Miracle-dz/UniFAR-FTUs huggingface dataset:
A New Extrinsic Calibration Method of Three-Dimensional Imaging Lidar and Camera

Three-dimensional imaging lidar can offer the range information and CCD camera can offer the color information of the target. These two information can strongly supplement each other, the fusion of them is becoming a research hot point. The major problem of fusing lidar data and camera data is the coordinate calibration between them. In consideration of the traits of lidar and camera, a new planar object calibration method was proposed, which solves extrinsic matrix using the normal of planar objects. The rotation matrix and transfer vector are solved separately, which can simplify the calibration process and highly improve the calibration precision. The improved extrinsic calibration method was applied on texture mapping and reverse mapping, which show that our algorithm can gives good results.
Simplified Model for Pedestrian–Vehicle Interactions at Road Crossings Based on Discrete Events System

Road accident reports show that many accidents involve pedestrians, the category of road users generally considered “weak” with respect to other mobility users, and that these accidents occur at pedestrian crossings. Therefore, traffic engineers need simulation tools that can forecast the results of a given design solution and compare the solution with alternatives. A simplified model that simulates interactions between pedestrians and vehicles at road crossings is presented. In the model, the crossing process is represented as a discrete events system, and the model uses basic and easy-to-collect parameters to estimate interactions. Pedestrian behavior in the decision phase is characterized with a gap acceptance criterion, which is based on parameters derived from probabilistic distribution and takes into account the heterogeneity of the pedestrian population. Interaction between pedestrians during the crossing phase is taken into account with a cellular model of the crossing area. The model allows estimation of safety benefits for pedestrians and crossing level of service for both pedestrians and vehicular flows, starting from site geometry and field measurements of flow parameters of pedestrians and vehicles. The model was applied to a real site in a case study. The effects of traffic-calming interventions were also simulated and evaluated.
Online Learning over Time in Adaptive Neural Machine Translation

Adaptive Machine Translation purports to dynamically include user feedback to improve translation quality. In a post-editing scenario, user corrections of machine translation output are thus continuously incorporated into translation models, reducing or eliminating repetitive error editing and increasing the usefulness of automated translation. In neural machine translation, this goal may be achieved via online learning approaches, where network parameters are updated based on each new sample. This type of adaptation typically requires higher learning rates, which can affect the quality of the models over time. Alternatively, less aggressive online learning setups may preserve model stability, at the cost of reduced adaptation to user-generated corrections. In this work, we evaluate different online learning configurations over time, measuring their impact on user-generated samples, as well as separate in-domain and out-of-domain datasets. Results in two different domains indicate that mixed approaches combining online learning with periodic batch fine-tuning might be needed to balance the benefits of online learning with model stability.
Spectrometry: photon sorting at the speed of light

The fact that every spectrometer can sort light by wavelength at the speed of light is intriguing. The field of spectrometry is a long-existing and ever-changing one. The application areas extend from optical communication to possible extraterrestrial life detection, health monitoring, environmental monitoring and quite a long list of other topics. TNO has played a role in several of these areas, always using state of the art designs and components. Some of the recent developments are described, as well as a possible path for (near) future developments. Any spectrometer consists of a telescope, slit, collimator, disperser and an imager. Each of these functions is discussed using and even pushing progress in the manufacturing and design capabilities of the industry. The progress from a two-mirror spherical telescope for a pushbroom space-based daily global coverage spectroscopy instrument OMI to a two-mirror freeform telescope for TROPOMI is described, the design and manufacturing of supergratings showing very little straylight, freeform mirrors and the use of deliberately decentered lenses is shown. A near-future small-satellite system is shown that is being built and tested as this paper was written.
Vivaldi antenna with reduced RCS using half-mode substrate integrated waveguide

A bilateral Vivaldi antenna with reduced radar cross-section (RCS) is presented. A half-mode substrate integrated waveguide structure is first utilised in the low RCS Vivaldi antenna design. Compared with traditional antenna, the monostatic RCS of the proposed antenna can be reduced to as much as 24 dB without degradation of antenna performance.
Bracing in completed composite box girder bridges

During construction, bracing systems are included in box girders to prevent excessive distortion or twist of the sections. The influence of bracing on the deformation of composite bridges during service is examined. A linear elastic finite strip analysis was developed and results are compared with experimental studies from a model and a prototype bridge. The effectiveness of transverse web stiffeners and distortional bracing in preventing distortional stresses is studied. Transverse web stiffeners are effective in resisting distortion of completed girders, and distortional bracing is not essential for stiffened girders. For unstiffened girders, bracing is essential if additional longitudinal stresses due to distortion are not included in design. Interconnecting bracing between boxes is found to be effective in reducing transverse slab moments. Key words: bridges (box girder), bridges (composite), distortion, load distribution, web stiffening, bracing.
Correlation of the hidden-charm molecular tetraquarks and the charmoniumlike structures existing in the 
B→XYZ+K
 process

The molecular assignments to the three $P_c$ states and the similar production mechanism between the $\Lambda_b\to P_c+K$ and $B\to XYZ+K$ convince us the $B$ decaying to a charmonium state plus light mesons could be the appropriate production process to search for the charmoniumlike molecular tetraquarks. In this work, we systematically study the interactions between a charmed (charmed-strange) meson and an anti-charmed (anti-charm-strange) meson, which include the $D^{(*)}\bar{D}^{(*)}$, $\bar{D}^{(*)}\bar{D}_1$, $D^{(*)}\bar{D}_2^*$, $D_s^{(*)}\bar{D}_s^{(*)}$, ${D}_s^{(*)}\bar{D}_{s0}^*$, $D_s^{(*)}\bar{D}_{s1}^{\prime}$, ${D}_s^{(*)}\bar{D}_{s1}$, $D_s^{(*)}\bar{D}_{s2}^*$ systems. After adopting the one-boson-exchange effective potentials, our numerical results indicate that, on one hand, there can exist a serial of isoscalar charmoniumlike $\mathcal{D}\bar{\mathcal{D}}$ and $\mathcal{D}_s\bar{\mathcal{D}}_s$ molecular states, on the other hand, we can fully exclude the charged charmoniumlike states as the isovector charmoniumlike molecules. Meanwhile, we discuss the two-body hidden-charm decay channels for the obtained $\mathcal{D}\bar{\mathcal{D}}$ and $\mathcal{D}_s\bar{\mathcal{D}}_s$ molecules, especially the $D^{*}\bar{D}^{*}$ molecular tetraquarks. By analyzing the experimental data collected from the $B\to XYZ+K$ and the mass spectrum and two-body hidden-charm decay channels for the obtained $\mathcal{D}\bar{\mathcal{D}}$ and $\mathcal{D}_s\bar{\mathcal{D}}_s$ molecules, we find several possible hints of the existence of the charmoniumlike molecular tetraquarks, i.e., a peculiar characteristic mass spectrum of the isoscalar $D^*\bar{D}^*$ molecular systems can be applied to identify the charmoniumlike molecule. We look forward to the future experiments like the LHCb, Belle II, and BESIII Collaborations can test our results with more precise experimental data.
Countermeasures against NBTI degradation on 6T-SRAM cells

Abstract. In current process technologies, NBTI (negative bias temperature instability) has the most severe aging effect on static random access memory (SRAM) cells. This degradation effect causes loss of stability. In this paper countermeasures against this hazard are presented and quantified via simulations in 90 nm process technologies by the established metrics SNMread, SNMhold, Iread and Write Level. With regard to simulation results and practicability best candidates are chosen and, dependent on individual preferences at memory cell design, the best countermeasure in each case is recommended.
A comparative study of routing protocols in MANETs

Mobile Ad Hoc networks are emerging area Of mobile computing. A "mobile ad hoc network" (MANET) is composed of mobile routers and associated hosts connected by wireless links. The routers are free to move randomly and organize themselves arbitrarily, thus, the network's wireless topology may change rapidly and unpredictably. In fact, it is considered that each node would have some capacity to relay the information thus constrained by computational power, battery life and increasingly complex routing with added functionality Of a router. Nodes may keep joining and leaving an ad hoc network. Such a network may operate in a stand alone fashion, or may be connected to the larger Internet. Lack of infrastructure in ad hoc networks sets new challenges for routing algorithms where the network is formed by a collection of wireless mobile nodes dynamically forming atemporary network without the use of any existing network infrastructure or centralized administration. A number of routing protocols like Dynamic Source Routing (DSR), Ad Hoc On-Demand Distance Vector Routing (AODV), Destination-Sequenced Distance-Vector (DSDV), Zone Routing Protocol (ZRP) and Temporally Ordered Routing Algorithm (TORA) have been implemented. In this thesis an attempt has been made to compare the performance of prominent on-demand reactive routing protocols for mobile ad hoc networks (AODV and TORA), along with the traditional proactive DSDV protocol. Although AODV and TORA share similar On-demand behavior, the differences in the protocol mechanics can lead to significant performance differentials. The performance difrerentials are analyzed using varying network loads, mobilities, and
Reconfigurable bandstop filter with wide tuning range

A reconfigurable bandstop filter consisting of a parallel coupled line and two varactor diodes is reported. The stopband of the filter can be tuned from 0.47 to 1.67 GHz by varying the capacitance of the varactor diodes. Although still present, the first harmonic is significantly attenuated.
Chitosan Biocomposites for the Adsorption and Release of H2S

The search for H2S donors has been increasing due to the multiple therapeutic effects of the gas. However, the use of nanoporous materials has not been investigated despite their potential. Zeolites and activated carbons are known as good gas adsorbents and their modification with chitosan may increase the material biocompatibility and simultaneously its release time in aqueous solution, thus making them good H2S donors. Herein, we modified with chitosan a series of A zeolites (3A, 4A and 5A) with different pore sizes and an activated carbon obtained from glycerin. The amount of H2S adsorbed was evaluated by a volumetric method and their release capacity in aqueous solution was measured. These studies aimed to verify which of the materials had appropriate H2S adsorption/release properties to be considered a potential H2S donor. Additionally, cytotoxicity assays using HeLa cells were performed. Considering the obtained results, the chitosan composite with the A zeolite with the larger pore opening was the most promising material to be used as a H2S donor so a further cytotoxicity assay using H2S loaded was conducted and no toxicity was observed.
An adaptive integrated algorithm for active front steering and direct yaw moment control based on direct Lyapunov method

In this article, an adaptive integrated control algorithm based on active front steering and direct yaw moment control using direct Lyapunov method is proposed. Variation of cornering stiffness is considered through adaptation laws in the algorithm to ensure robustness of the integrated controller. A simple two degrees of freedom (DOF) vehicle model is used to develop the control algorithm. To evaluate the control algorithm developed here, a nonlinear eight-DOF vehicle model along with a combined-slip tyre model and a single-point preview driver model are used. Control commands are executed through correction steering angle on front wheels and braking torque applied on one of the four wheels. Simulation of a double lane change manoeuvre using Matlab®/Simulink is used for evaluation of the control algorithm. Simulation results show that the integrated control algorithm can significantly enhance vehicle stability during emergency evasive manoeuvres on various road conditions ranging from dry asphalt to very slippery packed snow road surfaces.
Safe Human Robot Interaction by Using Exteroceptive Sensing Based Human Modeling

In this paper, we propose an exteroceptive sensing based framework to achieve safe human-robot interaction during shared tasks. Our approach allows a human to operate in close proximity with the robot, while pausing the robot’s motion whenever a collision between the human and the robot is imminent. The human’s presence is sensed by a N-range sensor based system, which consists of multiple range sensors mounted at various points on the periphery of the work cell. Each range sensor is based on a Microsoft Kinect sensor. Each sensor observes the human and outputs a 20 DOF human model. Positional data of these models are fused together to generate a refined human model. Next, the robot and the human model are approximated by dynamic bounding spheres and the robot’s motion is controlled by tracking the collisions between these spheres. Whereas most previous exteroceptive methods relied on depth data from camera images, our approach is one of the first successful attempts to build an explicit human model online and use it to evaluate human-robot interference. Real-time behavior observed during experiments with a 5 DOF robot and a human safely performing shared assembly tasks validate our approach.Copyright © 2013 by ASME
Assessment of Level 1 and Level 2 Electric Vehicle Charging Efficiency

North American plug-in electric vehicle (EV) sales are projected to grow steadily in the next decade, and EVs are expected to become a significant portion of the vehicle feet. Widespread electrification of personal transport will require coordination between the electricity and transportation sectors. The coordination could include application of electric efficiency incentives that are commonly used in the energy sector for more efficient products, such as energy star appliances. The use of incentives for more efficient vehicles and charging equipment will facilitate a faster transition to this transformative technology. If EVs and electric vehicle supply equipment (EVSE) are found to be eligible for incentives, electric utilities could create programs that would accelerate EV deployment. The efficiency of 120-V Level 1 and 240-V Level 2 EVSE was compared with FleetCarma logger data collected from 1,008 Chevrolet Volt charging events. On average, Level 2 charging was 3% more efficient than Level 1 charging, but this percentage increased with shorter charge times. When less than 2 kW-h was drawn from the grid, Level 2 charging was 13% more efficient than Level 1. Although Level 2 charging was more efficient at all temperatures, the differences in efficiency were greater at high (above 708F) and low (less than 538F) temperatures. The greatest efficiency gains for Level 2 charging are expected at public charging locations, where charge times tend to be shorter and weather conditions more variable, as opposed to residential sites. Providing incentives for efficient EV charging infrastructure through utility and government programs will ensure optimal long-term investment in this new technology, reduce energy use, and facilitate more rapid uptake of EVs. EV charging infrastructure is eligible for federal funding under the Moving Ahead for Progress in the 21st Century Act. Thus, transportation agencies could include efficiency benchmarks as a requirement for project financing.
Thermal Effects on Office Productivity

A field study was conducted to investigate the associations between indoor thermal conditions and productivity for computer workers in an insurance company. Thermal environment conditions and productivity were logged every 15 minutes for 9 women workers for 16 consecutive work days. Results showed an association between thermal conditions and productivity, which was highest when conditions fell in a thermal comfort zone and lowest when conditions fell below this zone. The findings have important implications for the design and management of workplaces.
Design for Disassembly and Recyclability: A Concurrent Engineering Approach

In this research, we show an integrated concurrent design methodology which is environmentally conscious for the manufacturing sec tor By interactively examining various phases in manufacturing processes, materials used, waste generated and product quantity specified, we could then predict the amount of waste (recyclable or nonrecyclable) that will be generated, the kinds of toxic materials, the approximate energy consumed and the approximate recycling cost required Accompanied by other information such as yeld, the designer or decisionmaker can then go back and check if their product design or process selection is suitable and least harmful to the environment
Modular area surveillance system

This paper describes the implementation of a modular, decentralized surveillance system which incorporates a range of sensors including TV cameras, ultra-sonic and IR devices, and optical barriers. The key features of the approach are fault tolerance, modularity, and scalability, which are achieved through the use of a Decentralized Kalman Filter (DKF) as the main data association and tracking technique, and Dempster- Schafer evidential reasoning as the basis for combining estimates of target identity from the various sensors. The surveillance system is able to track multiple objects from multiple sensors, and can provide estimates of target identity fused over time. Results are communicated to the user through a graphical interface implemented under X Windows, which supports the designation of 'exclusion zones' where the user can specify conditions for the triggering of an alarm.
Optimum Cutting Conditions for Turned Components

This paper describes the procedures used in a technologically orientated numerically controlled (NC-) system to determine the optimum culling conditions automatically for turning, drilling, grooving, threading and parting-off operations. In rough turning, the optimum depth and feed combination is determined using a direct search procedure on the allowable depth/feed region for chip control. The system determines the optimum depth of cut, feed and velocity for each pass in multi-pass turning on the basis of a user-selected objective criterion and a number of technological limitations that may apply to the process, such as machine power, dynamic instability, allowable range of depths and feeds for the tool and workholding limitations which include axial slip, circumferential slip and component throw-out. A user-friendly manual option is also provided which allows the user to specify the cutting parameters. Examples are given to illustrate how these procedures determine the optimum cutting conditions. A comparison between the machining costs and times using cutting conditions obtained from handbooks and the aforementioned procedures shows that for all the operations considered, there are cost and time savings when the cutting conditions obtained by the latter are used.
Experimental Investigation of Homogeneous Charge Compression Ignition Engine of Ethanol and Diesel Blends

This paper deals with the experimental investigation of a Homogeneous Charge Compression Ignition (HCCI) Engine system. The main objective of this research work is to study the effects of a premixed fuel ratio on the performance, combustion characteristics and reduction of oxides of nitrogen and smoke intensity, using the HCCI concept. The engine used for the experiments was of a Kirloskar TAF-I series. The engine is a four stroke, single cylinder air cooled diesel engine, of a rated power of 4.4 kW loaded with an electrical dynamometer. An electronic fuel injection circuit was developed to control the ignition timing and duration of the premixed charge. Ethanol was premixed, and a part injected before ignition, whereas the diesel fuel was injected by the conventional injector directly into the cylinder. The part injected ethanol and direct injected diesel were tested in various proportions, to optimize the operating range, and the same setup was tested with various % of EGR.The obtained results include data plots illustrating the performance, combustion and emission characteristics. The results indicate that the concentration of the oxides of nitrogen species rapidly decreased, and the smoke emissions were reduced simultaneously at 20% Rp and 20% EGR in 75% load and full load conditions.
Expert Review on Mobile Augmented Reality Applications for Language Learning

—Many mobile applications that can increase user engagement and promote self-learning have been developed to date. Nevertheless, mobile applications specific to Malay language learning for non-native speakers with relevant materials are still lacking. Moreover, expert reviews are needed to identify usability issues and check whether such applications can meet the learning goal with relevant materials features. This study developed an augmented reality (AR)-based mobile application called RakanBM for learning the Malay language (i.e. the language officially spoken in Malaysia), and then performed an expert review on the application contents, text presentations, learning outcomes, assessments, effectiveness, efficiency, and satisfaction. The expert review was conducted by a panel of six experts from two specific fields, namely the Malay language and Human-Computer Interaction (HCI), using methods such as cognitive walkthrough (CW), semi-structured interviews, think-aloud protocols, and survey. The results from CW, semi-structured interviews, think-aloud protocols shows that enhancement was needed on user interface and user experience in term of aesthetic and interactivity. The survey results were classified into two levels: high (mean > 4.0) and satisfied (mean > 3.5). Application factors that were recorded as satisfied were the application contents, text presentations, and satisfaction, while the factors recorded as high were the learning outcomes, assessments, effectiveness, and efficiency. The comments or suggestions for improvement were mainly around the contents of the application. Nevertheless, the application received good comments on its usefulness and the topics covered, which were suitable and best for non-native speakers. The findings of this study can guide developers and researchers in the development of future applications that can support language learning for non-native speakers in particular.