Miracle-dz/UniFAR-FTUs huggingface dataset:
Modeling and simulation of spatial 6-DOF parallel robots using Simulink and SimMechanics

This paper addressed the dynamics and control for completely spatial 6-DOF parallel robots (SPR) in computer. The complex dynamic equations are derived via using Kane methods, and a typical PID controller is developed for spatial 6-DOF parallel robots. Making use of the software of Simulink, the computer model of SPR is built in terms of the dynamic equations of SPR, and the simulation is realized for SPR under PID controller in Simulink. The computer model of SPR is also established with SimMechanics to confirm the computer model in Simulink, according to the physical relationship of SPR. The simulation results demonstrate that the computer model of SPR in Simulink is correct, and the two methods of computer modeling are effective for SPR and other mechanical systems, especially the SimMechanics like ADAMS.
An Experimental Study of A Parallel Shortest Path Algorithm for Solving Large-Scale Graph Instances

We present an experimental study of the single source shortest path problem with non-negative edge weights (NSSP) on large-scale graphs using the Δ-stepping parallel algorithm. We report performance results on the Cray MTA-2, a multithreaded parallel computer. The MTA-2 is a high-end shared memory system offering two unique features that aid the efficient parallel implementation of irregular algorithms: the ability to exploit fine-grained parallelism, and low-overhead synchronization primitives. Our implementation exhibits remarkable parallel speedup when compared with competitive sequential algorithms, for low-diameter sparse graphs. For instance, Δ-stepping on a directed scale-free graph of 100 million vertices and 1 billion edges takes less than ten seconds on 40 processors of the MTA-2, with a relative speedup of close to 30. To our knowledge, these are the first performance results of a shortest path problem on realistic graph instances in the order of billions of vertices and edges.
Promotion Method for the Degeneration of Element Based Image Fusion

This article mainly study the application of the digital image process based on PDE. We present the concept and property of scale space, and give the relationship between continuous scale space and the PDE model, for example, the heat exchange equation ascertain the gauss scale space. Following with the simple linear diffusion equation, it introduces the nonlinear isotropic diffusion and the nonlinear an isotropic diffusion. It not only presents corresponding idiographic diffusion equation models, but also compares the different effects of them in image processing. This application begins with the method of energy analysis, then constructs variation problem, gets the original model at last. Besides, it improves the original model for the goal of noise-removing, edge enhancement, remaining the original image's information. The difficulty of image processing -- edge's noise-removing and blur-removing, will be answered preferably by this article. As the result indicates, the image processed by this method is quite notable in the aspect of SNR enhancement. This article analyses the function of each PDE's items in image processing from the mathematical view, by which we constructs the diffusion model which not only generates the new arithmetic in the article, but also paves the way for people's further research in this field.
Bit allocation for multiview image compression using cubic synthesized view distortion model

“Texture-plus-depth” has become a popular coding format for multiview image compression, where a decoder can synthesize images at intermediate viewpoints using encoded texture and depth maps of closest captured view locations via depth-image-based rendering (DIBR). As in other resource-constrained scenarios, limited available bits must be optimally distributed among captured texture and depth maps to minimize the expected signal distortion at the decoder. A specific challenge of multiview image compression for DIBR is that the encoder must allocate bits without the knowledge of how many and which specific virtual views will be synthesized at the decoder for viewing. In this paper, we derive a cubic synthesized view distortion model to describe the visual quality of an interpolated view as a function of the view's location. Given the model, one can easily find the virtual view location between two coded views where the maximum synthesized distortion occurs. Using a multiview image codec based on shape-adaptive wavelet transform, we show how optimal bit allocation can be performed to minimize the maximum view synthesis distortion at any intermediate viewpoint. Our experimental results show that the optimal bit allocation can outperform a common uniform bit allocation scheme by up to 1.0dB in coding efficiency performance, while simultaneously being competitive to a state-of-the-art H.264 codec.
Model Predictive Direct Torque Control of permanent magnet synchronous motors

Model Predictive Direct Torque Control (MPDTC) is a recent computational control methodology that combines the merits of Model Predictive Control (MPC) with the ones of Direct Torque Control (DTC). Specifically, with respect to standard DTC, the converter's switching frequency and/or losses are considerably reduced, while at the same time the Total Harmonic Distortion (THD) levels of the phase currents and the torque are improved. Moreover, DTC's favorable dynamic and robustness properties are preserved. This paper presents an MPDTC scheme for a permanent magnet synchronous motor that achieves long prediction horizons in the range of up to 150 time-steps through the use of extrapolation and bounds. A discrete-time internal controller model of the drive system is derived from the physical equations. Simulation results for a three-level voltage source inverter indicate that such an MPDTC scheme, compared to an industry standard controller, is capable of reducing the switching losses and the switching frequency by up to 50%, and the torque THD by 25%, while leaving the current THD unchanged.
A Model-Driven Stereo Correspondence Algorithm using Dynamic Programming

We describe an edge-based stereo correspondence algorithm in the model-driven vision system. A constraint derived from the 3D model is used to prune false alarms and speed up the matching process. This constraint is based on computional considerations and experimental and psychological observations concerning vertical disparities. An edge constraint is also presented. A numbering scheme is used to facilitate the implementation of the correspondence algorithm using dynamic programming. Experiments on natural images show that the correspondence of an edge can usually be achieved in a few seconds. The computed disparities are further incorporated into object model to re-(cid:12)ne the estimates of object pose.
What does using TCP as an evaluation tool reveal about MANET routing protocols?

Past research studying the operations of TCP over wireless/mobile ad hoc networks has shown that TCP cannot be adopted as-is for use in mobile ad hoc networks (MANET) to achieve reasonable performance. This is because the assumptions made during designing TCP were made to make TCP work for wired networks, not MANETs. Consequently, most past research evaluating the performance of MANET routing protocols has concentrated on using CBR traffic over UDP for evaluation. In this paper, we distinguish practical use of TCP from use of TCP for evaluation purposes, and examine whether using TCP as an evaluation tool to evaluate MANET routing protocols will yield any new insights, even though we readily agree with past research that using TCP as-is (that is, as packaged for wired networks) for practical use over MANET is not a good approach. We motivated this idea because even though TCP does not function well over MANET, the fundamental expectations TCP has over the network are "universal" metrics which MANET researchers should strive for as well.Using simulations, we show that by studying the performance of MANET routing protocols using TCP traffic, we obtain a different understanding of the protocols studied, and this understanding cannot be obtained via applying CBR/UDP traffic. In this spirit, we urge MANET routing protocol designers to use TCP as an evaluation tool during the protocol design process.
Study on Velocity Estimation for Four-Wheel Independent Drive Electric Vehicle by UKF

The four wheel torque is easy to get in the four-wheel independent drive electric vehicle and the vehicle velocity estimation was studied by Unscented Kalman Filter (UKF) in this paper. The velocity estimation algorithm made use of the longitudinal acceleration, lateral acceleration and yaw rate signals measured by low cost sensors. 3-DOF vehicle estimation model with the HSRI tire model was used. The algorithm was verified by simulation experiment. The results showed that the longitudinal velocity and lateral velocity were estimated accurately using the algorithm.
AN INVESTIGATION OF THE RELATIONSHIP BETWEEN THE AFFECTIVE, NORMATIVE, AND CONTINUANCE COMMITMENT OF TEACHERS AND LEVELS OF EFFECTIVENESS

The aim of the present study was to determine the power of the affective, normative, and continuance commitment of teachers in prediction of teacher effectiveness. Having adopted the relational screening model, the study utilized data collected by the “Organisational Commitment Scale” and the “Teacher Performance Assessment Scale ” as administered to a total of 311 teachers in 5 neighbourhoods within Ankara province. Relations between the variables were calculated by parametric tests of t -test, one-way analysis of variance (ANOVA), correlation, and multiple regression analysis. According to the t -test results, unlike the affective commitment, which indicated significant difference by sex, the teachers’ continuance and normative commitment, total commitment, and levels of effectiveness did not indicate significant difference by sex. The one-way analysis of variance (ANOVA) results suggested that the teachers’ organisational commitment levels did not indicate significant difference by seniority in continuance commitment and effectiveness domains while there were significant differences in affective commitment, normative commitment, and total commitment domains. Results of the correlation analysis suggested positive and significant relationships between the teachers’ affective, normative, and continuance commitment and teacher effectiveness. According to the multiple regression analysis, the teachers’ affective and normative commitment was a significant precursor of teacher effectiveness unlike the continuance commitment. The affective and normative commitment of teachers was the determinants of their level of effectiveness. Recommendations as regards improving the level of effectiveness presented in the end of the study. Article visualizations:
FEDERAL RESERVE BANK of ATLANTA WORKING PAPER SERIES Systematic and Liquidity Risk in Subprime-Mortgage Backed Securities

The misevaluation of risk in securitized financial products is central to understanding the financial crisis of 2007–8. This paper characterizes the evolution of factors affecting collateralized debt obligations based on subprime mortgages. A key feature of subprimemortgage backed indices is that they are distinct in their vintage of issuance. Using a latent factor framework that incorporates this vintage effect, we show the increasing importance of a common factor on more senior tranches during the crisis. We examine this common factor and its relationship with spreads. We estimate the effects on the common factor of the financial crisis. JEL classification: G12, G01, C32
Professional Development: Teachers Use of GIS to Enhance Student Learning

Abstract This article explains a professional development experience of fifth to twelfth grade teachers in using geographic information systems (GIS) and global positioning systems (GPS) technologies to enhance classroom teaching and learning environments. A key challenge faced by the developers was whether teachers would value the technology tools enough to warrant the time necessary to develop the skills for productive use of the technology. Based on five years' experience, researchers identified seven key components and elaborated on them with examples and related processes.
Divergence-Free SPH for Incompressible and Viscous Fluids

In this paper we present a novel Smoothed Particle Hydrodynamics (SPH) method for the efficient and stable simulation of incompressible fluids. The most efficient SPH-based approaches enforce incompressibility either on position or velocity level. However, the continuity equation for incompressible flow demands to maintain a constant density and a divergence-free velocity field. We propose a combination of two novel implicit pressure solvers enforcing both a low volume compression as well as a divergence-free velocity field. While a compression-free fluid is essential for realistic physical behavior, a divergence-free velocity field drastically reduces the number of required solver iterations and increases the stability of the simulation significantly. Thanks to the improved stability, our method can handle larger time steps than previous approaches. This results in a substantial performance gain since the computationally expensive neighborhood search has to be performed less frequently. Moreover, we introduce a third optional implicit solver to simulate highly viscous fluids which seamlessly integrates into our solver framework. Our implicit viscosity solver produces realistic results while introducing almost no numerical damping. We demonstrate the efficiency, robustness and scalability of our method in a variety of complex simulations including scenarios with millions of turbulent particles or highly viscous materials.
A Golgi-associated protein 4.1B variant is required for assimilation of proteins in the membrane

The archetypal membrane skeleton is that of the erythrocyte, consisting predominantly of spectrin, actin, ankyrin R and protein 4.1R. The presence in the Golgi of a membrane skeleton with a similar structure has been inferred, based on the identification of Golgi-associated spectrin and ankyrin. It has long been assumed that a Golgi-specific protein 4.1 must also exist, but it has not previously been found. We demonstrate here that a hitherto unknown form of protein 4.1, a 200 kDa 4.1B, is associated with the Golgi of Madin-Darby canine kidney (MDCK) and human bronchial epithelial (HBE) cells. This 4.1B variant behaves like a Golgi marker after treatment with Brefeldin A and during mitosis. Depletion of the protein in HBE cells by siRNA resulted in disruption of the Golgi structure and failure of Na+/K+-ATPase, ZO-1 and ZO-2 to migrate to the membrane. Thus, this newly identified Golgi-specific protein 4.1 appears to have an essential role in maintaining the structure of the Golgi and in assembly of a subset of membrane proteins.
A new species of the lenticel fungal genus Claviradulomyces (Ostropales) from the Brazilian Atlantic forest tree Xylopia sericea (Annonaceae)

Claviradulomyces xylopiae sp. nov. is introduced for a fungus occurring in association with abnormal (enlarged, spongy) lenticels of Xylopia sericea (Annonaceae), a common tree of the Atlantic forest and Cerrado ecosystems in Brazil. This is the second species described in the genus and, although it is morphologically distinct from the type species, C. dabeicola from West Africa, it possesses the same characteristics. Apothecial ascomata have periphysoids and paraphyses that are inflated apically (clavate), and ornamented with denticles (raduliform). Furthermore, similar to the type species, it also has long-cylindric or acerose, aseptate ascospores and conidia. An additional asexual morph was produced in culture and is described. Molecular studies of C. dabeicola and the new species confirmed a placement in Ostropales, although a relationship to Odontotremataceae was not supported. Both species were consistently in association with abnormal lenticular development on their woody hosts. It remains to be ascertained, however, if these are the causal agents of the bark disorders, or, simply, opportunistic colonisers. The finding of the second species in the genus Claviradulomyces on a plant from a distantly related family to that of the host of C. dabeicola (Erythroxylaceae) for the genus on a different continent suggests that fungi in this genus may be common on lenticels of other woody plants, and could even have a pantropical distribution. It is possible that fungi in the genus have remained unreported until now because lenticels have remained neglected as a habitat surveyed by mycologists.
Hydroclimatic influence of large‐scale circulation on the variability of reservoir inflow

In this study, the nature of basin‐scale hydroclimatic association for Indian subcontinent is investigated. It is found that, the large‐scale circulation information from Indian Ocean is also equally important in addition to the El Niño‐Southern Oscillation (ENSO), owing to the geographical location of Indian subcontinent. The hydroclimatic association of the variation of monsoon inflow into the Hirakud reservoir in India is investigated using ENSO and EQUatorial INdian Ocean Oscillation (EQUINOO, the atmospheric part of Indian Ocean Dipole mode) as the large‐scale circulation information from tropical Pacific Ocean and Indian Ocean regions respectively. Individual associations of ENSO & EQUINOO indices with inflow into Hirakud reservoir are also assessed and found to be weak. However, the association of inflows into Hirakud reservoir with the composite index (CI) of ENSO and EQUINOO is quite strong. Thus, the large‐scale circulation information from Indian Ocean is also important apart form the ENSO. The potential of the combined information of ENSO and EQUINOO for predicting the inflows during monsoon is also investigated with promising results. The results of this study will be helpful to water resources managers due to fact that the nature of monsoon inflow is becoming available as an early prediction. Copyright © 2009 John Wiley & Sons, Ltd.
Size Distribution of Main-Belt Asteroids with High Inclination

We investigated the size distribution of high-inclination main-belt asteroids (MBAs) so as to explore asteroid collisional evolution under hypervelocity collisions of around 10 km s � 1 . We performed a wide-field survey for highinclination sub-km MBAs using the 8.2-m Subaru Telescope with the Subaru Prime Focus Camera (Suprime-Cam). Suprime-Cam archival data were also used. A total of 616 MBA candidates were detected in an area of 9.0 deg 2 with a limiting magnitude of 24.0 mag in the SDSS r filter. Most of the candidate diameters were estimated to be smaller than 1 km. We found a scarcity of sub-km MBAs with high inclination. Cumulative size distributions (CSDs) were constructed using Subaru data and published asteroid catalogs. The power-law indexes of the CSDs were
Clustering as a tool for self-generation of intelligent systems : a survey.

Fuzzy Rule Based (FRB) and Neuro-fuzzy systems are commonly used as a basis for intelligent systems due to their transparent and simple human interpretable structure. One of the crucial steps in designing FRB and neuro-fuzzy systems is to innovate the rule base. Data clustering is one of the approaches that have been applied extensively to automatically generate rules from input-output data. The goal of this paper is to critically review some of the most commonly used as well as recently developed clustering techniques, emphasizing their use in rule base generation. The paper explores the shift from offline clustering techniques to online and finally to evolving techniques that originated due to the current demand of adaptive systems.
G ENERATION OF DIGITAL TERRAIN MODELS FROM MULTIPLE SA R AIRBORNE SURVEYS OVER FORESTED AREAS

This paper considers the retrieval of ground elevation in presence of volume scattering, basing on multibaseline airborne SAR data. Once the interferometric phases related to ground-only contributions have been estimated through Algebraic Synthesis technique, the problem is similar to the one of generating a Digital Elevation Model (DEM) basing on multiple repeat-pass spaceborne SAR surveys. Nonetheless, airborne SAR systems present a significant difference with respect to spaceborne SAR system: since the Radar sensor is much closer to the target, the incidence angle sensitivity undergoes a dramatic increase with respect to the spaceborne case, resulting in a high spatial variability of the normal baselines. In order to properly cope with this issue, a real case has been analyzed taking explicitly into account the spatial variation of the normal baselines. The test site selected is the Krycklan catchement, in northern Sweden, chosen for the ESA BIOSAR 2008 campaign.
Managing real-time media flows through a flow state exchange

When multiple congestion controlled flows traverse the same network path, their resulting rate is usually an outcome of their competition at the bottleneck. The WebRTC / RTCWeb suite of standards for inter-browser communication is required to allow prioritization. This is addressed by our previously presented mechanism for coupled congestion control, called the Flow State Exchange (FSE). Here, we present our first simulation results using two mechanisms that have been proposed for IETF standardization: Google Congestion Control (GCC) and Network-Assisted Dynamic Adaptation (NADA). These two mechanisms exhibit aspects that allow us to use a simpler “passive” algorithm in our FSE. Passive coupling allows a less time-constrained request-response style of signaling between congestion control mechanisms and the FSE, which enables the FSE to run as a stand-alone management tool.
Stationary solutions of the Navier-Stokes equations in a half-plane downstream of an obstacle: 'universality' of the wake

We consider stationary solutions of the incompressible Navier-Stokes equations for exterior domains in two dimensions with a non-zero asymptotic flow u∞ at infinity. Under the restriction that the obstacle (the complement of the exterior domain) is symmetric around an axis parallel to u∞, we prove that asymptotically in the down-stream direction, the leading-order deviation from the constant flow approaches a universal shape which depends only on one parameter, namely the net force exerted by the fluid on the obstacle in the direction of u∞. To get this result, we show that the (elliptic) Navier-Stokes equations can be interpreted as a dynamical system, the down-stream direction playing the role of time, which shares some aspects with a parabolic partial differential equation.
A novel phonemes classification method using fuzzy logic

In this study, we will interest in phonemes classification of Timit database using Fuzzy Logic. The fuzzy method consists in the extraction of a three fuzzy-reference vectors: maximal, mean and minimal. To classify a phoneme request, we calculate its degree of membership to all defined classes. The class of a phoneme request is, then, the one which maximizes one degree of membership calculated according to reference vectors. Different techniques of speech analysis are used for evaluation. Results show that fuzzy logic can provide a significant issue when mathematical rigor is not present as to the signal processing since the retained recognition rates was 90,85%, 22,96%, 98,57% and 91,73% for respectively MFCC, LPC, PLP and RASTA PLP.