Miracle-dz/UniFAR-FTUs huggingface dataset:
Cooperative multi-robot estimation and control for radio source localization

We develop algorithms for estimation and control that allow a team of robots equipped with range sensors to localize an unknown target in a known but complex environment. We present an experimental model for radio-based time-of-flight range sensors. Adopting a Bayesian approach for estimation, we then develop a control law which maximizes the mutual information between the robot’s measurements and their current belief of the target position. We describe experimental results for a robot team localizing a stationary target in several representative indoor environments in which the unknown target is reliably localized with an error well below the typical error for individual measurements.
Histogram-Based Approximation of Set-Valued Query-Answers

A method for generating an approximate answer in response to a query to a database in which an SQL query Q for operating on a relation R in a database is received. Relation R has an associated histogram H. The SQL query Q is translated to be a query Q′ for operating on histogram H. Translated query Q′ is executed on histogram H for obtaining a result histogram. The result histogram is expanded into a relation having tuples containing approximate attribute values.
Analysis of Students' Socioscientific Decision-Making from the Nature of Technology Perspectives

본 연구에서는 학생들의 과학 기술관련 사회쟁점(SSI)에 대한 의사결정과정을 탐색하는 방안으로 기술의 본성(NOT)을 제안하였다. SSI 의사결정과정에서 자주 언급되는 논점들은 과학 지식 및 지식의 형성과정에서 추출된 과학의 본성보다는 인간이 필요로 하는 도구를 만들거나 사회에서 벌어지는 다양한 문제를 해결하고자 개발되는 기술과 더욱 밀접하게 연관되기 때문이다. 이에, 서울 소재 대학교에 재학중인 45명의 학생들을 대상으로 GMO(황금쌀)에 대한 시나리오를 제공한 후, 그에 대한 의사결정 내용을 글로 작성하도록 하였다. 글쓰기에서 드러난 학생들의 주요 논점은 네 가지로 요약될 수 있었다. 첫째, 과학기술 인공물이 사회문제를 해결할 수 있을까? 둘째, 해당 사회문제를 해결하기 위한 다른 대안은 없을까? 셋째 과학기술 개발과정 및 관련 제품이 유통되고 사용되는 과정에서 발생할 수 있는 부작용 혹은 문제점은 없을까? 넷째, 과학기술의 불확실성이 존재하는 상황에서 어떤 대응을 해야 할까? 연구자는 이 네 가지 논점을 문헌에서 추출한 기술의 본성(NOT)(문제의 해결안으로서의 기술, 문화적 맥락과 가치의 역할, 기술적 트레이드오프, 시스템으로서의 기술, 기술적 진보)의 관점에서 해석하였다. 그 결과, NOS와 달리 NOT는 학생들의 주요 논점에서 명시적으로 드러났으며, 이를 통해 학생들의 기술에 대한 이해 수준도 가늠해 볼 수도 있었다. 이는 SSI 맥락에서 합리적인 의사결정 능력을 함양하는 방안으로서 NOT의 적용가능성을 시사한다. 【Since socioscientific issues (SSI) reflect various characteristics of new technologies designed to meet the incessant human needs in the contemporary society, this study explores the feasibility of adapting nature of technology (NOT) to analyze students' socioscientific decision-making. To achieve the aim, forty-five college students enrolled in a liberal arts course on science and technology studies participated in the study and responded to a GMO (golden rice) scenario in a written form. Four major viewpoints were identified from their writing: 1) is the technological artifact able to solve a societal problem? , 2) are there some alternatives to solve the societal problem? , 3) what kinds of side effects or flaws could turn up during distribution and consumption of the technological artifact? , and 4) can we cope with the technological uncertainty? We revisited the viewpoints within the NOT framework (technology as a 'fix,' cultural context and role of values, technological trade-offs, technology as a system, and technological progression). As a result, unlike NOS, NOT were quite explicitly represented in their decision-making and students' level of understanding on NOT varied. It indicates that NOT can be a promising construct for cultivating informed SSI decision-making. 】
Lumped Track Layout Design for Dynamic Wireless Charging of Electric Vehicles

Dynamic wireless charging (DWC) of electric vehicles (EVs) is an emerging technology that could lead to the breakthrough of EVs. The technology is based on the inductive coupling between an electrified track deployed under the road surface and a pickup coil fitted in EV. This paper refers to a lumped track made of DD coils and is concerned with the design of the track layout, namely coil dimension in the motion direction and track coil distance for a given energy requirement. This paper starts by comparing the coupling characteristics of DD coils with different dimensions by a finite-element method (FEM) analysis. Afterward, an analytical procedure is developed to establish the track coil distance able to transfer to a moving EV the propulsion energy required per unit of traveled space. The procedure utilizes the DD-coil coupling characteristics to calculate the power and, from it, the energy transferred from the track coils to the pickup coil along the track. Instrumental in the calculation is the definition of a parameter, denoted as track flux coverage, which gives the ratio between the dimension of the track coils in the motion direction and the coil distance; such a parameter corresponds to the percentage of road populated with track coils so that it is a cost index of the DWC system implementation. Effects of a lateral displacement of the EV motion from the line joining the track coil centers are also analyzed. Design findings are checked against the results obtained with a computer-assisted analysis.
Scalable, sub 2μm pitch, Cu/SiCN to Cu/SiCN hybrid wafer-to-wafer bonding technology

This paper presents a novel approach to face-to-face wafer-to-wafer (W2W) bonding using SiCN-to-SiCN dielectric bonding, in combination with direct Cu-Cu bonding using Cu pads of unequal size and surface topography for the top and bottom wafers. The use of SiCN dielectrics allows to obtain a high W2W bonding energy (> 2 J/m2) at low annealing temperature (250 °C). Excellent Cu-Cu bonding is obtained after annealing at 350 °C. A novel CMP process, resulting in a slightly protruding Cu top pad and a slightly recessed Cu bottom pad, is introduced. The difference in pad sizes, allows for the necessary W2W overlay bonding tolerances. Excellent resistivity and yield results are obtained across bonded 300 mm Si wafers for scaled 360 nm top pads bonded to 720 nm bottom pads at 1.44 μm pitch (25% bottom Cu density). Feasibility of smaller pitches has been demonstrated by successfully bonding 180 nm top pads to 540 nm bottom pads at 0.72 μm pitch.
Defining the minimum level of detectable change for the Roland-Morris questionnaire.

BACKGROUND AND PURPOSE The Roland-Morris Questionnaire (RMQ) is a self-administered disability measure in which greater levels of disability are reflected by higher numbers on a 24-point scale. The RMQ has been shown to yield reliable measurements, which are valid for inferring the level of disability, and to be sensitive to change over time for groups of patients with low back pain. Little is known about the usefulness of this instrument in aiding decision making regarding individual patients. The purpose of this study was to determine the minimum level of detectable change when the RMQ is applied to individual patients. SUBJECTS The study sample consisted of 60 outpatients with low back pain. METHODS The RMQ was administered at the subjects' initial visit and again 4 to 6 weeks later. Conditional standard errors of measurement (CSEMs) were computed for initial and follow-up RMQ scores, and these values were used to estimate the minimum level of detectable change. Results. Minimum levels of detectable change at the 90% confidence level varied from 4 to 5 RMQ points. CONCLUSION AND DISCUSSION The magnitude of CSEMs is sufficiently small to detect change in patients with initial scores in the central portion of the scale (4-20 RMQ points); however, the magnitude is too large to detect improvement in patients with scores of less than 4 and deterioration in patients who have scores greater than 20.
Nuclear grade based on transbronchial cytology is an independent prognostic factor in patients with advanced, unresectable non‐small cell lung cancer

In patients with resected non‐small cell lung cancer (NSCLC), the prognostic value of nuclear grade has been demonstrated. However, among patients with advanced, unresectable NSCLC, the prognostic usefulness of cytological nuclear grade to the authors' knowledge remains unknown. In the current study, the authors used transbronchial cytology to investigate whether nuclear morphometry correlated with clinical outcomes in patients with advanced NSCLC.
The Logic of Practices in Pierre Bourdieu

This work proposes a comparative critical approach to the terms in which Pierre Bourdieu formulates, on one hand, the theory of practices and, on the other, those implicit in what he calls ‘public position taking’, a theory of social change. The question that guides the article is: to what degree is the logic of practices contained in the theory of action that the author develops and defends in his scientific works consistent with that enunciated in his public interventions when referring to conditions and mechanisms for change? The analysis leads to a consideration of an important difference between the terms in which Bourdieu analyses and explains social practices, and those he uses when depicting the conditions under which social change is possible.
Social Dominance Orientation and Right‐Wing Authoritarianism: Additive and Interactive Effects on Political Conservatism

It is commonly accepted that social dominance orientation (SDO) and right-wing authoritarianism (RWA) are potent unique predictors of a variety of prejudice and prejudice-related constructs. However, contrary to some predictions, there has been little evidence that these constructs interact to produce this outcome—they appear to be additive but not interactive in their prediction of prejudice. We extend the interaction hypothesis to consideration of another broadly relevant construct—political ideology. Drawing from 14 independent New Zealand–based samples, we show, through meta-analysis and multilevel random coefficient modelling, that SDO and RWA additively and interactively predict levels of political conservatism operationalised in a variety of ways. Specifically, both constructs are associated with increasing political conservatism, and the lowest levels of conservatism (or highest levels of political liberalism) are found in those lowest in both SDO and RWA.
Modeling Mid-Ultraviolet Spectra. I. Temperatures of Metal-poor Stars

Determining the properties of remote globular clusters and elliptical galaxies using evolutionary population synthesis requires a library of reliable model stellar fluxes. Empirical libraries are limited to spectra of stars in the solar neighborhood, with nearly solar abundances and abundance ratios. We report here a first step toward providing a flux library that includes nonsolar abundances, based on calculations from first principles that are calibrated empirically. Because the mid-ultraviolet spectrum of an old stellar system is dominated by the contribution from its main-sequence turnoff stars, we have started by modeling these. We have calculated mid-ultraviolet spectra for the Sun and nine nearby, near-main-sequence stars spanning metallicities from less than 1/100 solar to greater than solar, encompassing a range of light-element-abundance enhancements. We first determined temperatures of eight of the stars by analyzing optical echelle spectra together with the mid-ultraviolet. Both could be matched at the same time only when models with no convective overshoot were adopted and only when an approximate chromosphere was incorporated near the surface of relatively metal-rich models. Extensive modifications to mid-UV line parameters were also required, notably the manual assignment of approximate identifications for mid-UV lines missing from laboratory line lists. Without recourse to additional missing opacity, these measures suffice to reproduce in detail almost the entire mid-UV spectrum of solar-temperature stars up to 1/10 solar metallicity and the region from 2900 to 3100 Å throughout the entire metallicity range. Ramifications for abundance determinations in individual metal-poor stars and for age-metallicity determinations of old stellar systems are briefly discussed, with emphasis on the predictive power of the calculations.
Effect of concurrent training on gender-specific biochemical variables and adiposity in obese adolescents.

OBJECTIVE The purpose of the present study was to analyze the effects of a 20-week concurrent training (20 WCT) intervention program on gender-specific body composition and metabolic variables in obese adolescents. SUBJECTS AND METHODS Sample was composed of twenty-five obese adolescents, aged between 12 and 15 (13.4 ± 0.96) years. Fat-free mass (FFM), percentage trunk fat mass (TFM%) and percentage fat mass (%FM) were evaluated through dual-energy X-ray absorptiometry (DXA). Measurement of intra-abdominal adiposity (IAAT) was performed using ultrasound. Blood pressure was measured and blood samples analyzed for total cholesterol (TC), high-density lipoprotein cholesterol (HDL-c), low-density lipoprotein cholesterol (LDL-c), triglycerides (TG) and plasma glucose. All participants performed the concurrent training (combination of weight training and aerobic training) three times per week, one hour per day, for 20 weeks. Descriptive analysis and analysis of variance (ANOVA) for repeated measures were used to compare baseline, 10 week and 20 week moments using the Bonferroni post-hoc test. Statistical significance was set at p < 0.05. Significant decrease in TC, LDL-c and TFM% were verified in both genders after the 10 initial weeks of concurrent training. RESULTS A significant increase in height was found in both the male and female groups (p = 0.001 and p = 0.047, respectively), after 20 weeks of concurrent training. In addition, several modifications were observed in body composition and metabolic variables, with a significant decrease in BMI (p = 0.002 and p = 0.017), BMI z-score (p = 0.033 and p = 0.004), FM% (p = 0.002 and p = 0.002), TFM% (p = 0.009 and p = 0.018), TC (p = 0.042 and p = 0.001) and LDL-c (p = 0.006 and p = 0.001) in the male and female groups, respectively, after 20 weeks of intervention when compared with baseline. CONCLUSION Our results identified that concurrent training was an effective intervention for treating metabolic variable and body composition disorders, in both genders, by decreasing adiposity with consequent improvement in BMI and BMI z-scores, and enhancement in lipid profile variables.
Long-Term Results of Reconstruction with Pelvic Allografts after Wide Resection of Pelvic Sarcomas

Reconstruction after the resection of a pelvic tumor is a challenging procedure in orthopedic oncology. The main advantage of allograft reconstruction is restoration of the bony architecture of the complex pelvic region. However, high complication rates such as infection and allograft resorption had been reported in the literature. In this study, we aimed to retrospectively review nine patients treated with pelvic resection and structural pelvic allograft reconstruction. Functional results, complications, and survival of the patients and the allografts were evaluated. At a mean follow-up of 79 months, three patients were dead. Major complications were detected in eight of the nine patients. Infection (four of the nine patients) and allograft resorption (three of the nine patients) were the most common causes of failure. The cumulative survival of the patients was 66.7 percent at 70 months. However, allograft survival was only 26.7 percent at 60 months. Mean MSTS score was 69. In conclusion, we suggest that other reconstruction options should be preferred after pelvic resections because of the high complication rates associated with massive allograft reconstruction.
Surrogate model selection for evolutionary multiobjective optimization

In surrogate evolutionary algorithms, usually the type of surrogate model is chosen beforehand, and it is never changed during the run of the evolution. Moreover, the reasoning why a particular type of model was chosen is often missing. In this paper, we present a framework which in each generation selects the most suitable surrogate from a set of models based on some pre-defined criteria. The results based on different types of model selectors are compared, and the dynamics of the evolution together with the change of the selected model type during the run of the evolutionary algorithm are discussed.
Poor correlation between phytoplankton community growth rates and nutrient concentration in the sea

Abstract. Nutrient availability is one of the major factors regulating marine productivity and phytoplankton community structure. While the response of phytoplankton species to nutrient variation is relatively well known, that of phytoplankton community remains unclear. We question whether phytoplankton community growth rates respond to nutrient concentration in a similar manner to phytoplankton species composing the community, that is, following Monod's model. Data on in situ marine community growth rates in relation to nutrient concentration and the behaviour of a simple multi-species community model suggest that community growth rate does not respond to nutrient concentration according to the Monod equation. Through a simulation study we show this can be explained as a consequence of changes in size structure. Marine biogeochemical models must not parameterize phytoplankton community growth rate response to nutrient concentration using a single Monod equation but rather involve different phytoplankton functional groups each with different equation parameters.
Negative self-regard at work – Frustrating the need for self-enhancement and self-consistency

A positive and consistent sense of self is a key requirement for psychological well-being. Thirteen South African police officers and five police psychologists were interviewed to investigate the prevalence of negative social feedback received by officers and the consequences of such feedback on their sense of self. Negative social feedback and perceived lack of support from police management, courts, and government were widely prevalent and were seen to impact strongly on police officers. Officers had a largely negative view of themselves, their organisation, and the social context in which they operated. They engaged in dysfunctional and self-destructive behaviour and experienced significant discrepancies between their work and non-work selves. Opsomming Aanduidings uit die literatuur is dat navorsing aangaande bevoegdheidsevaluering gebrekkig is aan ’n teoretiese ondertoon. Ondersoek word ingestel na die kognitiewe prosesse wat plaasvind gedurende beoordeling wat aanduidend kan wees van die hoe persentasie variansie tussen evalueerders. Die beginsels van vyf verskillende kognitiewe teoriee word bespreek om moontlike verklarings te ondersoek, naamlik kognitiewe keuse-, kognitiewe evaluering-, sosiaal kognitieweteoriee, meta-kognitiewe- en die nuwe paradigma- benaderings.
Keep, lose, change: Prompts for the re-design of product concepts in a focus group setting

Focus groups have traditionally been used in market and design research to obtain group reactions to product concepts. In this article we outline a simple methodological extension to this format, involving a further stage of concept re-design in smaller subgroups facilitated by a professional designer. The method was developed in the context of working with groups of older people on concepts addressing memory, identity and social communication. It is illustrated with reference to the re-design of two seeded concepts and feedback from participants themselves on the experience of taking part.
A robust CPD approach based on shape context

Point matching is an important component of image registration. Recent years, Coherent Point Drift (CPD) method becomes a very popular point matching approach. CPD treats point matching as a probability estimation problem and speeds up the process of matching a lot. In this method, one set of points are thought to be sampled from a Gaussian Mixture Model (GMM), which is centered by the other set of points. However, CPD is sensitive to outliers and noises, especially when the noise ratio increased or the number of outliers gets much high. To deal with this problem, we introduce shape context into the step of searching for matching points and then improve the form of prior probabilities of GMM in this paper. The main idea of our method is that if the most points in a data set are likely to be matched to a particular centroid, this Gaussian component should be have a more influence to GMM. Therefore, we set prior probability of GMM with the similarity between GMM components and the data set. And the computation of similarity is based on shape context. The experiments on 2D and 3D images show that when noise ratio is low, our method performs as well as CPD does, but as the ratio increased, our method is more robust and satisfactory than CPD.
Security Arguments for a Class of ID-based Signatures

Provable security based on complexity theory provides an efficient way for providing the convincing evidences of security. In this paper, we present a definition of generic ID-based signature schemes (GIBSS) by extending the definition of generic signature schemes, and prove the Forking lemma for GIBSS. That is, we provide the Forking lemma for ID-based signature schemes. The theoretical result can be viewed as an extension of the Forking Lemma due to Pointcheval and Stern for ID-based signature schemes, and can help to understand and simplify the security proofs. Then we propose a new and efficient ID-based signature scheme built upon bilinear maps. We prove its security under k-CAA computational assumption in the random oracle model.
Decoder-Assisted Typing using an HMD and a Physical Keyboard

In recent years, head-mounted displays (HMDs) have become increasingly affordable and popular. HMDs pose new challenges for text entry because they typically immerse people in a virtual world while preventing them from seeing the real world. As HMDs become widespread, we expect that some people will want to perform traditional computing tasks with these new devices, such as writing emails or browsing the web. This work explores new ways to support efﬁcient text entry in HMDs by leveraging decoding techniques and ubiquitous physical keyboards. We describe an experiment where we measured the performance of our system on touch-typists who typed a series of short messages on a physical keyboard in a (1) keyboard visible condition, (2) occluded keyboard condition, and (3) head-mounted display condition. The results of our pilot study showed that users’ speed and accuracy was considerably worse in the occluded and HMD conditions, that our de-coder was able to correct a large number of errors, and that increasing compute time for the decoder increased the number of corrected errors.
Paths to Intimate Relationship Quality From Parent–Adolescent Relations and Mental Health

Using a developmental systems perspective and public-use longitudinal data from participants currently in a romantic relationship at Wave 4 of the National Longitudinal Study of Adolescent Health (n = 2,970), the current study explored direct and indirect paths from parent–adolescent relationship quality to young adult intimate relationship quality. Structural equation modeling tested whether mental health (depressive symptoms and self-esteem) in the transition to adulthood mediated the association between parent–adolescent relations and young adult intimate relations. The results indicated that higher quality parent–adolescent relations predicted higher self-esteem and lower depressive symptoms during the transition to adulthood as well as higher young adult intimate relationship quality, controlling for adolescent mental health and parent–young adult relationship quality. Higher self-esteem during the transition to adulthood was associated with greater intimate relationship quality, whereas greater depressive symptomatology predicted reduced intimate relationship quality. One significant indirect path emerged: parent–adolescent relationship quality → self-esteem → intimate relationship quality.