirus serotypes that contribute to understanding of their evolution and pathogenicity.
Generalized interpolation: Higher quality at no additional cost

We extend the classical interpolation method to generalized interpolation. This extension is done by replacing the interpolating function by a non-interpolating function that is applied to prefiltered data, in order to preserve the interpolation condition. We show, both theoretically and practically, that this approach performs much better than classical methods, for the same computational cost.
Handle and hole improvement by using new corner cutting subdivision scheme with tension

The Doubly Linked Face List (DLFL) structure introduces a powerful modeling paradigm that allows users to alternatively apply topological change operations and subdivision operations on a mesh structure. Moreover the DLFL is topologically robust in the sense that it always guarantees valid 2-manifold surfaces. We further study the relationship between DLFL structure and subdivision algorithms. First, we develop a new corner cutting scheme, which provides a tension parameter to control the shape of the subdivided surface. Second, we develop a careful and efficient algorithm for our corner cutting scheme on the DLFL structure that uses only the basic operations provided by the DLFL structure. This implementation ensures that our new corner cutting scheme preserves topological robustness. The comparative study shows that the corner cutting schemes create better handles and holes than Catmull-Clark (1978) scheme.
Complexity and Expressiveness of ShEx for RDF

We study the expressiveness and complexity of Shape Expression Schema (ShEx), a novel schema formalism for RDF currently under development by W3C. ShEx assigns types to the nodes of an RDF graph and allows to constrain the admissible neighborhoods of nodes of a given type with regular bag expressions (RBEs). We formalize and investigate two alternative semantics, multi-and single-type, depending on whether or not a node may have more than one type. We study the expressive power of ShEx and study the complexity of the validation problem. We show that the single-type semantics is strictly more expressive than the multi-type semantics, single-type validation is generally intractable and multi-type validation is feasible for a small (yet practical) subclass of RBEs. To curb the high computational complexity of validation, we propose a natural notion of determinism and show that multi-type validation for the class of deterministic schemas using single-occurrence regular bag expressions (SORBEs) is tractable.
Validation of Ogawa passive samplers for the determination of gaseous ammonia concentrations in agricultural settings

The Ogawa passive sampler (Ogawa USA, Pompano Beach, Florida) is a useful tool for monitoring atmospheric ammonia (NH 3 (g)) concentrations and assessing the effects of agricultural waste management practices on NH 3 (g) emissions. The Ogawa sampler, with ﬁlter-discs impregnated with citric acid, was used to trap and determine NH 3 (g) concentrations in a variety of agricultural settings. A wide range of NH 3 (g) concentrations can be monitored by varying the sampler exposure time, provided that no more than B 10 m g of NH 3 -N are adsorbed on the acid-coated ﬁlters. Concentrations less than 1 m g NH 3 -Nm (cid:1) 3 can be detected using long deployments ( p 14 days), while concentrations as great as 10 mg NH 3 -Nm (cid:1) 3 may be determined in very short (e.g. 5min) deployments. Reproducibility ranged from 5% to 10% over the range of concentrations studied and passive determinations of NH 3 (g) were similar to those determined using dilute-acid gas scrubbers. Background levels of NH 3 (g) at a non-agricultural site in southern Delaware were typically o 1 m g NH 3 -Nm (cid:1) 3 . The air entering a chicken house was 10 m g NH 3 -Nm (cid:1) 3 , reﬂecting the background levels in agricultural settings in this region. Within the house, concentrations p 8.5 mg NH 3 -Nm (cid:1) 3 were observed, reﬂecting the high rates of NH 3 (g) emission from chicken excreta. Using measured NH 3 (g) concentrations and poultry house ventilation rates, we estimate that each broiler grown to production size over 6 weeks contributes approximately 19 7 3 g of NH 3 -N to the atmosphere, a value consistent with other published results.
Marine sources of bromoform in the global open ocean - global patterns and emissions

Abstract. Bromoform (CHBr3) is one important precursor of atmospheric reactive bromine species that are involved in ozone depletion in the troposphere and stratosphere. In the open ocean bromoform production is linked to phytoplankton that contains the enzyme bromoperoxidase. Coastal sources of bromoform are higher than open ocean sources. However, open ocean emissions are important because the transfer of tracers into higher altitude in the air, i.e. into the ozone layer, strongly depends on the location of emissions. For example, emissions in the tropics are more rapidly transported into the upper atmosphere than emissions from higher latitudes. Global spatio-temporal features of bromoform emissions are poorly constrained. Here, a global three-dimensional ocean biogeochemistry model (MPIOM-HAMOCC) is used to simulate bromoform cycling in the ocean and emissions into the atmosphere using recently published data of global atmospheric concentrations (Ziska et al., 2013) as upper boundary conditions. Our simulated surface concentrations of CHBr3 match the observations well. Simulated global annual emissions based on monthly mean model output are lower than previous estimates, including the estimate by Ziska et al. (2013), because the gas exchange reverses when less bromoform is produced in non-blooming seasons. This is the case for higher latitudes, i.e. the polar regions and northern North Atlantic. Further model experiments show that future model studies may need to distinguish different bromoform-producing phytoplankton species and reveal that the transport of CHBr3 from the coast considerably alters open ocean bromoform concentrations, in particular in the northern sub-polar and polar regions.
Situated modeling: a shape-stamping interface with tangible primitives

Existing 3D sketching methods typically allow the user to draw in empty space which is imprecise and lacks tactile feedback. We introduce a shape-stamping interface where users can model with tangible 3D primitive shapes. Each of these shapes represents a copy or a fragment of the construction material. Instead of modeling in empty space, these shapes allow us to use the real-world environment and other existing objects as a tangible guide during 3D modeling. We call this approach Situated Modeling: users can create new real-sized 3D objects directly in 3D space while using the nearby existing objects as the ultimate reference. We also describe a two-handed shape-stamping technique for stamping with tactile feedback. We show a variety of doit-yourself furniture and household products designed with our system, and perform a user study to compare our method with a related AR-based modeling system.
Association of Gait Characteristics and Depression in Patients with Parkinson's Disease Assessed in Goal-Directed Locomotion Task

Introduction. In the genesis of Parkinson's disease (PD) clinical phenomenology the exact nature of the association between bradykinesia and affective variables is unclear. In the present study, we analyzed the gait characteristics and level of depression in PD and healthy volunteers. Methods. Patients with PD (n = 48) and healthy controls (n = 52) were recruited for the present study. Walking speed, stride length, and cadence were compared between groups while participants completed a goal-directed locomotion task under visually controlled (VC) and visually noncontrolled conditions (VnC). Results. Significantly higher depression scores were found in PD comparing to healthy control groups. In PD, depression was associated with gait components in the VC wherein the place of the target was visible. In contrast, in healthy subjects the depression was associated with gait components in VnC wherein the location and image of the target were memorized and recalled. In patients with PD and depression, the visually deprived multitask augments the rate of cadence and diminishes stride length, while velocity remains relatively unchanged. The depression associated with gait characteristics as a comorbid affective factor in PD, and that impairs the coherence of gait pattern. Conclusion. The relationship between depression and gait parameters appears to indicate that PD not only is a neurological disease but also incorporates affective disturbances that associate with the regulation of gait characteristics.
QUANTITATIVE ASPECTS OF THE RED BLOOD CELL AGGLUTINATION TEST FOR INFLUENZA VIRUS

A detailed study has been made of the nature of the variables inherent in the chicken red cell agglutination test for influenza virus in an effort to obtain a method of measurement of biological activity of sufficient accuracy that it might be employed as a reliable index of chemical purity of preparations of the virus. It was found that the temperature at which the test is conducted has a marked effect on the titer, whereas within the range of pH 6–8 the pH has a negligible effect. It was also found that a variation in results may be encountered due to a variation in the specific behavior of red cells from different chickens and to an instability of the red cells themselves. Preparations of purified influenza virus held at 4°C. , on the other hand, were found to be stable with respect to chicken red cell agglutinating activity for several months. This fact, together with the fact that in duplicate measurements upon different samples the accuracy was such that the chances were 19 out of 20 that differences of 8.4 per cent in the mean end points were significant, made it possible to establish a reproducible standard of CCA activity based on a unit weight of purified virus material. As a result, it was possible to devise a standardized procedure for carrying out with high accuracy quantitative measurements of influenza virus.
Transformation of XML Data into XML Normal Form

Inthispaperwediscusstheproblemofeliminatingredundanciesandpreservingdatadependenciesin XML data when an XML schema is normalized. Normalization is one of the main tasks in relational databasedesign,where3NForBCNF,istobereached. However,neitherofthemisideal: 3NFpreserves dependenciesbutmaynotalwayseliminateredundancies,BCNFonthecontrary–alwayseliminatesre-dundanciesbutmaynotpreserveconstraints.Inthispaperweconsiderthepossibilityofachievingboth redundancy-freeanddependencypreservingformofXMLschema.WeshowhowtheXMLnormalform canbeobtainedforaclassofXMLschemasandaclassofXMLfunctionaldependencies.Werelateour approachtothedecompositionalgorithmproposedbyArenasandLibkinin[1]. Povzetek: RazvitajemetodapretvorbeXMLpodatkovvnormaliziranooblikospoudarkomnaodstranje-vanjuredundanc.
Social Media Dynamics of Global Co-presence During the 2014 FIFA World Cup

Sporting championships and other media events can induce very strong feelings of co-presence that can change communication patterns within large communities. Live tweeting reactions to media events provide high-resolution data with time-stamps to understand these behavioral dynamics. We employ a computational focus group method to identify a population of 790,744 international Twitter users, and we track their behavior before, during, and after the 2014 FIFA World Cup. We pick, in particular, a set of Twitter users who specified the teams that they are supporting, such that we can identify communities of fans of the teams, as well as the entire community of World Cup fans. The structure, dynamics, and content of communication of these communities of users are analyzed to compare behavior outside of the matches to behavior during the event and to examine behavioral responses across languages. Specifically, the temporal patterns of the tweeting volume, topics, retweet- ing, and mentioning behaviors are analyzed. We find there are similarities in the responses to media events, characteristic changes in activity patterns of users, and substantial differences in linguistic features. These findings have implications for designing more resilient socio-technical systems during crises and developing better models of complex social behavior.
Research on hybrid PSO algorithm with appended intensification and diversification

The intensification mechanism of basic PSO algorithm was analyzed as well as the diversification mechanism. The problems such as matter correlation influence by particles' initialization, and algorithm precision were discussed. Then a strategy to improve BPSO was proposed, which could make the search process at the oscillating balance between intensification and diversification. Based on this, a more effective Hybrid Particle Swarm Optimization (HPSO) was proposed, combining the Variable Dimension Greedy Randomized Adaptive Search Procedure (VDGRASP) and the Variable Intension Mutation Procedure (VIMP) with the BPSO. And the experiments of two multi-peak problems as Rastrigin and Schwefel were carried out, which verified the advantage of the new HPSO algorithm.
Interactive Query Expansion Using Concept-Based Directions Finder Based on Wikipedia

Despite the advances in information retrieval the search engines still result in imprecise or poor results, mainly due to the quality of the query being submitted. The query formulation to express their information need has always been challenging for the users. In this paper, we have proposed an interactive query expansion methodology using Concept-Based Directions Finder (CBDF). The approach determines the directions in which the search can be continued by the user using Explicit Semantic Analysis (ESA) for a given query. The CBDF identifies the relevant terms with a corresponding label for each of the directions found, based on the content and link structure of Wikipedia. The relevant terms identified along with its label are suggested to the user for query expansion through the new visual interface proposed. The visual interface named as terms mapper, accepts the query, and displays the potential directions and a group of relevant terms along with the label for the direction chosen by the user. We evaluated the results of the proposed approach and the visual interfacefor the identified queries. The experimental result shows that the approach produces a good Mean Average Precision (MAP) for the queries chosen.
Use of the interactive whiteboard in constructivist teaching for higher student achievement

The aim of this study was to compare the effects of constructivist-informed, technology-rich learning environments and traditional learning environments on students’ achievement. The subjects of the study were 115 Form V combined science students (16 to 19 years old) studying in a government school in Brunei. These students were from four intact classes. Two classes (23 boys and 34 girls) were taught using a constructivist-informed, technology-rich teaching methodology (involving interactive whiteboards and ActiveStudio software) and the other two (25 boys and 33 girls) were taught using traditional teaching methodologies. Student achievement was evaluated using a chemistry achievement test consisting of sections on multiple choice, short answers and essay type questions. The mean gain in achievement score for the constructivist group compared to the traditional group was statistically signicantly higher on the total test as well as on the sections of the test. Moreover, there were no gender-differences in the mean achievement score for the constructivist group, whereas such differences in the traditional group were statistically signicant. These results suggest that a constructivist-informed, technology-rich teaching approach compared to a traditional teaching approach was more effective in improving the achievement of students as well as in minimising the gender differences in academic achievement. It is therefore recommended that teachers use this teaching technique to help their students learn chemistry better and achieve higher grades.
Two-Stage Partial Observability Models of Innovation Adoption

Many theories on the adoption and diffusion of innovations posit that adoption is the outcome of a decision process. A two-stage conception of that process involving an awareness stage followed by a stage combining evaluation and adoption seems particularly useful. Several empirical studies indicate that the effect of mass media and change agents is relatively concentrated in creating awareness, while the effect of personal influence from earlier adopters (i.e., social contagion) is more concentrated in bringing about a positive evaluation and hence adoption. A frustrating problem, however, is that most data record only the final outcome of the process, i.e. the time of adoption. We bridge this gap in richness between theory and data by developing new event history models, which we call partial observability models of innovation adoption. An application to the classic Medical Innovation data illustrates that these finergrained models can not only provide better descriptive fit but, more importantly, can also detect weak social contagion patterns that traditional event history models cannot detect in the presence of strong mass media effects.
Performance modeling of skip models for VM migration using Xen

Cloud computing is the Internet based computing to deliver service. The major components to establish cloud are distributed systems, service oriented computing, web2.0, virtualization and utility computing. The integration of these components are required to make available data anytime and anywhere. Migration of virtual machines is the key issue to manage heterogenous cloud for load balancing. The migration is performed to accommodate the VM of highly loaded server to lightly loaded server. Pre-copy and post-copy are two migration approaches. Pre-copy is the iterative based algorithm which has better performance over post-copy due to its effective execution process for transferring pages. The outcome of pre-copy algorithm is dependent on the dirty and skip models. Dirty model is useful for identifying those pages which are being dirtied for the number of iterations. Skip model is the special case of dirty page mechanism through which consecutive iterations can avoid sending dirty pages for current iteration using skip bitmap of Xen. The skip bitmap is evaluated based on Writable Working Set (WWS) of any migration process. The proposed skip algorithm is developed to handle WWS optimally to improve performance of live migration system. The results show the state of the art to gain 91% accuracy using proposed skip model.
Self-Distancing May Be Harmful: Third-Person Writing Increases Levels of Depressive Symptoms Compared to Traditional Expressive Writing and No Writing

Introduction: The positive effects of expressive writing on both mental and physical health are well documented. However, expressive writing may have the potential to activate negative schemas and facilitate rumination in those at high cognitive risk for depression (Yasinski, Hayes, & Laurenceau, 2016). The current research tested the hypothesis that writing using self-distancing would be more effective than traditional expressive writing in preventing depressive symptoms for those at high cognitive risk for depression. Method: Two studies using undergraduate samples (n = 104 and n = 80) were conducted to test our hypotheses. Both studies used a two-week daily writing experimental design. Results: Contrary to hypotheses, Study 1 found that individuals randomly assigned to a self-distancing writing condition reported greater levels of depressive symptoms than those assigned to a traditional expressive writing condition. The results of Study 2 replicated the results of Study 1. Participants randomly assigned to the self-distancing writing condition reported significantly greater levels of depressive symptoms than those in the expressive writing and no-writing control conditions. The effect of writing condition in Study 2 was driven by those with high levels of cognitive vulnerability. Discussion: Results suggest that writing using self-distancing should not be used for the prevention of depressive symptoms.
Space-time coding and signal space diversity in the presence of channel estimation errors

Joint space-time (ST) coding and constellation rotation is considered in the presence of imperfect channel state information. The combined system, with two transmit antennas, is shown to be more resistant to channel estimation errors than ST coding alone. Experiments involving several cases of channel estimation errors verify the related theory reported in the literature.