Miracle-dz/UniFAR-FTUs huggingface dataset:
New Integrated Navigation Scheme for the Level 4 Autonomous Vehicles in Dense Urban Areas

Accurate and globally referenced positioning is fatal to the safety-critical autonomous driving vehicles (ADV). Multi-sensor integration is becoming ubiquitous for ADV to guarantee the robustness and accuracy of the navigation system. Unfortunately, the existing sensor integration systems are still heavily challenged in urban canyons, such as Tokyo and Hong Kong. The main reason behind the performance degradation is due to the varying environmental conditions, such as tall buildings and surrounded dynamic objects. GNSS receiver is an indispensable sensor for ADV, which relies heavily on the environmental conditions. The performance of GNSS can be significantly affected by signal reflections and blockages from buildings or dynamic objects. With the enhanced capability of perception, fully or partially sensing the environment real-time becomes possible using onboard sensors, such as camera or LiDAR. Inspired by the fascinating progress in perception, this paper proposes a new integrated navigation scheme, the perception aided sensor integrated navigation (PASIN). Instead of directly integrating the sensor measurements from diverse sensors, the PASIN leverages the onboard and real-time perception to assist the single measurement, such as GNSS positioning, before it is integrated with other sensors including inertial navigation systems (INS). This paper reviews several PASIN, especially on the GNSS positioning. As an example, GNSS is aided by the perception of a camera or LiDAR sensors, are conducted in dense urban canyons to validate this novel sensor integration scheme. The proposed PASINS can also be extended to LiDAR- or visual- centered navigation system in the future.
Demo Abstract: Perception vs. Reality - Never Believe in What You See

The increasing availability of heterogeneous ambient sensing systems challenges the according information processing systems to analyse and compare a variety of different systems in a single scenario. For instance, localization of objects can be performed by image processing systems as well as by radio based localization. If such systems are utilized to localize the same objects, synergy of the outputs is important to enable comparable and meaningful analysis. This demo showcases the practical deployment and challenges of such an example system.
Interleave-Division Multiple Access Systems with Invert Tree Based Interleavers with Unequal Power Sharing Algorithm

Power allocation is a major fear for practically coded Interleave division multiple access scheme. Various power allocation algorithms have been proposed for IDMA system. In this paper, the performance improvement of IDMA system using unequal power algorithm with comparison of various interleavers with coded and uncoded IDMA is presented. The simulation result shows that IDMA system gives better performance with invert tree based interleaver (ITBI) in comparison with other interleaver in terms of memory and complexity.
Do nocturnal rodents in the Great Basin Desert avoid moonlight?

Abstract Rodents make foraging decisions by balancing demands to acquire energy and mates with the need to avoid predators. To identify variations in the risk of predation, nocturnal rodents may use moonlight as a cue of risk. Moonlight avoidance behaviors have been observed in many nocturnal rodent species and are widely generalized to small mammals. However, most prior studies have been limited to 1 species or 1 study site, or occurred in modified habitats. We evaluated desert rodent activity patterns in natural habitats from 1999 to 2006 at 62 study sites across the Great Basin Desert of western North America. Rodent activity was examined by livetrapping in open habitats, using the presence of the sand-obligate kangaroo mouse (Microdipodops) as a habitat indicator. Activity patterns were assessed on 69 nights with clear skies and compared to corresponding moonlight values (moon phase and brightness) to evaluate the frequency of moonlight avoidance. Analyses of total activity of all species in the rodent assemblage relative to moonlight showed a distinct nonrandom (triangular-shaped) pattern but no significant correlations. However, individual genera of desert rodents responded differently to moonlight. Only kangaroo rats (Dipodomys) displayed significant moonlight avoidance patterns; they were maximally active at significantly different moonlight levels and avoided bright moonlight to a greater extent than co-occurring rodents. Moonlight seemed to limit the activity of kangaroo rats most strongly on bright nights during waxing moon phases and summer seasons, but not significantly during the spring or fall seasons, or during waning moons. Rather than avoiding moonlight, the activity of deer mice (Peromyscus), pocket mice (Perognathus), and kangaroo mice may be governed by changes in competition with kangaroo rats. Differences in the body size, locomotion, and space use of kangaroo rats relative to other rodents may explain why different moonlight responses were detected, especially if these traits alter how rodents perceive risk from bright moonlight. These findings indicate that moonlight avoidance may be a specialized trait of kangaroo rats rather than a general behavior of nocturnal desert rodents in the Great Basin.
Frequency Based Energy Management Scheme for Multi-Input Converters

This paper presents a flexible frequency based energy management scheme for effective source utilization in multi-input converters (MICs). To demonstrate the proposed energy management scheme, a modular multi-input converter (MIC) is presented. The multiple sources of the MIC transfer power to a common load simultaneously and independently without interfering with each other. Further, the amount of power transferred from each source to the load is independently controlled and thus the proposed scheme shows an effective way of source management for MICs. To achieve these, each source of the system transfers power to the load at a distinct frequency, assigned to it. The proposed power management scheme works on the principle of orthogonal power flow and can be used for the systems consisting of arbitrary number of sources. The working principle of the proposed power management strategy is discussed. Finally, the validity of proposed system is verified by simulations and experiments.
Guaranteed Estimation when Integrating Sensor Information into Robot System

A robotic system is considered, in particular, a spacecraft for which the issue of combining information from sensors of the navigation systems arises. An inertial navigation system and a star sensor are taken as the main navigation systems. The algorithm of guaranteed evaluation when combining the information of the inertial navigation system and the star sensor is proposed. When solving the problem of evaluation with the help of the minimal filter, the construction of the information set, which is guaranteed to contain the true state of the system, is a computationally difficult task for large dimensional systems. Therefore, instead of the exact construction of information sets, their approximate value is used, that is approximation in the form of convex polyhedron, received by approximation from above of "exact" but set implicitly by the system of linear equations and inequalities of the information set. The result of guaranteed evaluation is compared with the result of evaluation by the Kalman filter.
Power flow control in solar PV fed DC Microgrid with storage

Integration of renewable energy sources with the grid leads to grid instability due to their intermittent nature. This paper proposes power flow control and dc bus stability of an islanded DC microgrid at different loading conditions and irradiance level. The system includes solar PV as an energy source operating at maximum power point (MPP) using boost converter. The battery used as an energy storage element (ESS) is responsible for maintaining constant voltage at the DC bus at all operating conditions. For improving the battery lifetime, an algorithm is proposed which makes the system more reliable and efficient. This control strategy of Islanded dc microgrid can be used in residential areas and local loads specifically powering remote hilly areas.The system is modelled and simulated in MATLAB/SIMULINK environment and different operating modes are verified.
Robust Hierarchical Overlapping Community Detection With Personalized PageRank

Community detection is a fundamental task in graph mining. Despite the fact that most of existing community detection methods are devoted to finding disjoint community structure, communities often overlap with each other and are recursively organized in a hierarchical structure in many real-world networks. Also, finding hierarchical overlapping community structure has significant implications in many real-world applications. Some of the few existing attempts suffer from the problem that the obtained community structure is sensitive to network changes as they are based heavily on one-hop node proximity to detect communities. To tackle this problem, we propose a robust hierarchical overlapping community detection method with Personalized PageRank (PPR), which is often regarded as a prevalent metric to measure node proximity globally. Specifically, motivated by the agglomerative hierarchical clustering method, we present an effective and efficient mechanism to merge small communities and form hierarchically organized overlapping communities. Experimental results on both synthetic and real-world networks corroborate the effectiveness and robustness of the proposed framework. In addition, we introduce how to make use of the detected community structure to perform various node proximity queries such as the top- $k$ structural hole spanner query and the top- $k$ heterogeneous node query, which can help us gain more insights on the underlying network.
The AMPERE Project: : A Model-driven development framework for highly Parallel and EneRgy-Efficient computation supporting multi-criteria optimization

The high-performance requirements needed to implement the most advanced functionalities of current and future Cyber-Physical Systems (CPSs) are challenging the development processes of CPSs. On one side, CPSs rely on model-driven engineering (MDE) to satisfy the non-functional constraints and to ensure a smooth and safe integration of new features. On the other side, the use of complex parallel and heterogeneous embedded processor architectures becomes mandatory to cope with the performance requirements. In this regard, parallel programming models, such as OpenMP or CUDA, are a fundamental brick to fully exploit the performance capabilities of these architectures. However, parallel programming models are not compatible with current MDE approaches, creating a gap between the MDE used to develop CPSs and the parallel programming models supported by novel and future embedded platforms.The AMPERE project will bridge this gap by implementing a novel software architecture for the development of advanced CPSs. To do so, the proposed software architecture will be capable of capturing the definition of the components and communications described in the MDE framework, together with the non-functional properties, and transform it into key parallel constructs present in current parallel models, which may require extensions. These features will allow for making an efficient use of underlying parallel and heterogeneous architectures, while ensuring compliance with non-functional requirements, including those on real-time performance of the system.
Transcriptional Regulation of The Human Monocyte Chemoattractant Protein-1 Gene

Human monocyte chemoattractant protein-1 (human MCP-1) mRNA accumulated in THP-1 cells 2 h after lipopolysaccharide (LPS) stimulation. DNase I footprinting revealed that LPS stimulation induced protein binding to the two closely located NF-κB sites, A1 and A2. By electrophoretic gel mobility shift assay and supershift assay, the binding of (p65)2, c-Rel/p65, p50/p65, and p50/c-Rel to the A2 oligonucleotide probe was detected after LPS stimulation. In contrast, 12-o-tetradecanoylphorbol 13-acetate did not induce a significant amount of MCP-1 mRNA in THP-1 cells 2 h after stimulation, and only p50/p65 bound to the A2 probe.trans-Activity of each NF-κB/Rel dimer was investigated by transfecting P19 cells with p65, p50, and/or c-Rel expression vectors, and a luciferase construct containing the enhancer region of the human MCP-1 gene. Expression of recombinant p65 or p65 and c-Rel resulted in elevated luciferase activities, indicating that (p65)2 and c-Rel/p65 had trans-activity. The binding of (p65)2 and/or c-Rel/p65 to the A2 probe was also detected from 12-o-tetradecanoylphorbol 13-acetate-stimulated HeLa, HOS, and A172 cells in which expression of MCP-1 mRNA was elevated. Finally, the role of the A1 site was investigated. Both (p65)2 and c-Rel/p65 bound to the A1 probe by electrophoretic mobility shift assay and a mutation in the A1 or A2 site resulted in a loss of the enhancer activity. These results suggest that the binding of (p65)2 and c-Rel/p65 to the A1 and A2 sites of this gene is important for the tissue- and stimulus-specific transcription of the human MCP-1gene.
Practical Design and Implementation Method for Asymmetric-Response Post-Loaded Substrate-Integrated Waveguide Filters

This paper presents a practical method for implementing a post-loaded substrate-integrated waveguide (SIW) filter producing an asymmetric response with a pair of near-band transmission zeros. More specifically, we present a practical frequency-dependent coupling structure for post-loaded SIW resonators for implementing an asymmetric response. By virtue of the proposed coupling design methods, the roll-offs in the upper and lower stopbands can be readily controlled to be different from each other. In other words, the roll-off in a stopband can be made to be steeper than the one in the other stopband by means of using the proposed design method for coupling structure. More importantly, we propose a useful approach to swap the two stopband responses of an asymmetric-response filter. In other word, this paper shows a practical method to laterally reverse an asymmetric response. For demonstration, 1 symmetric-response and 2 asymmetric-response fourth-order SIW filters have been designed using the presented frequency-dependent coupling structures.
Novel Approach to Improve Performance of Inertial Navigation System Via Neural Network

Inertial Navigation Systems (INS) serve as a critical component in nautical, aerial and land-based navigational systems, especially within Global Navigation Satellite System (GNSS) unavailable environments. In recent years with the development of autonomous transportation, it has gained even more popularity. The main drawback of INS's is its ‘drift error’ that increases with on-going travel. This paper proposes a method with which to navigate, by using data from low grade INS sensors (accelerometers and gyroscopes) on-board a moving vehicle by employing Machine Learning (ML) techniques, specifically neural networks. In most cases, GNSS is available, and therefore can be used as an accurate input for the training and optimizing of the ML algorithms. After training, ML can be used in GNSS unavailable environments and urban areas, to improve the performance of the INS. This paper also shows the output results of the machine-learning algorithms compared to the results of the traditional method of using a Kalman Filter.
Miniature Patch and Slot Microstrip Arrays for IoT and ISM Band Applications

In this paper we present the design and fabrication of a two-antenna array to resonate at 5.8 GHz, a frequency that satisfies a host of applications, especially those associated with the ISM band, but including IoT applications. The design incorporates several techniques to improve figures of merit and reduce its size. The array presents a measured bandwidth of 617 MHz (from 5.503 to 6.120 GHz, or 10.63% about the central frequency) when built on a thin substrate, and of 455 MHz (from 5.517 to 5.972 GHz; 7.84%) when fabricated using a thicker one. The simulated gains were of 6.89 dBi and 7.63 dBi, whereas the measured ones were 6.7 dBi and 7.2 dBi, respectively. Size reduction is better than 30% and the simulated efficiencies are higher than 90%.
Intelligent Navigation in Urban Environments Based on an H-infinity Filter and Reinforcement Learning Algorithms

In urban areas, robustness of a positioning solution suffers from relatively unpredictable reception of attenuated, non-line-of-sight and multipath-contaminated signals. To reflect a GNSS signal propagation environment, parameters of a state estimation filter need to be adjusted on-the-fly. A mixed H2/ H∞ filter has been considered here to address the vulnerability of a minimum error variance estimator to measurement outliers. An emphasis between the H2filter and the H∞ filter (minimizing the worst-case error) is continuously adjusted by a reinforcement learning (RL) model. Specifically, a continuous action actor-critic RL model with eligibility traces is implemented. The Cramér-Rao lower bound is considered for the filter performance evaluation allowing for the RL reward computation. The algorithm has been tested on a real-world dataset collected with mass-market hardware applying tightly-coupled IMU/GPS sensor integration. A positive RL model learning trend has been identified in two segments of the trajectory with the highest obstruction environment, suggesting the applicability potential of the technique.
On the Implementation of Matching Theory Based Resource Allocation in Networking Testbeds

In this paper, we demonstrate the implementation of a matching theory based algorithm that extends the well known Top-Trading-Cycles (TTC) in the resource allocation mechanism of the NITOS networking testbed. We first provide an overview of prominent networking testbeds and the common approach that is used for the allocation of testbed resources to experimenters. We briefly describe our extended TTC algorithm and how it is applied in the enhanced architecture of NITOS resource allocation framework, by illustrating the interactions that take place between the testbed users and the testbed management services.
An Architecture for Declarative Real-Time Scheduling on Linux

This paper proposes a novel framework and programming model for real-time applications supporting a declarative access to real-time CPU scheduling features that are available on an operating system. The core idea is to let applications declare their temporal characteristics and/or requirements on the CPU allocation, where, for example, some of them may require real-time POSIX priorities, whilst others might need resource reservations through SCHED_DEADLINE. The framework can properly handle such a set of heterogeneous requirements configuring an underlying multi-core platform so to exploit the various scheduling disciplines that are available in the kernel, matching applications requirements. The framework is realized as a modular architecture in which different plugins handle independently certain real-time scheduling features within the underlying kernel, easing the customization of its behavior to support other schedulers or operating systems by adding further plugins.
Reactive Power Compensation by ADRC in Vehicle To Grid Application during Grid Fault Conditions

The arrival of Electric Vehicles (EVs) is a key element in the management of the future smart grid. A car is unused for 95% of its life time and the average use of an EV requires less than 80% of the battery capacity for daily trips. Therefore, it will be possible to use the stored electricity and inject it into the grid during faulty periods. Here comes the concept of the Vehicle-To-Grid (V2G) application which consists of using EVs batteries as a mobile storage capacity. It ensures the bidirectional power transfer between batteries of Plug-in Electric Vehicle (PEV) and the grid as well as, offering ancillary services to the grid like voltage and frequency regulation. This paper studies the operation of the V2G application during balanced grid voltage sags, a new control strategy is proposed and utilized to support the grid by injection of reactive power. The Matlab Simulink environment is used to implement and evaluate the proposed control strategy.
Simplified State-Space Average Model and Control Strategy for the Dual Active Bridge Power Converter

This paper presents the simplified state-space average model of the Dual Active Bridge (DAB) power converter which eliminates the complexity in Fourier based model of the transformer excitation system. The proposed model has used for developing a current control and a multiple loop voltage control strategy for the bidirectional converter. The model derived in this paper can be easily used for the bi-directional converter topology employed in the application of fuel cell, electrical vehicle battery charging, solar water pumping projects, etc., where voltage ports with large voltage difference are encountered. Nowadays, in several power applications, bidirectional converters with galvanic isolation are in demand due to their lightweight and reasonable efficiency and a quick turnover of the design is desirable. The simplified model of DAB converter is used for compensator design and control strategy formulation. This model and analytically derived parameters are verified by simulations. All the relevant simulation results are provided in this paper to demonstrate the efficacy and validity of the proposed model for DAB converter. The presented work in this paper provides a guideline of close loop control design for several other applications of DAB power converter using its simplified model.
A Grid-connected Solar PV Module with Autonomous Power Management

Fluctuation of voltage in the low power distribution grid, to which distributed energy resources (DER) are integrated, is a major power quality (PQ) concern. Particularly when the generation from the DERs is at the peak value of it and load requirement is minimum and either case also. In such cases, many PQ problems emerge at the point of common coupling (PCC) such as voltage sag, voltage swell and harmonics. Due to such problem supply to the load, become discontinuous i.e. unregulated supply to load. Therefore, it is indispensable to regulate the voltage of PCC. This paper presents a method to regulate the PCC voltage by connecting the renewable energy sources (RESs) with an R-C filter to the grid. This filter thus lessens the harmonics to a level as stated in the IEEE standard 519. The comparative analysis is done between the solar energy source with and without maximum power tracking to check their compatibility to integrate them with the grid. The autonomous power management (APM) system along with THD reduction is considered to reduce the power losses during islanding mode. The analysis of the solar model with and without maximum power is simulated in MATLAB software and the results of the simulated model are presented to endorse the effectiveness of this structure.