Miracle-dz/UniFAR-FTUs huggingface dataset:
Integration of 3 D Stereo Vision Measurements in Industrial Robot Applications

Three dimensional (3D) vision systems are more and more used in recent industrial robot applications for enhancing robot flexibility and intelligence. This paper presents a method of integrating 3D binocular stereo vision systems into industrial robot systems. Examples are used to illustrate the developed method and its implementation including vision system setup and calibration, robot hand-eye integration, and vision measurement analysis. The results show that a 3D stereo vision system is able to guide an industrial robot to manipulate a 3D object through accurate vision measurements and integrated robot programming. Introduction Industrial robots are often equipped with vision systems for detecting and recognizing objects in a robot work environment. Among various vision approaches, a three-dimensional (3D) binocular stereo vision system utilizes two cameras to obtain the positioning information of a 3D object for an industrial robot. This technology is widely used in industrial robot applications due to the simple setup of lighting conditions and the efficient image process of the vision system. Fig. 1 shows an industrial robot workcell where the FANUC M6i robot is able to manipulate a given 3D part on the table by using the 3D measurements of the FANUC VisLOC vision system. However, in order to make the application successful, the robot programmer must correctly set up the 3D measuring functions of the vision system and integrate the precise vision measurements into the robot application programs. Industrial practice shows that vision-guided industrial robot applications not only use the technology of vision cameras, image processing, system calibration, and communication [1], [2], [3], [4], [5] but also require the robot programmer to have a solid understanding of other issues including camera positions and views, vision measurements and accuracy, reference frames and frame transformations, and robot operations and programming. This paper presents a method of integrating the measuring functions of a 3D binocular stereo vision system into an industrial robot system. The study deals with the design techniques and procedures related to vision system setup, robot hand-eye integration, and vision measurement analysis. The discussion includes the Epipolar geometry and perspective calibration used by 3D binocular vision systems, the method for unifying the coordinates of
ILA-2: An Inductive Learning Algorithm over uncertain data

ABSTRACT AND CONCLUSION NEEDS TO BE RE-WRITTEN. ESPECIALLY WE SHOULD EMPHASIZE OUR CONTRIBUTION AND ORGINALITY OF THE WORK IN CONCLUSION. In this paper we describe the ILA-2 rule induction algorithm from the machine learning domain. ILA2 is the improved version of a novel inductive learning algorithm, namely ILA. We first describe the basic algorithm ILA, then present how the algorithm was improved. We also compare ILA-2 to a range of induction algorithms, including ILA. According to the empirical comparisons, ILA-2 appears to be comparable to CN2 and C4.5 algorithms in terms of output classifiers’ accuracy and size.AND CONCLUSION NEEDS TO BE RE-WRITTEN. ESPECIALLY WE SHOULD EMPHASIZE OUR CONTRIBUTION AND ORGINALITY OF THE WORK IN CONCLUSION. In this paper we describe the ILA-2 rule induction algorithm from the machine learning domain. ILA2 is the improved version of a novel inductive learning algorithm, namely ILA. We first describe the basic algorithm ILA, then present how the algorithm was improved. We also compare ILA-2 to a range of induction algorithms, including ILA. According to the empirical comparisons, ILA-2 appears to be comparable to CN2 and C4.5 algorithms in terms of output classifiers’ accuracy and size.
Creating a Standardized Markup Language for Semantic Networks

This paper describes the creation of, and serves as a request for comment on the SemML language for markup of semantic relational information. The major goal of the SemML project is to create a language that can act as an inter-lingua for a variety of semantic computing applications. In this paper, we discuss the structure of the language, and the ways it which it allows for recursively defined complex concepts, maintains source links which allows for management of multiple world views, and deals with other issues such as temporal data and factual versus non-factual information.
Extraction and Analysis of Structural Features in Cloud Radar and Lidar Data Using Wavelet Based Methods

Active remote sensing (i.e. the combination of cloud radar and lidar) is capable to capture the morphology of cloud fields as well as cloud internal structure. The GKSS 95 GHz cloud radar and the University of Utah high resolution lidar system have been used for studies on the internal struc- ture and boundaries of altostratus clouds, cirrus, and frontal cloud systems. Some of the data were the basis for the devel- opment and tests of wavelet based methods for the detection of typical cloud features like complex boundaries, generat- ing cells, fallstreaks, and dominant eddies. Many structural and dynamical signatures often remain undetected in larger data sets, since they live on scales which often are hidden in the quicklook type of inspection frequently applied. For dedicated studies these signatures need to be located and ex- tracted. Wavelets can be useful for this task, i.e. one- and two-dimensional dyadic wavelet analysis is well suited for a fast multiscale analysis of the mostly non-periodic data. Fast analysis tools will become important when the amount of available data will increase as it is expected for the upcom- ing active remote sensing networks and planned spaceborne cloud radars. The overall goal therefore is to develop semi- automatic procedures to detect, locate and size characteristic cloud elements within large data sets. Illustrating first exam- ples of our studies are presented here. is of importance for the development of strategies and codes for more realistic computations of radiative transfer through inhomogeneous clouds. Information on predominant struc- tures can also be very useful for the determination of under- lying processes influencing the life cycle of clouds. Cloud systems cover a large range of scales from kilome- tres down to the level of small droplets and crystals. Modern active remote sensing instruments are capable to obtain high resolution data from non-precipitating clouds. The analysis of this data is necessarily automated or examples are depicted on the basis of quick looks, which often are based on severely averaged data. During this process many interesting features in the structure of the signals remain undetected. There is a need to develop detection and analysis tools to make more use of the information contained in the high resolution data sets. GKSS Research Center operates a 95 GHz (3.2 mm) cloud radar. The narrow beam width of the antenna, short pulse
Introductory Chapter: Cognitive Disorders and Its Historical Background

Dementia is a neurodegenerative disorder characterized by a progressive decline in multiple cognitive domains leading to deterioration of daily living activities, including social and professional functioning. The aging population has been increasing gradually, and in 1990, 26 countries with more than 2 million elderly citizens aged 65 years and older were identified. It is expected that by 2013 another 34 nations will be added in the list. On the other hand, calculations made in 2000 about the number of elderly peoples (over 65 years old) in the world reached the 420 million (7%), and they estimated around 1 billion by 2030 (12%), mainly in developing countries [1].
Classification based Expert Selection for Accurate Sales Forecasting

methods used in practice vary from domain to domain. This Paper focuses on sales forecasting. Most of the series considered here are composed of three components- Trend, seasonality and irregular. A series has been decomposed into its three components and multiple forecasters (Experts) have been applied on each component. Then these forecasters are recombined, using Cartesian product of their forecasts, to generate a set of Experts. A classification based scheme is proposed to identify a final good set of Experts which can be used in various combinations to create forecast for each series. Further it has been demonstrated that this forecasting system succeeds in producing a forecast that is more accurate than the Holt Winter method, which is a standard method of forecasting. General Terms— Sales Forecasting, Times Series, Data Mining
Humanization of robots: Is it really such a good idea?

Funding information National Funds provided by the Portuguese Foundation for Science and Technology (FCT), Grant/Award Numbers: UID/PSI/03125/2013, PTDC/EEI-SII/7174/2014, SFRH/BD/110223/2015, CIPPSI/04345/2013 Abstract The aim of this review was to examine the pros and cons of humanizing social robots following a psychological perspective. As such, we had six goals. First, we defined what social robots are. Second, we clarified the meaning of humanizing social robots. Third, we presented the theoretical backgrounds for promoting humanization. Fourth, we conducted a review of empirical results of the positive effects and the negative effects of humanization on human–robot interaction (HRI). Fifth, we presented some of the political and ethical problems raised by the humanization of social robots. Lastly, we discussed the overall effects of the humanization of robots in HRI and suggested new avenues of research and development.
Design of low power operational amplifier and digital latch circuits using power efficient charge steering technique

In today's world power consumption is a burning issue. Research is going on to find out various new power efficient design techniques. Power dissipation could be reduced by transforming continuous-time current-steering circuits into discrete-time charge-steering circuits. Charge steering shows all potential to emerge as an effective technique to reduce power dissipation for high-speed circuits. This technique can be exploited in the design of both analog and semi-analog circuits such as an op-amp, latches and clock-data recovery (CDR) circuits. This paper discusses the design techniques of charge steering circuits like op-amp and latches. Both 1st stage and 2nd stage op-amp circuits and different type of latches in a single stage and cascade forms are designed. The power and performances of the charge steering circuits are also compared with conventional design techniques like current mode logic (CML) circuits to show the improvements. The results show that the op-amp power dissipation is reduced by approximately 87% with better gain. All circuits have been designed using UMC's 180 nm CMOS technology.
Multiscale algorithm for reconstructing videos from streaming compressive measurements

Abstract. We propose a multiscale, iterative algorithm for reconstructing video signals from streaming compressive measurements. Our algorithm is based on the observation that, at the imaging sensor, many videos should have limited temporal bandwidth due to the spatial lowpass filtering that is inherent in typical imaging systems. Under modest assumptions about the motion of objects in the scene, this spatial filtering prevents the temporal complexity of the video from being arbitrarily high. Thus, even though streaming measurement systems may measure a video thousands of times per second, we propose an algorithm that only involves reconstructing a much lower rate stream of “anchor frames. ” Our analysis of the temporal complexity of videos reveals an interesting tradeoff between the spatial resolution of the camera, the speed of any moving objects, and the temporal bandwidth of the video. We leverage this tradeoff in proposing a multiscale reconstruction algorithm that alternates between video reconstruction and motion estimation as it produces finer resolution estimates of the video.
Efficacy and safety of certolizumab pegol monotherapy every 4 weeks in patients with rheumatoid arthritis failing previous disease-modifying antirheumatic therapy: the FAST4WARD study

Background: Tumour necrosis factor α (TNFα) is a proinflammatory cytokine involved in the pathogenesis of rheumatoid arthritis (RA). Treatment with TNFα inhibitors reduces disease activity and improves outcomes for patients with RA. This study evaluated the efficacy and safety of certolizumab pegol 400 mg, a novel, poly-(ethylene glycol) (PEG)ylated, Fc-free TNFα inhibitor, as monotherapy in patients with active RA. Methods: In this 24-week, multicentre, randomised, double-blind, placebo-controlled study, 220 patients previously failing ⩾1 disease-modifying antirheumatic drug (DMARD) were randomised 1:1 to receive subcutaneous certolizumab pegol 400 mg (n = 111) or placebo (n = 109) every 4 weeks. The primary endpoint was 20% improvement according to the American College of Rheumatology criteria (ACR20) at week 24. Secondary endpoints included ACR50/70 response, ACR component scores, 28-joint Disease Activity Score Erythrocyte Sedimentation Rate 3 (DAS28(ESR)3), patient-reported outcomes (including physical function, health-related quality of life (HRQoL), pain and fatigue) and safety. Results: At week 24, the ACR20 response rates were 45.5% for certolizumab pegol 400 mg every 4 weeks vs 9.3% for placebo (p<0.001). Differences for certolizumab pegol vs placebo in the ACR20 response were statistically significant as early as week 1 through to week 24 (p<0.001). Significant improvements in ACR50, ACR components, DAS28(ESR)3 and all patient-reported outcomes were also observed early with certolizumab pegol and were sustained throughout the study. Most adverse events were mild or moderate and no deaths or cases of tuberculosis were reported. Conclusions: Treatment with certolizumab pegol 400 mg monotherapy every 4 weeks effectively reduced the signs and symptoms of active RA in patients previously failing ⩾1 DMARD compared with placebo, and demonstrated an acceptable safety profile. Trial registration number: NCT00548834.
An interleaved flyback inverter for residential photovoltaic applications

This study presents the analysis, design, and implementation of a photovoltaic (PV) inverter for residential applications based on interleaved flyback topology operated in discontinuous current mode (DCM). It is expected that the use of solar energy in small electric power system applications will increase largely when the cost of the PV panels and the energy conversion equipment becomes economical for every user. Therefore, the objective of this study is to develop a low-cost inverter system. The cost reduction is achieved by selecting the lowest cost converter topology, simplifying the control system, and making a compact and small size converter. The selected topology and the operating mode are known to yield the lowest component count and so the lowest cost. The paper first performs analysis and design on a 1 kW system then obtains the PLECS and the Simulink models for simulation. Later, using the simulation results, the inverter design and the controller performance are verified and optimized for the given specifications. Lastly, a full-scale prototype is built and evaluated under realistic conditions. Based on the experimental results, the implemented design and the controller can extract the energy from the solar panels with 97% efficiency and transfer it to the grid with high power quality and with 86.14% static efficiency at full load. The total harmonic distortion (THD) of the grid current is measured as 3.68% and the power factor is very close to unity. Consequently, the experimental results demonstrate that the proposed inverter system and its design perform successfully and comply with the existing PV inverter specifications.
Analysis of Financial News with NewsStream, Technical Report IJS-DP-11892

Unstructured data, such as news and blogs, can provide valuable insights into the financial world. We present the NewsStream portal, an intuitive and easy-to-use tool for news analytics, which supports interactive querying and visualizations of the documents at different levels of detail. It relies on a scalable architecture for real-time processing of a continuous stream of textual data, which incorporates data acquisition, cleaning, natural-language preprocessing and semantic annotation components. It has been running for over two years and collected over 18 million news articles and blog posts. The NewsStream portal can be used to answer the questions when, how often, in what context, and with what sentiment was a financial entity or term mentioned in a continuous stream of news and blogs, and therefore providing a complement to news aggregators. We illustrate some features of our system in three use cases: relations between the rating agencies and the PIIGS countries, reflection of financial news on credit default swap (CDS) prices, and the emergence of the Bitcoin digital currency.
SIZE EFFECT IN COMPRESSION FRACTURE: SPLITTING CRACK BAND PROPAGATION

A simplified fracture-mechanics-based model of compression failure of centrically or eccentrically loaded quasi-brittle columns is presented and the size effect on the nominal strength of a column is predicted. Failure is modeled as propagation of a band of axial splitting cracks in a direction orthogonal or inclined with respect to the column axis. The maximum load is calculated from the condition that the energy released from the column due to crack band advance be equal to the energy consumed by the splitting cracks. The axial stress transmitted across the crack band is determined as the critical stress for buckling of the microslabs of material between the axial splitting cracks, and the work on the microslabs during postbuckling deflections is taken into account. The critical postbuckling deflection of the microslabs is determined from a compatibility condition. Under the assumption of small enough material inhomogeneities, the spacing s of the splitting cracks is calculated by minimizing the failure load and is found to decrease with structure size D as D- 1/5 • The size effect on the nominal strength of geometrically similar columns is found to disappear asymptotically for small sizes D, and to asymptotically approach the power law D- 215 for large sizes D (where D = cross section dimension). However, when the material inhomogeneities are so large that they preclude the decrease of s with increasing D, the asymptotic size effect changes to D- '12 • The size effect intensifies with increasing slenderness of the column, which is explained by the fact that a more slender column stores more strain energy. The predicted size effect describes quite well previous tests at Northwestern University of reduced-scale tied reinforced concrete columns of different sizes (with size range 1:4) and different slenderness (ranging from 19 to 53). Finally, a simple modification is pointed out for the case of shear loading of concrete, in which a system of parallel tensile cracks in the diagonal compression direction develops before the maximum compressive stress is reached.
Prioritization of Domain-Specific Web Information Extraction

It is often desirable to extract structured information from raw web pages for better information browsing, query answering, and pattern mining. many such Information Extraction (IE) technologies are costly and applying them at the web-scale is impractical. In this paper, we propose a novel prioritization approach where candidate pages from the corpus are ordered according to their expected contribution to the extraction results and those with higher estimated potential are extracted earlier. Systems employing this approach can stop the extraction process at any time when the resource gets scarce (i.e., not all pages in the corpus can be processed), without worrying about wasting extraction effort on unimportant pages. More specifically, we define a novel notion to measure the value of extraction results and design various mechanisms for estimating a candidate page’s contribution to this value. We further design and build the Extraction Prioritization (EP) system with efficient scoring and scheduling algorithms, and experimentally demonstrate that EP significantly outperforms the naive approach and is more flexible than the classifier approach.
IMPLEMENTATION AND EVALUATION OF A HAPTIC PLAYBACK SYSTEM

This article presents implementation and evaluation of a haptic playback system using the PHANToM haptic interface, in the context of our Virtual Haptic Back Project at Ohio University. Playback has the potential to improve virtual palpatory diagnosis training by allowing students to follow and feel an expert’s motions prior to performing their own palpatory tasks. We have two modes in our playback system. In mode 1 the human is passive and experiences position playback of the expert’s tactile examination via the PHANToM with a PD position controller. No haptics model is enabled in mode 1. In mode 2 the human traces the expert’s path actively through visual cues. Mode 2 enables the haptics model so that the trainee feels approximately what the expert did in the original task. The experiment described in this article showed that performance with playback mode 2 is enhanced (i.e. there is less position error) when preceded by playback mode 1.
Transcriptional Regulatory Patterns of the Myelin Basic Protein and Malic Enzyme Genes by the Thyroid Hormone Receptors α1 and β1*

While there is evidence that the two ubiquitously expressed thyroid hormone (T3) receptors, TRα1 and TRβ1, have distinct functional specificities, the mechanism by which they discriminate potential target genes remains largely unexplained. In this study, we demonstrate that the thyroid hormone response elements (TRE) from the malic enzyme and myelin basic protein genes (METRE and MBPTRE) respectively, are not functionally equivalent. The METRE, which is a direct repeat motif with a 4-base pair gap between the two half-site hexamers binds thyroid hormone receptor as a heterodimer with 9-cis-retinoic acid receptor (RXR) and mediates a high T3-dependent activation in response to TRα1 or TRβ1 in NIH3T3 cells. In contrast, the MBPTRE, which consists of an inverted palindrome formed by two hexamers spaced by 6 base pairs, confers an efficient transactivation by TRβ1 but a poor transactivation by TRα1. While both receptors form heterodimers with RXR on MBPTRE, the poor transactivation by TRα1 correlates also with its ability to bind efficiently as a monomer. This monomer, which is only observed with TRα1 bound to MBPTRE, interacts neither with N-CoR nor with SRC-1, explaining its functional inefficacy. However, in Xenopusoocytes, in which RXR proteins are not detectable, the transactivation mediated by TRα1 and TRβ1 is equivalent and independent of a RXR supply, raising the question of the identity of the thyroid hormone receptor partner in these cells. Thus, in mammalian cells, the binding characteristics of TRα1 to MBPTRE (i.e. high monomer binding efficiency and low transactivation activity) might explain the particular pattern of T3 responsiveness of MBP gene expression during central nervous system development.