Miracle-dz/UniFAR-FTUs huggingface dataset:
Software Architecture , Path Planning , and Implementation for an Autonomous Robot

A software architecture, including path planning capabilities, was designed and implemented for Companion, an autonomous mobile robot. The software architecture consists of modules with specific responsibilities, and these modules were implemented in the C programming language on the QNX operating system. Modules performing functions such as navigation, trajectory following, and path planning were implemented and tested. Navigation, achieved through dead reckoning, was accurate to a position within 1.2 percent of path length. A trajectory following system, which allowed the robot to follow lines and circles, worked adequately despite some transient overshoot and a steady-state off line error of 0.03 meters. Satisfactory path planners for a point robot in a plane and for a rectangular robot with a turning constraint were implemented and tested. Although individual functions were tested, the primary focus was to achieve good overall system performance. The software architecture and implementations are a strong framework from which improvements and additions can be made. Technical Supervisor: David S. Kang Thesis Supervisor: Kamal Youcef-Toumi Title: Associate Professor Acknowledgments For this opportunity, I must first thank my Draper supervisor Dr. David Kang, my MIT advisor Prof. Kamal Youcef-Toumi, and my first Draper colleagues: Mark Abramson, Bill Hall, and Bob Powers. I am forever grateful to Steve Steiner, my partner in crime, who endured endless hours of debugging with me. Kudos to everyone else who participated on the project, in particular to Sean Adam, for his patience in debugging; Bill Kaliardos, for replacing all those pots and encoders; and Chuck Tung for the new gyro that got really going. I must also acknowledge all the other guys in the lab who provided endless entertainment. I thank all of my friends. They have made MIT much more than an engineering experience. Finally, thanks to family: Irene, Mom, and Dad.
Physiological Responses and Lactation to Cutaneous Evaporative Heat Loss in Bos indicus, Bos taurus, and Their Crossbreds

Cutaneous evaporative heat loss in Bos indicus and Bos taurus has been well documented. Nonetheless, how crossbreds with different fractional genetic proportions respond to such circumstances is of interest. A study to examine the physiological responses to cutaneous evaporative heat loss, also lactation period and milk yield, were conducted in Sahiwal (Bos indicus, n = 10, 444±64.8 kg, 9±2.9 years), Holstein Friesian (Bos taurus, HF100% (n = 10, 488±97.9 kg, 6±2.8 years)) and the following crossbreds: HF50% (n = 10, 355±40.7 kg, 2±0 years) and HF87.5% (n = 10, 489±76.8 kg, 7±1.8 years). They were allocated so as to determine the physiological responses of sweating rate (SR), respiration rate (RR), rectal temperature (RT), and skin temperature (ST) with and without hair from 06:00 h am to 15:00 h pm. And milk yield during 180 days were collected at days from 30 to 180. The ambient temperature-humidity-index (THI) increased from less than 80 in the early morning to more than 90 in the late afternoon. The interaction of THI and breed were highly affected on SR, RR, RT, and ST (p<0.01). The SR was highest in Sahiwal (595 g/m2/h) compared to HF100% (227 g/m2/h), and their crossbreds both HF50% (335 g/m2/h) and HF87.5% (299 g/m2/h). On the other hand, RR was higher in HF87.5% (54 bpm) and both HF100% (48 bpm) and HF50% (42 bpm) than Sahiwal (25 bpm) (p<0.01). The RT showed no significant differences as a result of breed (p>0.05) but did change over time. The ST with and without hair were similar, and was higher in HF100% (37.4°C; 38.0°C) and their crossbred HF50% (35.5°C; 35.5°C) and HF87.5% (37.1°C; 37.9°C) than Sahiwal (34.8°C; 34.8°C) (p<0.01). Moreover, the early lactation were higher at HF100% (25 kg) and 87.5% (25 kg) than HF50% (23 kg) which were higher than Sahiwal (18 kg) while the peak period of lactation was higher at HF100% (35 kg) than crossbreds both HF87.5% and HF50% (32 kg) which was higher than Sahiwal (26 kg) (p<0.05). In conclusion, sweating and respiration were the main vehicle for dissipating excess body heat for Sahiwal, HF and crossbreds, respectively. The THI at 76 to 80 were the critical points where the physiological responses to elevated temperature displayed change.
On the Road to Energy Efficient 5 G Mobile Networks

The seamless and ubiquitous wireless communication anywhere, anytime, anyhow and between anybody and anything is expected to render daily lives easier. This will continue to grow, increasing at the same time, demand on wireless mobile connectivity between people, machines, processes and so on. There is an opinion that this will be achieved by invoking the fifth generation (5G) mobile networks. The aim of this paper is to emphasize the road to energy efficiency as one of the obligatory 5G evolution metrics. In connection with this, energy saving approaches together with energy and information flow among base stations are analyzed in the first part of this paper. Secondly, advances in energy efficiency for wireless networks including 5G mobile systems are explained. Corresponding challenges conclude the presentation. Key-Words: 5G mobile networks, energy consumption, energy efficiency, information flow.
Reported measures of environmental tobacco smoke exposure: trials and tribulations

OBJECTIVE This report extends previous summaries of reported environmental tobacco smoke (ETS) exposure measures, reviews the empirical evidence of their validity for children's exposure, and discusses future research. DATA SOURCES Studies were identified by computer search and from the authors' research. STUDY SELECTION Studies were selected for inclusion of nicotine and/or cotinine and quantitativereported measures of ETS exposure. DATA SYNTHESIS Five studies found significant associations between reported quantitative exposure of children to ETS and either environmental nicotine or urine cotinine assays. Correlation coefficients between parent reports and nicotine ranged from 0.22 to 0.75. Coefficients for cotinine ranged from 0.28 to 0.71. Correlations increased over time and were stronger for parents' reports of their own smoking as a source of children's exposure than for reports of exposure from others. CONCLUSIONS Empirical studies show general concordance of reported and either environmental or biological measures of ETS exposure. Relationships were moderate, and suggest sufficient validity to be employed in research and service programs. Future studies need to identify the differences in types of reported or objective measures, population characteristics, etc, contributing to observed variability in order to understand better the conditions under which more valid reported ETS exposure and other measures can be obtained. Reported and either environmental or biological measures should be used in combination, and existing measures should be directed to interventions that may reduce ETS exposure among children.
Linear waste of best fit bin packing on skewed distributions

We prove that best-fit bin packing has linear waste on the discrete distribution U{j,k} (where items are drawn uniformly from the set {1/k, 2/k, ., j/k}) for sufficiently large k when j=/spl alpha/k and 0.66/spl les//spl alpha/<2/3. Our results extend to continuous skewed distributions, where items are drawn uniformly on [0,a], for 0.66/spl les/a<2/3. This implies that the expected asymptotic performance ratio of best-fit bin packing is strictly greater than 1 for these distributions.
Chronic toxicological effects of β‐diketone antibiotics on Zebrafish (Danio rerio) using transcriptome profiling of deep sequencing

Transcriptome analysis is important for interpreting the functional elements of the genome and revealing the molecular constituents of cells and tissues. Herein, differentially transcribed genes were identified by deep sequencing after zebrafish (Danio rerio) were exposed to β‐diketone antibiotics (DKAs); 23,129 and 23,550 mapped genes were detected in control and treatment groups, a total of 3238 genes were differentially expressed between control and treatment groups. Of these genes, 328 genes (213 up‐ and 115 down‐regulation) had significant differential expression (p < 0.05) and an expression ratio (control/treatment) of >2 or <0.5. Additionally, we performed Gene Ontology (GO) category and Kyoto Encyclopedia of Genes and Genomes (KEGG) pathway enrichment analyses, and found 266 genes in the treatment group with annotation terms linked to the GO category. A total of 77 differentially expressed transcriptional genes were associated with 132 predicted KEGG metabolic pathways. Serious liver tissue damage was reflected and consistent with the differences in genetic classification and function from the transcriptome analysis. These results enhance our understanding of zebrafish developmental processes under exposure to DKA stress. © 2015 Wiley Periodicals, Inc. Environ Toxicol 31: 1357–1371, 2016.
Learn-Memorize-Recall-Reduce A Robotic Cloud Computing Paradigm

The rise of robotic applications has led to the generation of a huge volume of unstructured data, whereas the current cloud infrastructure was designed to process limited amounts of structured data. To address this problem, we propose a learn-memorize-recall-reduce paradigm for robotic cloud computing. The learning stage converts incoming unstructured data into structured data; the memorization stage provides effective storage for the massive amount of data; the recall stage provides efficient means to retrieve the raw data; while the reduction stage provides means to make sense of this massive amount of unstructured data with limited computing resources.
Automatic multi-lingual arousal detection from voice applied to real product testing applications

A method is presented which applies Long Short-Term Memory Recurrent Neural Networks on real market-research voice recordings in order to automatically predict emotional arousal from speech. While most previous work has dealt with evaluations of algorithms within the same speech corpus, the novelty of this paper lies in an extensive evaluation across corpora and languages. The approach is evaluated on seven large data sets collected in real tests of TV commercials and new product concepts across four languages. We observe excellent performance within and between the different corpora when compared against the gold standard of arousal ratings by human annotators. Even in the cross-language validation the models show good performance which almost reaches human rater agreement.
Investigating Spatial Language for Robot Fetch Commands

This paper outlines a study that investigates spatial language for use in human-robot communication. The scenario studied is a home setting in which the elderly resident has misplaced an object, such as eyeglasses, and the robot will help the resident find the object. We present results from phase I of the study in which we investigate spatial language generated to a human addressee or a robot addressee in a virtual environment and highlight differences between younger and older adults. Drawn from these results, a discussion is included of needed robot capabilities, such as an approach that addresses varying perspectives used and recognition of furniture items for use as spatial references.
60 GHz OOK Transmitter in 32 nm DG FinFET technology

There are several 60 GHz transceiver architectures that have been explored and reported in the past employing the On Off Keying (OOK) Modulation. All of these designs are primarily based on the conventional bulk CMOS architecture. In this paper, we propose a power efficient double gate (DG) MOSFET based OOK Transmitter in 32 nm DG FinFET technology. The proposed novel OOK modulator consists of only two DG-MOSFETs, making the circuit extremely power and area efficient. The LC oscillator can be tuned via back gate bias to vary the amplitude as well as frequency. The phase noise of the oscillator has a value of -133 dBc/Hz which is comparable to LC oscillator in conventional CMOS. The wide band power amplifier (PA) in addition to tunable characteristics also excels in other figures of merit such as gain (6-8 dB) and 3-dB bandwidth (>; 40 GHz) when compared to some recent works.
Anatomy-based facial tissue modeling using the finite element method

Anatomy-based facial tissue modeling for surgical simulation is a field whose time has come. Real-time facial animation has been created in the last few years using models based on the anatomical structure of the human skin. Anatomy-based models are also under development in the field of medical visualization, with which facial surgery can be realistically simulated. In this article, we present an anatomy-based 3D finite element tissue model. Integrated into a computer-aided surgical planning system, this model allows the precise prediction of soft tissue changes resulting from the realignment of the underlying bone structure. The model has already been used in our Department of Oral and Maxillofacial Surgery and has improved craniofacial surgical planning procedures. The model is described in detail, and surgical simulation results are shown and discussed.
The Importance of Considering Context in the Assessment of Personality Characteristics: Evidence from Ratings of Dolphin Personality

One of the tenets of personality is that an individual’s distinguishing behavioral characteristics arerelatively stable over time and across contexts. Both humans and animals demonstrate suchconsistency, at least for certain personality traits. However, the relative extent to which personality isstable is rarely addressed in studies of animal personality, the focus typically being on stability ratherthan its absence. Here we present data on dolphin personality that suggest dolphin behavior (andhence their personality characteristics) is influenced by context, the three contexts of concern herebeing interactions with the physical environment, interactions with humans, and interactions withother dolphins. Individuals differed in terms of the extent to which their behavior was ratedconsistently across the three contexts, suggesting that an important aspect of personality concerns therole of context in moderating individual predispositions.
Digital Guide Map Using Tiled Display and Recommendation Function

In this study, digital guide map that uses the tiled display wall was constructed. In the digital guide map used in the shopping mall or shopping street, it is necessary to present the suitable information to the users who visit there without definite purposes. This study aims at constructing the effective digital guide map by combining the functions of presenting the high resolution large image and the effective recommendation. Especially, the recommendation algorithm that recommends the suitable items to the unidentified user in the public space based on the probability density distribution that is constructed from on the fragmentary usage history data was developed. And it was applied to the restaurant guide map to evaluate the effectiveness of this method.
Does the Type of Event Influence How User Interactions Evolve on Twitter?

The number of people using on-line social networks as a new way of communication is continually increasing. The messages that a user writes in these networks and his/her interactions with other users leave a digital trace that is recorded. Thanks to this fact and the use of network theory, the analysis of messages, user interactions, and the complex structures that emerge is greatly facilitated. In addition, information generated in on-line social networks is labeled temporarily, which makes it possible to go a step further analyzing the dynamics of the interaction patterns. In this article, we present an analysis of the evolution of user interactions that take place in television, socio-political, conference, and keynote events on Twitter. Interactions have been modeled as networks that are annotated with the time markers. We study changes in the structural properties at both the network level and the node level. As a result of this analysis, we have detected patterns of network evolution and common structural features as well as differences among the events.
Toxicity Assessments of Chalcone and Some Synthetic Chalcone Analogues in a Zebrafish Model

The aim of this study was to investigate the in vivo toxicities of some novel synthetic chalcones. Chalcone and four chalcone analogues 1a–d were evaluated using zebrafish embryos following antibody staining to visualize their morphological changes and muscle fiber alignment. Results showed that embryos treated with 3'-hydroxychalcone (compound 1b) displayed a high percentage of muscle defects (96.6%), especially myofibril misalignment. Ultrastructural analysis revealed that compound 1b-treated embryos displayed many muscle defect phenotypes, including breakage and collapse of myofibrils, reduced cell numbers, and disorganized thick (myosin) and thin (actin) filaments. Taken together, our results provide in vivo evidence of the myotoxic effects of the synthesized chalcone analogues on developing zebrafish embryos.
Mitochondrial markers in the ant Leptothorax rugatulus reveal the population genetic consequences of female philopatry at different hierarchical levels

Leptothorax rugatulus, an abundant North American ant, displays a conspicuous queen size polymorphism that is related to alternative reproductive tactics. Large queens participate mainly in mating flights and found new colonies independent of their mother colony. In contrast, small queens do not found new colonies independently, but seek readoption into their natal nest which results in multiple‐queen colonies (polygyny). Populations differ strongly in the ratio of small to large queens, the prevalent reproductive tactic and colony social structure, according to ecological parameters such as nest site stability and population density. This study compares the genetic structure of two strongly differing populations within the same mountain range. Data from microsatellites and mitochondrial DNA give no evidence for alien reproductives in polygynous colonies. The incidence of alien workers in colonies (as determined by mitochondrial haplotype) was low and did not differ between monogynous and polygynous colonies. We found significant population viscosity (isolation‐by‐distance) at the mitochondrial level in only the predominantly polygynous population, which supports the theoretical prediction that female philopatry leads to mtDNA‐specific population structure. Nuclear and mitochondrial genetic diversity was similar in both populations. The genetic differentiation between the two investigated populations was moderate at the mitochondrial level, but not significantly different from zero when measured with microsatellites, which corroborates limited dispersal of females (but not males) at a larger scale.
Lack of Pericytes Leads to Endothelial Hyperplasia and Abnormal Vascular Morphogenesis

The association of pericytes (PCs) to newly formed blood vessels has been suggested to regulate endothelial cell (EC) proliferation, survival, migration, differentiation, and vascular branching. Here, we addressed these issues using PDGF-B– and PDGF receptor-β (PDGFR-β)–deficient mice as in vivo models of brain angiogenesis in the absence of PCs. Quantitative morphological analysis showed that these mutants have normal microvessel density, length, and number of branch points. However, absence of PCs correlates with endothelial hyperplasia, increased capillary diameter, abnormal EC shape and ultrastructure, changed cellular distribution of certain junctional proteins, and morphological signs of increased transendothelial permeability. Brain endothelial hyperplasia was observed already at embryonic day (E) 11.5 and persisted throughout development. From E 13.5, vascular endothelial growth factor-A (VEGF-A) and other genes responsive to metabolic stress became upregulated, suggesting that the abnormal microvessel architecture has systemic metabolic consequences. VEGF-A upregulation correlated temporally with the occurrence of vascular abnormalities in the placenta and dilation of the heart. Thus, although PC deficiency appears to have direct effects on EC number before E 13.5, the subsequent increased VEGF-A levels may further abrogate microvessel architecture, promote vascular permeability, and contribute to formation of the edematous phenotype observed in late gestation PDGF-B and PDGFR-β knock out embryos.
A recoverable distributed shared memory integrating coherence and recoverability

Large-scale distributed systems are very attractive for the execution of parallel applications requiring a huge computing power. However, their high probability of site failure is unacceptable, especially for long time running applications. In this paper, we address this problem and propose a checkpointing mechanism relying on a recoverable distributed shared memory (DSM) in order to tolerate single node failures. Although most recoverable DSMs require specific hardware to store recovery data, our scheme uses standard memories to store both current and recovery data. Moreover, the management of recovery data is merged with the management of current data by extending the DSM's coherence protocol. This approach takes advantage of the data replication provided by a DSM in order to limit the amount of transferred pages during the checkpointing. The paper also presents an implementation and a preliminary performance evaluation of our recoverable DSM on a 56-node Intel Paragon. <<ETX>>
Fast neighbourhood component analysis with spatially smooth regulariser for robust noisy face recognition

For the robust recognition of noisy face images, in this study, the authors improved the fast neighbourhood component analysis (FNCA) model by introducing a novel spatially smooth regulariser (SSR), resulting in the FNCA-SSR model. The SSR can enforce local spatial smoothness by penalising large differences between adjacent pixels, and makes FNCA-SSR model robust against noise in face image. Moreover, the gradient of SSR can be efficiently computed in image space, and thus the optimisation problem of FNCA-SSR can be conveniently solved by using the gradient descent algorithm. Experimental results on several face data sets show that, for the recognition of noisy face images, FNCA-SSR is robust against Gaussian noise and salt and pepper noise, and can achieve much higher recognition accuracy than FNCA and other competing methods.
Distributed deployment strategies to increase coverage in a network of wireless mobile sensors

Efficient sensor deployment algorithms are developed in this paper for efficient coverage in a network of wireless mobile sensors. The proposed strategies iteratively compute the position of the sensors based on existing coverage holes. These holes are obtained using a Voronoi diagram for the case of identical sensors, and a multiplicatively weighted Voronoi (MW-Voronoi) diagram in the case of sensors with different sensing ranges. Each sensor is driven by virtual forces applied to it from the vertices and boundaries of its Voronoi cell. These forces are obtained in such a way that the covered area of the corresponding cell increases. Simulation results demonstrate the efficacy of the proposed strategies, and their superiority to existing algorithms.