Miracle-dz/UniFAR-FTUs huggingface dataset:
Process-driven Collision Prediction in Human-Robot Work Environments

In mixed human-robot work cells the emphasis is traditionally on collision avoidance to circumvent injuries and production down times. In this paper we discuss how long in advance a collision can be predicted given the behavior of a robotic arm and the current occupancy of both the robot and the human. Assuming that the behavior of the robot is a combination of a set of predefined operations, we propose an approach to learn this behavior and use it to estimate the time before a collision. The pose of the human is estimated by a multicamera inference application based on neural networks at the edge to preserve privacy and enforce scalability. The occupancy of the manipulator and of the human are modeled through the composition of segments which overcomes the traditional "virtual cage" and can be adapted to different human beings and robots. The system has been implemented in a real factory scenario to demonstrate its readiness regarding both industrial constraints and computational complexity.
Performance Evaluation of Hybrid Bypass Protection of Hybrid Smart Transformers in a Substation Environment

The recent transformation in electric grid infrastructure have stressed conventional grid operation and control strategies. This demands that legacy devices perform a variety of advanced grid-support functions in addition to their traditional operation. A hybrid smart transformer (HST) and its protection scheme against damaging high voltages have been proposed. In this paper, the proposed hybrid bypass protection approach is evaluated in a typical substation protection environment involving a group of protection devices. These include a differential relay, feeder protection relay and a SEL-751A as a secondary bypass protection for the proposed HST module. The results from a laboratory-scale hardware prototype are included to verify the effectiveness of the proposed approach. The hybrid bypass protection approach performs as desired under all scenarios without interfering with the normal operation of typical substation protection devices. The proposed protection scheme finds a myriad of applications under the exponentially increasing inverter-based resources (IBRs) that demand robust protection against faults on the grid.
Introduction of statistics in the analysis of an RFID link in a high density context

Randomly distributed RFID tags are modelled by a set of loaded half-wave dipoles. The RFID communication link is divided into forward and backward links with their own characteristics. The coupling effects related to the random position of dipoles alter the ideal operation of both links compared to the case where the driven dipole is isolated. Numerical Electromagnetic Code (NEC) simulator is used for the assessment of forward and backward links and a few statistical results are presented.
ASSASIN: Architecture Support for Stream Computing to Accelerate Computational Storage

Computational storage adds computing to storage devices, providing potential benefits in offload, data-reduction, and lower energy. Successful computational SSD architectures should match growing flash bandwidth, which in turn requires high SSD DRAM memory bandwidth. This creates a memory wall scaling problem, resulting from SSDs’ stringent power and cost constraints.A survey of recent computational SSD research shows that many computational storage offloads are suited to stream computing. To exploit this opportunity, we propose a novel general-purpose computational SSD and core architecture, called ASSASIN (Architecture Support for Stream computing to Accelerate computatIoNal Storage). ASSASIN provides a unified set of compute engines between SSD DRAM and the flash array. This eliminates the SSD DRAM bottleneck by enabling direct computing on flash data streams. ASSASIN further employs a crossbar to achieve performance even when flash data layout is uneven and preserve independence for page layout decisions in the flash translation layer. With stream buffers and scratchpad memories, ASSASIN core’s memory hierarchy and instruction set extensions provide superior low-latency access at low-power and effectively keep streaming flash data out of the in-SSD cache-DRAM memory hierarchy, thereby solving the memory wall.Evaluation shows that ASSASIN delivers 1.5x - 2.4x speedup for offloaded functions compared to state-of-the-art computational SSD architectures. Further, ASSASIN’s streaming approach yields 2.0x power efficiency and 3.2x area efficiency improvement. And these performance benefits at the level of computational SSDs translate to 1.1x - 1.5x end-to-end speedups on data analytics workloads.
An architecture interface and offload model for low-overhead, near-data, distributed accelerators

The performance and energy costs of coordinating and performing data movement have led to proposals adding compute units and/or specialized access units to the memory hierarchy. However, current on-chip offload models are restricted to fixed compute and access pattern types, which limits software-driven optimizations and the applicability of such an offload interface to heterogeneous accelerator resources. This paper presents a computation offload interface for multi-core systems augmented with distributed on-chip accelerators. With energy-efficiency as the primary goal, we define mechanisms to identify offload partitioning, create a low-overhead execution model to sequence these fine-grained operations, and evaluate a set of workloads to identify the complexity needed to achieve distributed near-data execution. We demonstrate that our model and interface, combining features of dataflow in parallel with near-data processing engines, can be profitably applied to memory hierarchies augmented with either specialized compute substrates or lightweight near-memory cores. We differentiate the benefits stemming from each of elevating data access semantics, near-data computation, inter-accelerator coordination, and compute/access logic specialization. Experimental results indicate a geometric mean (energy efficiency improvement; speedup; data movement reduction) of (3.3; 1.59; 2.4)$\times$, (2.46; 1.43; 3.5)$\times$ and (1.46; 1.65; 1.48)$\times$ compared to an out-of-order processor, monolithic accelerator with centralized accesses and monolithic accelerator with decentralized accesses, respectively. Evaluating both lightweight core and CGRA fabric implementations highlights model flexibility and quantifies the benefits of compute specialization for energy efficiency and speedup at 1.23$\times$ and 1.43$\times$, respectively.
Asymmetric Dual-Mode FSIW Filters with High Stopband Rejection

This contribution discusses means to achieve high stopband rejection in bandpass filters. For compactness, the latter rely on dual-mode operation and a realization in folded substrate integrated waveguide (FSIW) technology. To obtain an asymmetric second-order response with two transmission zeros (TZs) in the lower stopband, the design combines a doublet of two resonant modes and a non-resonating node (NRN) with different perturbation means. The validity of the approach is demonstrated around 20GHz with two second-order filters with differently spaced TZs and a cascaded fourth-order version. These feature a -10dB reflection bandwidth (insertion loss) of 1.1GHz (1.9dB), 1.2GHz (2.0dB), and 1.6GHz (3.3dB), respectively. With stopband rejection ratios between 39dB and 58dB, the filters satisfy image noise suppression requirements in satellite communication (SatCom) receivers. Their surface area of about 5x6mm2 and less complies with the severe spatial constraints in SatCom phased arrays.
On the Faint End of the Galaxy Luminosity Function in the Epoch of Reionization: Updated Constraints from the HST Frontier Fields

Ultra-faint galaxies are hosted by small dark matter halos with shallow gravitational potential wells, hence their star formation activity is more sensitive to feedback effects. The shape of the faint end of the high-z galaxy luminosity function (LF) contains important information on star formation and its interaction with the reionization process during the Epoch of Reionization. High-z galaxies with have only recently become accessible thanks to the Frontier Fields (FFs) survey combining deep HST imaging and the gravitational lensing effect. In this paper we investigate the faint end of the LF at redshift >5 using the data of FFs clusters Abell 2744 (A2744), MACSJ0416.1-2403 (M0416), MACSJ0717.5+3745 (M0717), and MACSJ1149.5+2223 (M1149). We analyze both an empirical and a physically motivated LF model to obtain constraints on a possible turnover of LF at faint magnitudes. In the empirical model the LF drops fast when the absolute UV magnitude is much larger than a turnover absolute UV magnitude . We obtain (15.2) at the 1 (2)σ confidence level (C.L.) for z ∼ 6. In the physically motivated analytical model, star formation in halos with circular velocity below is fully quenched if these halos are located in ionized regions. Using updated lensing models and new additional FFs data, we re-analyze previous constraints on and fesc presented by Castellano et al. using a smaller data set. We obtain new constraints on km s−1 and fesc ≲ 56% (both at 2σ C.L.) and conclude that there is no turnover detected so far from the analyzed FFs data. Forthcoming JWST observations will be key to tightening these constraints further.
A 55-GHz Highly Linear Direct-Conversion RF Transmitter in 40 nm CMOS

A 55-GHz direct-conversion RF transmitter with high linearity and quadrature mismatch calibration is presented. The RF transmitter comprises a power amplifier, image-rejection quadrature mixer, baseband amplifier, and quadrature VCO. To achieve a highly linear output power per die area, we employ a distributed active transformer-based two-way power-combining power amplifier, and a pFET-based passive mixer. The I/Q mismatch calibration is implemented for a high image-rejection ratio. The amplitude mismatch is calibrated by tuning the gate biases of the mixer switching FETs, and the phase mismatch is calibrated by 3-bit switched capacitor tuning at the LO buffer LC load. Realized in 40 nm CMOS with a die area of $\boldsymbol{1.6}\times \boldsymbol{0.7}\ \mathbf{mm}^{2}$, the RF transmitter exhibits $\mathbf{OP}_{\mathbf{1dB}}$ of $+\boldsymbol{12.8}\mathbf{dBm}, \mathbf{P}_{\mathbf{sat}}$ of +13.9 dBm, IRR of -45.2 dBc, LOFT of -36.3 dBc. The $\mathbf{OP}_{1\mathbf{dB}}$ per die area is 17 W/mm2.
Accretion disk versus jet orientation in H2O megamaser galaxies

Context. An essential part of the paradigm describing active galactic nuclei is the alignment between the radio jet and the associated rotation axis of the sub-pc accretion disks. Because of the small linear and angular scales involved, this alignment has not yet been checked in a sufficient number of low luminosity active galactic nuclei (LLAGNs). Aims. The project examines the validity of this paradigm by measuring the radio continuum on the same physical scale as the accretion disks to investigate any possible connection between these disks and the radio continuum. Methods. We observed a sample of 18 LLAGNs in the 4.8 GHz (6 cm) radio continuum using the Very Long Baseline Array (VLBA) with 3.3–6.5 ms resolution. The sources were selected to show both an edge-on accretion disk revealed by 22 GHz H2O megamaser emission and signatures of a radio jet. Furthermore, the sources were previously detected in 33 GHz radio continuum observations made with the Very Large Array. Results. Five out of 18 galaxies observed were detected at 8σ or higher levels (Mrk 0001, Mrk 1210, Mrk 1419, NGC 2273, and UGC 3193). While these five sources are known to have maser disks, four of them exhibit a maser disk with known orientation. For all four of these sources, the radio continuum is misaligned relative to the rotation axis of the maser disk, but with a 99.1% confidence level, the orientations are not random and are confined to a cone within 32° of the maser disk’s normal. Among the four sources the misalignment of the radio continuum with respect to the normal vector to the maser disk is smaller when the inner radius of the maser disk is larger. Furthermore, a correlation is observed between the 5 GHz VLBA radio continuum and the [OIII] luminosity and also with the H2O maser disk’s inner radius.
60-GHz Compact Vertically Polarized End-Fire Monopole-Based Yagi Antenna-in-Package for Wideband Mobile Communication

In this work, 60-GHz wideband, compact vertically polarized end-fire monopole-based Yagi antenna-in-package is proposed for mobile devices. The antenna was arranged like a monopole array, and the size was minimized by utilizing the image effect. Advantages of the proposed antenna structure include reduction of bond-wire loss by inserting a cavity to make the antenna and chip the same height and size reduction due to image effect. For practical use, a proposed antenna is interconnected with CMOS chip via a bond-wire interconnect. The measured results show 4.99dBi peak gain with 3.5dB fluctuation within 60GHz unlicensed band. S11 bandwidth is 10.6GHz(57.6-67GHz) which corresponds to 16% fractional bandwidth. The total volume of the antenna is $0.74\times 1.14\times 0.15\lambda _{0}^{3}$ .
BGP Anomaly Detection by the mean of Updates Projection and Spatio-temporal Auto-encoding

Detecting BGP anomalies is crucial to improve the security and robustness of the Internet's inter-domain routing system. As part of this work, we propose an innovative way for detecting these anomalies, a spatio-temporal auto-encoder with BGP updates projection. We first transform BGP updates into video sequences, then we detect the anomalies in these videos by developing an auto-encoder that leverages both the spatial and the temporal features of the videos. The model successfully detects all the different scenario attacks tested. Finally, as we learn the model for exactly one prefix, we apply transfer learning for generalizing the model for all the other prefixes on the Internet. The experimental results are very significant as they indicate the existence of a very similar behaviour for all the prefixes on the Internet.
A Simulation Study on 24-GHz Phased Array for Wireless-Powered Structural Health Monitoring

A feasibility study on applying a 24-GHz massive phased array to an on-vehicle wireless power transfer system is described for remote structural health monitoring in tunnels. Array directional patterns are generated to evaluate the amount of accumulated received energy when the beam direction is controlled within a narrow angle range to prevent the spreads of reflected waves. From the viewpoint of frequency sharing with existing wireless systems, we evaluated the radio field strengths inside and outside a tunnel model when a radio wave absorber was used around a receive antenna through ray-tracing simulations. Simulation results demonstrated that the radio field strength at inter-vehicle distances were far below an allowable in-band spurious level.
UHF RFID Reader Sensitivity Requirements Due to Poor Tag Matching

Passive ultra-high frequency (UHF) RFID systems are conventionally assumed to be downlink limited due to the relatively high power consumption of a tag’s integrated circuit (IC). In this work, it is demonstrated that under certain conditions, tags’ uplink/downlink losses become significantly asymmetrical, causing tens of decibels more loss in the uplink, thus making the system uplink limited. Our study reveals the necessity of developing RFID readers with higher sensitivity. It is shown that in extreme cases, the uplink loss can be 40 dB greater than in the downlink.
Method for Determining the Optimal Number of Clusters for ICS Information Processes Analysis During Cyberattacks Based on Hierarchical Clustering

The development of industrial automation tools and the integration of industrial and corporate networks in order to improve the quality of production management have led to an increase in the risks of successful cyberattacks and, as a result, to the necessity to solve the problems of practical information security of industrial control systems (ICS). Detection of cyberattacks of both known and unknown types is could be implemented as anomaly detection in dynamic information processes recorded during the operation of ICS. Anomaly detection methods do not require preliminary analysis and labeling of the training sample. In the context of detecting attacks on ICS, cluster analysis is used as one of the methods that implement anomaly detection. The application of hierarchical cluster analysis for clustering data of ICS information processes exposed to various cyberattacks is studied, the problem of choosing the level of the cluster hierarchy corresponding to the minimum set of clusters aggregating separately normal and abnormal data is solved. It is shown that the Ward method of hierarchical cluster division produces the best division into clusters. The next stage of the study involves solving the problem of classifying the formed minimum set of clusters, that is, determining which cluster is normal and which cluster is abnormal.
Choosing MIRT Model for Analysis of Quality of Pedagogical and Psychological Tests

We compare compensatory and noncompensatory MIRT (Multidimensional Item Response Theory) models in application to analysis of mathematical and psychological tests. The base model we consider is the multidimensional 2-PL model, and the analyzed data are results of probability theory exams conducted at National Technical University of Ukraine. All computations are performed using R statistical software. The dimensionality of the model is determined using Empirical Kaiser Criterion. The comparison of compensatory and noncompensatory models is conducted using special information criteria.
A Bayesian model for biclustering with applications

Summary. The paper proposes a Bayesian method for biclustering with applications to gene microarray studies, where we want to cluster genes and experimental conditions simultaneously. We begin by embedding bicluster analysis into the framework of a plaid model with random effects. The corresponding likelihood is then regularized by the hierarchical priors in each layer. The resulting posterior, which is asymptotically equivalent to a penalized likelihood, can attenuate the effect of high dimensionality on cluster predictions. We provide an empirical Bayes algorithm for sampling posteriors, in which we estimate the cluster memberships of all genes and samples by maximizing an explicit marginal posterior of these memberships. The new algorithm makes the estimation of the Bayesian plaid model computationally feasible and efficient. The performance of our procedure is evaluated on both simulated and real microarray gene expression data sets. The numerical results show that our proposal substantially outperforms the original plaid model in terms of misclassification rates across a range of scenarios. Applying our method to two yeast gene expression data sets, we identify several new biclusters which show the enrichment of known annotations of yeast genes.
Simultaneous detection and analysis of optical and ultraviolet broad emission lines in quasars at z ~ 2.2

We studied the spectra of six $z \sim 2.2$ quasars obtained with the X-shooter spectrograph at the Very Large Telescope. The redshift of these sources and X-shooter's spectral coverage allow us to cover the rest spectral range $\sim1200 - 7000$\AA\ for the simultaneous detection of optical and ultraviolet lines emitted by the Broad Line Region. Simultaneous measurements, avoiding issues related to quasars variability, help us understanding the connection between different Broad Line Region line profiles generally used as virial estimators of Black Holes masses in quasars. The goal of this work is comparing the emission lines from the same object to check on the reliability of H$\alpha$, MgII and CIV with respect to H$\beta$. H$\alpha$ and MgII linewidths correlate well with H$\beta$, while CIV shows a poorer correlation, due to the presence of strong blueshifts and asymmetries in the profile. We compare our sample with the only other two whose spectra were taken with the same instrument and for all examined lines our results are in agreement with the ones obtained with X-shooter at $z \sim 1.5 - 1.7$. We finally evaluate CIII] as a possible substitute of CIV in the same spectral range and find that its behaviour is more coherent with those of the other lines: we believe that, when a high quality spectrum such as the ones we present is available and a proper modelization with the FeII and FeIII emissions is performed, the use of this line is more appropriate than that of CIV if not corrected for the contamination by non-virialized components.
The Semantic Point & Line SLAM for Indoor Dynamic Environment

Simultaneous Localization and Mapping (SLAM) technology has important implications for the autonomous navigation of intelligent mobile robots. In the past few years, many excellent visual SLAM systems were born, and most of them can do a good job in a static environment. However, in dynamic scenes, unreliable feature points in the scene will lead to the decline of system positioning accuracy and even cause system failure. Traditional methods often use the removal of dynamic points to solve dynamic scene problems, but in some environments, the reduction of feature points will also affect the positioning accuracy. Therefore, based on the ORB-SLAM2 visual SLAM system, this paper proposes a semantic point and line SLAM system for an indoor dynamic environment. The improved SLAM system has good performance in an indoor dynamic environment. Finally, we evaluate our algorithm on the TUM RGB-D dynamic dataset. The results show that the absolute Trajectory Accuracy of SPL-SLAM is significantly improved compared with the original ORB-SLAM2.
Online Magnetometer Calibration in Indoor Environments for Magnetic field-based SLAM

This paper proposes a new process for calibrating a magnetometer in indoor environments that is accurate, easily deployable and time efficient. Our approach simultaneously estimates the calibration of the magnetometer with the local variations of the magnetic field modeled by a Gaussian Process. To guarantee an accurate estimation of the magnetometer calibration, a two-step optimization algorithm is proposed. Experiments show that the proposed solution is as accurate as outdoor calibration algorithms, and more precise than state-of-the-art indoor calibration methods.