Miracle-dz/UniFAR-FTUs huggingface dataset:
An Indoor Room Classification System for Social Robots via Integration of CNN and ECOC

The ability to classify rooms in a home is one of many attributes that are desired for social robots. In this paper, we address the problem of indoor room classification via several convolutional neural network (CNN) architectures, i.e., VGG16, VGG19, & Inception V3. The main objective is to recognize five indoor classes (bathroom, bedroom, dining room, kitchen, and living room) from a Places dataset. We considered 11600 images per class and subsequently fine-tuned the networks. The simulation studies suggest that cleaning the disparate data produced much better results in all the examined CNN architectures. We report that VGG16 & VGG19 fine-tuned models with training on all layers produced the best validation accuracy, with 93.29% and 93.61% on clean data, respectively. We also propose and examine a combination model of CNN and a multi-binary classifier referred to as error correcting output code (ECOC) with the clean data. The highest validation accuracy of 15 binary classifiers reached up to 98.5%, where the average of all classifiers was 95.37%. CNN and CNN-ECOC, and an alternative form called CNN-ECOC Regression, were evaluated in real-time implementation on a NAO humanoid robot. The results show the superiority of the combination model of CNN and ECOC over the conventional CNN. The implications and the challenges of real-time experiments are also discussed in the paper.
Does loving a group mean hating its rivals? Exploring the relationship between ingroup cohesion and outgroup hostility among soccer fans

ABSTRACT Why does group loyalty sometimes take the form of cooperation or peaceful competition with rival groups and, at other times, violent outgroup hostility? We approached this question using online surveys and an experimental manipulation with British soccer fans. Identity fusion (a visceral sense of “oneness” with the group) is known to motivate strong forms of pro-group action, both peaceful and violent. We identified three crucial factors that influence fused supporters’ intergroup behaviours: age, gender, and exposure to out-group threat. Intergroup behaviours included ingroup altruism (e.g., giving one’s time, or emotional/financial support), barrier-crossing altruism (altruistic acts toward rival fan groups), and outgroup hostility (e.g., insulting, spitting at, or physically attacking). Overall, fused fans were more hostile towards outgroups than were weakly fused fans, but they prioritised ingroup altruism over outgroup hostility, and were most likely to report high levels of barrier-crossing altruism. Older fused fans desired future outgroup hostility only under high threat conditions. A clearer understanding of the factors that modulate these different behaviours is a crucial first step in devising more effective ways of reducing intergroup hostility and, crucially, of channelling extreme forms of group alignment into peaceful forms of prosocial action.
Testing and application of an integrated fluxgate sensor DRV425

Abstract The article presents testing of a miniature fluxgate sensor developed and manufactured by Texas Instruments as well as an application of the sensor in a compact magnetic field probe with USB interface and LabView based software. Several basic properties of the sensor were evaluated and compared with the datasheet specifications. Offset stability measurements have indicated some possible problems for applications that require very high DC and low-frequency precision. Jumps in offset were present for some of the devices, frequency and duty of the jumps varying between individual pieces and with respect to the supply voltage. Magnetic probe for fast and handy measurements of DC and AC (up to 30 kHz) magnetic fields (up to ±1 mT) is also presented. The probe contains 24-bit analog to digital converter, microcontroller and high-speed USB interface which allows a live view of the signal in time and spectral charts. The probe proved to be very useful for the DRV425 debugging, application development, EMC measurements and magnetic field demonstrations activities.
Measuring the phase of ambient noise cross correlations: anisotropic Rayleigh and Love wave tomography across the Oman Mountains

Ambient seismic noise tomography has, over the last two decades, developed into a well established tool for imaging seismic properties of the Earth’s crust. Fundamental mode Rayleigh and Love wave phase velocity dispersion curves can be measured from ambient noise cross correlation functions (CCF) either using a high-frequency approximation theory, or by fitting the spectrum of the CCF to a Bessel function. Here, we advance the latter approach and present an automated algorithm that fits the phase of the Hankel function to the phase of the causal symmetric part of the CCF in order to determine phase velocity curves as continuous functions of frequency. Synthetic tests verify the reliability of the proposed method in the presence of low signal-to-noise ratio (SNR). Moreover, usage of the phase allows for robust phase velocity measurements at longer periods than when using the zero crossings of the Bessel function only and is, therefore, particularly useful at short inter-station distances. In the frequency domain, acceptable bandwidths of smooth phase velocity curves are obtained in an automated procedure using a set of fine-tuned quality criteria. We apply the method to 2.5 years of continuous waveform data recorded by 58 temporary and permanent broad band seismic stations in northern Oman. We obtain 1072 and 670 phase velocity curves for Rayleigh and Love waves, respectively, in the period range of 2 - 40 s. The data are inverted for isotropic and azimuthally anisotropic period-dependent phase velocity maps. Synthetic reconstruction tests show that the phase velocity maps have a lateral resolution of ∼30 km. The results suggest distinctly different middle to lower crustal architecture between the northern and eastern Oman Mountains. Azimuthal anisotropy shows contrasting fast propagation orientations in the shallow and deep crust, which we attribute to stress-induced and structural anisotropy in the upper crust and to lattice-preferred orientation in the lower crust.
Amphotericin B is usually underdosed in the treatment of experimental cutaneous leishmaniasis

Introduction: Amphotericin B is an effective drug for the treatment of the different clinical forms of leishmaniasis. However, there are reports of its ineffectiveness in animals experimentally infected with Leishmania spp. That is why, the objective of the present work was to evaluate the balance of activity-toxicity at amphotericin B doses over 1 mg/kg, so that its use as a positive control antileishmanial drug were adequate. Method: BALB/c mice were experimentally infected with L. amazonensis and treated with amphotericin B by intraperitoneal route at doses from 5 mg/kg to 12.5 mg/kg, beginning 21 days after infection. The size of the lesions and the body weight of the mice were measured for eleven weeks after the commencement of treatment. The number of parasites was also determined three days after the end of treatment. Results: Amphotericin B at 5 mg/kg retarded lesions growth but neither reduced lesion size nor the parasite load at lesion site. Doses of 7.5 mg/kg to 10 mg/kg, every 48 h for 14 days (7 doses) caused a significant reduction of lesion size and parasite load without evident loss of body weight and without signs of toxicity. Amphotericin B at 12.5 mg/kg was more effective but produced unacceptable toxicity. Conclusions: The results support the use of amphotericin B as a positive control drug in BALB/c mice experimentally infected with L. amazonensis at doses of 7.5 mg/kg to 10 mg/kg to achieve an effect comparable to that observed in clinical practice.
A Qualitative Introduction to the Vortex-Ring-State, Autorotation, and Optimal Autorotation

The main objective of this paper is to provide the reader with some qualitative insight into the areas of Vortex-Ring-State (VRS), autorotation, and optimal autorotation. First this paper summarizes the results of a brief VRS literature survey, where the emphasis has been placed on a qualitative description of the following items: conditions leading to VRS flight, the VRS region, avoiding the VRS, the early symptoms, recovery from VRS, experimental investigations, and VRS modeling. The focus of the paper is subsequently moved towards the autorotation phenomenon, where a review of the following items is given: the maneuver, the height-velocity zones, and factors affecting autorotation. Finally the paper concludes by providing a literature survey relative to single-engine helicopter optimal autorotation, and its associated problem formulation as a nonlinear, constrained, optimal control problem.
SiamLST: Learning Spatial and Channel-wise Transform for Visual Tracking

: Siamese network based trackers regard visual tracking as a similarity matching task between the target template and search region patches, and achieve a good balance between accuracy and speed in recent years. However, existing trackers do not effectively exploit the spatial and inter-channel cues, which lead to the redundancy of pre-trained model parameters. In this paper, we design a novel visual tracker based on a Learnable Spatial and Channel-wise Transform in Siamese network (SiamLST). The SiamLST tracker includes a powerful feature extraction backbone and an efficient cross-correlation method. The proposed algorithm takes full advantages of CNN and the learnable sparse transform module to represent the template and search patches, which effectively exploit the spatial and channel-wise correlations to deal with complicated scenarios, such as motion blur, in-plane rotation and partial occlusion. Experimental results conducted on multiple tracking benchmarks including OTB2015, VOT2016, GOT-10k and VOT2018 demonstrate that the proposed SiamLST has excellent tracking performances.
Biaxial Optical Accelerometer Based on Ultra-High Numerical Aperture Fiber

In this paper, we describe the implementation and test of a biaxial optical accelerometer based on fiber Bragg gratings using ultra-high numerical aperture (UHNA) optical fiber. The characteristics of the UHNA optical fiber, such as the decrease of the fiber Bragg gratings reflectivity after the sensor mounting, were compared with the GF1 photosensitive one. The proposed sensor enables to measure acceleration in two orthogonal directions, making it suitable for vibration analysis in electrical machines and structural health monitoring. The initial project was based on finite-element analysis, experimental test, and analytical response, where it was possible to predict the resonant frequency of the mechanical system of approximately 650.00 Hz. After mounting with the optical fiber, the system was characterized allowing the determination of the resonant frequencies in both sensitive directions; the values of 1232.50 Hz and 1272.50 Hz were estimated for the <inline-formula> <tex-math notation="LaTeX">$x$ </tex-math></inline-formula>-axis and the <inline-formula> <tex-math notation="LaTeX">$y$ </tex-math></inline-formula>-axis. This paper enabled to validate the application of the UHNA optical fiber in the development of small sensors and high radius of curvatures, thus providing the motivation for future applications.
An Integrated Procedure for the Design of Sustainable Products

The role of Designers is basically important in the development of sustainable MSs: he has both the goal to modify products in order to increase their environmental performance and to make these changes acceptable to people. On the scientific basis of Methodical Design Theory, the research performed lead to a Design Procedure (Design For Sustainable Products, DFSP), addressed to the development of more Eco-efficient Products. The Procedure DFSP was tested on the design of a Multipurpose vehicle: particularly, were deepened the study on its Modularity and the analysis of its frame, both from the environmental impact and from the structural point of view, by a deep structural calculation (using the Space Frame technology for Aluminium).
Blockchained smart contract pyramid-driven multi-agent autonomous process control for resilient individualised manufacturing towards Industry 5.0

The production control for the mass individualisation paradigm of R&D-stage products is challenging due to the mix-flow and frequently-disturbed environment. With the convergence of the sustainable development goals and the increasing individualised demands in products, resilient manufacturing is envisioned in Industry 5.0 proposition. Concerning that conventional centralised production control methods suffer from low stability and inefficiency of decisions under frequent disruptions, this paper establishes a blockchained smart contract pyramid-driven multi-agent autonomous process control (BSCP-MAAPC) approach for improving the timeliness and adaptability of control towards resilient individualised manufacturing. Firstly, a blockchain-based multi-agent system architecture is designed based on agent encapsulation of manufacturing units. Blockchained smart contracts are used as the enabler of the multi-agent system for peer-to-peer negotiation and coordination of tasks. Secondly, a quad-play blockchained smart contract pyramid together with a series of decentralised control patterns are designed to enable the initial task dispatching of various individualised demands, as well as rapid dynamic adjustment of schedule in response to internal random disruptions. Finally, a blockchained smart contract pyramid-driven multi-agent autonomous process control system prototype is built in the ManuChain system, and experiments are conducted to analyze the proposed BSCP-MAAPC approach in different environments. HIGHLIGHTS A blockchained smart contract pyramid-driven multi-agent autonomous process control (BSCP-MAAPC) approach. A quad-play blockchained smart contract pyramid together with a series of decentralized control patterns. Blockchained smart contracts as the enabler of the multi-agent system for peer-to-peer negotiation and coordination of tasks.
Homotopy theory for (braided) cat-groups

Les categories de Gr-categories (tressees ou symetriques) ou les categories equivalentes de modules croises (2-modules croises reduits ou modules stables) representent des modeles algebriques pour les types d'espaces connexes dont les groupes d'homotopie sont nuls pour les ordres autres que 1,2 (ou 2,3, ou n, n+1 pour n > 2). Dans cet article, on munit ces categories d'une structure de categorie a modele fermee, et on etudie la theorie d'homotopie associee. On construit l'espace des chemins, le cylindre, l'espace des lacets et la suspension. On identifie les relations d'homotopie deduites de ces structures. Ceci conduirait a une classification algebrique des classes d'homotopie d'applications continues entre espaces topologiques connexes dont les groupes d'homotopie sont nuls sauf ceux d'ordre n, n+1 pour un n > 1.
The Challenge of Advanced Driver Assistance Systems Assessment: A Scale for the Assessment of the Human–Machine Interface of Advanced Driver Assistance Technology

Despite driver assistance systems being engineered to enhance safety, recent studies show the potential for some of these systems and deficient human–machine interfaces to cause unintended consequences on safety. The NHTSA, the Alliance of Automotive Manufacturers, and the European Commission have all released best practices and human factors guidelines for the development and assessment of function-aspecific interfaces. However, given their broad scope, none of these documents provides a rating and benchmarking tool for assessing design aspects pertinent to a wide spectrum of assistance systems, ranging from rearview cameras to lane keeping assist systems. In this article we detail the development of a scale for assessing the human–machine interfaces of 10 different assistance systems. The scale contains 59 items, developed through multiple iterations, in which a total of 94 distinct assistance systems available on vehicles of different makes and models underwent evaluation. For each system included, we provide a description of its characteristics, a list of items for assessment, and relevant references. Widely accepted industry (ISO, SAE) standards, design guidelines, and assessment methodologies were considered for the development of this scale. The adoption of this scale required at least two evaluators to rate each system against specific assessment items using the following 4-point scale: No Concern (3 points), Minor Concerns (2 points), Serious Concerns (1 point), Not Applicable (0 points). Final ratings resulting from this evaluation will aid evaluators in the benchmarking process, and in determining what specific design aspects of the systems assessed merit further attention.
Role of a Measurement Plane to Monitor and Manage QOS in Optical Access Networks

ABSTRACT In this work, we propose a measurement plane for Software Defined Networking (SDN) architectures for monitoring the network performance and supporting the orchestrator in managing the optical link resources. Concerning the measurement plane, we consider two models that we adopted in other contests: Misurainternet and mPlane. However, due to better scalability, the tests reported in this paper refer to mPlane that has been used in a SDN environment based on Fiber to the X (FTTX) accesses, with procedures of the central unit (orchestrator) that automatically manages GbE links in a regional network. The choices of the orchestrator are based on information received by a reasoner that analyzes the network performance elaborating data detected by active and passive probes. The mPlane-SDN architecture is tested in field measurements concerning FTTX accesses and in Lab to verify the resource allocations in case of traffic congestion. Furthermore, we also show the potentiality of our architecture to evolve toward a distributed controller approach with important advantages for telecom operator strategies.
In‐water visual ship hull inspection using a hover‐capable underwater vehicle with stereo vision

Underwater visual inspection is an important task for checking the structural integrity and biofouling of the ship hull surface to improve the operational safety and efficiency of ships and floating vessels. This paper describes the development of an autonomous in‐water visual inspection system and its application to visual hull inspection of a full‐scale ship. The developed system includes a hardware vehicle platform and software algorithms for autonomous operation of the vehicle. The algorithms for vehicle autonomy consist of the guidance, navigation, and control algorithms for real‐time and onboard operation of the vehicle around the hull surface. The environmental perception of the developed system is mainly based on optical camera images, and various computer vision and optimization algorithms are used for vision‐based navigation and visual mapping. In particular, a stereo camera is installed on the underwater vehicle to estimate instantaneous surface normal vectors, which enables high‐precision navigation and robust visual mapping, not only on flat areas but also over moderately curved hull surface areas. The development process of the vehicle platform and the implemented algorithms are described. The results of the field experiment with a full‐scale ship in a real sea environment are presented to demonstrate the feasibility and practical performance of the developed system.
ha l00 15 67 10 , v er si on 2-8 J an 2 00 8 VARIATIONAL METHODS IN RELATIVISTIC QUANTUM MECHANICS

This review is devoted to the study of stationary solutions of linear and nonlinear equations from relativistic quantum mechanics, involving the Dirac operator. The solutions are found as critical points of an energy functional. Contrary to the Laplacian appearing in the equations of nonrelativistic quantum mechanics, the Dirac operator has a negative continuous spectrum which is not bounded from below. This has two main consequences. First, the energy functional is strongly indefinite. Second, the Euler-Lagrange equations are linear or nonlinear eigenvalue problems with eigenvalues lying in a spectral gap (between the negative and positive continuous spectra). Moreover, since we work in the space domain R, the Palais-Smale condition is not satisfied. For these reasons, the problems discussed in this review pose a challenge in the Calculus of Variations. The existence proofs involve sophisticated tools from nonlinear analysis and have required new variational methods which are now applied to other problems. In the first part, we consider the fixed eigenvalue problem for models of a free self-interacting relativistic particle. They allow to describe the localized state of a spin-1/2 particle (a fermion) which propagates without changing its shape. This includes the Soler models, and the Maxwell-Dirac or KleinGordon-Dirac equations. The second part is devoted to the presentation of min-max principles allowing to characterize and compute the eigenvalues of linear Dirac operators with an external potential, in the gap of their essential spectrum. Many consequences of these min-max characterizations are presented, among them a new kind of Hardy-like inequalities and a stable algorithm to compute the eigenvalues. In the third part we look for normalized solutions of nonlinear eigenvalue problems. The eigenvalues are Lagrange multipliers, lying in a spectral gap. We review the results that have been obtained on the Dirac-Fock model which is a nonlinear theory describing the behavior of N interacting electrons in an external electrostatic field. In particular we focus on the problematic definition of the ground state and its nonrelativistic limit. In the last part, we present a more involved relativistic model from Quantum Electrodynamics in which the behavior of the vacuum is taken into account, it being coupled to the real particles. The main interesting feature of this model is that the energy functional is now bounded from below, providing us with a good definition of a ground state. Date: January 8, 2008. Final version to appear in Bull. Amer. Math. Soc. 1991 Mathematics Subject Classification. 49S05, 35J60, 35P30, 35Q75, 81Q05, 81V70, 81V45, 81V55.