Miracle-dz/UniFAR-FTUs huggingface dataset:
GND-LO: Ground Decoupled 3D Lidar Odometry Based on Planar Patches

We present a new fast Ground Decoupled 3D Lidar Odometry (GND-LO) method. The particularity of GND-LO is that it takes advantage of the distinct spatial layout found in urban settings to efficiently recover the lidar movement in a decoupled manner. For that, the input scans are reduced to a set of planar patches extracted from the flat surfaces of the scene, found aplenty in these scenarios. These patches can be labeled as either belonging to the ground or walls, decoupling the estimation into two steps. First, the ground planes from each scan, clustered from the ground patches, are registered. Then, the motion estimation is completed by minimizing the distance between the wall patches and their corresponding points from the other scan, whose pairing is iteratively updated. GND-LO has demonstrated to perform both precisely and efficiently beating state-of-the-art approaches. Concretely, experiments on the popular KITTI dataset show that our proposal outperforms its competitors by reducing the average drift by 19% in translation and 4% in rotation. This is achieved by running in real-time without needing GPU or optimized multi-threading, as it is commonplace in the literature.
Filling Gaps on the Pareto Front in Multi- and Many-Objective Optimization

Pareto fronts offer insight into the best found solutions of a given problem. Several algorithms have been developed to help maintain a well-distributed Pareto front and therefore offer a wide variety of solutions. However, in real-world problems, the Pareto front isn’t necessarily a continuous surface and may contain holes and/or discontinuous lines. These irregular areas on the Pareto front are considered gaps . These gaps can either be natural or artificial . In their research, Pellicer, Escudero, Alzueta, and Deb suggest a three-step procedure to find, validate, and fill these gaps. First, they developed an algorithm to generate gap points. Second, they developed an equation that checks the validity of the gap points. Lastly, a focused algorithm looks for points around the validated gap points to determine if they are natural or artificial. This procedure was used on several test problems that range from two-to-five objectives, including a five-objective real-world problem in the steel industry.
Empowering Security and Trust in 5G and Beyond: A Deep Reinforcement Learning Approach

Recent advances in 5G and beyond have further expanded the potential of IoT applications, bringing unprecedented levels of connectivity, speed, and low latency. However, these advances come with significant security threats that can cause widespread damage. An effective approach to addressing these issues involves the integration of cutting-edge technologies like machine learning (ML), particularly deep reinforcement learning (DRL). DRL is a specialized area of ML that integrates the concepts of deep learning and reinforcement learning to create effective solutions for various tasks. In particular, DRL can facilitate the creation of intelligent security systems that can adapt to dynamic and intricate IoT applications connected to 5G and beyond networks. However, effectively implementing DRL-based intrusion detection frameworks in IoT applications connected to 5G networks poses significant challenges due to bandwidth utilization and device behavior. The data generated by IoT devices is often limited, and malicious behavior may be infrequent, making it difficult to accurately identify and train the algorithm to detect such behavior. Moreover, DRL algorithms pose a significant challenge for IoT devices constrained by limited bandwidth, as communicating large amounts of data required by DRL algorithms can cause network congestion and delay critical communications. In this article, we introduce a novel approach to improving the security of IoT applications in the 5G and beyond era by developing an intrusion detection system that employs DRL algorithms. Our approach involves a distributed Q-learning algorithm that observes the behavior of connected devices and predicts anomalous actions. Additionally, to overcome the challenges associated with bandwidth utilization and device behavior, we introduce a bandwidth allocation problem based on a reputation mechanism that allocates bandwidth to only trustworthy devices. Finally, we evaluate our proposed intrusion detection system on the selected indicators. The numerical results demonstrate that our proposed approach outperforms the referenced solutions on the selected indicators.
Effective Contact Formation Method on High-Sheet-Resistance Boron-Doped Emitter With Current Injection

We investigate the effect of current injection during contact formation of an Ag-based screen-printed electrode to boron-doped emitters, which differ by their sheet resistances. The average contact resistivities between the metal electrode and silicon of all the boron-doped emitter samples are ∼3 mΩ cm2, regardless of the sheet resistance (75–145 Ω/sq), and the lowest values are below 1 mΩ cm2 using the injection of a current density of 5 A/cm2 during the metallization process. Additionally, the injection of current to a phosphorus-doped emitter in the opposite direction suppressed the formation of the Ag precipitates and crystallites and increased the contact resistivity of over 300 mΩ cm2, which is comparable to that obtained when Ag paste is applied to a boron-doped emitter with no current injection. This finding indicates that electrons are essential for the reduction of Ag ions during high-temperature metallization process using the screen-printing technique and that the injection of current can control the contact formation and enhance the efficiency of solar cells. Finally, we suggest a suitable process for reducing the contact resistivity in manufacturing n-type Si solar cells.
Interactive Cognitive Motor Training: A Promising Approach for Sustainable Improvement of Balance in Older Adults

Physical exercise has been shown to improve balance, gait, and cognitive function in older adults. Interactive cognitive-motor training (ICMT) combines physical exercise and cognitive stimulation, but few studies have focused on the effect of ICMT on static and dynamic balance in older adults. This study aims to improve the balance of older adults to reduce fall-related injuries for sustainable development goals. We randomly assigned 38 older adults to either the ICMT group (n = 22) or the control group (n = 16). The ICMT group participated in 60-min exercise sessions three times a week for 12 weeks, while the control group maintained their regular activities. The static and dynamic balances were assessed before and after the intervention. The results indicated the ICMT group demonstrated significant improvements in static balance, specifically in swing path and velocity (V) in the medial-lateral (M-L) direction with eyes open (p < 0.05). With eyes closed, the ICMT group showed significant improvements in total swing path and area compared to the control group (p < 0.05). In dynamic balance, there was a significant difference in the lateral (L) angle limit of stability (LOS) between the ICMT group and the control group (p < 0.05). In conclusion, ICMT effectively enhances static balance and maintains dynamic balance in older adults.
Tick-borne Pathogen Detection and Its Association with Alterations in Packed Cell Volume of Dairy Cattle in Thailand

Simple Summary Tick-borne diseases adversely impact bovine health, leading to huge financial losses for farmers. Timely and accurate disease diagnosis is key in managing bovine herds, particularly in production animals such as dairy cattle. In the present study, we molecularly detected tick-borne pathogens (TBPs) in dairy cattle from selected provinces in the northern and western parts of Thailand. Specifically, common TBP infection was widespread in the sampled animals. Two detection tools were also compared for pathogen detection. Furthermore, cattle positive for tick-borne infections had notably lower hematocrit values. The results of this study emphasize the importance of regular tick-borne surveillance and its possible clinical impact on economically important dairy cattle in Thailand. Abstract Tick-borne diseases (TBDs) massively impact bovine production. In endemic countries, animals are often subclinically infected, showing no signs of the illness. Anemia is a hallmark of TBDs, but there is inadequate information on its presence in infected Thai cattle. In the present study, 265 cattle from four provinces in Thailand were surveyed to identify tick-borne pathogens (TBPs) and to evaluate the changes in the packed cell volume (PCV) values associated with detection. Microscopy and polymerase chain reaction (PCR) were also compared for TBP detection. Babesia/Theileria/Hepatozoon was detected in 33.58% (89/265) of the cattle samples. Specifically, Babesia bovis (9/265), B. bigemina (12/265), Theileria orientalis (62/265), and Anaplasma marginale (50/265) were identified using species-specific assays. Significant decreases in the mean PCV levels were observed in cattle that were positive for at least one TBP (p < 0.001), Babesia/Theileria/Hepatozoon (p < 0.001), T. orientalis (p < 0.001), and A. marginale (p = 0.049). The results of PCR and microscopy for the detection of TBPs suggested slight and fair agreement between the two detection tools. The present findings contribute to a better understanding of TBDs in the field and shall facilitate the formulation of effective control for TBDs in Thailand.
MyoPassivity Map: Does Multi-Channel sEMG Correlate With the Energetic Behavior of Upper-Limb Biomechanics During Physical Human-Robot Interaction?

The human arm has an intrinsic capacity to absorb energy during physical human-robot interaction (pHRI), which can be identified as biomechanical excess of passivity (EoP). This can be used as a central factor in the development of passivity-based pHRI controllers securing haptic transparency while guaranteeing pHRI stability. Despite its significance, the real-time estimation of EoP remains an under-investigated topic. For the first time, we investigate the relationship between the EoP and muscle activity of the forearm at the wrist joint while analyzing sixteen surface electromyography (sEMG) sensors. The letter explores optimal sensor placement for maximizing the correlation between muscle activity and the estimated EoP. Ten subjects participated in this study. The EoP of the wrist was identified through high-frequency perturbations in four directions, and two instructed co-contraction levels. The results uncover a strong correlation between sEMG and EoP. This paper also reports the effect of the direction of pHRI interaction on the EoP of the wrist, with increased energetic passivity in the abduction-adduction direction compared to supination-pronation. Also, the study investigated the effect of the observation duration for sEMG on the sEMG-EoP correlation (short windows would be required for real-time applications). Although the correlation decreases for shorter windows, it remains relatively high, supporting dynamic estimation of EoP in real-time. Additionally, we found that sEMG sensors near the wrist have the highest correlation with EoP for short windows. The findings of this letter indicate that sEMG encodes significant potential for real-time estimation of EoP in the design of next-generation pHRI controllers supporting concurrent transparency and stability.
THE IMPLEMENTATION OF MANDATORY OR VOLUNTARY FOR CORPORATE SOCIAL RESPONSIBILITY: A SYSTEMATIC LITERATURE REVIEW

CSR (Corporate Social Responsibility) is the responsibility of a company for the impact of their decisions and activities on society and the environment through open and ethical behavior. The existence of companies in the midst of society contributes to the national problem of unemployment. The implementation of CSR in Indonesia is still not transparent whether it is voluntary or mandatory. However, this research does not only discuss the Indonesian side, but globally in several countries from 2007-2023. Therefore, this research aims to find out the implementation of mandatory or voluntary CSR in Indonesia and some countries. The method used is systematic literature review. The result of this research is voluntary CSR is still commonly used in various countries, including developing countries, even though some countries have regulated mandatory CSR by law. However, voluntary CSR is still practiced because the law is not enough for companies to implement mandatory CSR. Companies will be more stable if they implement mandatory and voluntary CSR in a balanced way in order to consider the interests of stakeholders, the company, the environment and society.
Design of water resources systems in developing countries : the lower Mekong Basin.

This study focuses on the design of water resources systems in developing nations with particular reference to the development of water resources in the Lower Mekong Basin (Khmer Republic, Laos, Thailand, and Republic of South Viet-Nam). The determination of the "best" system in terms of social goals reflecting the economic and social environment of the Mekong countries is the main issue of this dissertation. The imperfection of the usual technique for planning water resources systems, namely, cost-benefit analysis, leads to the use of the standardized cost-effectiveness methodology. To illustrate how the design is accomplished, two distinctly different structural alternatives of possible development in the Lower Mekong Basin are defined. The design process starts from the statements of goals or objectives of water resources development, which are then mapped onto specifications sets in which social needs are represented. Next, the capabilities of alternative systems are determined through simulation in which three 50-year sequences of synthetic streamflow are generated by a first order autoregressive scheme. The two alternatives are then compared using both quantitative and qualitative criteria. To illustrate how a
The Effects of Stereotypes About Animals’ Competence and Warmth on Empathy Choice

ABSTRACT The present preregistered research examined whether animal stereotypes predict choosing to empathize with them. In two studies (ns = 173 and 202), participants chose between taking an empathic or objective perspective with 48 animals representing 16 different species, classified into four groups representing perceived competence and warmth. While less likely to choose an empathic than an objective perspective for all animal groups, empathy choice was stronger for those stereotyped as high-competent (vs. low-competent, Study 1 and 2) and high-warmth (vs. low-warmth, Study 2 only) species. Variation in cognitive difficulty of being empathic (vs. objective) helped explain empathy choice preferences derived from stereotypes about animals, most robustly stereotypes about an animal’s competence (Studies 1 and 2). Suggesting its importance, empathy choice was positively associated with the amount participants were willing to donate toward each animal’s welfare (Study 2).
Evaluating the Precision of the DC Decay Test Method for Characterizing Wound-Field Synchronous Machines in Power Plants

The sudden short-circuit test is the gold standard for determining the equivalent diagram of wound-field synchronous machines (WFSMs). Only a single measurement is needed while the machine is in saturated mode. However, this destructive test can significantly reduce the lifetime of the stator winding. Moreover, determining the equivalent diagram in the q-axis is more complicated and is often not performed. DC-decay tests are low-power alternatives that allow for the determination of the equivalent diagram in both axes without damaging the machinery. Until recently, they required the rotor to be aligned with the axes, which is not feasible in large power plants. A recent breakthrough eliminated the need for rotor alignment by proposing a DC-decay test that can be performed with the rotor in any position. However, numerous independent measurements are needed to obtain the equivalent diagram in both axes. This paper addresses the question of the minimum number of independent measurements needed for the DC-decay test to be practical for industrial use. Around 10 measurements are sufficient for reasonable precision, while 5 of high quality are sufficient using the symmetry of the root locus. Finally, a comparison against the short-circuit test shows that the DC-decay test is a valid alternative.
Isolation, characterization, application, and effect of bacteria with probiotic potential from the prawn Macrobrachium tenellum in Guasave, Sinaloa, Mexico

The prawn Macrobrachium tenellum is a species with high expectations for farming. However, like all cultivated species, it is exposed to bacterial infections caused by captivity and cultivation conditions. In this sense, probiotics in aquaculture have been used as an alternative against the excessive use of antibiotics in farming, thus preventing diseases. In the present work, 106 strains with probiotic potential were isolated, of which 77 are bacilli, and 29 are lactic acid bacteria (LAB) [(intestine (43), stomach (42) and hepatopancreas (21)] from the shrimp M. tenellum collected from a freshwater environment in Guasave, Sinaloa. Biochemical characterization of the isolated bacterial strains and molecular identification of the 16S ribosomal gene were performed. According to the hemolytic activity, the isolates MT4H2 (bacilli) and MT1E2 (LAB) showed gamma hemolysis (Ɣ), and the LAB strain presented catalase-negative. Both were Gram (+). They presented high hydrophobicity values (99.93 and 73.21%) in autoaggregation (90%) and coaggregation (99%). Regarding biofilm formation, both presented moderate capacity. On salinity tolerance, they grew in concentrations of 0 to 9% NaCl and a pH tolerance within a range of 5 to 9. Regarding enzyme activity, they exhibited activity in both proteases and lipases. Both presented resistance to some of the antibiotics tested. Only the strain of bacillus exhibited antagonistic activity against Vibrio parahaemolyticus. They were identified as Pontibacillus sp. and Pediococcus pentosaceus at a molecular level.
Body size and trophic level increase with latitude, and decrease in the deep-sea and Antarctica, for marine fish species

The functional traits of species depend both on species’ evolutionary characteristics and their local environmental conditions and opportunities. The temperature-size rule (TSR), gill-oxygen limitation theory (GOLT), and temperature constraint hypothesis (TCH) have been proposed to explain the gradients of body size and trophic level of marine species. However, how functional traits vary both with latitude and depth have not been quantified at a global scale for any marine taxon. We compared the latitudinal gradients of trophic level and maximum body size of 5,619 marine fish from modelled species ranges, based on (1) three body size ranges, <30, 30–100, and >100 cm, and (2) four trophic levels, <2.20, 2.20–2.80, 2.81–3.70, >3.70. These were parsed into 5° latitudinal intervals in four depth zones: whole water column, 0–200, 201–1,000, and 1,001–6,000 m. We described the relationship between latitudinal gradients of functional traits and salinity, sea surface and near seabed temperatures, and dissolved oxygen. We found mean body sizes and mean trophic levels of marine fish were smaller and lower in the warmer latitudes, and larger and higher respectively in the high latitudes except for the Southern Ocean (Antarctica). Fish species with trophic levels ≤2.80 were dominant in warmer and absent in colder environments. We attribute these differences in body size and trophic level between polar regions to the greater environmental heterogeneity of the Arctic compared to Antarctica. We suggest that fish species’ mean maximum body size declined with depth because of decreased dissolved oxygen. These results support the TSR, GOLT and TCH hypotheses respectively. Thus, at the global scale, temperature and oxygen are primary factors affecting marine fishes’ biogeography and biological traits.
Transmission Dynamics of Crimean–Congo Haemorrhagic Fever Virus (CCHFV): Evidence of Circulation in Humans, Livestock, and Rodents in Diverse Ecologies in Kenya

Crimean–Congo haemorrhagic fever virus (CCHFV) is the causative agent of CCHF, a fatal viral haemorrhagic fever disease in humans. The maintenance of CCHFV in the ecosystem remains poorly understood. Certain tick species are considered as vectors and reservoirs of the virus. Diverse animals are suspected as amplifiers, with only scarce knowledge regarding rodents in virus epidemiology. In this study, serum samples from febrile patients, asymptomatic livestock (cattle, donkeys, sheep, and goats), and peridomestic rodents from Baringo (Marigat) and Kajiado (Nguruman) counties within the Kenyan Rift Valley were screened for acute CCHFV infection by RT-PCR and for CCHFV exposure by ELISA. RT-PCR was performed on all livestock samples in pools (5–7/pool by species and site) and in humans and rodents individually. CCHFV seropositivity was significantly higher in livestock (11.9%, 113/951) compared to rodents (6.5%, 6/93) and humans (5.9%, 29/493) (p = 0.001). Among the livestock, seropositivity was the highest in donkeys (31.4%, 16/51), followed by cattle (14.1%, 44/310), sheep (9.8%, 29/295) and goats (8.1%, 24/295). The presence of IgM antibodies against CCHFV was found in febrile patients suggesting acute or recent infection. CCHFV RNA was detected in four pooled sera samples from sheep (1.4%, 4/280) and four rodent tissues (0.83%, 4/480) showing up to 99% pairwise nucleotide identities among each other. Phylogenetic analyses of partial S segment sequences generated from these samples revealed a close relationship of 96–98% nucleotide identity to strains in the CCHFV Africa 3 lineage. The findings of this study suggest active unnoticed circulation of CCHFV in the study area and the involvement of livestock, rodents, and humans in the circulation of CCHFV in Kenya. The detection of CCHF viral RNA and antibodies against CCHFV in rodents suggests that they may participate in the viral transmission cycle.