Miracle-dz/UniFAR-FTUs huggingface dataset:
An Architecture for Autonomy

An autonomous robot offers a challenging and ideal field for the study of intelligent architectures. Autonomy within a rational be havior could be evaluated by the robot's effectiveness and robust ness in carrying out tasks in different and ill-known environments. It raises major requirements on the control architecture. Further more, a robot as a programmable machine brings up other archi tectural needs, such as the ease and quality of its specification and programming. This article describes an integrated architecture that allows a mobile robot to plan its tasks—taking into account temporal and domain constraints, to perform corresponding actions and to con trol their execution in real-time—while being reactive to possible events. The general architecture is composed of three levels: a de cision level, an execution level, and a functional level. The latter is composed of modules that embed the functions achieving sensor- data processing and effector control. The decision level is goal and event driven, and it may have several layers, according to the application; their basic structure is a planner/supervisor pair that enables the architecture to integrate deliberation and reaction. The proposed architecture relies naturally on several representa tions, programming paradigms, and processing approaches, which meet the precise requirements that are specified for each level. The authors have developed proper tools to meet these specifications and implement each level of the architecture: a temporal planner, IxTeT; a procedural system for task refinement and supervision, PRS; Kheops for the reactive control of the functional level, and GenoM for the specification and integration of modules at that level Validation of the temporal and logical properties of the reactive parts of the system, through these tools, are presented. Instances of the proposed architecture have been integrated into several indoor and outdoor robots. Examples from real-world ex perimentations are provided and analyzed.
Real-time facial expression recognition for affective computing based on Kinect

Affective computing endows computers with the ability to observe and understand, thus generates a variety of emotional characteristics. Facial expression has continuous signal which is direct expression of emotion. Affective computing via facial expressions has aroused great interest in intelligent interactive and pattern recognition recently. RGB camera is sensitive to surroundings, especially to illumination conditions. 2D images are not robust to human faces which are 3D objects. In this paper, we propose a method that uses noisy depth data produced by the low resolution sensor for robust face recognition. We capture color and depth information by Kinect sensor, extract Facial Feature Points (FFPs) feature vector by Face Tracking SDK, and recognize facial expression by Random Forest (RF) algorithm. This method enables facial expression recognition implementation real-time in intelligent interactive.
Sparse channel estimation based on compressed sensing for massive MIMO systems

The sparse channel estimation which sufficiently exploits the inherent sparsity of wireless channels, is capable of improving the channel estimation performance with less pilot overhead. To reduce the pilot overhead in massive MIMO systems, sparse channel estimation exploring the joint channel sparsity is first proposed, where the channel estimation is modeled as a joint sparse recovery problem. Then the block coherence of MIMO channels is analyzed for the proposed model, which shows that as the number of antennas at the base station grows, the probability of joint recovery of the positions of nonzero channel entries will increase. Furthermore, an improved algorithm named block optimized orthogonal matching pursuit (BOOMP) is also proposed to obtain an accurate channel estimate for the model. Simulation results verify our analysis and show that the proposed scheme exploring joint channel sparsity substantially outperforms the existing methods using individual sparse channel estimation.
An automated attendance system using video surveillance camera

At current era human being always try to develop a system that minimizes manual human efforts by implementing automation in the existing system with the help of software and hardware platform's available. By considering above fact, we decide to implement an automated attendance system that will put attendance of student if he/she will come in front of camera. The main activities carried out during attendance system are to detect and recognize a human face. This type of attendance systems are already available in a number of organizations, but these systems have the limitation that student need to come in front of camera i.e. Active participation from the student's required to have attended. To overcome above limitation, we decide to implement an automated attendance system that will take attendance of a student who is present in a classroom after periodic time.
Role of Different Pfcrt and Pfmdr-1 Mutations in Conferring Resistance to Antimalaria Drugs in Plasmodium falciparum

Emergence of drugs resistant strains of Plasmodium falciparum has augmented the scourge of malaria in endemic areas. Antimalaria drugs act on different intracellular targets. The majority of them interfere with digestive vacuoles (DVs) while others affect other organelles, namely, apicoplast and mitochondria. Prevention of drug accumulation or access into the target site is one of the mechanisms that plasmodium adopts to develop resistance. Plasmodia are endowed with series of transporters that shuffle drugs away from the target site, namely, pfmdr (Plasmodium falciparum multidrug resistance transporter) and pfcrt (Plasmodium falciparum chloroquine resistance transporter) which exist in DV membrane and are considered as putative markers of CQ resistance. They are homologues to human P-glycoproteins (P-gh or multidrug resistance system) and members of drug metabolite transporter (DMT) family, respectively. The former mediates drifting of xenobiotics towards the DV while the latter chucks them outside. Resistance to drugs whose target site of action is intravacuolar develops when the transporters expel them outside the DVs and vice versa for those whose target is extravacuolar. In this review, we are going to summarize the possible pfcrt and pfmdr mutation and their role in changing plasmodium sensitivity to different anti-Plasmodium drugs.
From Viewpoints and Abstraction Levels in Software Engineering Towards Multi-Viewpoints/Multi-Hierarchy in Software Architecture

Viewpoints concept could be considered one of the major concepts introduced in the software engineering domain in order to enhance the architectural organization of complex systems by separating its concerns. Despite his ultimate importance, this concept must be evolved and hierarchized in order to allow the jump of software architectures field from its current range of complexity coverage and resolution to a new range more secure, more standardized and more appropriate with the current industrial needs. This paper begins with a survey of the role and usage of the viewpoints, and the hierarchy definition by abstraction levels concepts. Then presents a small but complete analysis of the related works and their limitations, in order to conclude with a proposition of current work on a multi-viewpoints and multi-abstraction levels software architecture.
Stress for invasion success? Temperature stress of preceding generations modifies the response to insecticide stress in an invasive pest insect

Adaptation to stressful environments is one important factor influencing species invasion success. Tolerance to one stress may be complicated by exposure to other stressors experienced by the preceding generations. We studied whether parental temperature stress affects tolerance to insecticide in the invasive Colorado potato beetle Leptinotarsa decemlineata. Field‐collected pyrethroid‐resistant beetles were reared under either stressful (17°C) or favourable (23°C) insecticide‐free environments for three generations. Then, larvae were exposed to pyrethroid insecticides in common garden conditions (23°C). Beetles were in general tolerant to stress. The parental temperature stress alone affected beetles positively (increased adult weight) but it impaired their tolerance to insecticide exposure. In contrast, offspring from the favourable temperature regime showed compensatory weight gain in response to insecticide exposure. Our study emphasizes the potential of cross‐generational effects modifying species stress tolerance. When resistant pest populations invade benign environments, a re‐application of insecticides may enhance their performance via hormetic effects. In turn, opposite effects may arise if parental generations have been exposed to temperature stress. Thus, the outcome of management practices of invasive pest species is difficult to predict unless we also incorporate knowledge of the evolutionary and recent (preceding generations) stress history of the given populations into pest management.
MSSVM: A Modular Solver for Support Vector Machines

We propose a modular solver for training Support Vector Machines(SVMs) in this paper. Based on the decomposition method(DM), which is the state-of-the-art way for training SVMs with nonlinear kernels, the new solver contains several modules, such as data representation, kernel function evaluation, problem construction, working set selection, sub problem solution, cache maintenance, etc. The working set selection module contains two sub-modules: new indices selection and previous indices inheritance. Several popular working set selection rules are implemented. We also provide interface in this module. Users who are familiar with DM can add their new working set selection strategies. In the sub problem solution module, we design a Quadratic Programming(QP) solver interface. Any package that solves QP can be plugged in our framework. In particular, based on the structure of quadratic sub problem in SVMs, we develop a sub problem solution, which skillfully combines the projected gradient method and interior point method together. Numerical experiments on extensive data sets validate the correctness and efficiency of the proposed solver.
Globalization, migration, and mental health

Globalization not only affects mental health, but also our conceptualizations and measurements of it. The last three decades have seen global efforts to determine the prevalence of human illness and to universalize the provision of mental health treatment for everyone. At the same time, theorization of the effect of global social, economic, and social transitions on mental health and the factors that influence it have been relatively lacking, limiting the effectiveness and take-up of interventions, and the development of policies. This chapter reviews previous theoretical models of the effects globalization on health, and develops a model for mental health. In particular, the measurement of mental health, well-being, and adversity is located under the influence of macrosocial processes. Influences on mental health across the many levels in which the individual is situated are emphasized. Questions and implications for further empirical work are drawn out, including in the ‘global mental health’ field.
Novel Solid-PhaseAssay of KetoneBodiesin Urine

This simple dip-and-read color-matching assay measures ketone bodies in urine. The result is matched with any of the seven colors provided in a color chart. The intensity and hue of the color formed depends on the concentration of acetoacetic acid and follows a gradation starting from light purple (0.2 mol/L acetoacetate) to dark purple and finally to dark violet (9 mol/L). The color developed is independent of pH in the range pH 4-9.5, and is stable for at least 1 h. 3-Hydroxybutync acid produced no color at the concentrations tested (s 100 mmol/L), and acetone was detectable only when 15 mmolIL. The test was compared with the Ames Ketostix assay in subjects who were on restricted-calorie weight-loss programs. The two methods showed good agreement, except that 20% (21/ 103) of samples that were negative by Ketostix were read as positive by the new method, which may be more sensitive (detection limit = 0.2 mmol/L). Measurement of urine ketones was unreliable (in comparison with measurement of blood or breath acetone) for monitoring the rate of fat loss during a negative calorie balance.
The Effect of Uncertainty on Monetary Policy: How Good are the Brakes?

In practice, monetary policy changes tend to produce a smooth path for interest rates while the path of policy interest rates generated by models is often considerably more variable. This paper investigates whether the inclusion of uncertainty can help reconcile the theory to the practice. It shows that parameter uncertainty does not induce much smoothness when its effects are directly incorporated into a model. Uncertainty about the interest sensitivity of output can increase the smoothness of optimal policy in a model, but the path of policy interest rates generated is still considerably more variable than that observed in practice.
Avatars, People, and Virtual Worlds: Foundations for Research in Metaverses

Metaverses are immersive three-dimensional virtual worlds in which people interact as avatars with each other and with software agents, using the metaphor of the real world but without its physical limitations. The ubiquitous availability of high speed Internet access has spurred enormous interest in virtual worlds like Second Life and World of Warcraft, both in terms of user gaming and as a new technological platform for global virtual collaboration. These environments have potential for richer, more engaging collaboration, but their capabilities have yet to be examined in depth. Of particular interest in this paper is the use of metaverses for virtual team collaboration. We develop a conceptual model for research in metaverses that is based on five key constructs: (1) the metaverse itself, (2) people/avatars, (3) metaverse technology capabilities, (4) behaviors, and (5) outcomes. We present an indepth characterization of metaverse technology capabilities from a socio-technical view that recognizes the potential for variation in emergent interaction and in outcomes. Example propositions and a discussion of key issues and challenges show how the model can be used to further research and practice in virtual teams in the context of these new environments.
Stable Throughput for Multicast With Random Linear Coding

This paper compares scheduling and coding strategies for a multicast version of a classic downlink problem. We consider scheduling strategies where, in each time slot, a scheduler observes the lengths of all queues and the connectivities of all links and can transmit the head-of-the-line packet from a single queue. We juxtapose this to a coding strategy that is simply a form of classical random linear coding. We show that there are configurations for which the stable throughput region of the scheduling strategy is a strict subset of the corresponding throughput region of the coding strategy. This analysis is performed for both time-invariant and time-varying channels. The analysis is also performed both with and without accounting for the impact on throughput of including coding overhead symbols in each encoded packet. Additionally, we compare coding strategies that only code within individual queues against a coding strategy that codes across separate queues. The strategy that codes across queues simply sends packets from all queues to all receivers. As a result, this strategy sends many packets to unnecessary recipients. We show, surprisingly, that there are cases where the strategy that codes across queues can achieve the same throughput region achievable by coding within individual queues.
Telsim, a user-oriented language for simulating continuous systems at a remote terminal

Telsim is a TELetypewriter SIMulation language designed for nonprogrammers and written for a moderate-size time-sharing system. It simulates continuous systems that can be described by a block diagram. Its input language is a natural engineering description of the boxes that comprise the diagram. The time-sharing system is offered commercially by the General Electric Company. This system uses a GE-235 computer shared by a number of remote model 33 or 35 teletypewriters. The programming language is a special version of FORTRAN II.
A Hidden Markov Model For Iris Recognition Method

Iris identification system is mainly composed of iris image acquisition, iris image preprocessing and iris image matching. Iris image matching is the key step to the system and effects on the precision and efficiency of the whole system directly. Iris image matching is mainly based on its texture, which can be present by the orientation field. An iris, which has the different orientation angle structure in different area and has a texture pattern correlation with the neighborhood areas, can be viewed as a Markov stochastic field. In this paper, a novel method based on Hidden Markov model that is used to model the orientation field of irises is present. The accurate and robust iris image matching can be achieved by matching Hidden Markov model parameters, which are produced and trained after the processing of extracting eigenirises to form the samples of observation vectors.
Rethinking Spherical Media Surfaces by Re-reading Ancient Greek Vases

In this paper, we propose re-reading of past artifacts and traditions as a possible way to inspire the design of future media on non-flat displays. As an example, we illustrate how different narrative typologies found in ancient Greek vases, circular story reading, bottom-up time reading, abstract and realistic contrast reading and reading in alignment, can yield alternatives to interactive content specific to spherical media. We conclude by pointing out design considerations regarding the composition of graphic elements on spherical surfaces. Author
Rejection of sliding effects in car like robot control: application to farm vehicle guidance using a single RTK GPS sensor

A very accurate vehicle guidance is required in numerous agricultural applications, as seeding, spraying, row cropping,. Accuracy in vehicle localization can be obtained in realtime from a RTK GPS sensor. Several control laws, relying on this sensor, have been previously designed and provide satisfactory results as long as vehicles do not slide. However, sliding has to occur in agricultural tasks (sloping fields, curves on a wet land, .). The challenge addressed in this paper is to preserve vehicle guidance accuracy in such situations. A nonlinear adaptive control law is here designed. Simulation results and field experiments, demonstrating the capabilities of that control scheme, are reported and discussed.
High-level multicore programming with C++11

Nowadays, one of the most important challenges in programming is the efficient usage of multicore processors. All modern programming languages support multicore programming at native or library level. C++11, the next standard of the C++ programming language, also supports multithreading at a low level. In this paper we argue for some extensions of the C++ Standard Template Library based on the features of C++11. These extensions enhance the standard library to be more powerful in the multicore realm. Our approach is based on functors and lambda expressions, which are major extensions in the language. We contribute three case studies: how to efficiently compose functors in pipelines, how to evaluate boolean operators in parallel, and how to efficiently accumulate over associative functors. [ Acknowledgements. The Project is supported by the European Union and co-financed by the European Social Fund (grant agreement no. TAMOP 4.2.1./B-09/1/KMR-2010- 0003). ]
Prospective representation of navigational goals in the human hippocampus

Brain activity to represent the future How do humans navigate from A to B? Brown et al. developed a virtual reality task to investigate the neural representations that support human navigational planning. Highly specific activity of the hippocampus and related brain areas represented the future locations to which participants eventually moved. Network-level interactions of the hippocampus with the prefrontal cortex thus enable flexible representation of planned destinations. Science, this issue p. 1323 The human hippocampus and hippocampal-cortical interactions simulate navigational events during goal-directed planning. Mental representation of the future is a fundamental component of goal-directed behavior. Computational and animal models highlight prospective spatial coding in the hippocampus, mediated by interactions with the prefrontal cortex, as a putative mechanism for simulating future events. Using whole-brain high-resolution functional magnetic resonance imaging and multi-voxel pattern classification, we tested whether the human hippocampus and interrelated cortical structures support prospective representation of navigational goals. Results demonstrated that hippocampal activity patterns code for future goals to which participants subsequently navigate, as well as for intervening locations along the route, consistent with trajectory-specific simulation. The strength of hippocampal goal representations covaried with goal-related coding in the prefrontal, medial temporal, and medial parietal cortex. Collectively, these data indicate that a hippocampal-cortical network supports prospective simulation of navigational events during goal-directed planning.
Missing Molecular Hydrogen and the Physical Conditions of GRB Host Galaxies

We examine the abundance of molecular hydrogen (H2) in the spectra of gamma ray burst afterglows (GRBs). In nearby galaxies, H2 traces the cold neutral medium (CNM) and dense molecular star-forming interstellar gas. Although H2 is detected in at least half of all sight lines toward hot stars in the Magellanic Clouds and in ≈25% of damped Lyα systems toward quasars, it is not detected in any of the five GRB environments with a similar range of neutral hydrogen column density and metallicity. We detect no vibrationally excited H2 that would imply that the GRB itself has photodissociated its parent molecular cloud, so such models are ruled out unless the parent cloud was ≲4 pc in radius and was fully dissociated prior to the spectroscopic observations, or the star escaped its parent cloud during its main-sequence lifetime. The low molecular fractions for the GRBs are mysterious in light of their large column densities of neutral H and expectations based on local analogs, i.e., 30 Doradus in the LMC. This surprising lack of H2 in GRB damped Lyα absorbers indicates that the destruction processes that suppress molecule formation in the LMC and SMC are more effective in the GRB hosts, most probably due to a combination of low metallicity and an FUV radiation field 10-100 times the Galactic mean field. These inferred conditions place strong constraints on the star-forming regions in these early galaxies.