Miracle-dz/UniFAR-FTUs huggingface dataset:
A novel approach for simplification of industrial robot dynamic model using interval method

This paper presents a novel approach to simplify the dynamic model of industrial robot by means of interval method. Due to strong nonlinearities and complexities, some components of robot dynamic model such as the inertia matrix and the vector of centrifugal, Coriolis and gravitational torques, are very complicated for real-time control of industrial manipulators. Thus, an interval-based simplification algorithm is proposed in this study in order to reduce the computation time and the memory occupation. Besides, it also contributes to finding negligible inertia parameters, which is useful for robot model identification. More importantly, the proposed approach is suitable for arbitrary trajectories in the whole robot workspace. Simulation studies have been carried out on a test trajectory using a 6-DOF industrial robot model, showing good performance and effectiveness of the simplification.
Tunneling transistors based on MoS2/MoTe2 Van der Waals heterostructures

Two-dimensional transition metal dichalcogenides (TMD's) are promising materials for CMOS application[1], [2] due to their ultra-thin channel with excellent electrostatic control. TMD's are especially well suited for Tunneling Field-Effect Transistors (TFETs) due to their low dielectric constant and their promise of atomically sharp and self-passivated interfaces[3]-[5]. Here we experimentally demonstrate for the first-time band-to-band tunneling (BTBT) in Van der Waals (VdW) heterostructures formed by MoS2 and MoTe2. Density functional theory (DFT) simulations of the band structure show our MoS2-MoTe2 heterojunctions have a staggered band alignment, which boosts BTBT compared to a homojunction configuration. Low-temperature measurements and electrostatic simulations provide understanding towards the role of schottky contacts and the material thickness on device performance. This work provides the prerequisites and challenges required to overcome at the contact region to achieve a steep subthreshold slope and high ON-currents with 2D-based TFETs.
Updated Information on the Local Group

The present note updates the information published in my recent monograph on \underline{The Galaxies of the Local Group}. Highlights include (1) the addition of the newly discovered Cetus dwarf spheroidal as a certain member of the Local Group, (2) an improved distance for SagDIG, which now places this object very close to the edge of the Local Group zero-velocity surface, (3) more information on the evolutionary histories of some individual Local Group members, and (4) improved distance determinations to, and luminosities for, a number of Local Group members. These data increase the number of certain (or probable) Local Group members to 36. The spatial distribution of these galaxies supports Hubble's claim that the Local Group ``is isolated in the general field. '' Presently available evidence suggests that star formation continued much longer in many dwarf spheroidals than it did in the main body of the Galactic halo. It is suggested that ``young'' globular clusters, such as Ruprecht 106, might have formed in now defunct dwarf spheroidals. Assuming SagDIG, which is the most remote Local Group galaxy, to lie on, or just inside, the zero-velocity surface of the Local Group yields a dynamical age \gtrsim 17.9 \pm 2.7 Gyr.
Finding the most accessible locations: reverse path nearest neighbor query in road networks

In this paper, we propose and investigate a novel spatial query called Reverse Path Nearest Neighbor (R-PNN) search to find the most accessible locations in road networks. Given a trajectory data-set and a list of location candidates specified by users, if a location o is the Path Nearest Neighbor (PNN) of k trajectories, the influence-factor of o is defined as k and the R-PNN query returns the location with the highest influence-factor. The R-PNN query is an extension of the conventional Reverse Nearest Neighbor (RNN) search. It can be found in many important applications such as urban planning, facility allocation, traffic monitoring, etc. To answer the R-PNN query efficiently, an effective trajectory data pre-processing technique is conducted in the first place. We cluster the trajectories into several groups according to their distribution. Based on the grouped trajectory data, a two-phase solution is applied. First, we specify a tight search range over the trajectory and location data-sets. The efficiency study reveals that our approach defines the minimum search area. Second, a series of optimization techniques are adopted to search the exact PNN for trajectories in the candidate set. By combining the PNN query results, we can retrieve the most accessible locations. The complexity analysis shows that our solution is optimal in terms of time cost. The performance of the proposed R-PNN query processing is verified by extensive experiments based on real and synthetic trajectory data in road networks.
Image normalization for face recognition using 3D model

This paper describes an image segmentation and normalization technique using 3D point distribution model and its counterpart in 2D space. This segmentation is efficient to work for holistic image recognition algorithm. The results have been tested with face recognition application using Cohn Kanade Facial Expressions Database (CKFED). The approach follows by fitting a model to face image and registering it to a standard template. The models consist of distribution of points in 2D and 3D. We extract a set of feature vectors from normalized images using principal components analysis and using them for a binary decision tree for classification. A promising recognition rate of up to 98.75% has been achieved using 3D model and 92.93% using 2D model emphasizing the goodness of our normalization. The experiments have been performed on more than 3500 face images of the database. This algorithm is capable to work in real time in the presence of facial expressions.
A new combinatorial approach to surface reconstruction with sharp features

This paper presents a new combinatorial approach to surface reconstruction with sharp features. Different from other postprocessing methods, the proposed method provides a systematic way to identify and reconstruct sharp features from unorganized sample points in one integrated reconstruction process. In addition, unlike other approximation methods, the reconstructed triangulated surface is guaranteed to pass through the original sample points. In this paper, the sample points in the sharp regions are defined as characteristic vertices (c-vertices), and their associated poles (c-poles) are used as a "sculptor" to extract triangles from a Delaunay structure for the sharp features. But, for smooth surface regions, an efficient region-growing scheme is used for triangle extraction and connection. Since only the c-poles associated with the sharp regions are used to participate in the Delaunay computation with the sample points, the proposed algorithm is adaptive in the sense that, given a sampled object with less sharp features, the triangulation becomes more efficient. To validate the proposed algorithm, some detailed illustrations are given. Experimental results show that it is robust and highly efficient.
The Road Less Traveled: Strategy Distinctiveness and Hedge Fund Performance

We investigate whether skilled hedge fund managers are more likely to pursue unique investment strategies that result in superior performance. We propose a measure of the distinctiveness of a fund's investment strategy based on historical fund return data. We call the measure the "Strategy Distinctiveness Index" (SDI). We document substantial cross-sectional variations as well as strong persistence in SDI. Our main result indicates that, on average, a higher SDI is associated with better subsequent performance. After adjusting for risk, funds in the highest SDI quintile outperform funds in the lowest quintile by 3.5% in the subsequent year. The Author 2011. Published by Oxford University Press on behalf of The Society for Financial Studies. All rights reserved. For Permissions, please e-mail: journals.permissions@oup.com. , Oxford University Press.
Topology-adaptive interface tracking using the deformable simplicial complex

We present a novel, topology-adaptive method for deformable interface tracking, called the Deformable Simplicial Complex (DSC). In the DSC method, the interface is represented explicitly as a piecewise linear curve (in 2D) or surface (in 3D) which is a part of a discretization (triangulation/tetrahedralization) of the space, such that the interface can be retrieved as a set of faces separating triangles/tetrahedra marked as inside from the ones marked as outside (so it is also given implicitly). This representation allows robust topological adaptivity and, thanks to the explicit representation of the interface, it suffers only slightly from numerical diffusion. Furthermore, the use of an unstructured grid yields robust adaptive resolution. Also, topology control is simple in this setting. We present the strengths of the method in several examples: simple geometric flows, fluid simulation, point cloud reconstruction, and cut locus construction.
Detection of T Cell Cytokine Production as a Tool for Monitoring Immunotherapy

There are many complex relationships between tu- mour cells and effector cells in the immune system. These interactions are controlled predominantly by cy- tokines, either within the tumour environment, or sys- temically where the effector cells may be stimulated as a response to the presence of the tumour. Favourable clinical responses in cancer patients have been shown to be associated with enhanced cell-mediated immunity as well as T cell infiltration in tumours. This status is controlled in part by a predominantly Th1 cytokine profile e.g. IFN γ , TNF α and IL-12. Conversely, pa- tients with advancing cancer may have impaired cell- mediated immunity as a result of an imbalance of Th1 and Th2 cytokines e.g. IL-4 and IL-10 [6,9,15]. Whilst cytokines have long been known to orchestrate the im- mune system by allowing communication between reg- ulatory and effector cells, the pleiotropic nature of these molecules results in a very complex environment in which to study any single molecule’s properties. Several in vitro protocols have been developed,which aim to closely reflect cytokine production and T cell function in vivo. However, these assays have been developed in artificial settings and as such only allow conclusions to be drawn within a defined context [11]. The aim of this report is to outline the basic proto-cols and applications for the detection of intracellular cytokines by flow cytometry, in the context of disease monitoring.
Incentives-Based Mechanism for Efficient Demand Response Programs

In this work we investigate the inefficiency of the electricity system with strategic agents. Specifically, we prove that without a proper control the total demand of an inefficient system is at most twice the total demand of the optimal outcome. We propose an incentives scheme that promotes optimal outcomes in the inefficient electricity market. The economic incentives can be seen as an indirect revelation mechanism that allocates resources using a one-dimensional message space per resource to be allocated. The mechanism does not request private information from users and is valid for any concave customer's valuation function. We propose a distributed implementation of the mechanism using population games and evaluate the performance of four popular dynamics methods in terms of the cost to implement the mechanism. We find that the achievement of efficiency in strategic environments might be achieved at a cost, which is dependent on both the users' preferences and the dynamic evolution of the system. Some simulation results illustrate the ideas presented throughout the paper.
Sperm numbers vary between inter- and intra-population matings of the grasshopper Chorthippus parallelus

Comparing the reproductive output of intra- and inter-population matings is the most common way to assess whether post-mating reproductive isolation is caused by genetic incompatibilities. Such genetic incompatibility can however, only assume that the quantity of the post-mating signals involved does not differ between intra- and inter-population matings. This assumption may not be true because sexual selection predicts reduced mating effort towards low-quality mates and in many circumstances, allopatric partners are low-quality mates. Post-mating efforts may, therefore, be reduced in inter- compared to intra-population matings. Here, I test this crucial assumption by studying variation in one post-mating trait, sperm number, in crosses of two parapatric grasshopper populations. In both populations, males transferred fewer sperm to allopatric than sympatric females. If such plasticity with respect to population is common in other post-mating traits, differences between inter- and intra-population crosses may be more frequently caused by differences in sperm number rather than gamete incompatibility. Additionally, I found that sperm numbers declined less rapidly in the female storage organ of allopatric than sympatric females but its rate differed markedly between populations. This is discussed with respect to female adaptations to male traits.
Mutation of the proto‐oncogene c‐kit blocks development of interstitial cells and electrical rhythmicity in murine intestine.

1. Interstitial cells of Cajal (ICs) have been proposed as pacemakers in the gastrointestinal tract. We studied the characteristics and distribution of ICs and electrical activity of small intestinal muscles from mice with mutations at the dominant‐white spotting/c‐kit (W) locus because the tyrosine kinase function of c‐kit may be important in the development of the IC network. 2. W/WV mutants (days 3‐30 postpartum) had few ICs in the myenteric plexus region compared with wild type (+/+) siblings. The few ICs present were associated with neural elements and lay between myenteric ganglia and the longitudinal muscle layer. 3. Electrical recordings from intestinal muscle strips showed that electrical slow waves were always present in muscles of +/+ siblings, but were absent in W/WV mice. 4. Muscles from W/WV mice responded to stimulation of intrinsic nerves. Neural responses, attributed to the release of acetylcholine, nitric oxide and other unidentified transmitters, were recorded. 5. These findings are consistent with the hypothesis that ICs are a critical element in the generation of electrical rhythmicity in intestinal muscles. The data also show that neural regulation of gastrointestinal muscles can develop independently of the IC network. 6. W locus mutants provide a powerful new model for studies of the physiological role of ICs and the significance of electrical rhythmicity to normal gastrointestinal motility.
Exploring path query results through relevance feedback

Feedback driven data exploration schemes have been implemented for non-structured data (such as text) and document-centric XML collections where formulating precise queries is often impossible. In this paper, we study the problem of enabling exploratory access, through ranking, to data-centric XML. Given a path query and a set of results identified by the system to this query over the data, we consider feedback which captures the user's preference for some features over the others. The feedback can be "positive" or "negative". To deal with feedback, we develop a probabilistic feature significance measure and describe how to use this for ranking results in the presence of dependencies between the path features. We bring together these techniques in AXP, a system for adaptive and exploratory path retrieval. The experimental results show the effectiveness of the proposed techniques.
Incorporating window-based passage-level evidence in document retrieval

This study investigated whether document retrieval can be improved if documents are divided into smaller sub-documents or passages and the retrieval score for these passages are incorporated in the final retrieval score for the whole document. The documents were segmented by sliding a window of a certain size across the document and extracting the words displayed each time the window stopped. A retrieval score was calculated for each of the passages extracted and the highest score obtained by a passage of that size was taken as the document’s passage-level score for that window size. A range of window sizes was tried. The experimental results indicated that using a fixed window size of 50 words gave better results than other window sizes for the TREC-5 and TREC-6 test collections. This window size yielded a significant retrieval improvement of 24% compared to using the whole-document retrieval score (using the traditional tf*idf weighting scheme with cosine normalisation). However, combining this window score and the whole-document retrieval score did not yield a retrieval improvement. Using a variable window size (ranging from 50 to 400 words) yielded a retrieval improvement of about 5% over using a fixed window size of 50. Different window sizes were found to work best for different queries. If the best window size to use for each query could be predicted accurately, a maximum retrieval improvement of 42% could be obtained. Subsequent work suggests that the usefulness of passage-level evidence in document retrieval depends on the weighting scheme and type of normalisation used in the retrieval method.
Speech Recognition in the Radiology Department: A Systematic Review

Objective: to conduct a systematic review of the literature describing the impact of speech recognition systems on report error rates and productivity in radiology departments. Methods: The search was conducted for relevant papers published from January 1992 to October 2013. Comparative studies reporting any of the following outcomes were selected: error rates, departmental productivity, and radiologist productivity. The retrieved studies were assessed for quality and risk of bias. Results: The literature search identified 85 potentially relevant publications, but, based on the inclusion and exclusion criteria, only 20 were included. Most studies were before and after assessments with no control group. There was a large amount of heterogeneity due to differences in the imaging modalities assessed and the outcomes measured. The percentage of reports containing at least one error varied from 4.8% to 89% for speech recognition, and from 2.1% to 22% for transcription. Departmental productivity was improved with decreases in report turnaround times varying from 35% to 99%. Most studies found a lengthening of radiologist dictation time. Conclusion: Overall gains in departmental productivity were high, but radiologist productivity, as measured by the time to produce a report, was diminished.
Reanalysis of Halstead's biological intelligence factor matrix.

Summary. -A recent study by Russell did not duplicate Halstead's factors of biological intelligence. As an approach to understanding this finding, Halstead's original correlation matrix was subjected to the same orthogonal principal components analysis used in Russell's study as well as an orthogonal and an oblique factor analysis using communalities. All of Halstead's factors appeared in these analyses. The failure to duplicate Halstead's work was evidently not due to use of different facroring methods. In 3 second analysis which reduced the number of Halstead's variables to the number used by Russell; one of Halstead's factors (P) did not appear. This factor represented tests measuring the vis~~al threshold, and so it appears to be primarily a perceptual factor. A fairly recent study by Russell (1971) attempted to duplicate Halstead's (1947) biological intelligence factors. Of the factors isolated in Russell's study, only one was similar to Halstead's factors. Consequently, it appeared that Halstead's factors might nor represent the basic elements in biological intelligence. A more recent study by Russell ( 1972), using a different patient population, did duplicate Halstead's factors, but this only intensified the problem of determining the nature of the elements in biological intelligence, since both lateralization of brain damage and the sensitivity of the individual tests to brain pathology appeared to affect the factor structure. The problem now is to isolate other influences on the biological intelligence factors apart from the effect of lateralization and sensitivity to brain damage. There were several differences between Russell's and Halstead's studies which needed to be examined. These differences included variance in the type brain damage Ss suffered. Halstead's Ss were patients recovering from closed head trauma while Ss in Russell's studies had suffered a wide variety of chronic brain damage (Russell, 1971) or acute lateralized damage (Russell, 1972). Another difference was related to the particular tests. Neither of Russell's studies attempted to duplicate those tests in Halstead's battery, which are not strongly related to brain damage. Also, subtests of the Wechsler Adult Intelligence Test were substituted for the Henrnon-Nelson and Carl Hollow-Square IQ tests. Finally, Russell's analysis was an orthogonal principal components analysis while Thurstone's oblique common-factor analysis was used by Halstead. These differences, while rather substantial, sho~ild not have obscured Halstead's biological factors if they had indeed been elementary (Russell, 1971).
SPATA: Spatio-Tangible Tools for Fabrication-Aware Design

The physical tools used when designing new objects for digital fabrication are mature, yet disconnected from their virtual accompaniments. SPATA is the digital adaptation of two spatial measurement tools, that explores their closer integration into virtual design environments. We adapt two of the traditional measurement tools: calipers and protractors. Both tools can measure, transfer, and present size and angle. Their close integration into different design environments makes tasks more fluid and convenient. We describe the tools' design, a prototype implementation, integration into different environments, and application scenarios validating the concept.
Visualising GPS Paths

While mobile computers and context-aware computing are increasingly common topics of research, relatively little work has investigated the analysis of the data provided by such devices and interaction styles. This paper presents a prototype system for visualising patterns and clusters within GPS readings logged on a handheld computer. By using a spring model, we create a 2D layout of periods of time within one or more people’s past activity in terms of sequences of positions from the log files. Each ‘dot’ in the layout represents the GPS readings from a window of time of a single user’s log. Windows are compared using a dynamic programming algorithm for edit distance, and clustering is thus based not just on the positions that people passed through, but also their speed and direction. We are working towards a system that affords details of useful or interesting places to go and things to do. A higher–level goal is to enrich a person’s awareness of an evolving social context, by understanding how his or her ongoing activity compares with and contributes to the activities of other visitors and residents.