Miracle-dz/UniFAR-FTUs huggingface dataset:
Modélisation et calibration pour une numérisation robotisée

Les robots seriels de grandes dimensions apportent dexterite, repetabilite et flexibilite dans les chaines de production. Sur ces chaines, des operations telles que la mesure de pieces peuvent exploiter ces avantages tres attractifs. Il est cependant imperatif de mieux maitriser le positionnement de l’effecteur de ces robots, pour repondre aux exigences de la mesure 3D. Dans ce contexte, une cellule de numerisation robotisee a ete developpee, exploitant un robot seriel 6 axes comme support d’un capteur laser plan (KZ25 Kreon), et utilisant un systeme de stereovision externe pour le suivi de l’operation et la calibration de la cellule (C-Track Creaform). La calibration que nous proposons pour cette cellule permet de maitriser la qualite et d’optimiser la vitesse de numerisation, et se veut a la fois rapide et pratique (peu de contraintes et de materiel) pour repondre a un contexte industriel.Cette calibration passe par l’identification des parametres d’un modele geometrique pour le robot, a l’aide d’une nouvelle methode que nous proposons, generalisant le concept d’etude d’arc de cercle propose dans la methode CPA (Circle Point Analysis). Une etude comparative demontre les avantages de cette nouvelle methode par rapport aux methodes classiquement utilisees. Une methode de selection que nous avons developpee permet ensuite de completer le modele du robot avec des parametres non-geometriques pertinents (flexibilites, jeux). Au cours de la calibration, nous etudions egalement les capacites du robot en vitesse et en qualite de positionnement au travers d’indices de performance originaux. Enfin nous avons elabore et valide une methode de calibration en position et orientation du KZ25 sur son support (le robot) ce qui permet une numerisation a 6 DDL.En perspective, un generateur de trajectoires, a donner en consigne au robot, devra utiliser cette calibration de la cellule entiere pour maitriser la qualite de la numerisation et optimiser sa duree.
The Prediction of Merged Attributes with Multiple Viewpoint Systems

Multiple viewpoint systems find statistical structure in multi-dimensional entities, such as music, by combining Markov-based models together in order to make probabilistic predictions. This paper empirically tests two contrasting techniques for predicting multiple attributes of a musical surface. The first, an established method, predicts each attribute in turn, whilst a second, a proposed alternative, merges attributes into a new representation in order to make predictions simultaneously. A set of optimal smoothing techniques are found for both prediction methods across several harmonic and melodic datasets. Results indicate that when surface attributes are highly correlated, predicting merged attributes outperforms predicting the attributes separately. This can allow viewpoint systems with correlated surface attributes to be optimized, giving a closer fit with the training data as measured by mean information content.
Design
and Analysis of a Multimodal Grasper Having Shape Conformity and Within-Hand Manipulation With
Adjustable Contact Forces

This paper presents the design, analysis, and testing of a novel multimodal grasper having the capabilities of shape conformation, within-hand manipulation, and a built-in compact mechanism to vary the forces at the contact surface. The proposed grasper has two important qualities: versatility and less complexity. The former refers to the ability to grasp a range of objects having different geometrical shape, size, and payload and perform in-hand manipulations such as rolling and sliding, and the latter refers to the uncomplicated design, and ease of planning and control strategies. Increasing the number of functions performed by the grasper to adapt to a variety of tasks in structured and unstructured environments without increasing the mechanical complexity is the main interest of this research. The proposed grasper consists of two hybrid jaws having a rigid inner structure encompassed by a flexible, active gripping surface. The flexibility of the active surface has been exploited to achieve shape conformation, and the same has been utilized with a compact mechanism, introduced in the jaws, to vary the contact forces while grasping and manipulating an object. Simple and scalable structure, compactness, low cost, and simple control scheme are the main features of the proposed design. Detailed kinematic and static analysis are presented to show the capability of the grasper to adjust and estimate the contact forces without using a force sensor. Experiments are conducted on the fabricated prototype to validate the different modes of operation and to evaluate the advantages of the proposed concept.
Multiagent System for Supporting the Knowledge Management in the Software Process

The software process consists of knowledge-intensive procedures, involving various profiles, which handle a wide range of information. The adoption of a solution that satisfies the knowledge demands related to software engineering is not a trivial task. Despite all the investment made by research institutions and software development organizations in automated environments to support the software process, the quality levels and the productivity rates they need has not been reached. In software engineering, the experience, which helps avoid mistakes of the past and improve decision making, still lies mainly in the organization collaborators. This chapter intends to contribute to software engineering by proposing a new approach to support the capture, packaging, storage, mapping, maintenance and retrieval of the knowledge related to the software process. The approach will support the software process through the creation of a knowledge management model to assist the development of intelligent agents that can (i) realize the knowledge needs, (ii) interact with the Information Systems and (iii) support executing the software developers’ tasks. In other words, the chapter proposes creating a multiagent system to manage knowledge related to the execution of software development processes. This system will be the result of implementing the knowledge management models for supporting software process that will also be proposed in this chapter. It will consist of an Information System integrated with a knowledge base related to the implementation of software development processes. DOI: 10.4018/978-1-60960-509-4.ch006
Efficient Dynamic Verification of Concurrent Programs

Revealing concurrency errors in multithreaded programs is difficult. Many "unexpected" thread interactions can only be manifested with intricate low probability event sequences. As a result, they often escape conventional testing, and manifest years after code deployment. Dynamic verification methods have proven promising for revealing errors in the implementation of real world concurrent programs. They work on real applications and libraries, and side-step the high complexity of model construction and state capture by concretely executing programs, and replaying the executions for covering the different thread interleavings. However, with the increase of the program size, the state space—specifically the number of schedules—of a concurrent program grows exponentially. To solve this problem and make dynamic verification be applicable to general concurrent programs, we make the following contributions. First, we propose a family of algorithms for reducing the search spaces of concurrent programs for dynamic verification. The first algorithm is stateful dynamic partial order reduction, which detects visited states by capturing the states of multithreaded programs in concrete executions in a light-weight way. The second algorithm is property-driven pruning, which infers properties of a subspace by exploring only part of the subspace. The third algorithm is automatic symmetry discovery, which reveals symmetry in multithreaded programs using dynamic program analysis. The fourth algorithm is distributed dynamic partial order reduction, which uses computer clusters to speed up the search and at the same time still get the benefit of dynamic partial order reduction. Second, we built Inspect, a framework for dynamic verification of multithreaded C programs. Inspect is able to either expose concurrency bugs inside a multithreaded program, or guarantee that the program is free from concurrency errors under the specific test harnesses. Inspect combines program analysis, program instrumentation and dynamic model checking in a unique way to realize efficient dynamic verification. We have implemented our efficient dynamic verification algorithms in Inspect and applied Inspect to examine realistic multithreaded applications. The experiments show that our algorithms can significantly reduce the time to verify realistic multithreaded applications while guaranteeing completeness and soundness.
Reterritorialising Canada: Arctic ice’s liquid modernity and the imagining of a Canadian archipelago

Studying mobile actor networks of moving people, objects, images, and discourses, in conjunction with changing time-spaces, offers a unique opportunity to understand important, and yet relatively neglected, “relational material” dynamics of mobility. A key example of this phenomenon is the recontinentalization of Canada amidst dramatically changing articulations of the meanings and boundaries of the Canadian landice-ocean mass. A notable reason why Canada is being re-articulated in current times is the extensiveness of Arctic thawing. The reconfiguration of space and “motility” options in the Arctic constitutes an example of how “materiality and sociality produce themselves together. ” In this paper we examine the possibilities and risks connected to this recontinentalization of Canada’s North. In exploring the past, present, and immediate future of this setting, we advance the paradigmatic view that Canada’s changing Arctic is the key element in a process of transformation of Canada into a peninsular body encompassed within a larger archipelagic entity: a place more intimately attuned to its immense (and growing) coastal and insular routes.
Responsive Survey Designs for Reducing Nonresponse Bias

Abstract Survey researchers have been investigating alternative approaches to reduce data collection costs while mitigating the risk of nonresponse bias or to produce more accurate estimates within the same budget. Responsive or adaptive design has been suggested as one means for doing this. Falling survey response rates and the need to find effective ways of implementing responsive design has focused attention on the relationship between response rates and nonresponse bias. In our article, we re-examine the data compiled by Groves and Peytcheva (2008) in their influential article and show there is an important between-study component of variance in addition to the within-study variance highlighted in the original analysis. We also show that theory implies that raising response rates can help reduce the nonresponse bias on average across the estimates within a study. We then propose a typology of response propensity models that help explain the empirical findings, including the relative weak relationship between nonresponse rates and nonresponse bias. Using these results, we explore when responsive design tools such as switching modes, giving monetary incentives, and increasing the level of effort are likely to be effective. We conclude with some comments on the use of responsive design and weighting to control nonresponse bias.
Design and Evaluation of a Scalable P2P Video-on-Demand System

Large-scale Peer-to-Peer(P2P) Video-on-demand(VoD) service provisioning remains challenging due to effective resource scheduling and unpredictable actions of users.Inspired by the success of BitTorrent(BT) in the field of file sharing,a scalable P2P VoD system based on centralized directory service and unstructured overlay is presented in this paper.The system is specified with asynchronous data transfer mode to improve the degree of resource sharing among peers,a data transfer scheduling algorithm based on the priority and rareness of data blocks to smooth video playback,a novel cache maintenance strategy to reduce the load of centralized directory server,and a supplier-based incentive to encourage the resource sharing among peers.Packet-level simulations show good performance of the presented system in terms of playback continuity,launch delay and server stress,which can meet the requirements of large-scale VoD service.
Multi-Beam Forming and Controls by Metasurface With Phase and Amplitude Modulations

Owing to the capability of providing a certain phase gradient on the interface between two media, metasurfaces have shown great promise for altering the directions of outgoing electromagnetic (EM) waves arbitrarily. With the suitable arrangement of particles on metasurfaces, anomalous reflection and refraction have been observed in wide frequency ranges. To completely control the propagation of EM waves, both phase and amplitude profiles are required in some applications. Herein, we propose a new type of metasurface with both phase and amplitude modulations, which is composed of C-shaped particles and can generate and control multiple beams using amplitude and phase responses simultaneously. An addition theorem of complex reflection coefficients is presented to acquire various states of multiple beams reflected from designed metasurfaces. Meanwhile, the intensities of multiple beams can be separately modulated as desired benefitting from the independent controls of phase and amplitude profiles. All the experimental results have good agreements with the numerical simulations. The presented method opens a new way to form and manipulate multiple beams using metasurfaces, which can find potential applications in beam shaping, radar detection systems, and high-quality holography.
Post Sockets, An Abstract Programming Interface for the Transport Layer

This document describes Post Sockets, an asynchronous abstract programming interface for the atomic transmission of messages in an inherently multipath environment. Post replaces connections with long- lived associations between endpoints, with the possibility to cache cryptographic state in order to reduce amortized connection latency. We present this abstract interface as an illustration of what is possible with present developments in transport protocols when freed from the strictures of the current sockets API.
Guiding Readers - Layers of Meaning: A Handbook for Teaching Reading Comprehension to 7-11-year-olds

How can teachers foster good reading in pupils aged 7 – 11? This book explains the way to do it. • What is this book about? Reading comprehension is so much more than just reading words, and this book explains how to develop all aspects of it for pupils aged 7–11. Written by top experts in the field, it includes eleven in-depth case studies – taken from real-life classrooms – of lessons on fiction and non-fiction, poetry and picture books, advertising and film. • Why is it needed? Guided reading, widely used in English lessons, has never been satisfactorily examined for children in this age range. Once they have learnt how to read, pupils need support to develop strategies to extend their comprehension: What does the text say? What does it mean? What do I feel about it? • What is special about guiding readers? We can guide readers whenever we open discussions by exploring their understanding rather than telling them. This book shows teachers how it can be done with real classroom examples. • Who is it for? All teachers of children aged 7–11, English subject leaders, literacy coordinators, student teachers, teacher-educators, librarians, tutors, reading specialists …
Developmental Changes in Backbone of Brain Functional Network During the Infancy Period

In a normal development, structure and functions of the infantâ€™s brain change efficiently to enable oneâ€™s communication with the external world. However, it is still a mystery that how dominant connections of the brain network called â€œbackboneâ€ change in the infancy period. In this study developmental changes in the backbone of functional brain network are investigated. Therefore, resting state EEG of 15 infants (7 girls, full-term) with no family health problem were recorded at the ages of 6 and 18 months. Subsequently, the brain functional network was estimated from the cleaned EEG using Weighted Phase Lag Index (WPLI) algorithm. The WPLI network was then explored using the graph theory by Minimum Spanning Tree. Parameters of the MST including diameter, betweenness, leaf number, eccentricity, and hierarchy were calculated. Subsequently, a pairwise t-test was performed based on the MST parameters to compare backbone of the brain network between both age groups. Based on the Power Spectral Analysis, four frequency bands including delta, lower alpha, lower beta, and gamma bands were selected, each of them investigated separately. The results showed an increase of eccentricity and diameter, and a reduction in leaf numbers, betweenness and hierarchy (lower complexity) in the functional networks of the frequencies with enhanced power (eg. gamma). In addition, opposite results were observed in the networks related to the frequencies with declined power (eg. delta). Our findings indicate that backbone of the brain functional network changes in a frequency specific manner, and a reverse order follows the changes in oscillatory pattern.
The Impact of Using Skimming and Scanning Strategies of Descriptive Text Towards Students’ Reading Comprehension at Grade Eight of Smpn 22 Bandar Lampung

The objective of this research was to find out the impact of using skimming and scanning strategies towards the students’ reading comprehension at grade eight of SMPN 22 Bandar Lampung.Reading comprehension refers to the readers’ ability to understand the information of reading text. The use of skimming and scanning strategies in teaching reading is expected to be able to improve the students’ reading comprehension.Data collection was administered by conducting two pre-test and two post-test in experimental group and control group. Treatment was administered for experimental group by using skimming and scanning strategies. While control group was treated by using traditional teaching.Data analysis was attempted by using t-Test for two group design. Results indicated that p-value 1% = 2.68, 5% = 2.01, and t-value = 14,882. It is statistically significant as p-value is smaller than t-value. Therefore, null hypothesis (H o ) was rejected and alternative hypothesis (H a ) was accepted.These findings suggest that there is impact of using skimming and scanning strategies towards the students’ reading comprehension at grade eight of SMPN 22 Bandar Lampung. It is suggested that the teacher uses skimming and scanning strategies for teaching reading.
Internally driven inertial waves in geodynamo simulations

© The Authors 2017. Inertial waves are oscillations in a rotating fluid, such as the Earth's outer core, which result from the restoring action of the Coriolis force. In an earlier work, it was argued by Davidson that inertial waves launched near the equatorial regions could be important for the α2 dynamo mechanism, as they can maintain a helicity distribution which is negative (positive) in the north (south). Here,we identify such internally driven inertial waves, triggered by buoyant anomalies in the equatorial regions in a strongly forced geodynamo simulation. Using the time derivative of vertical velocity, ∂uz/∂t, as a diagnostic for traveling wave fronts, we find that the horizontal movement in the buoyancy field near the equator is well correlated with a corresponding movement of the fluid far from the equator. Moreover, the azimuthally averaged spectrum of ∂uz/∂t lies in the inertial wave frequency range. We also test the dispersion properties of the waves by computing the spectral energy as a function of frequency, ω, and the dispersion angle, θ. Our results suggest that the columnar flow in the rotation-dominated core, which is an important ingredient for the maintenance of a dipolar magnetic field, is maintained despite the chaotic evolution of the buoyancy field on a fast timescale by internally driven inertial waves.
Local Algorithms for Topology Control in Ad-Hoc Networks

Ad hoc wireless networks consist of a collection of hosts of limited power communicating with each other over a wireless medium without any pre-designed or fixed infrastructure. Topology control refers to the problem of maintaining a stable and connected infrastructure among the hosts of an ad hoc network. Effective use of topology control can reduce energy consumption and increase the capacity of the network, due to reduced contention to access the wireless channels. This is accomplished by having nodes in a wireless multi-hop network define collaboratively the network topology by forming the proper neighbor relation under certain criteria. Despite the fact that communication tasks must be resolved only by consulting nearby hosts, algorithmic solutions must solve global computational tasks, involving, e.g., the computation of dominating and independent sets, vertex and edge colorings, and spanners. Practical considerations inspire the additional requirement for algorithms to be local in the sense that each node of the network should make decisions based only on the information obtained from nodes located a constant (independent of the size of the network) number of steps away from it. Local topology control is vital for heterogeneous network environments affected by mobile hosts, variable neighbor density, AbstrAct
Integrating Gesture Data in Computer-aided Composition: A Framework for Representation, Processing and Mapping

Abstract In this article, we discuss physical gestures from the perspective of computer-aided composition (CAC) and propose solutions for the integration of gesture signals as musical materials into these environments. After presenting background and motivations, we review related works and describe design guidelines for our developments. A particular focus is given to the idiosyncrasies of working with gestures in real-time vs differed-time paradigms. We present an implementation of our concepts as the library OM-Geste, integrated into the CAC environment OpenMusic. Two case studies are presented for the generation of a symbolic musical score and spatial audio synthesis from gesture recordings of dance and instrumental performances.