Miracle-dz/UniFAR-FTUs huggingface dataset:
A Computationally Efficient Semantic SLAM Solution for Dynamic Scenes

In various dynamic scenes, there are moveable objects such as pedestrians, which may challenge simultaneous localization and mapping (SLAM) algorithms. Consequently, the localization accuracy may be degraded, and a moving object may negatively impact the constructed maps. Maps that contain semantic information of dynamic objects impart humans or robots with the ability to semantically understand the environment, and they are critical for various intelligent systems and location-based services. In this study, we developed a computationally efficient SLAM solution that is able to accomplish three tasks in real time: (1) complete localization without accuracy loss due to the existence of dynamic objects and generate a static map that does not contain moving objects, (2) extract semantic information of dynamic objects through a computionally efficient approach, and (3) eventually generate semantic maps, which overlay semantic objects on static maps. The proposed semantic SLAM solution was evaluated through four different experiments on two data sets, respectively verifying the tracking accuracy, computational efficiency, and the quality of the generated static maps and semantic maps. The results show that the proposed SLAM solution is computationally efficient by reducing the time consumption for building maps by 2/3; moreover, the relative localization accuracy is improved, with a translational error of only 0.028 m, and is not degraded by dynamic objects. Finally, the proposed solution generates static maps of a dynamic scene without moving objects and semantic maps with high-precision semantic information of specific objects.
Land Snail Community Structure and Diversity in Unprotected and Protected Forest Areas of Ekiti State, Nigeria

The community structure and diversity of land snail fauna in Ekiti State was investigated in two protected and one unprotected tropical rainforest ecosystems. Twelve (12) plots measuring 20m x 20m each were surveyed in each forest area, using direct search and leaf-litter filtering techniques. A total of 1095 specimens representing 43 species in 9 molluscan families were collected. Each forest area yielded between 190 and 584 individuals. Alpha diversity ranged from 27 to 32 species, with species richness highest in Ogbesse Forest Reserve and least in the unprotected forest area at Ipole Iloro. The herbivorous Subulinidae and carnivorous Streptaxidae were the most represented families as regards species richness, with family Subulinidae (45.20%) being the most abundant numerically. The most abundant species was Thapsia oscitan of the family Urocyclidae, contributing almost 15% of the total number of individuals. Six (6) species occurred as singleton while 4 species occurred as doubleton. There was considerable variation in species richness between the three sampled forest areas, Cluster analysis formed two groups, Analysis of similarity (ANOSIM) between clusters using the BrayCurtis similarity index gave values of R=1, P=0.34, indicating that the study areas were well separated. The high diversity and abundance recorded from this study reveal the study area is rich in land snails, thus, efforts should be made to maintain the ecological integrity of the protected areas as well as improve biodiversity conservation and management in the unprotected areas.
Effects of the arrival of fresh organic matter on eroded and nutrient-depleted trawling grounds (Gulf of Castellammare, SW Mediterranean)

Abstract. Bottom trawling in the deep sea is one of the main drivers of sediment resuspension, eroding the deep seafloor and altering the content and composition of sedimentary organic matter (OM). The physical and biogeochemical impacts of bottom trawling on the seafloor were studied in the continental slope of the Gulf of Castellammare, Sicily (Southwestern Mediterranean) through the analysis of two triplicate sediment cores collected in trawled and untrawled sites (~ 550 m water depth) during the summer of 2016. Geochemical and sedimentological parameters (excess 210Pb, excess 234Th, 137Cs, dry bulk density, and grain size), elemental (organic carbon and nitrogen) and biochemical composition of sedimentary OM (proteins, carbohydrates, lipids), as well as its freshness (phytopigments) and degradation rates were determined in both coring locations. The untrawled site had a sedimentation rate of 0.15 cm yr−1 and presented a 6-cm thick surface mixed layer that contained coarser sediment with low excess 210Pb concentrations, possibly resulting from the resuspension, posterior advection, and eventual deposition of siltier and older sediment from adjacent trawling grounds. In contrast, the trawled site was characterized by highly eroded and compacted century-old sediment, as shown by the lack of excess 210Pb and high dry bulk densities. The continuous erosion in the trawled site has led to the depletion of OM, which were between 20 % and 60 % lower than those in the untrawled site, as well as to statistically significant differences in the biochemical composition of OM. Nevertheless, the upper 2 cm of the trawled site consisted of recently accumulated sediments, enriched in excess 234Th, excess 210Pb, and phytopigments, which had similar OM contents to surface sediments from the untrawled core. The arrival of fresh sediment in a chronically-trawled deep-sea site that is generally deprived of OM was associated with an enhancement of remineralization rates, reflected by protein turnover rates of 0.025 d−1, which doubled the rates quantified in surface sediments of the untrawled site. We conclude that the detrimental effects of bottom trawling can be temporarily and partially abated by the arrival of fresh and nutritionally-rich OM, which stimulate the response of benthic communities. However, these ephemeral deposits are likely to be swiftly eroded due to the high trawling frequency over fishing grounds, highlighting the importance of establishing management strategies to mitigate the impacts of bottom trawling.
Ethernet over light

The advent of high-brightness, fast-switching Light Emitting Diodes (LEDs) has facilitated Visible Light Communication (VLC) as a new form of Optical Wireless Communication (OWC) over the visible light spectrum. In VLC, these LEDs serve a dual purpose of communication on top of general illumination. The biggest challenge facing VLC lies in finding the “killer application” that will propel the technology to widespread adoption. One of the ways we believe this can be achieved is by integrating VLC with pre-existing Ethernet Local Area Network (LAN) backbones. Although there has been some preliminary research in this area, specifically involving 10Base-T over VLC, none have explicitly dealt with Fast Ethernet (100 Mbps) over VLC. In this thesis, we investigate the implementation of analog transmission of 100Base-TX over VLC in an amplifyand-forward approach, which we coin as Ethernet over Light (EoL). We present the design of a VLC transmitter and accompanying receiver developed for EoL, and include a comprehensive channel model to analyze this Ethernet-VLC link. Equalization techniques were explored to overcome the various shortcomings associated with the EoL channel, and to improve the performance of the overall system. This VLC-LAN solution proved to be a viable alternative for providing a wireless broadcast link wherever LEDs would be deployed for illumination in an indoor setting.
Matching the background of demonstrators with those of their students: does it make a difference?

Routine end-of-semester student satisfaction surveys revealed assistant laboratory demonstrators in first year classes rated more highly than their more experienced principal demonstrator counterparts. The rating appeared to correlate with assistant demonstrators’ backgrounds. This finding prompted a project involving academics and students from the University of Technology Sydney (UTS) and the University of Cape Town (UCT) focusing on students’ and demonstrators’ experiences in first year physics laboratories. In particular, the project aims to examine the extent to which the congruence of the background, attitudes and interests of students and demonstrators impacts upon student engagement and achievement. Through the examination we are intent on gaining insights into approaches demonstrators can adopt to maximise student engagement and that will inform the induction and professional development of demonstrators. We report on the background to, and context of, the project, why it was undertaken, approaches adopted to explore student and demonstrator experiences and some preliminary findings.
Using the Ackerman principle for kinematic modeling of wheeled mobile robots

Applying the Ackerman principle to kinematic modeling of wheeled mobile robots is of vital importance for improving the performance of unmanned autonomous vehicles.The kinematic characteristics of wheeled mobile robots were analyzed in this paper,and a kinematic model was set up that did not consider sliding or braking.The Ackerman principle was then introduced to this kinematic model.Mathematical formulas were proposed for turning angle,steering angle and turning radius.These accurately reflect the movement status of the mobile robot,providing a theoretical basis for analysis of future intelligent vehicles.The conclusions were validated through a simulation.
Small and weak target detection on sea surface based on visible light video image processing

In view of the problems existing in small and weak target detection on the sea surface based on visible light video image processing,the research advances at home and abroad in this field are summarized.The advantages and limitations existing in the methods and algorithms are analyzed from several aspects including dynamic background modeling,foreground target detection and tracking.Problems which need to be solved at present are pointed out,and promising research directions in this field are proposed.
The Gravitational Signature of Martian Volcanoes

By modeling the elastic flexure of the Martian lithosphere under imposed loads, we provide a systematic study of the old and low‐relief volcanoes (>3.2 Ga, 0.5 to 7.4 km) and the younger and larger prominent constructs within the Tharsis and Elysium provinces (<3 Ga, 5.8 to 21.9 km). We fit the theoretical gravitational signal to observations in order to place constraints on 18 volcanic structures. Inverted parameters include the bulk density of the load, the elastic thickness required to support the volcanic edifice at the time it was emplaced (Te), the heat flow, the volume of extruded lava, and the ratio of volcanic products that form within (Vi) and above the preexisting surface (Ve). The bulk density of the volcanic structures is found to have a mean value of 3,206±190 kg/m3, which is representative of iron‐rich basalts as sampled by the Martian basaltic meteorites. Te beneath the small volcanoes is found to be small, less than 15 km, which implies that the lithosphere was weak and hot when these volcanoes formed. Conversely, most large volcanoes display higher values of Te, which is consistent with the bulk of their emplacement occurring later in geologic history, when the elastic lithosphere was colder and thicker. Our estimates for the volumes of volcanic edifices are about 10 times larger than those that neglect the flexure of the lithosphere. Constraints on the magnitude of subsurface loads imply that the ratio Vi/Ve is generally 3:5, which is smaller than for the Hawaiian volcanoes on Earth.
Factors Affecting the Utilization of Postnatal Care Services in Primary Health Care Facilities in Urban and Rural Settlements in Kaduna State, North-western Nigeria

Globally, more than 830 women die daily from pregnancy or childbirth-related complications especially in developing countries. Despite its importance, utilization of postnatal care services in Nigeria is very low due to various factors. This study assessed and compared the factors affecting the utilization of postnatal care services in primary health care facilities in urban and rural settlements in Kaduna State, Nigeria. The study was a cross-sectional, community-based and mixed method study carried out in Sabon Gari (an urban) and Giwa (a rural) Local Government Areas in July 2017. Multistage sampling technique was used to select 410 households in each study area where structured questionnaires were administered. The data was analysed using SPSS®version 20.0. Results were presented in charts and tables. Postnatal care services utilization was 73.7% and 61.4% in the urban and rural settlements respectively. Multivariate analysis identified antenatal attendance, large baby, poorest wealth quintile, transportation problems to the health facilities, and maternal age as predictors of postnatal care services utilization in the urban settings. In the rural settings the predictors were antenatal service attendance, hospital waiting time, family and financial problems. However, focus group discussion findings showed that there were not many differences in urban and rural areas. There were different predictors of postnatal services utilization in both urban and rural study areas. The state public health authorities need to take steps to address the various factors that deterred utilization of postnatal care services.
Respostas das plantas às mudanças climáticas em uma região Andina do Perú

10 Introducción general . 1 Referencias . 6 CAPÍTULO 1 . 10 Global Climate Change Increases Risk of Crop Yield Losses and Food Insecurity in the Tropical Andes . 10 Introduction . 10 Materials and Methods . 13 Study area and species . 13 Experimental setup . 14 Data collection . 18 Statistical analyses . 19 Results . 20 Elevational variation in soil properties . 20 Soil effects on maize . 21 Effects of elevation on maize . 21 Effects of elevation on potatoes . 24 Discussion . 25 Effects on maize . 25 Effects on potatoes . 27 Conclusions and implications . 28 Acknowledgments . 31 References . 32 CAPÍTULO 2 . 45 Respuestas de Weinmannia bangii (Cunoniaceae) al calentamiento climático en el Ande tropical peruano . 45 Introducción . 45 Material y métodos . 48 Área y especie de estudio . 48 Instalación experimental . 49 Análisis estadístico . 54 Resultados . 55 Migración . 55 Tolerancia . 55 Discusión . 61 Referencias . 66 CAPÍTULO 3 . 71 Variación de rasgos fisiológicos de las plantas a lo largo de su rango de distribución altitudinal . 71 Introducción . 71 Métodos . 73 Área y especie de estudio . 73 Parámetros medidos . 75 Análisis estadístico . 77 Resultados . 77 Discusión . 82 Referencia . 87 Consideraciones finales . 92
Organic carbon fluxes using column leaching experiments in soil treated with pig slurry in SE Spain

Abstract In semi-arid climates, the management of pig slurry is very important, since it may cause an environmental problem, but on the other hand it has positive impacts such as high labile and organic carbon content. Leaching experiments were carried out to establish the mechanism of soil C dynamics using the raw pig slurry with legislated doses (LD) (170 kg ha−1 year−1) and the high doses (HD) (510 kg ha−1 year−1). Organic carbon (OC) content of the soil ranged between 6.81 and 15.50 tons OC ha−1 at the beginning, which ranged between 11.39 and 26.26 tons OC ha−1 at the end of the experiment and significantly increased with the HD, especially in the subsurface zone. Carbon lost from the soil respiration was ∼0.01 ton C–CO2 month−1 ha−1 in control and varied between 0.01 and 2.30 ton C–CO2 month−1 ha−1 in LD, and 0.01 and 7.16 ton C–CO2 month−1 ha−1 in HD, respectively. The losses of OC by leaching from dissolved organic carbon (DOC) were 0.15, 0.07, and 16.30% with LD, HD, and the control (CT), respectively. Dissolved OC content in leachates was lower in LD treatment than in HD treatment. The changes of OC from the beginning were between +15.85, +24.65, and −0.8% (+1.97, +3.15, and −0.11 ton OC ha−1) with LD, HD, and CT, respectively. Results suggest that the agronomic rate (LD) application could be considered as a fertilizer treatment in terms of soil C sequestration.
Natives and Migrants’ Childbearing during the Great Recession. A Comparison between Italy and Sweden

Abstract: This study contributes to the empirical research on the fertility decline registered in many European countries in the aftermath of the Great Recession adopting a comparative perspective. More specifically, the paper explores childbearing behavior during the crisis across three dimensions of socioeconomic vulnerability: migration background, labor market uncertainty and country context. We compare childbearing behavior among native and migrant women with different recent occupational histories in two countries: Sweden and Italy. Using the most recent available data, respectively the Swedish population registers and the Italian Labor Force Survey, we investigate the change in the probability of having a(nother) child between the pre-crisis (2007-09) and the crisis period (2010-12). Results suggest that, during the initial phase of the Great Recession, the probability of having a child decreases for migrants with unstable careers or low skilled occupations more than for natives. However, relevant differences between the two countries in the latter associations emerge.
Shaping video experiences with new interface affordances

Watching and creating videos have become predominant parts of our daily lives. Video is becoming the norm for a wide range of purposes from entertainment, to training and education, marketing, and communication. Users go beyond just watching videos. They want to experience and interact with content across the different types of videos. As they do so, significant digital traces accumulate on the viewed videos which provide an important source of information for designing and developing tools for video viewing interfaces. This dissertation proposes the next generation video management interface which creates video experiences that go beyond just pushing the play button. It uses how people view and interact with contemporary video to design strategies for future video interfaces. This has allowed the development of new tools for navigating and managing videos that can be easily integrated into existing systems. To help define some design guidelines for the video interface, a behavioural analysis of users’ video viewing actions (n = 19) was performed. The results demonstrate that participants actively watch videos and most participants tend to skip parts of videos and re-watch specific portions from a video multiple times. Based on the findings, new fast navigation and management strategies are developed and validated in search tasks using a single-video history (n = 12), a video viewing summary (n = 10) and multiple-videos history (n = 10). Evaluation of results of the proposed tools show significant performance improvements over the state-of-the-practice methods. This indicates the value of users’ video viewing actions. Navigating other forms of videos, such as interactive videos, introduces another issue with the selection of interactive objects within videos to direct users to
Performance Evaluation Software: Moving Object Detection and Tracking in Videos

Performance Evaluation Software: Moving Object Detection and Tracking in Videos introduces a software approach for the real-time evaluation and performance comparison of the methods specializinginmoving object detection and/or tracking (D&T) in video processing. Digital video content analysis is an important item for multimedia content-based indexing (MCBI), content-based video retrieval (CBVR) and visual surveillance systems. There are some frequently-used generic algorithms for video object D&T in the literature, such as Background Subtraction (BS), Continuously Adaptive Mean-shift (CMS), Optical Flow (OF), etc. An important problem for performance evaluation is the absence of any stable and flexible software for comparison of different algorithms. In this frame, we have designed and implemented the software forcomparing andevaluating thewell-known video object D&T algorithms on the same platform. This software is able to compare them with the same metrics in real-time and on the same platform. It also works as an automatic and/or semi-automatic test environment in real-time, which uses the image and video processing essentials, e.g. morphological operations and filters, and ground-truth (GT) XML data files, charting/plotting capabilities, etc. Along with the comprehensive literature survey of the abovementioned video object D&T algorithms, this book also covers the technical details of our performance benchmark software as well as a case study on people D&T for the functionality of the software.
Circuit-level considerations for mixed signal programmable components

This paper presents some architectural studies regarding mixed signal programmable components (FPGAs or gate arrays). The effect of programmability through the use of switches is analyzed, and it is shown that the result is a transfer function modification when real characteristics of the switches are assumed. Moreover, the paper proposes the use of externally linear, internally nonlinear analog circuits, since this procedure could eliminate the error introduced by the switches. Using this approach, analog area is greatly reduced, and circuits can be built on top of digital technologies. Some experimental results in the analog and digital domain support the proposed approach to mixed circuit reprogrammability, being the basis for a mixed signal FPGA.
Foraging strategies of an aerial-hawking insectivore, the common noctule bat Nyctalus noctula

Predators are confronted with altered spatial distribution and abundance of prey in anthropogenic landscapes. We asked if common noctule bats Nyctalus noctula vary in levels of social foraging in two contrasting anthropogenic landscapes. Above farmland, bats mostly started to hunt in small patches after encountering conspecifics. In a forested landscape, bats started to hunt during straight flight and in small patches alike, irrespective of conspecific presence. Bats in a forested landscape had lower feeding rates and encountered more conspecifics than bats in farmland. We suggest that heterogeneous prey distribution above farmland restricted bats to hunt in small patches. Bats improved prey search by eavesdropping on conspecifics. In forested landscape, higher competitor density impaired hunting success in small patches. Yet, homogeneous prey distribution enabled hunting outside of small patches. Low resource abundance combined with heterogeneous resource distribution may promote social foraging and thus impact sociality in aerial insectivorous bat. Chapter three Foraging strategies in different landscapes ___________________________________________________________________________________________________________
R-Net grid monitoring and alarming system design

By introducing the concepts,requirements,related standards and work of grid monitoring,some actual monitoring systems were analyzed;expounded the monitoring requirements and their relations,found some problems and deficiencies in grid monitoring.Based on the R-Net grid computing test platform,RNMS(R-Net monitoring system) used some technology such as adaptive sensor control,on-demand measurement,distributed directory service,node group management,mixed data format,which improved the interoperability and scalability,reduced the intrusiveness.Based on the RNMS,an alarming system was designed without more modifying.It shows the RNMS has a good scalability.