Miracle-dz/UniFAR-FTUs huggingface dataset:
A robust real time position and force (hybrid) control of a robot manipulator in presence of uncertainties

We examine the living intelligent biological systems and model the computational system components. We consider the situation of a kind of "blind-tracking" with constant force/torque by a human hand. The problem involves hand kinematics, hand motor control, and an adaptive judgment method from the position and force/torque reflection of the uncertain hyper plane. In this study, these control levels were designed using neural networks and fuzzy logic technologies. The control levels are coordinated amongst themselves forming the distributed artificial intelligent (DAI) system. The conclusive characteristic of the proposed controller was a one-step-ahead feedback control. This DAI-based control systems was implemented in the RX-90 industrial robot. Certainly these types of control system will help an industry to be autonomous and increase the productivity as well.
Abbildung von grUML nach XSD soamig

Dieses Dokument legt den Standard fur die Transformation von grUML-Schemas (GraphUML, [BHR+09]) nach XSD (XML Schema Definition) fest und ist im Rahmen des Arbeitspakets 5.2 "Prototypische SOAMIG-Parser und -Unparser realisieren" im SOAMIG-Projekt entstanden. Das Ziel ist der Austausch von TGraphen (typisierten, attributierten, angeordneten, gerichte Graphen [ERW08]) uber XML-Dokumente. Zur Spezifikation des Austauschformats wird XSD eingesetzt. Dies erlaubt eine Validierung der XML-Instanzen auf syntaktischer Ebene. Der Ausgangspunkt ist ein gegebenes Schemas in grUML-Notation1, welches nach XSD transformiert werden soll. Mit der generierten XSD existiert ein Beschreibungsmittel fur Graph-Instanzen in XML. Die dadurch beschriebenen XML-Dokumente sind flach, d.h. alle Elemente sind direkt dem root-Element untergeordnet.
Exploring Users’ Information Behavior in Social Networks

Social networks are most commonly seen as a technology used only for entertainment purposes. However, they can also be used for serious purposes in business and education environments because they are powerful tools that can accomplish various roles and purposes. It is important to do research on them from an information system and information science point of view by analyzing user information behavior so we can see trends and issues in behavior in connection with these systems. This research aim was to explore how Web 2.0 and social networks are having an effect on users’ information behavior. The method used for the collection of data was a semi structured interview, containing questions constructed according to the issues of Web 2.0 and social networks identified on the literature, along with typical features or characteristics of social networks. Purposive sampling was used, the interview participants selected were four teachers and four second year students of the DILL Master Course. This sample was selected according to the criteria that they had to have a professional background on information science and knowledge and skills about using social networks. The method for analyzing data was discourse analysis and a framework of categories was created to present the data in a certain order. This study identified various trends and tendencies in users’ information behavior and some future directions for research were proposed. Findings of this type of study provide insights to users’ information behavior in information systems, they could contribute to a better understanding of the users and to the design of such systems; this is relevant when it is necessary to build information systems from the point of view of users needs and behaviors, that is, by taking a bottom-up approach.
An Introduction to Slice-Based Cohesion and Coupling Metrics

This report provides an overview of slice-based software metrics. It brings together information about the development of the metrics from Weiser’s original idea that program slices may be used in the measurement of program complexity, with alternative slice-based measures proposed by other researchers. In particular, it details two aspects of slice-based metric calculation not covered elsewhere in the literature: output variables and worked examples of the calculations. First, output variables are explained, their use explored and standard reference terms and usage proposed. Calculating slice-based metrics requires a clear understanding of ‘output variables’ because they form the basis for extracting the program slices on which the calculations depend. This report includes a survey of the variation in the definition of output variables used by different research groups and suggests standard terms of reference for these variables. Our study identifies four elements which are combined in the definition of output variables. These are the function return value, modified global variables, modified reference parameters and variables printed or otherwise output by the module. Second, slice-based metric calculations are explained with the aid of worked examples, to assist newcomers to the field. Step-by-step calculations of slice-based cohesion and coupling metrics based on the vertices output by the static analysis tool CodeSurfer R © are presented and compared with line-based calculations.
Automatic tracking sensor camera system

We are developing a sensor camera system for automatically tracking and determining the positions of subjects moving in three-dimensions. The system is intended to operate even within areas as large as soccer fields. The system measures the 3D coordinates of the object while driving the pan and tilt movements of camera heads, and the degree of zoom of the lenses. Its principal feature is that it automatically zooms in as the object moves farther away and out as the object moves closer. This maintains the area of the object as a fixed position of the image. This feature makes stable detection by the image processing possible. We are planning to use the system to detect the position of a soccer ball during a soccer game. In this paper, we describe the configuration of the developing automatic tracking sensor camera system. We then give an analysis of the movements of the ball within images of games, the results of experiments on method of image processing used to detect the ball, and the results of other experiments to verify the accuracy of an experimental system. These results show that the system is sufficiently accurate in terms of obtaining positions in three-dimensions.
Implementación en Java de framework del estándar de hardware y software

8 private int miPos ic ion ; 9 /∗∗ Ind ice de l mecanismo de comunicacion en l a l i s t a a b s t r a c t a . ∗/ 10 private int miMecanismoComunicacion ; 11 /∗∗ Indica s i e l modulo se encuentra rea l i z ando una operacion 12 ∗(<code>true </code>) o s i e s ta d i s p on i b l e (<code>f a l s e </code >). ∗/ 13 private boolean mbOcupado ; 14 /∗∗ Crea una nueva in s t anc i a de l a c l a s e ReferenciasModulos 15 ∗@param liModulo Ind ice de l modulo en l a l i s t a a b s t r a c t a de modulos . 16 ∗@param l iPo s i c i on Posic ion en e l modelo de cada modulo . 17 ∗@param liMecanismoComunicacion Ind ice de l mecanismo de comunicacion en l a 18 ∗ l i s t a a b s t r a c t a . ∗/ 19 public Referenc iasModulos ( int l iModulo , int l i P o s i c i o n , 20 int l iMecanismoComunicacion ){ 21 miModulo = liModulo ; 22 s e tPo s i c i on ( l i P o s i c i o n ) ; 23 miMecanismoComunicacion = liMecanismoComunicacion ; 24 mbOcupado=fa l se ; 25 } 26 /∗∗Regresa e l i nd i c e de l modulo en l a l i s t a . 27 ∗@return El ind i c e de l modulo en l a l i s t a . ∗/ 28 public int getModulo ( ){ 29 return miModulo ; 30 } 31 /∗∗Regresa l a ” pos i c ion ” de l modulo en l a cadena de hardware . 32 ∗@return La ” pos i c ion ” de l modulo en l a cadena de hardware∗/ 33 public int ge tPos i c i on ( ){ 34 return miPos ic ion ; 35 } 36 /∗∗Regresa e l i nd i c e de l mecanismo de comunicacion en l a l i s t a . 37 ∗@return El ind i c e de l mecanismo de comunicacion en l a l i s t a . ∗/ 38 public int getMecanismoComunicacion ( ){ 39 return miMecanismoComunicacion ; 40 } 41 /∗∗Actua l i za l a ” pos i c ion ” en l a cua l se encuentra e l modulo . 42 ∗@param l iPo s i c i on Es l a nueva ” pos i c ion ”∗/ 43 public void s e tPo s i c i on ( int l i P o s i c i o n ) { 44 miPos ic ion = l i P o s i c i o n ;
Lexical frequency in British Sign Language conversations: a corpus-based approach

An understanding of lexical frequency is important in a variety of subdisciplines within linguistics, including studies of grammaticalisation, language processing, sociolinguistic variation and change as well as first and second language acquisition (e.g., Bybee 2006; Ellis 2002). To date, only three studies on lexical frequency in sign languages have been conducted: on New Zealand Sign Language (NZSL), American Sign Language (ASL), and Australian Sign Language (Auslan). As information regarding lexical frequency in British Sign Language (BSL) has not been readily available, researchers have sought to address this gap by collecting subjective familiarity ratings from 20 deaf signers for 300 BSL lexical signs (Vinson et al. 2008). This paper presents the findings from the first lexical frequency study in BSL based on 24,864 sign tokens collected as part of the BSL Corpus Project (Schembri et al. 2011). The BSL study is also the first lexical frequency study in any sign language to be based entirely on spontaneous conversational data. The results from this study, when compared to previous research into lexical frequency in other signed languages and the familiarity ratings collected by Vinson et al. (2008), suggest that differences in frequency across different sign categories may be attributed largely to situational context and that subjective familiarity ratings may not be a good indication of lexical frequency in sign languages as has been reported for spoken languages (Stadthagen-Gonzalez & Davis 2006).
An input adaptive, pursuit tracking model of the human opertor

Developed and evaluated is a simple model of the input adaptive behavior of the human operator (HO) in a pursuit tracking task in which the plant controlled consists of a pure gain. If it is assumed that the HO is approximately an optimal predictor using only position and velocity information, then there is a simple method of computing the values of the model parameters in terms of the autocorrelation function of the input signal. Experimental evidence indicates that the ability of the HO to use velocity information decreases with increasing signal velocity indicating that a biased estimator of the velocity weighting should be used. A suitable approximation is derived which has rapid convergence and low variance. The model thus derived is compared to actual subject transfer functions and is found to be in close agreement. In addition to tracking random processes the model can adapt to and track deterministic signals, such as sine waves, up to approximately the frequency at which human operators begin to track precognitively.
A co-processor for real-time energy estimation of system-on-a-chip

As mobile electronic devices become increasingly important in everyday life, advanced technologies are necessary to meet the constraints on low energy consumption and power aware system design. In this work, a co-processor is presented, delivering the energy consumption of a system-on-a-chip (SOC) design in real-time. The co-processor is based on power macro-modeling, making any analog measurement equipment obsolete to the software developer after the SOC is characterized once. Therefore, the coprocessor allows quick and easy energy estimations of software running on a SOC. The results show that the relative error of the energy estimations is <5%.
Classification of cardiac arrhythmias based on morphological and rhythmic features

Cardiac arrhythmias stand a great admonish for human beings nowadays. The proposed work intends to classify four commonly occurring arrhythmia classes along with normal class. For each beat of 300 samples, both morphological and rhythmic features are determined. A total of 129 morphological features are formed by 114 wavelets coefficients and 15 independent components having 300 coefficients of basis functions obtained by using ICA. PCA is applied on the morphological features to derive the best 11 principal components and to this, four rhythmic features are combined to have a final 15 feature coefficients. SVM classifier gets trained using the 15 features of 30% beats of every class in the total number of beats. The remaining 70% of beats are used for evaluating the individual class performance. Finally the SVM classifier with only 15 features is able to produce the overall accuracy of 99.29% for a total 82,978 beats.
Abstract model specifications for data abstractions

A data abstraction introduces a data type with a hidden representation. Specifications of data abstractions are required to allow the data to be described and used without reference to the underlying representation. There are two main approaches to specifying data abstractions, the abstract model approach and the axiomatic approach. This thesis is concerned with the problems of formalizing and extending the abstract model approach. A formally defined language for writing abstract model specifications is presented. The correctness of an implementation with respect to an abstract model specification is defined, and a method for proving the correctness of implementations is proposed. Our formulation treats data abstractions with operations that can dynamically create new data objects, modify the properties of existing data objects, and raise exception conditions when presented with unusual input values.
The Effect on Response Complexity on Task-switching Behaviour

Research on task-switching has shown that when participants are asked to switch between two different tasks, they are slower than when they repeat the same task. These costs have also been shown to increase when the previous response is repeated; however, very little has been done to investigate the role of response complexity in this relationship. We manipulated response complexity by increasing both the number of stimulus-response pairs and the number of individual response components. We hypothesized that increased response complexity would increase both the switch costs and the response repetition effect. Results indicated that increasing the number of S-R pairs increased subsequent switch costs, but only during certain contexts. We also determined that increasing the number of individual response components increased the response repetition effect, suggesting that more response inhibition occurred when more response components were needed. Taken together, these findings provide evidence that response complexity impacts task-switching behaviour.
Sensitivity analysis of machine schedules with multi-priority job classes

This paper concerns sensitivity analysis of scheduling in a machine (server) with respect to the jobs' release times. The various jobs have different priorities which determine their relative order in the buffer. The sensitivity-analysis algorithm is precise and it requires modest computational efforts. It is in the spirit of perturbation analysis (PA) in that it computes a perturbed schedule from the simulation run of a nominal schedule, but it is different from PA in that it does not rely explicitly on the state-transition function, but rather makes use of the priority structure.
Proceedings of the 26th annual ACM symposium on User interface software and technology

It is our pleasure to welcome you to the 26th Annual ACM Symposium on User Interface Software and Technology (UIST) 2013, held from October 8-11th, in the historic town and University of St Andrews, Scotland, United Kingdom. UIST is the premier forum for the presentation of research innovations in the software and technology of human-computer interfaces. Sponsored by ACM's special interest groups on computer-human interaction (SIGCHI) and computer graphics (SIGGRAPH), UIST brings together researchers and practitioners from many areas, including web and graphical interfaces, new input and output devices, information visualization, sensing technologies, interactive displays, tabletop and tangible computing, interaction techniques, augmented and virtual reality, ubiquitous computing, and computer supported cooperative work. The single-track program and intimate size, makes UIST 2013 an ideal place to exchange results at the cutting edge of user interfaces research, to meet friends and colleagues, and to forge future collaborations. We received a record 317 paper submissions from more than 30 countries. After a thorough review process, the program committee accepted 62 papers (19.5%). Each anonymous submission was first reviewed by three external reviewers, and meta-reviews were provided by two program committee members. If any of the five reviewers deemed a submission to pass a rejection threshold we asked the authors to submit a short rebuttal addressing the reviewers' concerns. The program committee met in person in Pittsburgh, PA, on May 30-31, 2013, to select the papers for the conference. Submissions were finally accepted only after the authors provided a final revision addressing the committee's comments. In addition to the presentations of accepted papers, this year's program includes a keynote by Raffaello D'Andrea (ETH Zurich) on feedback control systems for autonomous machines. A great line up of posters, demos, (the ninth) annual Doctoral Symposium, and (the fifth) annual Student Innovation Contest (this year focusing on programmable water pumps called Pumpspark) complete the program. We hope you enjoy all aspects of the UIST 2013 program, and that you get to enjoy our wonderful venues and that your discussions and interactions prove fruitful.
Distributed Information Fusion Structure Based on Data Fusion Tree

A distributed information fusion structure based on data fusion tree is built to realize precise localization and efficient navigation for the mobile robot. The multi-class, multi-level information from robot and environment is fused using different algorithms in different levels, and make the robot have a deeper understanding to the whole environment. Experiments demonstrate that the new model proposed in the paper can improve the positioning precision of robot greatly, and the search efficiency and success rate are also better than traditional mode.
of the 23 rd Annual EMBS International Conference , October 25-28 , Istanbul , Turkey BASIC STUDY FOR NEW TYPE ACTUATOR USING SHAPE MEMORY ALLOY

The actuators currently used practical in the industrial world are an electric actuator and a fluid actuator. Most actuators of small and a medium size industrial robot have adopted the electric actuator. The form of an electric actuator exists of AC or DC motor of a rotary type or a lineatype. However, weight, a sound of operation, the hardness of a motion, and a power-weight ratio is mentioned as a problem when using these motors especially for prosthetic hand. New type of lightweight actuator is need instead of heavy weight motor. This actuator should solve their problems. We directed our attention to the new type shape memory alloy wire as a new actuator that replace to a motor. This shape memory alloy wire is called muscle wire. However, there are little data about this muscle wire. We have to know the characteristic of a muscle wire in case of new type actuator manufacture. Then, the purpose of this research is investigating the dynamic characteristic of a muscle wire. We measured the tension of a muscle wire, temperature change, and the rate of contraction. Kgwords Shape memory alloy, Muscle wire, Tension, Temperature, Rate of contraction
Producto y proceso: una relación compleja en la ingeniería de software

Actualmente, las Tecnologias de la Informacion (TI) estan caracterizadas por ser una industria de rapida innovacion e intensa competicion. En consecuencia, las organizaciones software deberan estar preparadas para desarrollar productos que satisfagan la calidad requerida, a bajo costo y en tiempo reducido. Estas condiciones implican que las organizaciones intenten adoptar buenas practicas y atributos de calidad para sus diferentes procesos, ya que segun Fuggetta: “the quality of a software product heavily depends on the people, organization, and procedures used to create and deliver it” (2000, p. 28). Por lo tanto, la calidad del producto desarrollado por una organizacion, depende, necesariamente, de la calidad del proceso que se sigue para obtenerlo. En este orden de ideas, es posible pensar que los procesos software deben soportar o facilitar el cumplimiento de las caracteristicas de calidad que satisfacen los estandares requeridos para los productos software desarrollados. Atendiendo a ello, en este articulo se presenta un analisis acerca de la importancia que tiene la integracion de las caracteristicas de calidad del producto en los procesos utilizados para producirlo. Asimismo, se presentan las posibles soluciones y beneficios que se pueden llegar a obtener en esta nueva linea de investigacion en la ingenieria del software.
QUALIDADE FÍSICA DE OVOS ORIUNDOS DE POEDEIRAS CRIADAS EM SISTEMA FREE RANGE COM E SEM GALOS

A presenca de galos no sistema de producao de ovos cumpre um papel de enriquecimento ambiental por ampliar o repertorio de comportamentos inerentes a especie, tais como os comportamentos reprodutivos. Contudo tais comportamentos propiciam a producao de ovos ferteis, o que pode alterar os atributos de qualidade do produto. Diante disso, o objetivo desta pesquisa foi determinar a qualidade fisica de ovos de poedeiras criadas em sistemas free-range com e sem galos, armazenados em temperatura ambiente e refrigerados durante 28 dias. O delineamento experimental utilizado foi o inteiramente aleatorizado, em arranjo fatorial 2x3, sendo 2 sistemas de criacao (sem galo e com galo) e tres condicoes de armazenamento (temperatura ambiente, refrigerado imediatamente apos a postura e refrigerado 10 dias apos a postura). Estabeleceu-se assim 6 tratamentos, com 14 repeticoes cada. Os ovos foram avaliados no dia da postura e aos 14 e 28 apos a mesma. Os parâmetros de qualidade aferidos foram unidade haugh (UH), porcentagem de albumen, porcentagem de gema, indice de gema, perda de massa, densidade e porcentagem de casca. Aos 14 dias apos a postura houve interacao entre os fatores galo e metodo de armazenamento para UH, porcentagem de gema, porcentagem de albumen e perda de massa. Ao final do periodo experimental, 28 dias da postura, nao foi possivel avaliar a qualidade interna dos ovos oriundos de poedeiras criadas com galos acondicionados em temperatura ambiente, devido a degradacao da gema e do albumen, ocorrido nos ovos fertilizados. A qualidade interna dos ovos decresce com o tempo de estocagem em temperatura ambiente de forma mais acentuada em ovos fertilizados. Contudo, a refrigeracao prolonga o shelf life desses ovos minimizando os efeitos deleterios do tempo e reduzindo as diferencas qualitativas em relacao aos ovos nao fertilizados.
Transputer control and sensing architectures for mobile robots

Concerns a project developing an architecture for a mobile factory robot, the GEC Turtle. This vehicle, which measures 0.9*1.2 m with a platform 0.6 m high, is equipped with a variety of sensors including sonar, trinocular stereo and a sophisticated laser range finder. The architecture is to be applicable to certain other vehicles. A distributed transputer architecture is adopted for sensing and control. The transputer provides a powerful on-board facility and adapts easily to a distributed reconfigurable sensing and control strategy. A generic transputer architecture for sensors with local intelligence allows the building of networks of distributed sensors and opens an integrated path for combining the information of disparate sensors. In control, a distributed architecture overcomes the bottlenecks associated with a centralised controller. The use of transputers throughout gives a consistent interface for easy communication and interfacing between the various units in the sensing and control strategy.