Miracle-dz/UniFAR-FTUs huggingface dataset:
GelSight: High-Resolution Robot Tactile Sensors for Estimating Geometry and Force

Tactile sensing is an important perception mode for robots, but the existing tactile technologies have multiple limitations. What kind of tactile information robots need, and how to use the information, remain open questions. We believe a soft sensor surface and high-resolution sensing of geometry should be important components of a competent tactile sensor. In this paper, we discuss the development of a vision-based optical tactile sensor, GelSight. Unlike the traditional tactile sensors which measure contact force, GelSight basically measures geometry, with very high spatial resolution. The sensor has a contact surface of soft elastomer, and it directly measures its deformation, both vertical and lateral, which corresponds to the exact object shape and the tension on the contact surface. The contact force, and slip can be inferred from the sensor’s deformation as well. Particularly, we focus on the hardware and software that support GelSight’s application on robot hands. This paper reviews the development of GelSight, with the emphasis in the sensing principle and sensor design. We introduce the design of the sensor’s optical system, the algorithm for shape, force and slip measurement, and the hardware designs and fabrication of different sensor versions. We also show the experimental evaluation on the GelSight’s performance on geometry and force measurement. With the high-resolution measurement of shape and contact force, the sensor has successfully assisted multiple robotic tasks, including material perception or recognition and in-hand localization for robot manipulation.
A Fast Single-Image Dehazing Method Based on a Physical Model and Gray Projection

Due to the scattering of atmospheric particles, images captured under hazy conditions suffer from contrast attenuation and color distortion, which severely affect the performance of machine vision systems. Various types of methods have been developed to improve the clarity of images. However, these methods are typically challenging to apply in real-time systems. We present a fast, single-image dehazing method based on the atmospheric scattering theory and dark channel prior theory. The transmission map is approximately estimated using a fast average filter, the subsection mechanism is designed to avoid the high brightness of the sky region in the recovered image, the region projection method is adopted to obtain the atmospheric light, and image color compensation is implemented using the Weber–Fechner law. Our experimental results show that this algorithm can restore images to a clear and natural state and ensure the balance of quality and the speed of image restoration. Therefore, the algorithm can be used in real-time systems.
Faulty version recovery in object-oriented N-version programming

Many long-running applications would greatly benefit from being able to recover faulty versions in N-version programs since their exclusion from further use undermines the availability of the system. Developing a recovery feature, however, is a very complex and error-prone task, which the author believes has not received adequate attention. Although many researchers are aware of the importance of version recovery, there are very few schemes which include these features. Even when they do, they rely on ad hoc programming and are not suitable for object-oriented systems. The author believes that developing systematic approaches here is crucial, and formulates a general approach to version recovery in class diversity schemes, which is based on the concept of the abstract version state. The approach extends the recently-developed class diversity scheme and relies on important ideas motivated by community error recovery. The diversity scheme includes two-level error detection which allows error latency to be controlled. To use it, special application-specific methods for each version object have to be designed, which would map the internal state into the abstract state and, at the same time, form a basis for one-level version recovery. The approach is discussed in detail, compared with the existing solutions, and additional benefits of using the abstract version state are shown. The intention is to outline a disciplined way for providing version recovery and thus make it more practical. Two promising approaches which can be used for developing new structuring techniques incorporating the abstract version state concept are discussed.
Reach and Range of Business Process Management -- Findings in the Telecommunication and Chemical Industry

Business Process Management (BPM) has become an established management practice. Current literature in this field identifies maintaining a process-aware IT landscape and managing boundary-crossing relations as important functions in BPM. Regarding the former, we understand "BPM range" as the level of process-awareness in the IT landscape. As for the latter, we view "BPM reach" as the potential utilization of boundary-crossing relations. Based on these two dimensions, we propose a framework for exploring development paths in BPM implementations. This framework is then exemplarily applied in two case studies in the telephone and chemical industries. We are able to identify a development towards a higher level of BPM range in both industries while only the telecommunication company is looking to increase its BPM reach. Based on our empirical findings, we derive generalizable propositions for BPM development in both dimensions for future theory building efforts.
A FAST MAPPING THEOREM FOR POLYGONS

Given a simple n-gon P in the plane, normalized to contain the unit disk, we define a map from P to the unit circle so that (1) the map extends to be 8-quasiconformal on the interior, (2) it contracts arclength on the boundary and (3) the images of all n vertices can be computed in time O(n). Thus we obtain a fast QC-approximation to the Riemann map with constant independent of the domain. Date: October 20, 2008. 1991 Mathematics Subject Classification. Primary: 30C35, Secondary: 30C85, 30C62 .
Staged Reconstruction (Delayed-Immediate) of the Maxillectomy Defect Using CAD/CAM Technology

Abstract Background Computer-aided design/computer-aided manufacturing (CAD/CAM) technology has become increasingly popular for free fibula reconstruction of the mandible. The same technology, however, has not been widely utilized in immediate complex midface reconstruction utilizing free fibula flaps. Maxillary defects are difficult to precisely predict or produce matched cutting guides for after the ablative surgery. We present a protocol for “delayed-immediate” two-stage reconstruction for complex mid-facial defects, by delaying lymph node neck dissection and using CAD/CAM technology for delayed bony reconstruction. Methods Stage 1 includes the extirpative surgery, placement of a temporary obturator, and an immediate post-excision fine cut computed tomography (CT) of the defect that is used for CAD/CAM planning. The time interval between stages is used for virtual surgical planning (VSP) and provides an opportunity for the final pathologic margins to be evaluated. At stage 2, definitive reconstruction is performed in conjunction with the delayed neck dissection. Briefly delaying the neck dissection until stage 2 allows for recipient vessel dissection and microsurgical anastomoses to safely occur in a surgically naïve neck. Conclusion A two-stage delayed-immediate reconstruction of complex mid-face defects can be safely and effectively performed. This protocol takes advantage of advancing CAD/CAM technology, provides an opportunity to evaluate final margins, and avoids recipient vessel dissection and microsurgery in previously operated or irradiated necks.
Efficient notification of meeting points for moving groups via independent safe regions

In applications like social networking services and online games, multiple moving users form a group and wish to be continuously notified with the best meeting point from their locations. To reduce the communication frequency of the application server, a promising technique is to apply safe regions, which capture the validity of query results with respect to the users' locations. Unfortunately, the safe regions in our problem exhibit characteristics such as irregular shapes and dependency among multiple safe regions. These unique characteristics render existing safe region methods that focus on a single safe region inapplicable to our problem. To tackle these challenges, we first examine the shapes of safe regions in our problem context and propose feasible approximations for them. We design efficient algorithms for computing these safe regions, as well as develop compression techniques for representing safe regions in a compact manner. Experiments with both real and synthetic data demonstrate the efficiency of our proposal in terms of computation and communication costs.
Distribution of Misfit Dislocations at the InGaAs/GaAs(001) Interface Observed by Monochromatic X-Ray Topography

Anisotropies in misfit dislocations (MDs) at the interface of InGaAs/GaAs (001) are investigated by monochromatic X-ray topography (XRT) technique. Single MD line or several MD lines (MD bunching) are observed as white lines in XRT. Distribution, density, and number of MDs in one MD bunching are evaluated. The density of α-MDs is larger than that of β-MDs. Number of MDs in one MD bunching distribute with two peaks in both in-plane directions. In macroscopic view, α-MD bunching lay more orderly than the other. While in microscopic view, α-MDs gather for the range narrower than β-MDs.
Accelerometer Based Transportation Mode Recognition on Mobile Phones

Recognizing the transportation modes of people’s daily living is an important research issue in the pervasive computing. Prior research in this field mainly uses Global Positioning System (GPS), Global System for Mobile Communications (GSM) or their combination with accelerometer to recognize transportation modes, such as walking, driving, etc. In this paper, we will introduce transportation mode recognition on mobile phones only using embedded accelerometer. In order to deal with uncertainty of position and orientation of mobile phone, acceleration synthesization based method and acceleration decomposition based method are introduced. Performance comparison indicates that acceleration synthesization based method outperforms acceleration decomposition based method. We will discuss the factors affect the recognition accuracy of acceleration decomposition based method and present potential improvements.
Preventive and Therapeutic Effects of Chinese Herbal Compounds against Hepatocellular Carcinoma

Traditional Chinese Medicines, unique biomedical and pharmaceutical resources, have been widely used for hepatocellular carcinoma (HCC) prevention and treatment. Accumulated Chinese herb-derived compounds with significant anti-cancer effects against HCC have been identified. Chinese herbal compounds are effective in preventing carcinogenesis, inhibiting cell proliferation, arresting cell cycle, inducing apoptosis, autophagy, cell senescence and anoikis, inhibiting epithelial-mesenchymal transition, metastasis and angiogenesis, regulating immune function, reversing drug resistance and enhancing the effects of chemotherapy in HCC. This paper comprehensively reviews these compounds and their effects on HCC. Finally, the perspectives and rational application of herbal compounds for HCC management are discussed.
Research on dynamic channelization receiving technology of wideband satellite communication

In view of various types of waves and large dynamic range of sub-signals in wideband satellite communication system, an efficient implementation structure of channelized receiving is deduced based on cosine modulated channelization filter-banks. According to the actual requirement of wideband satellite communication system, a dynamic channelization algorithm based on calculating the sum of STFT power spectrum by segment is proposed, which realizes blind channelization without spectrum information of sub-signal in wideband satellite communication. Finally, the related simulation results verify the correctness of the method involved in above, which provides reference for the design of a new generation of flexible satellite transponder.
Polynomial factorization and nonrandomness of bits of algebraic and some transcendental numbers

We show that the binary expansions of algebraic numbers do not form secure pseudorandom sequences; given sufficiently many initial bits of an algebraic number, its minimal polynomial can be reconstructed, and therefore the further bits of the algebraic number can be computed. This also enables us to devise a simple algorithm to factor polynomials with rational coefficients. All algorithms work in polynomial time. Introduction. Manuel Blum raised the following question: Suppose we are given an approximate root of an unknown polynomial with integral coefficients and a bound on the degree and size of the coefficients of the polynomial. Is it possible to infer the polynomial? We answer his question in the affirmative. We show that if a complex number a satisfies an irreducible polynomial h(X) of degree d with integral coefficients in absolute value at most H, then given 0(d? + d ■ logH) bits of the binary expansion of the real and complex parts of a, we can find h(X) in deterministic polynomial time (and then compute in polynomial time any further bits of a). Using the concept of secure pseudorandom sequences formulated by Shamir [23], Blum and Micali [3] and Yao [25], we then show that the binary (or m-ary for any m) expansions of algebraic numbers do not form secure sequences in a certain well-defined sense. We are able to extend our results with the same techniques to transcendental numbers of the form log(a),cos_1(a), etc., where a is algebraic. The technique is based on the lattice basis reduction algorithm from [16]. Our answer to Blum's question enables us to devise a simple polynomial-time algorithm to factor polynomials with rational coefficients: We find an approximate root of the polynomial and use our algorithm to find the irreducible polynomial satisfied by the exact root, which must then be a factor of the given polynomial. This is repeated until all the factors are found. This algorithm was found independently by Schonhage [22], and was already suggested in [16]. The technique of the paper also provides a natural, efficient method to compute with algebraic numbers. This paper is the final journal version of [13], which contains essentially the entire contents of this paper. 1. A Polynomial-Time Algorithm for Blum's Question. Throughout this paper, Z denotes the set of the integers, Q the set of the rationals, R the set of the reals, and C the set of the complex numbers. The ring of polynomials with integral Received December 23, 1985; revised October 13, 1986 and April 6, 1987. 1980 Mathematics Subject Classification (1985 Revision). Primary 68Q15, 68Q25, 68Q40. ©1988 American Mathematical Society 0025-5718/88 $1.00 + $. 25 per page
Cognitive Abilities and Quality of Life After Cochlear Implantation in the Elderly.

OBJECTIVE To evaluate quality of life (QoL) and cognitive function in elderly patients with cochlear implants relative to auditory improvement, using geriatric validated scales. STUDY DESIGN Prospective observational study. SETTING A tertiary referral center for cochlear implantation (CI) and a geriatric center in Nancy, France. PATIENTS Sixteen consecutive patients were included, from 65 to 80 years old, with postlingual severe-to-profound deafness. MAIN OUTCOME MEASURES Evaluations were conducted before and at 6 and 12 months after cochlear implant surgery. A monosyllabic word recognition test was used to measure speech perception. QoL was evaluated by the World Health Organization Quality of Life Assessment for elderly people; cognitive function was evaluated by the Mini-Mental State Examination; depression was evaluated by the Hamilton Scale; autonomy was evaluated by the Instrumental Activities of Daily Living. RESULTS Speech intelligibility evolved from 10% before surgery to 63% and 69% at 6 and 12 months after cochlear implant activation, respectively. QoL showed significant improvement in sensory abilities. The Mini-Mental State Examination evaluations remained stable and executive functions tended to improve. Autonomy improved significantly. CONCLUSION Cochlear implantation improves autonomy and the QoL in the elderly. Cognitive functions are not influenced by surgery, but executive functions appear to benefit from implantation. Age should not be a limiting factor, and cochlear implantation can be proposed as an efficient treatment for severe-to-profound hearing loss in the elderly.
Association of Vitamin D3 Level with Breast Cancer Risk and Prognosis in African-American and Hispanic Women

Background: This study investigated the association of vitamin D3 levels with breast cancer risk and progression in African-Americans and Hispanics. Methods: A total of 237 African-American (Cases = 119, Control = 118) and 423 Hispanic women (Cases = 124, Control = 299) were recruited in the study. Blood samples were collected at the time of breast cancer screening and prior to cancer treatment for 4 weeks on average for the cases. The serum 25-hydroxyvitamin D (25(OH)D3) was measured at a Quest-Diagnostics™ facility. Results: The results showed that 69.2% of African-Americans and 37.8% of Hispanics had 25(OH)D3 levels below 20 ng/mL. The 25(OH)D3 level below 20 ng/mL was significantly associated with breast cancer in both African-Americans (OR = 2.5, 95% CI = 1.3–4.8) and Hispanics (OR = 1.9, 95% CI = 1.1–3.0). However, the predicted probabilities of breast cancer in African-Americans were significantly higher than in Hispanics (p < 0.001). The 25(OH)D3 below 20 ng/mL was significantly associated with triple negative breast cancer (TNBC) in African-Americans (OR = 5.4, p = 0.02, 95% CI = 1.4–15), but not in Hispanics in our cohort of participants. Levels of 25(OH)D3 below 26 ng/mL predicts a decrease in disease-free survival, but it was not an independent predictor. Conclusions: Our data shows an association between 25(OH)D3 levels and the risk of breast cancer. Further studies on the relationship between 25(OH)D3 level and breast cancer risk are warranted.
7 June 2017 Optical stretching in continuous flows

Rheology of living cells has developed an increasing need for high throughput measurements. Diseases such as cancer heavily remodel the cytoskeleton and impinge on cellular functions. Cells affected by such diseases show altered rheologic responses on many different levels rendering cells’ mechanical fingerprints—a potential target for diagnostics. To counteract naturally occurring distributions of properties in samples of living cells and foster the validity of experiments, high numbers of single cell measurements are necessary. Here, we present the ‘in flow optical stretcher’ (IFOS), a concept of non-invasive optical cytometry capable of high throughput rates, while working in a regime of long measurement times and low frequencies. The setup deforms whole cells in a continuous flow by optical forces, bypassing steps of cell positioning that are unavoidable in state-of-the-art optical stretcher devices. A prototype was built using polydimethylsiloxane soft lithography. In a proof of premise experiment, we show that in the IFOS it is possible to deform cells of mammalian origin which have been treated with cytochalasin. All recorded successful experiments took place in less than 2 s each, as opposed to 10–20 s in state-of-the-art optical stretcher devices. Although other microfluidic rheology devices achieve significantly higher throughput rates, they operate in different frequency regimes and probe different mechanical responses. The IFOS still captures viscoelastic properties and active responses of cells while aiming to maximize the throughput at creep times on the order of seconds. It can be assumed that an automatic IFOS reaches a throughput an order of magnitude higher than current devices that are based on optical stretching for cell rheology. PAPER 2017
Application of Local Differential Privacy to Collection of Indoor Positioning Data

Big data, which is being explosively generated in various areas, is considered as a new growth engine for diverse industries. In recent years, analysis of big data has attracted attention because it exhibits the potential to generate high value. In addition, with the advent of the IoT era, wherein each object is connected to all the others in a system, the importance of big data is likely to continue to be emphasized, due to the availability of data generated from diverse devices. With the increasing importance of indoor space in which most city dwellers spend over 80% of daily life, big data containing users’ indoor positioning information is a critical asset for understanding the indoor behavior pattern of users, such as the shopping behavior pattern of customers in a large department store. However, there is also a risk of leakage of personal information, because it is feasible to infer the users’ sensitive information by tracking and analyzing the users’ indoor positions. Local differential privacy (LDP) is the state-of-the-art approach that is used to protect individual privacy in the process of data collection. LDP ensures that the privacy of the data contributor is protected by perturbing her/his original data at the data contributor’s side; thus, the data collector cannot access the original data, but is still able to obtain population statistics. This paper focuses on the application of LDP to the collection of indoor positioning data. In particular, we experimentally evaluated the utilization of indoor positioning big data collected by leveraging LDP for estimating the density of the specified indoor area. Experimental results with both synthetic and actual data sets demonstrate that LDP is well applicable to the collection of indoor positioning data for the purpose of inferring population statistics.
Imaging technologies applied to chronic wounds: a survey

Chronic wounds are a major problem in healthcare worldwide. The assessment and treatment of chronic wounds include monitoring color and size (area or volume) at regular intervals by an expert. This evaluation is often based on qualitative observation and manual measurements of the wound (using a caliper or tracing methods). Over the last two decades, several researchers have focused on developing technologies to assess the clinical improvement of chronic wounds. This article aims to provide a survey on imaging technologies applied to chronic wounds. Their accuracy, precision, reliability, ergonomics and usage are compared. In general terms, the survey aggregates the different methods into 3 groups: planimetric techniques, volumetric techniques and color classification. Finally, a discussion is provided on open topics and what progress needs to be done in this area of research. Among other key points, vision-based technologies for wound assessment should emphasize clinical validation, correlation of clinical findings with quantitative metrics and application to tele-dermatology.