Miracle-dz/UniFAR-FTUs huggingface dataset:
System Design for End-User Robots : sharing work amongst research programs

In the last 5 years or so, new perception and control techniques have been developed and demonstrated which allow a to robot perform tasks in natural environments. Unfortunately, most efforts have resulted in one-of-a-kind robots, limited to research laboratories or carefully circumscribed venues. A user who would like to apply robotic technology to a particular real-world problem usually starts from scratch. The problem is that the robotic technology (i.e., the hardware and software) which might apply the user’s domain exists in a diverse array of formats and configurations. For intelligent robotics to become a practical reality, an effort to standardize some aspects of robotic technology must be made. This paper proposes that this technology be thought of in ways which are similar to the standardization of personal computer technology. I envision a "plug and play" system in which a person can buy robotic hardware components from one vendor and intelligent application software from another. A final system would then be constructed by assembling "snap together" hardware and installing the software, without requiring that the user understand the inner workings of the system. This work presents some system requirements (hardware and software) and one implemented design for end-user robots. We conclude that such technology is possible today and necessary for the sharing of ideas as well as the rapid advancement of the field of intelligent robotics.
Estimation of fuzzy Gaussian mixture and unsupervised statistical image segmentation

This paper addresses the estimation of fuzzy Gaussian distribution mixture with applications to unsupervised statistical fuzzy image segmentation. In a general way, the fuzzy approach enriches the current statistical models by adding a fuzzy class, which has several interpretations in signal processing. One such interpretation in image segmentation is the simultaneous appearance of several thematic classes on the same site. We introduce a new procedure for estimating of fuzzy mixtures, which is an adaptation of the iterative conditional estimation (ICE) algorithm to the fuzzy framework, We first describe the blind estimation, i.e., without taking into account any spatial information, valid in any context of independent noisy observations. Then we introduce, in a manner analogous to classical hard segmentation, the spatial information by two different approaches: contextual segmentation and adaptive blind segmentation. In the first case, the spatial information is taken into account at the segmentation step level, and in the second case it is taken into account at the parameter estimation step level. The results obtained with the iterative conditional estimation algorithm are compared to those obtained with expectation-maximization (EM) and the stochastic EM algorithms, on both parameter estimation and unsupervised segmentation levels, via simulations. The methods proposed appear as complementary to the fuzzy C-means algorithms.
Certification analysis for a model-based UAV fault detection system

Model-based fault detection algorithms can be used to improve the reliability of unmanned aerial vehicles (UAVs) while still satisfying their restrictive size, power, and weight requirements. However, the use of model-based algorithms introduces new failure modes that do not exist in physically redundant architectures. Hence a certification process is needed for such systems that incorporates analysis tools, high fidelity simulations, and flight test data. This paper focuses on one aspect of such a process: the use of flight test data to validate theoretical analysis results. Specifically, this validation is performed to assess the false alarm probability of a simple, model-based UAV fault detection system. This example highlights the main certification issues that arise due to limited flight data and stringent reliability requirements. In addition, the flight test data shows non-Gaussian statistical behavior that leads to some discrepancies with the analysis results. Further discussions are presented for this observed behavior.
Experimental Research of Pedestrian Walking Behavior

To assess the design of walking infrastructure—such as transfer stations, shopping malls, sport stadiums, and others, as well as to support planning of timetables for public transit—tools to aid the designer are needed. To this end, microscopic and macroscopic pedestrian flow models can be and have been applied. To calibrate and validate such models, as well as to gain more insight into the characteristics of pedestrian flows under a variety of circumstances, detailed pedestrian flow data are required. Delft University of Technology has recently carried out experimental research of pedestrian flow. Described is the experimental design (such as determination of process variables and measurement), the resulting microscopic pedestrian data, and some initial results for the narrow bottleneck experiment. Both microscopic and macroscopic characteristics of the pedestrian flows are presented. Interesting first results pertain to the way in which the narrow bottleneck is used under saturated flow conditions, and the use of the space (or, rather, width) upstream of the bottleneck in case of congestion.
A Modified Ant Algorithm for Solving the Quadratic Assignment Problem

The quadratic assignment problem (QAP) is one of the hardest combinatorial optimization problems known. Ant algorithms have been inspired by the behavior of real ant colonies. In this paper, we introduce random algorithm to the constructive procedure of the solution of ant system (AS) and adopt dynamic adaptive approach to update pheromone trails. In our algorithm, only partial facilities are randomly chosen to compute the designed probability. Experimental results for solving the QAP demonstrate that the proposed approach can obtain the better quality of the solutions.
Security Assessment on User Authentication by an HttpSendRequest Hooking in an HTTP Client

Most current user authentications on the web server use the server/client based HTTP protocol. In the past, the ID-password based user authentication is exposed the plaintext on the network, because of this problem, the user authentication using the SSL is researched. Through this solution, transferred the user authentication information is able to protect on the network. Nevertheless, a novel problem comes to the fore as an attack using vulnerability of the platform and it causes exposure of the user authentication information. In particular, the attacker utilizes the hooking technique for steal the user authentication information by HttpSendRequest function that sends the user authentication or connection related information. Therefore, in this paper, we analyze this kind of vulnerability and draw its result using implemented sample proof-of concept tools.
Situation awareness requirements for a critical infrastructure monitoring operator

This paper presents a set of situation awareness (SA) requirements for an operator who monitors critical infrastructure (CI). The requirements consist of pieces of information that the operator needs in order to be successful in their work. The purpose of this research was to define a common requirement base that can be used when designing a CI monitoring system or a user interface to support SA. The requirements can also be used during system or user interface evaluation, and as a guide for what aspects to emphasize when training new CI monitoring operators. To create the SA requirements, goal-directed task analysis (GDTA) was conducted. For GDTA, nine interview sessions were held during the research. For a clear understanding of a CI monitoring operator's work, all interviewees were subject matter experts (SMEs) and had extensive experience in CI monitoring. Before the interviews, a day-long observation session was conducted to gather initial input for the GDTA goal hierarchy and the SA requirements. GDTA identified three goals an operator must achieve in order to be successful in their work, and they were used to define the final SA requirements. As a result, a hierarchy diagram was constructed that includes three goals: monitoring, analysis and internal communication, and external communication. The SA requirements for a CI monitoring operator include information regarding ongoing incidents in the environment and the state of systems and services in the operator's organization.
Image thresholding using type-2 fuzzy c-partition entropy and particle swarm optimization algorithm

The imprecision in an image can be expressed in terms of ambiguity of belonging of a pixel in the image or the bottom (if it is black or white), or at the in-definition of the form and the geometry of a region in the image, or the combination of the two previous factors. The fuzzy c-partition entropy approach for threshold selection is one of the best image thresholding techniques, but its complexity increases with the number of thresholds. In this paper, a multi-level thresholding method for image segmentation using type-2 fuzzy c-partition entropy is presented. Type-2 fuzzy sets represent fuzzy sets with fuzzy membership values. The procedure for finding the optimal combination of all the fuzzy parameters is implemented by a particle swarm optimization algorithm. Experimental results reveal that the proposed image thresholding approaches has good performances for images with low contrast and grayscale ambiguity.
Glutamatergic activity in the amygdala signals visceral input during taste memory formation

Conditioned taste aversion (CTA) is a learning paradigm in which an animal avoids a taste (conditioned stimulus) previously associated with visceral toxic effects [or unconditioned stimulus (US)]. Although many studies have implicated glutamate-mediated neurotransmission in memory consolidation of different types of learning tasks, including CTA, the exact role of this neurotransmitter system in memory formation is not known. Thus, we set out to determine whether glutamate mediates signaling of the US in CTA. We present evidence obtained by in vivo microdialysis that the US (i.p. injection of lithium chloride) induced a dramatic increase in glutamate release in the amygdala and a modest but significant release in the insular cortex. Moreover, CTA can be elicited by intra-amygdalar microinjections of glutamate; consequently, when glutamate is administered just before the presentation of a weak US, a clear CTA is induced. In contrast, the injection of glutamate alone or glutamate 2 h after the suboptimal US did not have any effect on the acquisition of CTA. These results indicate that glutamate activation of the amygdala can partially substitute the US in CTA, thus providing a clear indication that the amygdala conveys visceral information for this kind of memory.
On the 100 th anniversary of its birth ] The History of Noise

oise had a glorious birth. It was one of the three miracles of the miracle year, 1905. Einstein, always aiming to solve the greatest of problems and to solve them simply, saw that noise could be the instrument to establish one of the greatest ideas of all time—the existence of atoms. In a few simple pages he invented noise, and thus " noise " was born. Immediately after Einstein, there was an incredible flurry of ideas of the most profound kind which continues to this day. Noise permeates every field of science and technology and has been instrumental in solving great problems, including the origin of the universe. But noise, considered by many as unwanted and mistakenly defined as such by some, has little respectability. The term itself conjures up images of rejection. Yet it is an idea that has served mankind in the most profound ways. It would be a dull, gray world without noise. The story of noise is fascinating, and while in its early stages, noise's story was clearly told, its subsequent divergence into many subfields has often resulted in a lack of understanding of its historical origins, development, and importance. We try to give it some justice. We discuss who did what, when, and why, and the historical misconceptions. But most importantly, we aim to show that the story of noise is an exciting story, filled with drama, and worth telling.
ANALISI PENGARUH SERVICE SCAPE TERHADAP REVISITE INTENTION YANG DIMEDIASI PLEASURE FEELING DAN PERCEIVED SERVICE QUALITY PADA THEME RESTO (STUDI PADA TAMAN INDIE RESTO MALANG)

Penelitian ini dilatar belakangi oleh bisnis-bisnis restoran atau rumah makan yang berkembang pesat di Indonesia. Sifat masyarakat yang konsumtif termasuk dari cara mereka memilih restoran, pengusaha restoran didorong untuk selalu inovatif dan kreatif agar menarik pengujung dan mejaga pengunjungnya datang kembali. Penelitian ini bertujuan untuk mengetahui pengaruh Service Scape terhadap Revisite Intention yang di mediasi oleh Pleasure Feeling dan Perceived Service Quality, baik secpuara langsung maupun tidak langsung pada pengunjung Taman Indie Resto Malang. Jenis penelitian yang dilakukan adalah explanatory research dengan metode survey. Sampel berjumlah 160 responden dengan teknik pengambilan sampel purposive sampling. Metode analisis menggunakan PLS SEM dengan software SmartPLS 3.0. Uji instrumen penelitian meliputi uji outer model, uji inner model, dan uji hipotesis. Uji hipotesis langsung menggunakan t-test sedangkan hipotesis tidak langsung menggunakan uji sobel. Hasil analisis menunjukkan bahwa service scape berpengaruh positif dan signifikan terhadap pleasure feeling, service scape berpengaruh signifikan dan positif terhadap perceived service quality, pleasure feeling terhadap revisite intention munujukkan hasil yang signifikan dan positif pula, percieved service quality terhadap revisite intention berpengaruh positif dan signifikan. Sedangkan jika melalui penagruh tidak langsung, service scape terhadap revisite intention melalui pleasure feeling menghasilkan pengaruh positif dan signifikan, dan pengaruh service scape terhadap revisite intention melalui perceived service quality dimana didapatkan hasil yang positif dan signifikan. Kata Kunci : Service Scape, Pleasure feeling, Perceived Service Quality, Revisite Intention.
“SEN’s completely different now”: critical discourse analysis of three “Codes of Practice for Special Educational Needs” (1994, 2001, 2015)

Abstract Regardless of the differing shades of neo-liberalism, successive governments have claimed to champion the cause of “special educational needs and/or disability” (SEND) through official Codes of Practice in 1994, 2001 and 2015. This analysis and comparison of the three Codes of Practice aims to contribute to the debate by exploring aspects of the documents themselves. Each Code of Practice aims, or at least claims, to overcome past barriers and the 2015 version explicitly heralds a radical overhaul of the SEND system. In this article, elements of critical discourse analysis (CDA) are used in exploring the three documents, with particular emphasis on the 2015 Code. The conclusion is reached that while the fundamental stance on SEND remains unchanged in 2015, radical change is present and is all the more radical for being hidden in plain sight, delivering commissioning and procurement and a potentially arms-length approach to provision. As an integral part of the overall school system, the 2015 context for SEND is one of school diversity and choice and the model is of private sector competition and entrepreneurship in a context of austerity.
Software reuse and its impact on Productivity , Quality and Time-to-market

Eunjung Lee (ejlee@cs.uh.edu) Department of Computer Science University of Houston Abstract This paper presents the assessed impact of software reuse. Software reuse is the process of using existing work products instead of building them from scratch. Reuse is assumed to be a very effective strategy for software industry to develop high productivity and high quality software. Here the present paper indicate significant benefits from reuse on productivity, quality, time-tomarket. We also discuss reuse cost and economics.
Quad-Tree for Spatial Querying in Wireless Sensor Networks

In contrast to the traditional wireless sensor network (WSN) applications that perform only data collection and aggregation, new generation of information processing applications, such as pursuit-evasion games, tracking, evacuation, and disaster relief applications, require in-network information storage and querying. Due to the network dynamics that are typical of WSNs, it is challenging to implement in-network information storage and querying in a resilient, energy-efficient, and distributed manner. To address these challenges, we exploit location information and geometry of the network and present an in-network querying infrastructure, namely distributed quad-tree (DQT) structure. DQT satisfies efficient in-network information storage as well as distance-sensitive querying: the cost of answering a query for an event is at most a constant factor (in our case 2 2 ) of the distance “d” to the nearest event in the network. In addition, DQT can handle range query and complex query effectively. DQT construction is local and does not require any communication. Moreover, due to its minimalist infrastructure and stateless nature, DQT shows graceful resilience to the face of
Prediction of Happy-Sad mood from daily behaviors and previous sleep history

We collected and analyzed subjective and objective data using surveys and wearable sensors worn day and night from 68 participants for ~30 days each, to address questions related to the relationships among sleep duration, sleep irregularity, self-reported Happy-Sad mood and other daily behavioral factors in college students. We analyzed this behavioral and physiological data to (i) identify factors that classified the participants into Happy-Sad mood using support vector machines (SVMs); and (ii) analyze how accurately sleep duration and sleep regularity for the past 1-5 days classified morning Happy-Sad mood. We found statistically significant associations amongst Sad mood and poor health-related factors. Behavioral factors including the frequency of negative social interactions, and negative emails, and total academic activity hours showed the best performance in separating the Happy-Sad mood groups. Sleep regularity and sleep duration predicted daily Happy-Sad mood with 65-80% accuracy. The number of nights giving the best prediction of Happy-Sad mood varied for different individuals.
Performance analysis of AF relaying M2M cooperative system

In this paper, the upper bound on the average symbol error probability (ASEP) of the mobile-relay-based mobile-to-mobile (M2M) system with amplify-and-forward (AF) relaying over N-Nakagami fading channels is investigated. By the pairwise error probability (PEP) approach, the closed-form expressions for the upper bound are derived. The power allocation problem is formulated to determine how the overall transmit power should be shared between broadcasting and relaying phases for performance optimisation. Then, the ASEP performance under different conditions is evaluated through numerical simulations to verify the analysis. Results are presented which show that the fading coefficient, the number of cascaded components, the relative geometrical gain, and the power-allocation parameter have an important influence on the ASEP performance.
Moderate-to-vigorous physical activity from ages 9 to 15 years.

CONTEXT Decreased physical activity plays a critical role in the increase in childhood obesity. Although at least 60 minutes per day of moderate-to-vigorous physical activity (MVPA) is recommended, few longitudinal studies have determined the recent patterns of physical activity of youth. OBJECTIVE To determine the patterns and determinants of MVPA of youth followed from ages 9 to 15 years. DESIGN, SETTING, AND PARTICIPANTS Longitudinal descriptive analyses of the 1032 participants in the 1991-2007 National Institute of Child Health and Human Development Study of Early Child Care and Youth Development birth cohort from 10 study sites who had accelerometer-determined minutes of MVPA at ages 9 (year 2000), 11 (2002), 12 (2003), and 15 (2006) years. Participants included boys (517 [50.1%]) and girls (515 [49.9%]); 76.6% white (n = 791); and 24.5% (n = 231) lived in low-income families. MAIN OUTCOME MEASURE Mean MVPA minutes per day, determined by 4 to 7 days of monitored activity. RESULTS At age 9 years, children engaged in MVPA approximately 3 hours per day on both weekends and weekdays. Weekday MVPA decreased by 37 minutes per year [corrected], while weekend MVPA decreased by 39 minutes per year [corrected]. By age 15 years, adolescents were only engaging in MVPA for 50 minutes per weekday [corrected] and 36 minutes per weekend day [corrected]. Boys were more active than girls, spending 18 and 14 more minutes per day [corrected] in MVPA on the weekdays and weekends, respectively. The rate of decrease in MVPA was the same for boys and girls. The estimated age at which girls crossed below the recommended 60 minutes of MVPA per day was approximately 13.2 years for weekday [corrected] activity compared with boys at 14.9 years [corrected], and for weekend activity, girls crossed below the recommended 60 minutes of MVPA at 12.7 years [corrected] compared with boys at 13.6 years [corrected]. CONCLUSION In this study cohort, measured physical activity decreased significantly between ages 9 and 15 years.
Modeling and Characterization of Slow-Wave Microstrip Lines on Metallic-Nanowire- Filled-Membrane Substrate

In this paper, a physical model of the slow-wave (SW) microstrip lines based on a metallic-nanowire-filled-membrane substrate is presented for the first time. The model properly predicts the behavior of the SW transmission lines as shown by the experimental results. Two sets of transmission lines differing in oxide thickness with various widths were fabricated and characterized up to 70 GHz. The electrical model is valid for both oxide thicknesses and microstrips width. High-quality factors are obtained, above 40 from 30 GHz up to 70 GHz, paving the way for further designs of passive circuits, like power dividers or hybrid couplers, with good performance.
A Stochastic Inventory Placement Model for a Multi-echelon Seasonal Product Supply Chain with Multiple Retailers∗

This paper formulates a stochastic inventory model for a single-period seasonal or fashion product inventory system consisting of multiple stocking echelons in series and retailers. By transforming model, an equivalent two-stage stochastic linear program model is developed to solve this stochastic inventory problem, which makes the inventory problem easier to analyze. The optimal placement policy of this inventory system is characterized and its existence is proved. Moreover, the algorithm for finding optimal placement policies is obtained.
Photon Splatting for participating media

Since the beginning of image synthesis, much research have been done on global illumination simulation. However, simulation in participating media is still an open problem as far as computing time is concerned. Recently some methods, like Photon Mapping, proposed an optimization of the resolution of global illumination in participating media. Nevertheless, the computing costs of these methods remain very expensive.In this paper, we present a method which takes advantage of density estimation to efficiently reconstruct volume irradiance from the photon map. Our idea is to separate the computation of emission, absorption and out-scattering from the computation of in-scattering. Then we use a dual approach of density estimation to optimize this last part as it is the most computational expensive. Our method extends Photon Splatting, which optimizes the computation time of Photon Mapping for surface rendering, to participating media, and then considerably reduce participating media rendering times. Even though our method is faster than Photon Mapping for equal quality, we also propose a GPU based optimization of our algorithm.