Miracle-dz/UniFAR-FTUs huggingface dataset:
CurveSLAM: An approach for vision-based navigation without point features

Existing approaches to visual Simultaneous Localization and Mapping (SLAM) typically utilize points as visual feature primitives to represent landmarks in the environment. Since these techniques mostly use image points from a standard feature point detector, they do not explicitly map objects or regions of interest. Our work is motivated by the need for different SLAM techniques in path and riverine settings, where feature points can be scarce or may not adequately represent the environment. Accordingly, the proposed approach uses cubic Bézier curves as stereo vision primitives and offers a novel SLAM formulation to update the curve parameters and vehicle pose. This method eliminates the need for point-based stereo matching, with an optimization procedure to directly extract the curve information in the world frame from noisy edge measurements. Further, the proposed algorithm enables navigation with fewer feature states than most point-based techniques, and is able to produce a map which only provides detail in key areas. Results in simulation and with vision data validate that the proposed method can be effective in estimating the 6DOF pose of the stereo camera, and can produce structured, uncluttered maps.
From photons to electrons : a complete 3 D simulation flow for CMOS image sensor

— This paper presents the 3-Dimensional simulation flow we have developed at STMicroelectronics for CMOS Image Sensor modeling. In this purpose, we coupled Optical simulations with TCAD process and device simulations to combine both approaches benefits. After describing the electromagnetic simulation of the light propagation inside the pixel structure and the framework for the simulation of the photo-generated electrons collection by the photodiodes, a comparison is made between our coupled Optical/TCAD simulations results and real Image Sensors optical measurements. The accuracy and predictability of this methodology is demonstrated on various 1. 75µm pitch pixels.
Design and Application of a 3 DOF Bionic Robot Arm

Regarding to concrete industrial applications, we examined the functionality and the systematic design of a bionic robot arm developed and driven by biologically inspired principles. Based on a laboratory model a scalable multi-body- dynamics-simulation model has bin developed. Although it is driven by elastically coupled linkages which require additional control efforts for oscillation damping, we can show possible advantages of a lighter and bending relieved structure and a significant reduction of danger in case of collisions.
The fuzzy value of patent litigation under imprecise information

The vague notion of "probabilistic patents" is formalized through a model whichcombines real option theory and a fuzzy methodology. The imprecise estimates the patent holder possesses about her future profits, the validity and scope of the patent, the litigation costs, the court's decision etc. under a regime of imperfect enforcement of property rights are specified modelling uncertainty with fuzzy sets. Such methodology is embedded within a real option approach, where the value of a patent includes the option value of litigation. We study how the value of a patent is affected by the timing and incidence of litigation. The main results are compared with the empirical findings of previous results.
Program specialization and verification using file format specifications

Programs that process data that reside in files are widely used in varied domains, such as banking, healthcare, and web-traffic analysis. Precise static analysis of these programs in the context of software transformation and verification tasks is a challenging problem. Our key insight is that static analysis of file-processing programs can be made more useful if knowledge of the input file formats of these programs is made available to the analysis. We instantiate this idea to solve two practical problems - specializing the code of a program to a given “restricted” input file format, and verifying if a program “conforms” to a given input file format. We then discuss an implementation of our approach, and also empirical results on a set of real and realistic programs. The results are very encouraging in the terms of both scalability as well as precision of the approach.
Steering Three-Input Chained Form Nonholonomic Systems Using Sinusoids: The Fire Truck Example

In this paper, we steer nonholonomic systems with linear velocity constraints repre sented mathematically in a special form, called chained form. We observe that chained form systems can be steered from an initial configuration to a final configuration with sinusoidal inputs. The controller we use is open loop and no special provisions are made for obstacle avoidance. Sufficient conditions are presented for converting a threeinput system with nonholonomic velocity constraintsinto a "two-chain, single-generator chained form. " An algorithm is stated that constructs the sinusoidal control inputs to steer this system from any initial configuration to any desired final point. Our example of a three-input nonholonomic system is a firetruck, or tiller truck. In this three-axle system, the control inputs are the steering velocities of both the front and rear wheels of the truck and the driving velocity of the truck. Simulation results are given for the familiar parallel parking problem and other trajectories.
Children's Social and Moral Reasoning About Exclusion

Developmental research on social and moral reasoning about exclusion has utilized a social-domain theory, in contrast to a global stage theory, to investigate children's evaluations of gender- and race-based peer exclusion. The social-domain model postulates that moral, social-conventional, and personal reasoning coexist in children's evaluations of inclusion and exclusion, and that the priority given to these forms of judgments varies by the age of the child, the context, and the target of exclusion. Findings from developmental intergroup research studies disconfirm a general-stage-model approach to morality in the child, and provide empirical data on the developmental origins and emergence of intergroup attitudes regarding prejudice, bias, and exclusion.
PackageBuilder: From Tuples to Packages

In this demo, we present PackageBuilder, a system that extends database systems to support package queries. A package is a collection of tuples that individually satisfy base constraints and collectively satisfy global constraints. The need for package support arises in a variety of scenarios: For example, in the creation of meal plans, users are not only interested in the nutritional content of individual meals (base constraints), but also care to specify daily consumption limits and control the balance of the entire plan (global constraints). We introduce PaQL, a declarative SQL-based package query language, and the interface abstractions which allow users to interactively specify package queries and easily navigate through their results. To efficiently evaluate queries, the system employs pruning and heuristics, as well as state-of-the-art constraint optimization solvers. We demonstrate PackageBuilder by allowing attendees to interact with the system's interface, to define PaQL queries and to observe how query evaluation is performed.
F-Actin Is Concentrated in Nonrelease Domains at Frog Neuromuscular Junctions

To gain insight into the role of F-actin in the organization of synaptic vesicles at release sites, we examined the synaptic distribution of F-actin by using a unique synaptic preparation of frog target-deprived nerve terminals. In this preparation, imaging of the synaptic site was unobstructed by the muscle fiber cytoskeleton, allowing for the examination of hundreds of synaptic sites in their entirety in whole mounts. At target-deprived synaptic sites F-actin was distributed in a ladder-like pattern and was colocalized with β-fodrin. Surprisingly, F-actin stain, which we localized to the nerve terminal itself, did not overlap a synaptic vesicle marker, suggesting that it was concentrated in nonrelease domains of nerve terminals between clusters of synaptic vesicles. These findings suggest that the majority of the presynaptic F-actin is not involved in tethering synaptic vesicles. Instead, the strategic presynaptic positioning of this cytoskeletal meshwork in nonrelease domains of the nerve terminal suggests alternate functions such as restricting synaptic vesicles to release domains, recycling synaptic vesicles, or stabilizing the nerve terminal.
On time-domain coexistence of unlicensed and licensed spectrum users

This paper aims to exploit spectrum white spaces in time-domain via the Dynamic Spectrum Access (DSA) technology. DSA relies on opportunistic access of licensed spectrum by unlicensed devices. Any “unlicensed-with-licensed” coexistence must ensure “safe” (i.e., un-interfered) communications for the incumbents, while achieving high spectrum-use efficiency for the secondary users. We propose a novel and comprehensive metric called the Coexistence Goodness Factor (CGF) to accurately model the inherent tradeoff between incumbent safety and unlicensed access efficiency for time-domain DSA-based coexistence. To optimize the coexistence performance, we propose a generic, online, dual-mode DSA coexistence protocol. The unlicensed devices attempt to estimate incumbent behavior patterns, and enter the Aggressive Mode (AM) once such a pattern is found, while they stay in the Safe Mode (SM) otherwise. For low-overhead and reliable estimation of incumbent spectrum-usage patterns, we propose algorithms based on Approximate Entropy (ApEn). Further, we design Spectrum-Conscious WiFi (SpeCWiFi), which provisions the proposed DSA coexistence scheme to the base 802.11 MAC. We conduct an extensive experimental evaluation of SpeCWiFi using a MadWifi-based prototype implementation in conjunction with 802.11 wireless cards. The evaluation shows that SpeCWiFi achieves excellent time-domain DSA coexistence in the presence of different types of licensed spectrum, including fast-varying channels that feature short-duration white spaces.
On the time and tape complexity of languages I

We investigate the following: (1) the relationship between the classes of languages accepted by deterministic and nondeterministic polynomial time bounded Turing machines; (2) the time and tape complexity of many predicates on the regular sets; (3) the relationship between the classes of languages accepted by deterministic or nondeterministic polynomial time bounded Turing machines and the class of languages accepted by polynomial tape bounded Turing machines; and (4) the complexity of many predicates about stack automata. We find several problems with nonpolynomial lower complexity bounds.
Trajectory generation of a micro underwater robot in 3D space considering obstacles by anovel potential function

In this paper, trajectory generation of a micro underwater robot in 3D space is discussed considering obstacles and applying a new and optimum potential function. For this purpose, an algorithm which is based on potential function is proposed. Moreover, in order to pass a planned trajectory, a feedback linearization controller is used to guide the robot. By the use of this method, an underwater robot would be able to predict and pass a safe trajectory by awareness of its own and obstacle's positions. Dynamic equations of 6 DOFs for an underwater robot are proposed and trajectory optimization of a particle considering obstacles in trying to attain a fixed or moving target in 3D coordinate space is discussed. The common potential functions are modified in order to solve the problems of inertial and cycling trap and to increase chance of implementation. Afterward, the proposed optimization method is implemented on robot dynamic model. To this end, the coordinate space is meshed with small cubes. Also, in order to control the robot, feedback linearization controller is used. It is shown that the robot would appropriately reach the planned target by this method.
Multi-standard development and measuring platform for MIMO-software defined radio

The demand for ever higher speed mobile communication is one of the main drivers of the telecommunication industry. A promising method capable of achieving high data rates is multiple input - multiple output (MIMO) technology, which has the potential to increase capacity linearly with the number of antennas. The development and measurement platform presented in this paper will simplify the design process of communication systems based on MIMO or smart antenna technology. It is compliant to GSM, UMTS and WLAN standards. In particular the development of software defined radio systems (SDR) is simplified and needs no system changes for supporting each of these standards. Moreover, the system is a flexible testbed for MIMO channel experiments and measurements. It comprises a multi channel receiver for implementation of a SDR and a MIMO channel simulator for evaluation of MIMO or smart antenna algorithms.
Parallel Job Scheduling with Overhead: A Benchmark Study

We study parallel job scheduling, where each job may be scheduled on any number of available processors in a given parallel system. We propose a mathematical model to estimate a job's execution time when assigned to multiple parallel processors. The model incorporates both the linear computation speedup achieved by having multiple processors to execute a job and the overhead incurred due to communication, synchronization, and management of multiple processors working on the same job. We show that the model is sophisticated enough to reflect the reality in parallel job execution and meanwhile also concise enough to make theoretical analysis possible. In particular, we study the validity of our overhead model by running well-known benchmarks on a parallel system with 1024 processors. We compare our fitting results with the traditional linear model without the overhead. The comparison shows conclusively that our model more accurately reflects the effect of the number of processors on the execution time. We also summarize some theoretical results for a parallel job schedule problem that uses our overhead model to calculate execution times.
The effects of abdominal draw-in maneuver and core exercise on abdominal muscle thickness and Oswestry disability index in subjects with chronic low back pain

The purpose of this study was to effects of abdominal draw-in maneuver and core exercise with 4 weeks using the musculoskeletal ultrasonography on muscle thickness and disability in subjects with low back pain. Twenty patients with nonspecific back pain (abdominal draw-in maneuver group: n= 10, core exercise group: n= 10) were recruited in the study. Both group received exercise intervention 3 times a week for 4weeks. The test were based on muscle thickness (transversus abdominis; Tra, internal oblique; IO and external oblique; EO), disability (Oswestry disability index; ODI) measured immediately before and after intervention. The data was measured by SPSS program 12.0 version and analyzed by Paired t-test and Independent t-test. The following results were obtained. The thickness of IO, EO for both group significantly improved except for muscle thickness of Tra. The ODI were significant difference for both groups. As the results of this study, we suggest that it may be effective method to apply to increase for the thickness of Tra, EO using abdominal draw-in maneuver and thickness of IO using core exercise.
HeHOP: Highly efficient head orientation and position estimation

Continuous head pose estimation is an important visual component for human-computer interaction. However, an accurate and computationally efficient method to estimate the head orientation and position remains a challenging task in computer vision. We propose a Highly efficient Head Orientation and Position estimation (HeHOP) approach based on depth data which uses a stage-by-stage regression framework. At each stage, binary features are obtained from local areas of depth information. A global linear mapping is used to predict the head orientation and position update using the binary features. We evaluate our method on the BIWI dataset containing depth images labeled with head orientation and position. The results show that our approach is robust against occlusions and achieves state-of-the-art performance in terms of accuracy, has a low miss rate, and is several times faster than previous methods.
Differences in onset time between the vastus medialis and lateralis during stair stepping in individuals with genu varum or valgum

[Purpose] We investigated the difference in onset time between the vastus medialis and lateralis according to knee alignment during stair ascent and descent to examine the effects of knee alignment on the quadriceps during stair stepping. [Subjects] Fifty-two adults (20 with genu varum, 12 with genu valgum, and 20 controls) were enrolled. Subjects with > 4 cm between the medial epicondyles of the knees were placed in the genu varum group, whereas subjects with > 4 cm between the medial malleolus of the ankle were placed in the genu valgum group. [Methods] Surface electromyography was used to measure the onset times of the vastus medialis and vastus lateralis during stair ascent and descent. [Results] The vastus lateralis showed more delayed firing than the vastus medialis in the genu varum group, whereas vastus medialis firing was more delayed than vastus lateralis firing in the genu valgum group. Significant differences in onset time were detected between stair ascent and descent in the genu varum and valgum groups. [Conclusion] Genu varum and valgum affect quadriceps firing during stair stepping. Therefore, selective rehabilitation training of the quadriceps femoris should be considered to prevent pain or knee malalignment deformities.
<*; ^/? 7^^^ Working Paper Alfred P. Sloan School of Management Testing an Aspect of Model Performance Using Spectral Analysis Testing an Aspect of Model Performance Using Spectral Analysis Testing an Aspect of Model Performance Using Spectral Analysis

A test for a dynamic model's ability to reproduce behavior modes of interest is developed and evaluated. The test consists of using the model to make one observation ahead predictions, and performing spectral analysis on the errors made in this prediction. This procedure is considered as a means of evaluating the ability of a linear model to reproduce a oscillatory behavior mode. Through the use of model generated data the test is evaluated in terms of its performance under the circumstances of model order failure, incorrect noise specification and incorrect model specification. The spectral analysis of residuals seems to be a useful test for determining a model's ability to reproduce an observed oscillatory behavior mode. Other tests for determining whether a model is useful in describing an aspect of observed behavior are called for. This paper has benefited from the comments and criticisms of Alan Graham, Jim Hines, Ed Kuh, Jim Powell, George Richardson and Qifan Wang.
Speech Associated with the Use of Speech Generating Devices with Children with Autism Spectrum Disorder: A Comparison of Two Treatment Conditions

Augmentative and alternative communication (AAC) systems are commonly used by children with autism spectrum disorder (ASD) and communication impairments. Some AAC systems, such as the Picture Exchange Communication System (PECS; Bondy & Frost, 1994), have been associated with increased speech. Although the exact mechanism of change is unknown, the creators of PECS (Bondy & Frost, 2004) suggest the use of a time delay when “reading” the sentence strip may be associated with increases in speech. The current study evaluated the effects on speech of two approaches to communication training using the PECS IV+® App as a speech generating device (SGD): (a) SGD speech output without a time delay, and (b) SGD speech output with a 3-second time delay. An adapted alternating treatment design (AATD) across three participants with ASD was used. Results suggest that the influence of the two teaching strategies on speech was different for each participant. For one participant, time delay prompting may have been beneficial in increasing the complexity or length of utterance of her speech. For a second participant, time delay prompting may have been beneficial in increasing vocal speech in the form of word approximations. For the remaining participant, there appeared to be no visible benefit for speech for either teaching strategy (with or without time delay prompting). Implications for selecting and training SGDs are discussed.
On maximizing the second smallest eigenvalue of a state-dependent graph Laplacian

We consider the set G consisting of graphs of fixed order and weighted edges. The vertex set of graphs in G will correspond to point masses and the weight for an edge between two vertices is a functional of the distance between them. We pose the problem of finding the best vertex positional configuration in the presence of an additional proximity constraint, in the sense that, the second smallest eigenvalue of the corresponding graph Laplacian is maximized. In many recent applications of algebraic graph theory in systems and control, the second smallest eigenvalue of Laplacian has emerged as a critical parameter that influences the stability and robustness properties of dynamic systems that operate over an information network. Our motivation in the present work is to "assign" this Laplacian eigenvalue when relative positions of various elements dictate the interconnection of the underlying weighted graph. In this venue, one would then be able to "synthesize" information graphs that have desirable system theoretic properties.
Bigger is Better or how Governments Learned to Stop Worrying and Love Megaprojects

Megaprojects, with their sheer size and their physical and emotional impact, can emerge as central elements around which political elites construct an ideology. Following a comparison of the narratives surrounding the Strait of Messina Bridge in Italy and the Rogun Dam in Tajikistan, I find that similar narratives appear in arguments for mega projects across different regime types, as advocates portray large infrastructure as a panacea for varied problems and thus justify the significant investment such projects require. Politicians in both Italy and Tajikistan have embraced images of heroic progress toward a better future to frame megaprojects as inevitable signs of progress and national well-being.
Identifying Conflicts During Structural Merge

This paper presents a model for controlling the evolution of documents concurrently developed by teams of authors. Optimistic check-out of revisions and alternatives, and hierarchic merge making use of default rules is presented. In particular the different situations occurring during a merge of parallel development lines and the benefit of storing the full evolution history is discussed.