Miracle-dz/UniFAR-FTUs huggingface dataset:
Computationally Efficient Robust Algorithm for Generalized Sensor Calibration Problem $\boldsymbol{AR}=\boldsymbol{RB}$

This paper involves solving the generalized sensor calibration problem <inline-formula> <tex-math notation="LaTeX">${AR}={RB}$ </tex-math></inline-formula> with rotations <inline-formula> <tex-math notation="LaTeX">${A, B, R} \in SO(3)$ </tex-math></inline-formula>, where <inline-formula> <tex-math notation="LaTeX">${A, B}$ </tex-math></inline-formula> are known and <inline-formula> <tex-math notation="LaTeX">${R}$ </tex-math></inline-formula> is to be figured out. We introduce a methodology called the quaternion decomposition from rotation (QDR) to obtain a robust solution to this problem. The method is applicable to all those cases where <inline-formula> <tex-math notation="LaTeX">${A, B}$ </tex-math></inline-formula> are noise-free, noisy, or even not rigid. The non-iterative framework of the eigen-decomposition of <inline-formula> <tex-math notation="LaTeX">$4 \times 4$ </tex-math></inline-formula> matrices is derived to give very computationally efficient analytical quaternion result. By numerical examples and experimental robotic results, the effectiveness of the proposed method has been verified. The proposed solution is evaluated to own at least the same accuracy and robustness of currently best algorithm, using real-world experiments for the camera/magnetometer sensor calibration on a quadrotor, while it takes much faster computation speed than all existing representatives to the best of our knowledge.
Survey on frontiers of language and robotics

ABSTRACT The understanding and acquisition of a language in a real-world environment is an important task for future robotics services. Natural language processing and cognitive robotics have both been focusing on the problem for decades using machine learning. However, many problems remain unsolved despite significant progress in machine learning (such as deep learning and probabilistic generative models) during the past decade. The remaining problems have not been systematically surveyed and organized, as most of them are highly interdisciplinary challenges for language and robotics. This study conducts a survey on the frontier of the intersection of the research fields of language and robotics, ranging from logic probabilistic programming to designing a competition to evaluate language understanding systems. We focus on cognitive developmental robots that can learn a language from interaction with their environment and unsupervised learning methods that enable robots to learn a language without hand-crafted training data. GRAPHICAL ABSTRACT
Energy-Efficient Spectral Analysis Method Using Autoregressive Model-Based Approach for Internet of Things

This paper presents an energy-efficient spectral analysis method for the Internet of Things (IoT). The objective of this paper is to reduce the energy consumption of edge devices. The proposed method uses an autoregressive (AR) model for spectral analysis instead of the discrete Fourier transform, and its calculation process is distributed to the edge device and a base station by considering the energy consumption tradeoff of the data processing and the data communication. In this paper, the Yule–Walker method is employed for the AR coefficient calculation. The calculation process of Yule–Walker method can be divided into two parts: an autocorrelation calculation and an AR coefficient calculation. The autocorrelation calculation is implemented in the edge devices, and its dedicated hardware is designed using Verilog HDL. Meanwhile, the AR coefficient is calculated in the base station and is used for the spectral analysis. According to this distributed processing approach, the energy consumption of the edge device can be reduced compared with conventional DFT approaches using the fast Fourier transform (FFT). The system level energy consumption is evaluated assuming the IoT edge device, which has a wireless transceiver using Bluetooth low energy. The evaluation results show that the proposed method can reduce 79% of the edge device energy consumption for spectral analysis in a practical application.
Dutch quotative van

The quotative use of the Dutch preposition van ‘of’ can be considered as the Dutch counterpart of English like , German so and similar items in other languages, the use of which has increased significantly in many languages of the world in the last four decades. Stylistically, quotative van occurs most frequently in informal spoken language, less in more formal spoken language and infrequently in written language (the written language in the new media included). In this sense, Dutch quotative van fits in to a worldwide trend. Yet, quotative van shows some characteristics that seem to differentiate it from its counterparts in other languages. Firstly, van not only combines with direct speech, but also occurs regularly in combination with indirect speech. Secondly, van is not restricted to youth language; it is widely used in all age groups and regions (also in Belgian Dutch). Thirdly, based on written informal documents and dairies, we show that the quotative use of van has old roots in the history of Dutch, going back to at least the 17th century.
A Synchronous Reference Frame PI Current Controller With Dead Beat Response

In this paper, a new structure of a proportional integral (PI) current controller implemented in a synchronous <inline-formula><tex-math notation="LaTeX">$d,q$</tex-math></inline-formula> reference frame (SRF-PI), for grid-tied voltage inverters, is presented. The controller has deadbeat response for current reference tracking, reaching it in two samples. It also keeps the main feature of the SRF-PI controller: its ability to track without error, in the absence of other disturbances, a positive sequence current reference of fundamental frequency. Furthermore, the controller ensures the full decoupling between the currents of axes <inline-formula><tex-math notation="LaTeX">$d$</tex-math></inline-formula> and <inline-formula><tex-math notation="LaTeX">$q$</tex-math></inline-formula>. The controller is compared, through simulation and experimental results, with one SRF-PI controller recently published in the literature. It is verified that the proposed controller introduces noticeable improvements in both the transient response and in the steady-state response to perturbations in the control loop.
Floating Car Data Technology

The limiting conditions of traffic in cities, together with the complex and dynamic traffic flows, require an efficient and systematic management and information provision for the traffic participants, with the goal to achieve better utilisation of traffic resources and preserve sustainable mobility. In that context, it is important to identify the traffic flow location features, which requires data and information. This paper presents the application of mobile vehicles for the collection of real time traffic flow data. Such data have become an important source of traffic data, since they can be collected in a simple and cost-efficient way, enabling higher coverage than the conventional approaches, despite the reliability issues. The term referring to that type of data collection, commonly used in scientific and professional literature is FCD (Floating Car Data) and “Probe vehicle”. The efficiency presentation of applying this extensive data source for retrieving necessary parameters and information related to the achievement of sustainable mobility is the final objective of this paper. A description of modern technologies that serve as a basis for probe vehicle data collection has been provided: a geographical information system (GIS), global navigation satellite system (GNSS) and related wireless communication. Within the key technologies review, the development possibilities of data collection by mobile sensors have also been presented.
Quasi‐Time‐Dependent 
 H∞ Controller for Discrete‐Time Switched Linear Systems With Mode‐Dependent Average Dwell‐Time

This paper is concerned with the stability and stabilization problem of a class of discrete‐time switched systems with mode‐dependent average dwell time (MDADT). A novel Lyapunov function, which is both mode‐dependent (MD) and quasi‐time‐dependent (QTD), is established. The new established Lyapunov function is allowed to increase at some certain time instants. A QTD H∞ controller is designed such that the system is globally uniformly asymptotically stable (GUAS) and has a guaranteed H∞ performance index. The new QTD robust controller designed in this paper is less conservative than the mode independent one which is frequently considered in literatures. Finally, a numerical example and a practical example are provided to illustrate the effectiveness of the developed results. H∞
A scatter search approach for automated branch coverage in software testing

Software testing is an expensive and difficult process, which requires much time. The use of techniques for automating the generation of software test cases is very important as it can reduce the time and cost of this process. The newest methods for automatic generation of tests use metaheuristic search techniques, i.e. Genetic Algorithms, Simulated Annealing and Tabu Search. However there are other metaheuristic techniques that can be used to generate automatically test cases. In this paper it is presented a new method based on Scatter Search that allows automatic generation of test cases to obtain branch coverage in software testing.
Mining Algorithm for Protein Sequence Pattern

Traditional algorithms face efficiency problem because of generating a huge number of candidates or constructing projected database many times. These algorithms will generate unnecessary short patterns or even wrong patterns in the process of mining. To attack these problems, a novel mining algorithm called Motif-divide based Biology sequence Pattern Mining(MBioPM) is presented based on "motif-divide" method. The MBioPM algorithm improves the efficience and avoids the problems mentioned above. Theoretical analysis and experimental results show that MBioPM algorithm improves performance as compared with other algorithm.
Towards an algorithm portfolio for nurse rostering

Based on the success of algorithm portfolio’s in other domains, we have applied these ideas in a real-world setting. Last year, our research group co-organised the First International Nurse Rostering Competition 2010. This is an ideal testbed for the creation and validation of an algorithm portfolio for this real-world problem. The goal of this research is building a super-algorithm composed of a set of competitive algorithms. The performance of each algorithm is learned based on characteristics of the instances. When presented with a new, unseen instance, the performance of each algorithm is predicted and the ‘best’ algorithm is selected. Doing so, the portfolio is expected to outperform any of its individual components.
What Advanced Treatments Can Be Used to Minimize the Production of Sewage Sludge in WWTPs?

Similar to other types of waste, sewage sludge (SS) must be minimized, not only to respect the European Directive 2018/851 on waste, but also because the cost of sludge management is approximately 50% of the total running costs of a wastewater treatment plant (WWTP). Usually, minimization technologies can involve sewage sludge production with three different strategies: (i) adopting a process in the water line that reduces the production of sludge; (ii) reducing the water content (dewatering processes) or (iii) reducing the fraction of volatile solids (stabilization). This review, based on more than 130 papers, aims to provide essential information on the process, such as the advantages, the drawbacks and the results of their application. Moreover, significant information on the technologies still under development is provided. Finally, this review reports a discussion on the impact of the application of the proposed processes in the sludge line on a WWTP with a capacity exceeding 100,000 population equivalent (PE).
Plant Biomechanics: From Structure to Function at Multiple Scales

This book provides important insights into the operating principles of plants by highlighting the relationship between structure and function. It describes the quantitative determination of structural and mechanical parameters, such as the material properties of a tissue, in correlation with specific features, such as the ability of the tissue to conduct water or withstand bending forces, which will allow advanced analysis in plant biomechanics. This knowledge enables researchers to understand the developmental changes that occur in plant organs over their life span and under the influence of environmental factors. The authors provide an overview of the state of the art of plant structure and function and how they relate to the mechanical behavior of the organism, such as the ability of plants to grow against the gravity vector or to withstand the forces of wind. They also show the sophisticated strategies employed by plants to effect organ movement and morphogenesis in the absence of muscles or cellular migration. As such, this book not only appeals to scientists currently working in plant sciences and biophysics, but also inspires future generations to pursue their own research in this area.
Maximizing Collaboration Using Topic Maps-Based Ontology

Through both voluntary and enforced means, massive and varied types of information have been created and used in the digital space. Web 2.0 innovations allow people to be more productive than ever before. According to a study by Miniwatts Marketing Group (2008), the Internet usage growth between 2000-2008 was 305%. If we can effectively search and reuse or share this massive quantity of information, we can save our resources to reinvent wheels. However, the problem lies with searching. The enormous amount of information available on the Internet is mainly searched using search engines; however, search engines often return irrelevant and lengthy information. In order to find relevant information, users evaluate a lengthy list of irrelevant results, often resulting in information anxiety (Wurman, 1989) and cognitive overload. Cognitive overload occurs when users feel the burden of having to make decisions as to which links to follow and which to abandon (Conklin, 1987). Even though users spend their resources to filter massive amount of irrelevant information, they agree that collaboration is inevitable in the digital space. AbstrACt
A 0.034% Charge-Imbalanced Neural Stimulation Front-End (SFE) IC With on-Chip Voltage Compliance Monitoring Circuit and Analysis on Resting Potential by Utilizing the SFE IC

The proposed SFE IC adopts an eight-channel H-bridge structure with an integrated voltage compliance monitoring circuit. It has stimulation current ranged from 0.78mA to 6.2mA selected by 3b control and the stimulation current level can be controlled with 7b resolution within a selected current range. The current range can be expanded by using a high current option ranged from 2.71mA to 21.7mA under 3b control. The worst DNL and INL of the stimulation current source are 0.32 LSB and 0.3 LSB, respectively, from all the current ranges. The average mismatch between the cathodic and anodic current pulses in a biphasic stimulus is measured as 0.034% without using charge balancing techniques. The voltage compliance monitoring circuit is based on triode detection of a sensing MOSFET and it shows the detection accuracy of 45mV from its measurement results. The maximum steady-state voltage across the electrodes/ solution interface (resting potential) is also rigorously analyzed and verified through bench-top and saline experiments by utilizing the proposed stimulator. The SFE IC was fabricated in $0.18~\mu \text{m}$ 24 V CMOS process.
Multidimensional Scaling on the specialised corpus TALN (Analyse de positionnement multidimensionnel sur le corpus spécialisé TALN) [in French]

This paper addresses the methodology and results of a distributional semantic analysis, developed on a technical corpus for the visual exploration of the semantic proximity between the collocates of a node. We now use this approach on a corpus from another specialised domain, in order to put it to the test and compare the results to other approaches. Multidimensional scaling analysis (MDS) is carried out in order to cluster first-order co-occurrences of eight selected nodes, with respect to shared second and third-order co-occurrences. Visualisation for each node shows interesting groupings of semantically related collocates. The aim of this exploratory analysis on the TALN-corpus is not only to find out what our approach says about the new data, but also to discover what these data teach us about our approach and how we can improve and refine it. Mots-cles : Analyse de cooccurrences, cooccurrents de deuxieme et troisieme ordre, positionnement multidimensionnel, regroupement, exploration semantique visuelle.
Extracting and Measuring Relationship Strength in Social Networks

This study examines how extracting relationships from data can lead to very different social networks. The chapter uses online message board data to define a relationship between two authors. After applying a threshold on the number of communications between members, the authors further constrain relationships to be supported by each member in the relationship also having a relationship to the same third member: the triangle constraint. By increasing the number of communications required to have a valid relationships between members, they see very different social networks being constructed. Authors find that the subtle design choices that are made when extracting relationships can lead to different networks, and that the variation itself could be useful for classifying and segmenting nodes in the network. For example, if a node is ‘central’ across different approaches to extracting relationships, one could assume with more confidence that the node is indeed ‘central’. Lastly, the chapter studies how future communication occurs between members and their ego-networks from prior data. By increasing the communication requirements to extract valid relationships, it is seen how future communication prediction is impacted and how social network design choices could be better informed by understanding these variations. DOI: 10.4018/978-1-61350-444-4.ch010
Identification of sources of non-dietary exposure of children to selected heavy metals in Sosnowiec

The aim of study was to identify places that may pose a threat to children’s health, due to the high concentration of heavy metals in the top layer of soil on which they spend their time actively. The analysis covered soil samples taken from playgrounds and sports fields in Sosnowiec. In the mineralized samples, the content of lead, cadmium and zinc was determined using optical emission spectometry. Soil contamination in the studied recreation areas is very diverse. From among selected recreational facilities, over 70% is characterized by heavy metals in concentrations exceeding the limit values, regulated by the Regulation of the Minister of the Environment. The highest concentrations of Cd, Pb and Zn were recorded at the level more than 2000% higher than the permitted values. The research showed the necessity of chemical control of the materials used in the construction of recreational places in order to reduce the exposure of children and teenagers using playgrounds and sport fields to heavy metals in non-dietary way.
Update and New Features of NTHU Flight Dose Calculator: A Tool for Estimating Aviation Route Doses and Cumulative Spectra of Cosmic Rays in Atmosphere

This paper presents a major improvement in the NTHU Flight Dose Calculator, which not only extends its capabilities but also introduces three new features: the automatic batch analysis of multiple flights, route dose summation over all scheduled flights, and estimation of the cumulative spectra of cosmic rays along a flight path. Based on the results of extensive FLUKA simulations of atmospheric showers generated by galactic cosmic rays, a global database containing energy spectra and effective dose rates of neutrons, protons, muons, pions, electrons, positrons, photons, and heavy ions at various altitudes ranging from sea level up to 70 km was constructed and parameterized accounting for the dependences of altitude, geomagnetic cutoff rigidity, and solar modulation. The dose calculator was revised to accommodate and utilize the newly expanded database, which enables the estimation of aviation route doses and cumulative spectra of various radiation components by performing a series of interpolations and integration along a path. A program is a user-friendly tool for assessing radiation exposure of air travel due to galactic cosmic rays. The new features of the batch processing and route dose summation greatly facilitate studies of flight route effects and individual dose monitoring of aircrew. The cumulative spectra of various components can provide additional information for in-depth dosimetry analyses, designing experiments for measuring related quantities, and estimating single-event effects in avionics.
PERSON IDENTIFICATION AND GENDER CLASSIFICATION USING GABOR FILTERS AND FUZZY LOGIC

As Human -Computer Interaction technology (HCI) evolves computer vision systems for people monitoring will play an increasingly important role in our lives. Examples include human face detection, person identification and gender detection. Gender detection has many applications such as image and film processing criminal applications, and security checking system. Detection of gender by using the facial features is done by many methods such as automatically detected and aligned faces, artificial neural networks and support vector machine. In this work, Gabor filters and orthogonal basis functions are used for feature extraction and fuzzy logic is used for classification. The proposed system was tested with GTAV database. The proposed approach is evaluated with various poses other than the frontal pose.
“Digitalizing Walkability”: Comparing Smartphone-Based and Web-Based Approaches to Measuring Neighborhood Walkability in Singapore

ABSTRACT We evaluated two digitally enabled approaches to measuring neighborhood walkability: a smartphone-based, on-site pedestrian environmental audit tool, WalkTracker (WTracker), and remote, Web-based (Web) observations. Specifically, we examined street segments and intersections of a neighborhood in Singapore assessing: (1) the Inter-Rater Reliability (IRR) of each approach; (2) the Inter-Method Reliability (IMR) across the two approaches; and (3) the average observation times of the two approaches. Each approach had high IRR for the land use and traffic-related domains, with the Web performing better than WTracker for land use. In these same two domains, the two tools were relatively consistent (high IMR), although higher agreement was found within the tools than across them (IRR higher than IMR). For subjective or fine-grained features, both approaches had low IRR, with the Web-based approach performing worse than the app-based approach. Performance across the instruments was also worse than the reliability of measurements within each instrument (IMR lower than IRR). Some items were not observable via the Web. In terms of observation time, there was no statistically significant time difference in measurements between the two observation methods, not including the round-trip travel time to the site. A hybrid approach, combining the two approaches, might be most appropriate.