Miracle-dz/UniFAR-FTUs huggingface dataset:
RRT-based strategies for sensor-based exploration

Abstract —Real mobile robots should be able tobuild an abstract representation of the physical envi-ronment, in order to navigate and to work in such en-vironment. We present a method for sensor-based ex-ploration of unknown environments by mobile robots.This method proceeds by building a data structurecalled SRT (Sensor-based Random Tree). The SRTrepresents a roadmap of the explored area with anassociated safe region, and estimates the free space asperceived by the robot during the exploration. Theoriginal work proposed in [8] presents two techniques:SRT-Ball and SRT-Star. In this paper, we proposean alternative strategy called SRT-Radial that dealswith non-holonomic constraints using two alternativeplanners named SRT Extensive and SRT Goal. Wepresent experimental results to show the performanceof the SRT-Radial and both derived planners. Keywords: Sensor-based nonholonomic motion plan-ning, SRT method, randomized strategies 1 Introduction The problem of controlling mobile robots in uncertainenvironments is of central importance to many applica-tions. Mobile robots are utilized in these applications forthe expected beneﬁts of reduced risk to humans, lowercost, and improved eﬃciency. One of the most challen-ging problems in robotics is the exploration of unknownenvironments.Generating maps is one of the fundamental tasks of mo-bile robots. Many successful robotic systems use envi-ronment maps to perform their tasks. The questions ofhowtorepresentenvironmentsandhowtoacquiremodelsusing this representation therefore is an active researcharea [7, 10, 12]. Complete geometrical representation ofthe environment increases the amount of data and thecomputational complexity of the database used for thesearching process during the robot localization and plan-ning process.Exploration is the task of guiding a vehicle during themapping process that it covers the environment with itssensors. In addition to the mapping task, eﬃcient explo-
Multiple fiber, flexgrid elastic optical network design using MaxEnt optimization [Invited]

We demonstrate how maximum entropy (MaxEnt) allocation strategies can optimally determine links within a flexgrid elastic optical network, thus requiring multiple fiber pairs to support 100% capacity growth with 34.3% improvement in the uniformity of spectrum allocations. We show how adding additional fiber to those links, which feature the highest number of demands in a link, allows optimum allocation of network capacity resources to all source-destination (S-D) demand pairs and maximizes the available spectral capacity to each demand. We also analyze the case of adding additional fiber to a link in order to reduce the number of contiguous demands present in the associated fiber, as an additional means to maximize the allowable channel capacity for each S-D demand.
Scientific Committee Fourth Regular Session Ccamlr Process of Risk Assessment to Minimise the Effects of Longline Fishing Mortality on Seabirds Wcpfc-sc4-2008/eb-ip-1 Ccamlr Process of Risk Assessment to Minimise the Effects of Longline Fishing Mortality on Seabirds

We describe the process used in the fisheries management system of the Convention for the Conservation of Antarctic Marine Living Resources (CCAMLR) to minimise seabird bycatch, and the risk-assessment methodology developed to assist this. We examine the progress of several Regional Fishery Management Organisations in taking steps to address seabird bycatch. CCAMLR has the most advanced system of management among the RFMOS covered in this review, and has made the most demonstrable progress in reducing seabird bycatch levels in its longline fisheries. A combination of proven mitigation measures, extensive monitoring by independent observers, annual expert review of seabird bycatch rates and evolving fishery and mitigation practices have been instrumental in reducing seabird bycatch in CCAMLR fisheries.
Finite-SNR diversity-multiplexing tradeoff analysis of relay network with two antennas at the source in Rayleigh Fading Channels

In this paper, we analyze the diversity-multiplexing tradeoff (DMT) of a simple relay network model in cellular system. The relay network model consists of a two-antenna base station and single-antenna mobile terminals. Compared with most prior work, we put emphasis on DMT analysis at finite signal-to-noise ratio (SNR) in Rayleigh Fading Channels. Specifically, we first derive the closed-form expressions of the outage performance and the finite-SNR DMT for the system model. Then, we investigate the effect of time allocation among the source and the relay on the outage and DMT performance. Our results reveal that the conventional asymptotic SNR DMT significantly overestimates finite-SNR DMT in the practical SNRs. We also demonstrate that the finite-SNR DMT is equivalent to the conventional asymptotic DMT when the SNR approach infinity.
An Assume Guarantee Verification Methodology for Aspect-Oriented Programming

We propose a modular verification methodology for aspect oriented programs. Aspects are the new modularization units to encapsulate crosscutting concerns and have powerful features whose effects can drastically change software behavior. Having such an impact on behavior requires an automated verification support. In this work we introduce a technique that separately answers two questions: "does the aspect have the provisioned effect? " and "does the base program satisfy the assumptions of the aspect? " To answer these questions modularly, we propose using design contracts and state machines as aspect interfaces. An aspect interface both closes the environment of the aspect and specifies its assumptions on any base code. We show that our approach can be used in verifying AspectJ programs modularly and checking compatibility for aspect reuse.
New strings for old Veneziano amplitudes IV.Connections with spin chains and other stochastic systems

In a series of recently published papers we reanalyzed the existing treatments of the Veneziano and Veneziano-like amplitudes and the models associated with these amplitudes. In this work we demonstrate that the already obtained new partition function for these amplitudes can be exactly mapped into that for the Polychronakos-Frahm (P-F) spin chain model which, in turn, is obtainable from the Richardon-Gaudin (R-G) XXX model. Reshetikhin and Varchenko demonstrated that such a model is obtainable as a leading approximation in their WKB-type analysis of solutions of the Knizhnik-Zamolodchikov (K-Z) equations. The linear independence of solutions of these equations is controlled by determinants (discovered by Varchenko) whose explicit form up to a constant coincides with the Veneziano (or Veneziano-like) amplitudes. In the simplest case, when K-Z equations are reducible to the Gauss hypergeometric equation, the determinantal conditions coincide with those which were discovered by Kummer in 19-th century. Kummer’s results admit physical interpretation crucial for providing needed justification associating determinantal formula(s) with Veneziano-like amplitudes. General results are illustrated by many examples. These include but are not limited to only high energy physics since all high energy physics scattering processes can be looked upon from much broader stochastic theory of random fragmentation and coagulation processes recently undergoing active development in view of its applications in disciplines ranging from ordering in spin glasses and population genetics to computer science, linguistics and economics, etc. In this theory Veneziano amplitudes play a central (universal) role since they are the Poisson-Dirichlet-type distributions for these processes (analogous to the more familiar Maxwell distribution for gases).
Human forearm motion discrimination based on myoelectric signal by fuzzy inference

This paper describes a human forearm motion discrimination method based on the myoelectric signal by the fuzzy inference. In the conventional studies, the neural network is often used to estimate motion intention by the myoelectric signal and realizes the high discrimination precision. On the other hand, this study uses the fuzzy inference for a human forearm motion discrimination based on the myoelectric signal. This study designs the membership function and the fuzzy rules from the average value and the standard deviation of the root mean square of the myoelectric potential for every channel of each motion. Some experiments on the myoelectric hand simulator show the effectiveness of the proposed motion discrimination method.
New circulating biomarkers for predicting cardiovascular death in healthy population

There is interest to analyse newer biomarkers to identify healthy individuals at risk to develop cardiovascular disease (CVD) incidents and death. To determine in healthy individuals new circulating protein biomarkers, whose systemic levels may be associated with the risk of future development of CVD incidents and death. The study was performed in 82 individuals from the Malmö Diet and Cancer study cohort, free from CVD of whom 41 developed CVD and 41 did not. Plasma proteins related to inflammation and thrombo‐coagulating processes were analysed. α1‐antitrypsin isotype 3 plasma levels were significantly higher while apolipoprotein J plasma levels were lower in participants that developed CVD incidents than those that did not develop acute cardiovascular episode. Of 82 participants, 17 died by CVD causes. There were proteins whose expression in plasma was significantly higher in participants suffering CVD death as compared with those that did not die by CVD. These proteins included: fibrinogen β‐chain isotypes 1 and 3, fibrinogen‐γ‐chain isotype 2, vitamin D‐binding protein isotypes 1, 2 and 3, α1‐antitrypsin isotypes 3 and 6, haptoglobin isotypes 3,4,5 and 5, haemopexin isotypes 1 and 2, and Rho/Rac guanine nucleotide exchange factor 2. Moreover, apolipoprotein J plasma levels were found lower in participants that died by cardiovascular cause. Association between plasma levels of proteins and CVD death was independent of age, gender, conventional risk factors and plasma C‐reactive protein levels. Several protein plasma levels and protein isotypes related to inflammation and thrombo‐coagulating phenomena were independently associated with the risk of future CVD death.
An object-oriented software architecture for 3D mixed reality applications

This paper presents a new software architecture for 3D mixed reality applications, named Tinmith-evo5. Currently there are a limited number of existing toolkits for the development of 3D mixed reality applications, each optimized for particular feature but at the detriment of others. Complex interactive user interfaces and applications require extensive supporting infrastructure, and can be hampered by inadequate support. The Tinmith-evo5 architecture is optimised to develop mobile augmented reality and other interactive 3D applications on portable platforms with limited resources. This architecture is implemented in C++ with an object-oriented data flow design, an object store based on the Unix file system model, and uses other ideas from existing previous work.
Nonstructural Protein Precursor NS4A/B from Hepatitis C Virus Alters Function and Ultrastructure of Host Secretory Apparatus

ABSTRACT The nonstructural proteins of hepatitis C virus (HCV) have been shown previously to localize to the endoplasmic reticulum (ER) when expressed singly or in the context of other HCV proteins. To determine whether the expression of HCV nonstructural proteins alters ER function, we tested the effect of expression of NS2/3/4A, NS4A, NS4B, NS4A/B, NS4B/5A, NS5A, and NS5B from genotype 1b HCV on anterograde traffic from the ER to the Golgi apparatus. Only the nominal precursor protein NS4A/B affected the rate of ER-to-Golgi traffic, slowing the rate of Golgi-specific modification of the vesicular stomatitis virus G protein expressed by transfection by approximately threefold. This inhibition of ER-to-Golgi traffic was not observed upon expression of the processed proteins NS4A and NS4B, singly or in combination. To determine whether secretion of other cargo proteins was inhibited by NS4A/B expression, we monitored the appearance of newly synthesized proteins on the cell surface in the presence and absence of NS4A/B expression; levels of all were reduced in the presence of NS4A/B. This reduction is also seen in cells that contain genome length HCV replicons: the rate of appearance of major histocompatibility complex class I (MHC-I) on the cell surface was reduced by three- to fivefold compared to that for a cured cell line. The inhibition of protein secretion caused by NS4A/B does not correlate with the ultrastructural changes leading to the formation a “membranous web” (D. Egger et al., J. Virol. 76:5974-5984, 2002), which can be caused by expression of NS4B alone. Inhibition of global ER-to-Golgi traffic could, by reducing cytokine secretion, MHC-I presentation, and transport of labile membrane proteins to the cell surface, have significant effects on the host immune response to HCV infection.
Protecting AJAX Code Using Secure Communication

AJAX is a ubiquitous technology that empowers Web applications by facilitating communication with the server side of the Web transaction. The drawback of this enabling technology is that malicious exploits can use this AJAX “back door” to communicate on behalf the client/server and steal users’ information. In this paper, we present a technique that will protect the AJAX-enabled communication. The method works by encrypting the URL and content using the low overhead Tiny Encryption Algorithm. Authentication of the content is done via 3rd party verification of the encrypted URL and content, and the SHA-1 digital signature of the user.
Impact of Wheat Row Planting on Yield of Smallholders in Selected Highland and Lowland Areas of Ethiopia

Wheat row planting has been seen as good agronomic practice for increasing wheat yield in Ethiopia. Agricultural extension activity is concerned with the promotion and scaling-up of wheat row planting. Farmers have been practicing the row planting manually since 2009. However, there is lack of empirical study on the impact of row planting on wheat yield compared to the conventional broadcast planting method in highland and lowland wheat producing agro-ecologies. To fill this gap, this study estimates the impact of row planting on wheat yield of farmers. Cross-sectional survey data collected from randomly selected 248 farmers, logit model, and propensity score matching methods were used to achieve the objective of the study. The study obtained that wheat row planting has significant impact on wheat yield of farmers in the selected highland agro-ecology; and it has non-significant yield impact in the lowland agro-ecology. The mean yield of row planted wheat was higher by 13.9 percent when compared to the mean yield of conventional broadcast planting method in the highland area. It is recommended that other agronomic practices along with the row planting method need to be considered for increasing wheat yield as well as for the successful promotion, adoption and scaling up of best agronomic practices.
Frequency effects and markedness in phonotactics

Abstract In this paper, we take up the challenge of exploring the relationship between markedness and frequency in phonotactics. The study is based on word-initial and word-final consonant clusters in Polish and English. The aim of this study is threefold. First, we establish logarithmic frequencies for word-initial and final consonant clusters compiled from two resources, a dictionary (or paradigm) and a written corpus. Second, we examine the preferability status of clusters in three frequency bands (high, mid, low) in terms of two phonotactic principles, i.e. sonority and Net Auditory Distance. Finally, we test the correlations between degrees of markedness and frequency. The present paper extends our previous studies on comparative Polish–English phonotactics, where markedness and frequency constitute the core of the analysis. The study shows that there is no relationship between cluster markedness and its frequency. As to frequencies, Polish and English differ from each other with respect to the distribution of clusters in the dictionary list, while the disproportions are neutralized in usage.
Association between Genetic Polymorphisms in Cav2.3 (R-type) Ca2+ Channels and Fentanyl Sensitivity in Patients Undergoing Painful Cosmetic Surgery

Individual differences in the sensitivity to fentanyl, a widely used opioid analgesic, lead to different proper doses of fentanyl, which can hamper effective pain treatment. Voltage-activated Ca2+ channels (VACCs) play a crucial role in the nervous system by controlling membrane excitability and calcium signaling. Cav2.3 (R-type) VACCs have been especially thought to play critical roles in pain pathways and the analgesic effects of opioids. However, unknown is whether single-nucleotide polymorphisms (SNPs) of the human CACNA1E (calcium channel, voltage-dependent, R type, alpha 1E subunit) gene that encodes Cav2.3 VACCs influence the analgesic effects of opioids. Thus, the present study examined associations between fentanyl sensitivity and SNPs in the human CACNA1E gene in 355 Japanese patients who underwent painful orofacial cosmetic surgery, including bone dissection. We first conducted linkage disequilibrium (LD) analyses of 223 SNPs in a region that contains the CACNA1E gene using genomic samples from 100 patients, and a total of 13 LD blocks with 42 Tag SNPs were observed within and around the CACNA1E gene region. In the preliminary study using the same 100 genomic samples, only the rs3845446 A/G SNP was significantly associated with perioperative fentanyl use among these 42 Tag SNPs. In a confirmatory study using the other 255 genomic samples, this SNP was also significantly associated with perioperative fentanyl use. Thus, we further analyzed associations between genotypes of this SNP and all of the clinical data using a total of 355 samples. The rs3845446 A/G SNP was associated with intraoperative fentanyl use, 24 h postoperative fentanyl requirements, and perioperative fentanyl use. Subjects who carried the minor G allele required significantly less fentanyl for pain control compared with subjects who did not carry this allele. Although further validation is needed, the present findings show the possibility of the involvement of CACNA1E gene polymorphisms in fentanyl sensitivity.
General practitioners’ experiences, attitudes, and opinions regarding the pneumococcal vaccination for adults: a qualitative study

Introduction Diseases caused by Streptococcus pneumoniae generate substantial morbidity and mortality. Despite official recommendations to vaccinate everyone over the age of 64, the estimated vaccination rate for this target population is around 2%. In Switzerland, pneumococcal vaccinations are for the most part provided by general practitioners (GPs); in addition, a small number of patients get vaccinated during a hospital stay. We wanted to investigate GPs’ attitudes and opinions about the pneumococcal vaccination in primary care and why it is so rarely provided. Methods For this qualitative study, we conducted semistructured interviews with 20 GPs. Transcriptions of all interviews were analyzed following the technique of qualitative content analysis, supported by the ATLAS.ti© software. Results Most GPs reported that they know pneumococcal vaccination is recommended for several risk groups and elderly patients. As to reasons for the low vaccination rate, GPs mentioned the pneumococcal vaccination had little priority in daily practice, especially in comparison with the importance of other vaccinations, namely influenza. This low level of priority was supported by the fact that the GPs rarely ever experienced a case of a severe pneumococcal disease in their daily work. Furthermore, perceived insufficient evidence resulting from existing epidemiologic data and clinical trials enhanced the little attention given to the pneumococcal vaccination. Conclusion We found the generally low level of priority given within a consultation, the missing awareness of this subject in daily practice, and the perception of epidemiologic and scientific data as insufficient, as the reasons for the low rate in pneumococcal vaccinations. Efforts to increase the epidemiologic data on the pneumococcal vaccination should be taken. To increase the vaccination rate, it would be necessary to raise the awareness and priority of the pneumococcal vaccination; a feasible way could be the combination of the seasonal flu vaccination campaign with a campaign for pneumococcal vaccination.
A harmony and disharmony in mining of the migrating individuals

This paper deals with the object detection, recognition and categorization taking into account its ability to convert into some other object. This is possible when the object variance includes an individual ability to change one or more of its properties within some fixed computational framework. The potentially convertible individuals are gathered into the variable domains, in turn. The variance of domains is also considered within a fixed computational model. The construction of a computational model suitable to capture the semantics of variable individuals is proposed as a special `conceptual stand'. This leads to a primitive frame to detect the individual migration from domain to domain. The detection of such a convertible individual gives rise to the task of `mining' the disguised individuals with changed properties. The convertible individuals are modeled by the elements of variable domains. The supporting computational model is based on a separation of individuals into actual, possible and virtual ones. The convertible individual in a model can be recognized by its decomposing into its dimensional counterparts. As was shown, this leads to an adoption of the stage-by-stage cognition model with a pair of evolvents to capture dynamics of the domains - the 2-dimensions model. The first evolvent reflects the generation of the individuals in a domain, the beginning of and canceling out their existence in a domain. The second evolvent reflects the shifts in properties of the individuals. As awaited this unified data model will have the applications to a wide range of models in computer science and Information Technologies.
Unfit by Accident: Third-Party Perception of Parental Fitness Based on Childbearing Intention

Prior research has examined the impact of unintended birth on parent and child welfare. The present studies examine another potential consequence: namely, how third-party observers react to information about parenthood intention. We examine whether the act of having intended (or not) to become a parent affects people’s impressions of (1) what type of caregiver the (un)intended parent will be, (2) the type of relationship the (un)intended parent will have with the child, and (3) potential outcomes for that family. Studies 1 and 2 demonstrate that people award less custody to accidental mothers and fathers because lack of intention during birth is perceived as decreasing parental quality and closeness between parent and child. Study 3 tests potential moderators of this effect including parenthood status and controllability, highlighting the potential negative consequences of this phenomenon for families in child custody disputes where third-party judgments are especially likely to bear weight.