Miracle-dz/UniFAR-FTUs huggingface dataset:
Service Robot Operated by CDMA Networks for Security Guard at Home

Mobile robotic technology and its application in various field is currently an area of high interest. Especially, the progression of a mobile robot and communication techniques enables intelligent robots to be developed with more versatile applications. Telerobotic techniques combine robotic systems with remote control technology to enable the performance of task which is impossible or hazardous for human to perform directly. Through these ubiquitous robot controls, the paradigm of robot which performs specific tasks remotely has changed into intelligent robots to perform public and individual tasks. The purpose of the SG-Robot(Security Guard Robot) project is in-line with on-going activities towards the development of autonomous robots for security guard design at home. In security industry, ubiquitous robots have provided a variety of information to the user and achieve its duty through the Web. The mentioned project aims at the development of interactive security guard robots, which are able to be operated with a mobile phone. Last year, the interface for telepresence robot has developed over the Web or RF between robots, but these systems have the demerits of limited distance or geographical limit to be established to an internet link. In this paper, we propose the SG-Robot that can be operated and conduct surveillance of the environment around itself anytime/anywhere using wireless communication networks such as CDMA (Code Division Multiple Access) Networks. This robot has the functionalities of detecting and avoiding obstacles, recognizing face, navigating using a map, capturing and compressing image at high speed, transferring image at real time to CDMA phone, and operating remotely by a mobile phone. The goal of these functionalities is to tele-operate robot using a mobile phone anytime/anywhere and to construct the systems that has the home network function, ubiquitous computing, and home security.
Cluster-based energy-efficient transmission using a new hybrid compressed sensing in WSN

Compressive sensing (CS) can reduce the energy consumption and balance the traffic load throughout the wireless sensor networks (WSN). Due to the fault tolerance and traffic load balancing of the clustering method, CS is always combined with clustering for further improvement. And hexagon clustering has some advantages over other clustering methods such as its special structure. However, the total energy consumption for data collection by using pure CS is still large. Then the hybrid CS method was proposed to obtain further energy saving, but the performance will decrease and a large amount of redundancy will be produced with the network scale increasing so that the data compression does not work well. In this paper, an analytical model of cellular clustering is put forward to study how the special hexagon structure can be combined with CS for a better performance. Then, on the basis of hexagon clustering model, a new method of hybrid CS is presented, which performs better on power consumption than other hybrid CS. Extensive simulations confirm that our method can reduce energy consumption significantly.
Design and implementation of the Quarc Network on-Chip

Networks-on-Chip (NoC) have emerged as alternative to buses to provide a packet-switched communication medium for modular development of large Systems-on-Chip. However, to successfully replace its predecessor, the NoC has to be able to efficiently exchange all types of traffic including collective communications. The latter is especially important for e.g. cache updates in multicore systems. The Quarc NoC architecture has been introduced as a Networks-on-Chip which is highly efficient in exchanging all types of traffic including broadcast and multicast. In this paper we present the hardware implementation of the switch architecture and the network adapter (transceiver) of the Quarc NoC. Moreover, the paper presents an analysis and comparison of the cost and performance between the Quarc and the Spidergon NoCs implemented in Verilog targeting the Xilinx Virtex FPGA family. We demonstrate a dramatic improvement in performance over the Spidergon especially for broadcast traffic, at no additional hardware cost.
Neural Network Cascade Optimizes MicroRNA Biomarker Selection for Nasopharyngeal Cancer Prognosis

MicroRNAs (miRNAs) have been shown to be promising biomarkers in predicting cancer prognosis. However, inappropriate or poorly optimized processing and modeling of miRNA expression data can negatively affect prediction performance. Here, we propose a holistic solution for miRNA biomarker selection and prediction model building. This work introduces the use of a neural network cascade, a cascaded constitution of small artificial neural network units, for evaluating miRNA expression and patient outcome. A miRNA microarray dataset of nasopharyngeal carcinoma was retrieved from Gene Expression Omnibus to illustrate the methodology. Results indicated a nonlinear relationship between miRNA expression and patient death risk, implying that direct comparison of expression values is inappropriate. However, this method performs transformation of miRNA expression values into a miRNA score, which linearly measures death risk. Spearman correlation was calculated between miRNA scores and survival status for each miRNA. Finally, a nine-miRNA signature was optimized to predict death risk after nasopharyngeal carcinoma by establishing a neural network cascade consisting of 13 artificial neural network units. Area under the ROC was 0.951 for the internal validation set and had a prediction accuracy of 83% for the external validation set. In particular, the established neural network cascade was found to have strong immunity against noise interference that disturbs miRNA expression values. This study provides an efficient and easy-to-use method that aims to maximize clinical application of miRNAs in prognostic risk assessment of patients with cancer.
A Formal Framework for Access Rights Analysis

A stack-based access control mechanism is to prevent untrusted codes from accessing protected resources in distributed application systems, such as Java-centric web applications and Microsoft . NET framework. Such an access control mechanism is enforced at runtime by stack inspection that inspects methods in the current call stack for granted permissions. Nowadays practiced approaches to generating policy files for an application are still manually done by developers based on domainspecific knowledges and testing, due to overwhelming technical challenges involved and engineering efforts in the automation. This paper presents a formal framework of access rights analysis for Java applications, and algorithms of both policy generation and checking. The analysis of policy generation automatically generates access control policies for the given program that necessarily ensure the program to pass stack inspections. The analysis of policy checking takes as input a policy file and determines whether access control in the concerned domain always succeed or may fail. The answer can either help detect redundant inspection points or refine the given policies. All of the analysis algorithms are novelly designed by conditional weighted pushdown systems, in an attempt to achieve a high level of precision in the literature.
Chemical-biological protective clothing: effects of design and initial state on physiological strain.

PURPOSE This study examined whether heat strain during low states of chemical and biological protection (CB(low)) impacted tolerance time (TT) after transition to a high state of protection (CB(high)) and whether vents in the uniform reduced heat strain during CB(low) and increased TT. METHODS There were eight men who walked at 35 degrees C in CB(low), and then transitioned to CB(high). Subjects wore fatigues in CB(low) with an overgarment during CB(high) (F+OG) or a new 1-piece (1PC) or 2PC uniform throughout CB(low) and CB(high). One condition also tested opened vents in the torso, arms, and legs of the 2PC uniform (2PC(vent)) during CB(low); these vents were closed during CB(high). Also worn were fragmentation and tactical vests and helmet. RESULTS Heart rates were reduced significantly during CB(low) for F+OG and 2PC(vent) (114 +/- 13) vs. 1 PC and 2PC (122 +/- 18). Rectal temperature (T(re)) increased least in CB(low) for F+OG (0.86 +/- 0.23 degree C) and was significantly lower for 2PC(vent) (1.02 +/- 0.25 degree C) vs. 2PC (1.11 +/- 0.27 degree C). T(re) increased rapidly during CB(high) for F+OG, which had the shortest TT (40 +/- 9 min). Increased thermal strain during CB(low) for 1PC negated its advantage in CB(high) and TT (46 +/- 21 min) was similar to F+OG. Differences in T(re) between 2PC and 2PC(vent) remained during CB(high) whereTT was increased during 2PC(vent) (74 +/- 17 min) vs. 2PC (62 +/- 19 min). CONCLUSIONS It was concluded that heat strain during CB(low) impacted TT during CB(high), and use of vents reduced heat strain during CB(low), thereby increasing TT.
Molecular events in kidney ageing

Purpose of reviewAgeing of the kidney is a problem of clinical and basic interest. The problem of renal dysfunction and end-stage renal disease is a major burden on the health system, and old donor age is a major limitation on the use of donor organs and on survival of transplanted kidneys. Moreover, stresses linked to nephropathies, postoperative stress, inflammation and allograft rejection can lead to premature senescence of renal cells thus accelerating organ atrophy. Age-related and disease or stress-related nephron loss could reflect both the limited ability of epithelial cells to repair and replicate in the face of environmental stresses, and limitations on the number of cell replications caused by telomere shortening. Therefore, elucidating cellular senescence mechanisms is relevant to kidney diseases and kidney transplantation. Recent findingsRecent findings suggest additive effects of replicative and environmental stress-induced senescence in cellular and organ ageing. In particular, ATM/p53/p21 and Ras/p38/p16 pathways have been shown to co-contribute to the overall cellular senescence, which is caused by extrinsic and intrinsic stimuli. Moreover, the role of epigenetic factors, including protein acylation/deacetylation, chromatin remodeling or caloric restriction, is the focus of recent studies on ageing and senescence. SummaryDespite significant progress, cellular senescence is still better understood in vitro than in vivo. So far, p16INK4a remains the best marker of chronological age in the kidney, and can be considered as an indicator of premature senescence caused by stresses or disease. The beneficial effects of caloric restriction on organ ageing and the role of histone acetylation in pathologic states in rodents are of considerable interest, and deserve future studies.
Reflectance, illumination, and appearance in color constancy

We studied color constancy using a pair of identical 3-D Color Mondrian displays. We viewed one 3-D Mondrian in nearly uniform illumination, and the other in directional, nonuniform illumination. We used the three dimensional structures to modulate the light falling on the painted surfaces. The 3-D structures in the displays were a matching set of wooden blocks. Across Mondrian displays, each corresponding facet had the same paint on its surface. We used only 6 chromatic, and 5 achromatic paints applied to 104 block facets. The 3-D blocks add shadows and multiple reflections not found in flat Mondrians. Both 3-D Mondrians were viewed simultaneously, side-by-side. We used two techniques to measure correlation of appearance with surface reflectance. First, observers made magnitude estimates of changes in the appearances of identical reflectances. Second, an author painted a watercolor of the 3-D Mondrians. The watercolor's reflectances quantified the changes in appearances. While constancy generalizations about illumination and reflectance hold for flat Mondrians, they do not for 3-D Mondrians. A constant paint does not exhibit perfect color constancy, but rather shows significant shifts in lightness, hue and chroma in response to the structure in the nonuniform illumination. Color appearance depends on the spatial information in both the illumination and the reflectances of objects. The spatial information of the quanta catch from the array of retinal receptors generates sensations that have variable correlation with surface reflectance. Models of appearance in humans need to calculate the departures from perfect constancy measured here. This article provides a dataset of measurements of color appearances for computational models of sensation.
Sound And Immersion In The First-Person Shooter

One of the aims of modern First-Person Shooter (FPS) design is to provide an immersive experience to the player. This paper examines the role of sound in enabling such immersion and argues that, even in 'realism' FPS games, it may be achieved sonically through a focus on caricature rather than realism. The paper utilizes and develops previous work in which both a conceptual framework for the design and analysis of run and gun FPS sound is developed and the notion of the relationship between player and FPS soundscape as an acoustic ecology is put forward (Grimshaw and Schott 2007a; Grimshaw and Schott 2007b). Some problems of sound practice and sound reproduction in the game are highlighted and a conceptual solution is proposed.
Modelling environmental changes in the Udzungwa Mountains of Tanzania through impact assessment on rainforest mammals

The management and conservation of threatened animal populations require accurate knowledge on their distribution and abundance. At the same time, knowledge on the factors driving changes and fluctuation in distribution and abundance is also critical. Nevertheless, gaining such insight is especially challenging for species living in patchy and fragmented landscapes, as is the case for most mammals in tropical forests. This thesis addressed these issues by developing and validating analytical frameworks that allow to make robust spatial inference on population abundance, and ultimately aimed at gaining knowledge on the conservation status of selected mammal species in the rainforest of the Udzungwa Mountains of Tanzania, with emphasis on arboreal primates. This area is an outstanding hotspot for biodiversity and endemism at continental level and it is especially important for primates. Results of the research project were used to provide management recommendations for the conservation of target species and of the environment these inhabit, which is undergoing rapid and critical modifications through habitat depletion and fragmentation.
Fiber Type Composition of the Sternomastoid and Diaphragm Muscles of Dystrophin‐Deficient mdx Mice

The muscle fiber phenotype is mainly determined by motoneuron innervation and changes in neuromuscular interaction alter the muscle fiber type. In dystrophin‐deficient mdx mice, changes in the molecular assembly of the neuromuscular junction and in nerve terminal sprouting occur in the sternomastoid (STN) muscle during early stages of the disease. In this study, we were interested to see whether early changes in neuromuscular assembly are correlated with alterations in fiber type in dystrophic STN at 2 months of age. A predominance of hybrid fast myofibers (about 52% type IIDB) was observed in control (C57Bl/10) STN. In mdx muscle, the lack of dystrophin did not change this profile (about 54% hybrid type IIDB). Pure fast type IID fibers predominated in normal and dystrophic diaphragm (DIA; about 39% in control and 30% in mdx muscle) and a population of slow Type I fibers was also present (about 10% in control and 13% in mdx muscle). In conclusion, early changes in neuromuscular assembly do not affect the fiber type composition of dystrophic STN. In contrast to the pure fast fibers of the more affected DIA, the hybrid phenotype of the STN may permit dynamic adaptations during progression of the disease. Anat Rec 293:1722–1728, 2010. © 2010 Wiley‐Liss, Inc.
Carbonic Anhydrase I Is Recognized by an SOD1 Antibody upon Biotinylation of Human Spinal Cord Extracts

We recently reported the presence of a novel 32 kDa protein immunoreactive to a copper, zinc superoxide dismutase (SOD1) antibody within the spinal cord of patients with amyotrophic lateral sclerosis (ALS). This unique protein species was generated by biotinylation of spinal cord tissue extracts to detect conformational changes of SOD1 specific to ALS patients. To further characterize this protein, we enriched the protein by column chromatography and determined its protein identity by mass spectrometry. The protein that gave rise to the 32 kDa species upon biotinylation was identified as carbonic anhydrase I (CA I). Biotinylation of CA I from ALS spinal cord resulted in the generation of a novel epitope recognized by the SOD1 antibody. This epitope could also be generated by biotinylation of extracts from cultured cells expressing human CA I. Peptide competition assays identified the amino acid sequence in carbonic anhydrase I responsible for binding the SOD1 antibody. We conclude that chemical modifications used to identify pathogenic protein conformations can lead to the identification of unanticipated proteins that may participate in disease pathogenesis.
Test Set Bounds for Relational Data that vary with Strength of Dependence

A large portion of the data that is collected in various application domains such as online social networking, finance, biomedicine, etc. is relational in nature. A subfield of Machine Learning namely, Statistical Relational Learning (SRL) is concerned with performing statistical inference on relational data. A defining property of relational data that separates it from independently and identically distributed data (i.i.d.) is the existence of correlations between individual datapoints. A major portion of the theory developed in machine learning assumes the data is i.i. d. In this paper we develop theory for the relational setting. In particular, we derive distribution-free bounds on the generalization error of a classifier for the relational setting, where the class of data generation models we consider are inspired from the type joint distributions that are represented by relational classification models developed by the SRL community. A key aspect of the bound we derive is that the tightness of the bound is a function of the strength of dependence between related datapoints, with the bound reducing to the standard Hoeffding’s or McDiarmid’s inequality when there is no dependence. To the best of our knowledge this is the first bound for relational data whose tightness varies with the strength of dependence. Moreover, the bound provides insight in the computation of effective sample size which is an important notion introduced by [Jensen and Neville 2002].
A COP-based controller for adaptive motion planning of a single-legged robot

This paper presents a motion planning and control method for determining the joint velocities of a single-legged robot based on the desired Centre of Pressure (COP) motion, the Centre of Mass (COM) dynamics and the ground reaction forces. A closed-loop inverse kinematics algorithm is implemented using the Centre of Gravity (COG) Jacobian, while the control system relies on the reaction force data to estimate the real COP. The main idea is to manipulate the dynamics of the COM such as the COP shows a desired behavior. The implementation of the COP-based controller is described to demonstrate the possibility of keeping a single-legged robot in balance, while adapting to unexpected changes in a slope surface or during execution of a specified motion task. Simulation results are illustrated throughout the paper to validate the proposed controller.
Kamera-LIDAR pár kalibrálása dobozokkal

Kivonat Manapság egyre nagyobb az igény a minket körülvevő környezet felderítésére, szaknyelven szólva letapogatására (szkennelésére). Különösen igaz ez a robotok és önvezető autók világában, amelyeknek önmagukban kell döntéseket hozniuk a lehető legkevesebb emberi beavatkozással. Több eszköz is létezik, amelyekkel gépeinket felszerelve azok képesek lesznek a világ érzékelésére: kamerák, mikrofonok, radarok, stb. Az egyik ilyen gyakran használt eszköz a LiDAR (Light Detection And Ranging), amellyel ritka pontfelhőt készíthetünk a körülöttünk található világról. A LIDAR-os méréseket kiegészíthetik az RGB kamerák képeit feldolgozó algoritmusok, melyek például segíthetnek a kapott pontfelhő sűrítésében. Autonóm járművek és robotok esetében ezen eszközök fixálhatóak egymáshoz képest, ezért az egymáshoz képesti pozíciót és elforgatást kalibráció segítségével a működés előtt ki lehet számolni. Ebben a cikkben megmutatjuk, hogy ez a kalibráció megoldható dobozok segítségével. A javasolt eljárást részletesen bemutatjuk, a pontosságot elemezzük.
SerPens: a tool for semantically enriched location information on personal devices

Current mobile phones provide GSM cell information and many devices also support GPS or WiFi-based location information. A problem with raw location data is that it does not provide semantic information, which makes it hard to integrate location-awareness into applications. Moreover, to understand what kind of location information is important to users, researchers currently need to perform time consuming user studies. In this paper we introduce SerPens, a tool that enables gathering semantically enriched location information on personal devices. The main novelty of SerPens is that it enables users to share and gather semantic information in a collaborative fashion. The label information is tied to a taxonomy and is accessible to applications. SerPens has been developed on top of BeTelGeuse, a Bluetooth-based data gathering tool for J2ME compatible devices.
Impact of antenna tuning on SMOS correlation loss

The Soil Moisture and Ocean Salinity (SMOS) mission by the European Space Agency (ESA) was launched in 2009 [1]. Since then, it has produced a continuous stream of valuable geophysical data over land, ice and ocean [2] However, a problem which does persist is the so-called land-sea contamination (LSC) effect, an artificial increase of brightness temperature around large land masses that enters into the ocean several hundreds of kilometers. This artifact has been found to be caused by an inconsistency between the multiplicative error that affects the zero baseline (antenna temperature) and the error affecting the rest of baselines (correlations). This inconsistency is related to about 2% measurement overestimation of the correlation efficiency (fringe washing function at the origin) that produces a scene dependent bias in the retrieved brightness temperature [3]. It must be pointed out that correlation efficiency is periodically measured on-board by means of an internal noise injection scheme [4]. Since antenna frequency response is not included in the noise injection loop, this paper is devoted to assess its potential impact in SMOS end-to-end increased correlation loss.