Miracle-dz/UniFAR-FTUs huggingface dataset:
Experiments in outdoor operation of RatSLAM

This paper shows initial results in deploying the biologically inspired Simultaneous Localisation and Mapping system, RatSLAM, in an outdoor environment. RatSLAM has been widely tested in indoor environments on the task of producing topologically coherent maps based on a fusion of odometric and visual information. This paper details the changes required to deploy RatSLAM on a small tractor equipped with odometry and an omnidirectional camera. The principal changes relate to the vision system, with others required for RatSLAM to use omnidirectional visual data. The initial results from mapping around a 500 m loop are promising, with many improvements still to be made.
POSTER: Dynamic Labelling for Analyzing Security Protocols

Security protocols are essential for establishing trustworthiness of electronic transactions over open networks. Currently used languages and logics for protocol specifications do not facilitate/force the designer to make explicit goals, intentional assumptions or the preceding history across interactions among the stakeholders. Readers-Writers Flow Model (RWFM) is a novel model for information flow control, and has a label structure that explicitly specifies the permissible readers and influencers of a message. RWFM labels succinctly capture the history of a message. In this paper, we sketch an approach to enrich protocol specifications with RWFM labels that overcomes the problem of incomplete protocol specifications, and captures the intensional specifications in a natural way. Our approach tracks information flows in a protocol and makes explicit: (i) the assumptions and goals at each stage of the protocol, (ii) the construction of new messages from components of previous messages, and (iii) the knowledge of roles at various stages. We believe that our approach leads to a robust protocol specification language, including security/cryptographic protocols, that shall be of immense aid to the designer, user and the implementer of protocols.
Electroencephalography Correlates of Spatial Working Memory Deficits in Attention-Deficit/Hyperactivity Disorder: Vigilance, Encoding, and Maintenance

In the current study we sought to dissociate the component processes of working memory (WM) (vigilance, encoding and maintenance) that may be differentially impaired in attention-deficit/ hyperactivity disorder (ADHD). We collected electroencephalographic (EEG) data from 52 children with ADHD and 47 typically developing (TD) children, ages 7–14 years, while they performed a spatial Sternberg working memory task. We used independent component analysis and time-frequency analysis to identify midoccipital alpha (8–12 Hz) to evaluate encoding processes and frontal midline theta (4–7 Hz) to evaluate maintenance processes. We tested for effects of task difficulty and cue processing to evaluate vigilance. Children with ADHD showed attenuated alpha band event-related desynchronization (ERD) during encoding. This effect was more pronounced when task difficulty was low (consistent with impaired vigilance) and was predictive of memory task performance and symptom severity. Correlated with alpha ERD during encoding were alpha power increases during the maintenance period (relative to baseline), suggesting a compensatory effort. Consistent with this interpretation, midfrontal theta power increases during maintenance were stronger in ADHD and in high-load memory conditions. Furthermore, children with ADHD exhibited a maturational lag in development of posterior alpha power whereas age-related changes in frontal theta power deviated from the TD pattern. Last, subjects with ADHD showed age-independent attenuation of evoked responses to warning cues, suggesting low vigilance. Combined, these three EEG measures predicted diagnosis with 70% accuracy. We conclude that the interplay of impaired vigilance and encoding in ADHD may compromise maintenance and lead to impaired WM performance in this group.
Experimental evaluation of VBR transport over optical burst switching network

Variable bit rate (VBR) compressed video targeted at constant video quality is also known to exhibit significant and multiple-time-scale rate variabilities. The burstiness of such a compressed VBR video complicates the management and provisioning of network resources for ever increasing multimedia services. In a heterogeneous internetworking environment, a single service provider typically doesn't control the entire path from multimedia streaming server to the client buffer. In this paper we analyze bit rate variabilities exhibited by scalable video coding (SVC) encoded VBR stream and present Optical Burst Switching (OBS) network as a mechanism for VBR transport across the core network. In our experimental evaluation we use OBS inherent bursitification feature at the edge node and evaluate its effectiveness towards smoothing and transport of VBR video stream. SVC encoded VBR video is transported over OBS test bed and OBS burst assembly parameters like time threshold and offset time are tuned for a smooth transport of SVC encoded VBR video stream. Experimental results reveal that for a proper burst assembly time, OBS transported VBR video stream has low inter-frame time intervals as well as a high peak signal to noise ratio (PSNR).
Online Matching with Stochastic Rewards

The online matching problem has received significant attention in recent years because of its connections to allocation problems in Internet advertising, crowd-sourcing, etc. In these real-world applications, the typical goal is not to maximize the number of allocations, rather it is to maximize the number of successful allocations, where success of an allocation is governed by a stochastic process which follows the allocation. To address such applications, we propose and study the online matching problem with stochastic rewards (called the ONLINE STOCHASTIC MATCHING problem) in this paper. Our problem also has close connections to the existing literature on stochastic packing problems, in fact, our work initiates the study of online stochastic packing problems. We give a deterministic algorithm for the ONLINE STOCHASTIC MATCHING problem whose competitive ratio converges to (approximately) 0.567 for uniform and vanishing probabilities. We also give a randomized algorithm which outperforms the deterministic algorithm for higher probabilities. Finally, we complement our algorithms by giving an upper bound on the competitive ratio of any algorithm for this problem. This result shows that the best achievable competitive ratio for the ONLINE STOCHASTIC MATCHING problem is provably worse than that for the (non-stochastic) online matching problem.
WhiteWater: Distributed Processing of Fast Streams

Monitoring systems today often involve continuous queries over streaming data in a distributed collaborative fashion. The distribution of query operators over a network of processors, as well as their processing sequence, form a query configuration with inherent constraints on the throughput that it can support. In this paper, we discuss the implications of measuring and optimizing for output throughput, as well as its limitations. We propose to use instead the more granular input throughput and a version of throughput measure, the profiled input throughput, that is focused on matching the expected behavior of the input streams. We show how we can evaluate a query configuration based on profiled input throughput and that the problem of finding the optimal configuration is NP-hard. Furthermore, we describe how we can overcome the complexity limitation by adapting hill-climbing heuristics to reduce the search space of configurations. We show experimentally that the approach used is not only efficient but also effective.
Measures of attitudes, preferences, and intentions Excerpt from draft SAB Committee report, Valuing the Protection of Ecological Systems and Services: Social-psychological approaches to assessing the value of ecosystems and ecosystem services

Systems and Services and has been approved by the chartered SAB, All other text was provided by individual committee members and is offered to extend and elaborate the very brief descriptions provided in chapter 4 of the SAB Report, Valuing the Protection of Ecological Systems and Service and to encourage further deliberation within EPA and the broader scientific community about how to meet the need for an integrated and expanded approach for valuing the protection of ecological systems and services.
Code Definition Analysis for Call Graph Generation

Enterprise level software is implemented using multi-layer architecture. These layers are often implemented using de-coupled solutions with millions of lines of code. Programmers often have to track and debug a function call from user interface layer to the data access layer while troubleshooting an issue. They have to inspect the code based on search results or use design documents to construct the call graph. This process is time consuming and laborious. The development environment tools are insufficient or confined to analyzing only the code in the loaded solution. This paper proposes a method to construct a call graph of the call across several layers of the code residing in different code bases to help programmers better understand the design and architecture of the software. The signatures of class, methods, and properties were evaluated and then matched against the code files. A graph of matching functions was created. The recursive search stopped when there were no matches or the data layer code was detected. The method resulted in 78.26% accuracy when compared with manual search.
Guidelines for the Design of Magnetic Nanorobots to Cross the Blood–Brain Barrier

This study proposes molecular dynamics simulations used to derive guidelines for the design of the superparamagnetic nanocapsules (spherical-like or rod-like) dedicated to cross the brain-blood barrier (BBB) by magnetic forces. We focus our study on capillaries that have opened fenestrations when the integrity of the endothelial barrier is perturbed by tumors. We identified three different categories of governing parameters: geometrical (radius and length of nanocapsules), biophysical (ligand-to-receptor surface density ratio, nonspecific interaction parameters) and biological (ligand/receptor binding affinity). The main novelty of our study is to carry out computational simulations to determine design criteria-the size, charge, and shape of various magnetic nanocapsules (spherical and rod-shaped nanocapsules)-that optimize their penetration into the BBB. Finally, the simulation results show that the superparamagnetic nanorobotic capsules were able to cross the endothelial barrier by using magnetic forces compatible with medical constraints.
Special section technical notes and correspondence. Min-max model predictive control of nonlinear systems using discontinuous feedbacks

This note proposes a model predictive control (MPC) algorithm for the solution of a robust control problem for continuous-time systems. Discontinuous feedback strategies are allowed in the solution of the min-max problems to be solved. The use of such strategies allows MPC to address a large class of nonlinear systems, including among others nonholonomic systems. Robust stability conditions to ensure steering to a certain set under bounded disturbances are established. The use of bang-bang feedbacks described by a small number of parameters is proposed, reducing considerably the computational burden associated with solving a differential game. The applicability of the proposed algorithm is tested to control a unicycle mobile robot.
Evaluating Knowledge Representation and Reasoning Capabilites of Ontology Specification Languages

The interchange of ontologies across the World Wide Web (WWW) and the cooperation among heterogeneous agents placed on it is the main reason for the development of a new set of ontology specification languages, based on new web standards such as XML or RDF. These languages (SHOE, XOL, RDF, OIL, etc) aim to represent the knowledge contained in an ontology in a simple and human-readable way, as well as allow for the interchange of ontologies across the web. In this paper, we establish a common framework to compare the expressiveness of "traditional" ontology languages (Ontolingua, OKBC, OCML, FLogic, LOOM) and "web-based" ontology languages. As a result of this study, we conclude that different needs in KR and reasoning may exist in the building of an ontology-based application, and these needs must be evaluated in order to choose the most suitable ontology language(s).
The Role of Convective Moistening in the Madden–Julian Oscillation

Abstract This study compares two models that differ primarily in their cloud parameterizations and produce extremely different simulations of the Madden–Julian oscillation (MJO). The Community Atmosphere Model (CAM) version 3.0 from NCAR uses the Zhang–McFarlane scheme for deep convection and does not produce an MJO. The “superparameterized” version of the CAM (SP-CAM) replaces the cloud parameterizations with a two-dimensional cloud-resolving model (CRM) in each grid column and produces an extremely vigorous MJO. This analysis shows that the CAM is unable to produce high-humidity regions in the mid- to lower troposphere because of a lack of coupling between parameterized convection and environmental relative humidity. The SP-CAM produces an overly moist column due in part to excessive near-surface winds and evaporation during strong convective events. In the real tropics and the SP-CAM, convection within a high-humidity environment produces intense latent heating, which excites the large-scale circulatio.
Unknown inputs observer applied to an alternating activated sludge process

This work deals with the design of an unknown inputs observer for MIMO nonlinear hybrid systems. It consists in a switching between different observer to a simultaneous estimate of the unavailable states and inputs. A nonlinear reduced model of an alternating activated sludge process, which is decomposed on an aerobic phase and an anoxic phase, is presented. They are the results of a nitrification and de-nitrification phases. The principal goal of the observer is directed to cure the problem of unavailable input of the influent ammonia concentration and non-measured states of every sub-model. Simulation results verify the effectiveness of the proposed hybrid observers.
Binding, internalization, and retrograde transport of 125I-nerve growth factor in cultured rat sympathetic neurons

Sympathetic neurons internalize nerve growth factor (NGF) and transport it retrogradely to their cell bodies where it appears to serve a trophic function in maintaining neuronal survival. We have characterized the binding, internalization, and retrograde transport of 125I-NGF by cultured rat sympathetic neurons. After 3 to 4 weeks in culture, sympathetic neurons possessed approximately 2 X 10(7) specific, cell surface NGF binding sites per neuron with an apparent affinity constant of 2 to 5 X 10(9) M. The density of binding sites on the plasma membrane of the neurites approximately twice that on the plasma membrane of the cell bodies. Because of the extensive network of neuronal processes, the neurites probably account for more than 99.5% of the total binding in mature cultures. Using electron microscope autoradiography, we localized the distribution of 125I-NGF in the cell body following a 1-hr exposure to 125I-NGF. The majority of silver grains were associated with lysosomal organelles, including secondary lysosomes, residual bodies, and multivesicular bodies (MVB). The MVB were the most heavily labeled, with a labeling density (L.D.) of 21, while the lysosomes had a L.D. of 3.1. To study the retrograde transport of 125I-NGF, neurons were grown in compartmentalized culture dishes and their distal processes were exposed to 125I-NGF. Radioactive material was transported to the cell bodies at the rate of approximately 3 mm/hr. The transport mechanism was sensitive to colchicine and was saturable with respect to NGF. After 8 hr of transport, when the radioactivity in the cell bodies had reached a steady state, the label again was localized primarily to the MVB (L.D. = 16.8) and the lysosomes (L.D. = 3.8). The nuclei were not labeled significantly and had an overall L.D. of 0.47. We saw no evidence for the accumulation of NGF by the nuclear membrane, the nucleolus, or chromatin.
Reconstruction de structures arborescentes par chemins minimaux et bande deformable

Le modele propose est dedie a la segmentation et a la reconstruction de structures arborescentes, telles que les reseaux vasculaires. Il repose sur une representation explicite d'arbre deformable, dans lequel les relations topologiques entre segments sont modelisees. Cela facilite les interactions-\textit{a posteriori} et l'analyse quantitative, comme la mesure de la longueur ou du diametre des vaisseaux. A partir d'un unique point racine fourni par l'utilisateur, un arbre initial est construit a l'aide d'une technique reposant sur les chemins minimaux. Les axes centraux et les fonctions rayon des segments de l'arbre evoluent ensuite de maniere a satisfaire un critere d'homogeneite.
Autonomous Configuration of Transportation Network by Artificial Pheromone System

This paper discusses an algorithm to realize the autonomous organization of a transportation network system inspired by social insects. As social insects, a group of ants show advanced performance in their activity by using a chemical substance called pheromone. Although the pheromone shows some interesting characteristics, it is difficult to use it in real applications. By introducing artificial pheromone system composed of data carriers and autonomous robots, the robotic system creates a potential field to navigate their group. We have developed a pheromone density model to realize the function of pheromones with the help of data carriers. We intend to show the effectiveness of the proposed system by performing simulations. The pheromone potential field system can be used in a transportation network system.
Animal welfare: review of the scientific concept and definition

Abstract The aim of this paper is to present a review of the current scientific viewpoints about the concept and definition of animal welfare. The need of interaction among different disciplines is stressed, as well as the need to scientifically assess welfare, using validated indicators. The role of applied ethology in animal welfare science is stressed. The paper provides a brief overview of the historical steps in the development of the concept and presents scientific viewpoints, briefly explaining their theoretical foundation. The possibility of defining welfare on a scientific basis is explained, identifying the main problems according to the scientific, cultural and social background. Another aspect considered is the relationship between welfare and ethics, evidencing the meaning of such an interaction and its possible evolution.
Enhancing University students privacy literacy through an educational intervention. A Greek case-study.

Social network sites (SNSs) have doubtlessly altered the way that social actors communicate and interact worldwide. Several researches have shown that users disclose personal information within SNSs, while expressing privacy concerns. Users' inability to protect their privacy within SNSs, despite their recorded privacy concerns, constitutes the core of 'Privacy Paradox' and leads to privacy breaches or risks for themselves and other users. To reverse or at least minimise users' disclosure behaviour so as to protect themselves, researches underline the need for privacy awareness increase, focusing on the crucial role of education towards this. This research aims to explore the effects of a long-term university-based educational intervention for enhancing students' digital knowledge and skills to protect their privacy in SNSs efficiently. The findings are encouraging regarding students' privacy awareness enhancement and protection strategies adoption.
Biometric Watermarking Based on Affine Parameters Estimation

In this paper, the architect of Biometric Watermarking is researched. A Feature Embedding Watermarking (FEW) system is resented firstly. A robust biometric watermarking method for iris image based on affine parameters estimation (APE) is presented. The determination of the general affine transform applied to an iris image relies on the determination of the regular grid of points for estimation of the Radon transformation. the entire approach lies on the regularity of the reference grid, as extracted form an input and possibly distorted image, and by comparing it with a known reference grid. Improving Voloshynovskiy's methods, we showed that this problem can be efficiently solved by Radon transform in the case of general affine transforms, avoiding the exhaustive search. Experiment shows that the watermarking method is robust to affine transform. An efficiency security way to protect biometric data is presented and researched. The proposed approach can also be used in any application where images need to be resynchronized, such as satellite imaging, or interactive digital maps, avoiding the need to embed visible marks.
Elliptic Curves - an Introduction

The following four articles constitute expanded versions of talks given during a mini-workshop which took place at Mary Immaculate College, Limerick, on the 29 th and 30 th of November 2006. The titles of these talks were the following: (1) Solving Cubic Equations in Two Variables. Elliptic curves are very interesting because their study involves several fields of mathematics. The study of elliptic curves has a long history and still there are many unsolved problems. The goal of the mini-workshop was to provide an introduction for the non-specialist to several aspects of elliptic curves. Elliptic curves reside at the crossroads of arithmetic, geometry and analysis. This was reflected in the talks as follows: talk (1) dealt with the arithmetic of elliptic curves whereas in talk (2) elliptic curves were studied from the point of view of complex algebraic geometry. The complex analytic side of elliptic curves was touched within talk (3). After these basics were laid down, talk (4) gave an introduction to the study of vector bundles on an elliptic curve. This highlighted the fact that it is not only interesting to study elliptic curves on their own but also to investigate other geometric objects of interest constructed on them. It is clear from the number of pages used that the four articles can provide only a small bit of the available huge amount of knowledge and techniques related to elliptic curves. None of the many applications in physics, engineering and modern communication technology are discussed. To give the reader a first idea of the subject, a brief description of included and excluded material is given below. I would like to thank Pat O'Sullivan for acting as a critical reader of the first drafts of all the four articles.
On the Capacity of Constrained Permutation Codes for Rank Modulation

Motivated by the rank modulation scheme, a recent study by Sala and Dolecek explored the idea of constraint codes for permutations. The constraint studied by them is inherited by the inter-cell interference phenomenon in flash memories, where high-level cells can inadvertently increase the level of lowlevel cells. A permutation σ ∈ S<sub>n</sub> satisfies the single-neighbor k-constraint if |σ(i + 1) - σ (i)| ≤ k for all 1 ≤ i ≤ n - 1. In this paper, this model is extended into two constraints. A permutation σ ∈ S<sub>n</sub> satisfies the two-neighbor k-constraint if for all 2 ≤ i ≤ n-1, |σ(i)-σ(i-1)| ≤ k or |σ(i + 1)-σ(i)|≤k, and it satisfies the asymmetric two-neighbor k-constraint if for all 2 ≤ i ≤ n - 1, σ(i - 1) - σ(i) <; k or σ(i + 1) - σ(i) <; k. We show that the capacity of the first constraint is (1 + ϵ)/2 in case that k = Θ(n<sup>ϵ</sup>) and the capacity of the second constraint is 1 regardless for any positive k. We also extend our results and study the capacity of these two constraints combined with error-correcting codes in the Kendall τ-metric.