Miracle-dz/UniFAR-FTUs huggingface dataset:
Parallel Computing in Mobile Robotics for RISE

RISE − Risky Intervention and Surveillance Environment is very demanding task for mobile robot where time is crucial. It can be assumed that on-line task execution is very important, therefore the research in parallel computing applied in mobile robotics is needed. Nowadays many researchers are focused on such approaches that uses GPGPU (General Purpose Graphics Processing Unit) for improvement State of The Art (SoA) algorithms. In this chapter three areas of research are shown such as 3D data registration, robot navigation and 3D cloud of points processing for normal vector computation, all are improved by GPGPU computation. The on − line data registration problem is discussed. The approach based on robust KNN k-nearest neighborhood search applied for improvement of ICP algorithm is shown. The path planning parallel approach based on modified diffusion method is shown. On− line 3D cloud of points’ segmentation based on normal vector computation is presented. The set of proposed algorithms where tested on GPGPU NVIDIA CUDA GF 580, the results are satisfying. The improvement of SoA algorithms based on CUDA implementation shows on-line advantages during real task execution. Robust ICP algorithm is needed in mobile robotics applications where data registration has to be performed on−line. New generation of Time of Flight and RGB-D cameras will offer better accuracy and resolution, therefore GPU accelerated data registration algorithms will improve robot navigation, obstacle avoidance and map building. It can be stated that commercial 3D scanners based on rotated lasers offer data acquisition time < 3 seconds, therefore ICP that works in this time will be enough for on-line map building in stop-scan fashion. For this reason robust data registration algorithm based on 3D space decomposition is proposed and the ICP (Iterative Closest Point) approach is chosen as registration method. Algorithm in current version performs matching of two cloud of points up to 512 × 512 = 262144 in 300ms for 30 ICP iterations (NVIDIA GF 580). The proposed solution is efficient since it performs nearest neighbor search using a bucket data structure (sorted using CUDA primitive) and computes the correlation matrix using parallel CUDA all-prefix-sum instruction. The amount of processed points can be increased by implementation on NVIDIA GPU with Compute Capability 2.1. 8
The interactive design of an F0-related spectral analyser

We present a spectral analysis method that results in formant measurements that are more independent of the fundamental frequency of the signal than several other methods, such as fixed-window Fourier analysis, linear prediction, and interpolated pitch-related Fourier analysis. In order that the reader will be able to replicate our results, we give Praat scripts for generating the test signal, as well as for all the analyses. We show that the Praat program is the appropriate platform for developing, prototyping, testing, debugging, and optimizing speech analysis methods.
Videoconferencing in het voortgezet onderwijs

Videoconferencing is het rechtstreeks en interactief communiceren met beeld en geluid tussen twee (of meer) locaties met een videoset. Het maakt het mogelijk dat scholen op grotere afstanden live gegevens met elkaar kunnen uitwisselen. Een praktijkvoorbeeld voor het vak Fries.
Internet growth: Is there a \Moore''s Law" for data tra?c?," Handbook of Massive Data Sets

Internet traffic is approximately doubling each year. This growth rate applies not only to the entire Internet, but to a large range of individual institutions. For a few places we have records going back several years that exhibit this regular rate of growth. Even when there are no obvious bottlenecks, traffic tends not to grow much faster. This reflects complicated interactions of technology, economics, and sociology, similar to, but more delicate than those that have produced “Moore’s Law” in semiconductors. A doubling of traffic each year represents extremely fast growth, much faster than the increases in other communication services. If it continues, data traffic will surpass voice traffic around the year 2002. However, this rate of growth is slower than the frequently heard claims of a doubling of traffic every three or four months. Such spectacular growth rates apparently did prevail over a two-year period 1995-6. Ever since, though, growth appears to have reverted to the Internet’s historical pattern of a single doubling each year. Progress in transmission technology appears sufficient to double network capacity each year for about the next decade. However, traffic growth faster than a tripling each year could probably not be sustained for more than a few years. Since computing and storage capacities will also be growing, as predicted by the versions of “Moore’s Law” appropriate for those technologies, we can expect demand for data transmission to continue increasing. A doubling in Internet traffic each year appears a likely outcome. If Internet traffic continues to double each year, we will have yet another form of “Moore’s Law. ” Such a growth rate would have several important implications. In the intermediate run, there would be neither a clear “bandwidth glut” nor a “bandwidth scarcity,” but a more balanced situation, with supply and demand growing at comparable rates. Also, computer and network architectures would be strongly affected, since most data would stay local. Programs such as Napster would play an increasingly important role. Transmission would likely continue to be dominated by file transfers, not by real time streaming media. Internet growth: Is there a “Moore’s Law” for data traffic? K. G. Coffman and A. M. Odlyzko AT&T Labs Research kgc@research.att. com, amo@research.att. com Revised version, June 4, 2001.
Geometric travel planning

This paper provides a novel approach for optimal route planning making efficient use of the underlying geometrical structure. It combines classical AI exploration with computational geometry. Given a set of global positioning system (GPS) trajectories, the input is refined by geometric filtering and rounding algorithms. For constructing the graph and the according point localization structure, fast scan-line and divide-and-conquer algorithms are applied. For speeding up the optimal on-line search algorithms, the geometrical structure of the inferred weighted graph is exploited in two ways. The graph is compressed while retaining the original information for unfolding resulting shortest paths. It is then annotated by lower bound refined topographic information; for example by the bounding boxes of all shortest paths that start with a given edge. The on-line planning system GPS-ROUTE implements the above techniques and provides a client-server Web interface to answer series of shortest-path or shortest-time queries.
Path planning for autonomous parafoils using particle chance constrained rapidly-exploring random trees in a computationally constrained environment

Particle chance constrained rapidly-exploring random trees (PCC-RRT) is a samplingbased path-planning algorithm which uses particles to approximate an uncertainty distribution. In this thesis, we study the use of PCC-RRT on an autonomous parafoil. Specifically, we explore the behavior of PCC-RRT in a computationally constrained environment by studying the tradeoff between the number of samples and number of particles per sample and its effect on miss distance in single-threaded coded with a time constraint. We compare the results generated with the PCC-RRT planner to the equivalent data from a nominal planner using rapidly-exploring random trees (RRT) to determine the effect of robustness. Thesis Supervisor: Prof. Jonathan P. How Title: Richard Cockburn Maclaurin Professor of Aeronautics and Astronautics
Cooperative Communications In Mobile Ad hoc NETworks

L’etude realisee dans ce memoire porte sur la communication et la transmission des donnees dans le contexte des reseaux de capteurs. Pour ameliorer la fiabilite de transmission, des relais sont inseres entre les capteurs et la destination afin de pouvoir corriger les erreurs de transmissions en utilisant des codes LDPC. L’architecture est donc optimisee grâce aux codes en blocs mais aussi a l’aide des protocoles de detection d’erreurs et aussi a l’aide de la combinaison de la correction et de la detection d’erreurs. Les systemes d’antennes multiples forment egalement une option tres interessante pour l’amelioration des performances. L’efficacite energetique est etudiee dans les differents protocoles et solutions proposes. Une optimisation conjointe du codage de canal et du codage de reseau physique est egalement effectuee.
Switching criteria of integrated satellite and terrestrial mobile system in Rayleigh-fading channels

The integration of satellite and terrestrial mobile communication systems demonstrates an immediate solution to enable a mobile satellite terminal (MT) to access the land mobile satellite system (LMSS) inside an urban area. The base stations of the terrestrial system will act as relay stations for the LMSS when the MT operates inside an urban area. Mathematical models are developed to simulate and analyse signals received at the MT in a Rayleigh-fading channel. The influence of level-crossing rate (LCR) and bit error probability (BEP) on the switching criteria for the integrated system are presented. <<ETX>>
典型Adobe Flash Player漏洞简介与原理分析

随着Flash文件在网络上的应用日益广泛,Adobe Flash Player的安全问题受到人们越来越多的关注,它的每一个漏洞都有引发巨大安全问题的可能性. 文章首先从Flash客户端技术和Flash三维可视化分析两个方面对Adobe Flash Player的运行机制进行了介绍,研究了ActionScript语言、Flash渲染模型、事件机制、Flash三维图形显示、Stage3D硬件加速和Stage3D三维建模的特性;接下来描述了SWF文件的格式信息,对SWF文件的文件头和标签结构进行介绍;然后结合CVE网站的统计信息,对Adobe Flash Player漏洞进行分类,将其划分为Flash文件格式漏洞、Flash拒绝服务漏洞、Flash跨站脚本攻击漏洞和Flash欺骗攻击漏洞等4大类;随后对漏洞分析技术进行了详细介绍,建立了针对Adobe Flash Player的漏洞分析技术模型;最后以10个典型的Adobe Flash Player漏洞作为实例,经过信息收集、数据流跟踪和漏洞原理分析等过程,得到了漏洞的产生机理.
Comparative analysis of models and platforms for the e-learning portals

The main basic functions of portal systems have to be implemented by the functionality of it platform. The technological platform of portal should be complied with the specified requirements. The basic set of services and components of e-learning portal contains five components for: services performance, user services, data management, portal adaptors, web infrastructure. The paper presents the detailed outcomes of well-known platforms analysis, discusses the advantages and disadvantages of mentioned systems and gives recommendations for customers in making a choice among
Fault recovery for distributed shared memory systems

Distributed Shared Memory (DSM) offers programmers a shared memory abstraction on top of an underlying network of distributed memory machines. Advances in network technology and price/performance of workstations suggest that DSM will be the dominant paradigm for future high-performance computing. However, as long running DSM applications scale to hundreds or even thousands of machines, the probability of a node or network link failing increases. Fault tolerance is typically achieved via "checkpointing" techniques that allow applications to "roll back" to a recent checkpoint rather than restarting. High-performance DSM systems using relaxed memory consistency are significantly more difficult to checkpoint than uniprocessor or message passing architectures. This paper describes previous approaches to checkpointing message passing parallel programs along with extensions to DSM systems.
Becoming Smarter: Towards a New Generation of Services Systems

The recent increase in everyday life processes oriented to services has modified the classic conception of traditional economic, management, organizational, relations and computer systems, supporting the development of Service-oriented Systems. Following the assumptions of Service Science, a Service System is today conceived as a system composed of heterogeneous entities, including people, technologies and business activities, which interact through the exchanging of services. However, the nature of such an exchanging of services, which could be static, dynamic or adaptive, modifies the degree of interaction among these entities, thus assessing the capability of the entire service system as being smart.The aim of this work is first, outlining the most representative service logics and systems theories, to highlight the interpretative evolution of a service system, and next, focusing on the nature of the interaction process, to describe the conditions that could make service systems smarter. In order to make as evident as possible the originality of our proposal, we have illustrated these theoretical considerations by focusing on the real example of an e-commerce platform, Amazon, that, as we will see, can be considered as a service system.
Languages and Compilers for Parallel Computing: 6th International Workshop, Portland, Oregon, USA, August 12 - 14, 1993. Proceedings

Early experiences with Olden. - Arbitrary order operations on trees. - Analysis of dynamic structures for efficient parallel execution. - On automatic data structure selection and code generation for sparse computations. - Synchronization issues in data-parallel languages. - ZPL: An array sublanguage. - Event-based composition of concurrent programs. - Adaptive parallelism on multiprocessors: Preliminary experience with Piranha on the CM-5. - Slicing analysis and indirect accesses to distributed arrays. - Do&Merge: Integrating parallel loops and reductions. - Automatic support for data distribution on distributed memory multiprocessor systems. - A compilation approach for Fortran 90D/HPF compilers. - A framework for exploiting data availability to optimize communication. - The alignment-distribution graph. - An overview of a compiler for scalable parallel machines. - Toward a compile-time methodology for reducing false sharing and communication traffic in shared virtual memory systems. - Program transformation for locality using affinity regions. - Maximizing loop parallelism and improving data locality via loop fusion and distribution. - Align and distribute-based linear loop transformations. - Extending software pipelining techniques for scheduling nested loops. - A methodology for generating efficient disk-based algorithms from tensor product formulas. - Loop transformations for Prolog programs. - A multithreaded implementation of Id using P-RISC graphs. - Acceleration of first and higher order recurrences on processors with instruction level parallelism. - Efficient compile-time/run-time contraction of fine grain data parallel codes. - VISTA: The Visual Interface for Scheduling Transformations and Analysis. - Efficiently computing ? -nodes on-the-fly. - Construction of thinned gated single-assignment form. - Automatic array privatization. - FIAT: A framework for interprocedural analysis and transformation. - An exact method for analysis of value-based array data dependences. - Symbolic analysis: A basis for parallelization, optimization, and scheduling of programs. - Towards a non-intrusive approach for monitoring distributed computations through perturbation analysis. - Efficient computation of precedence information in parallel programs. - Trace size vs parallelism in trace-and-replay debugging of shared-memory programs. - Parallel Program Graphs and their classification.
Improved Compression Rate using Quad-Byte Index Based Transformation as a Pre-Processing to Arithmetic Coding

Transformation algorithms are used to increase redundancy in data sets and achieve better compression when conventional compression techniques applied later. Arithmetic coding is the most widely preferred entropy encoder used in most of the compression methods. It is nearly optimal and compression rate cannot be further improved without changing the data model. In this paper, we have used QBT-I (Quad-Byte Transformation using Indexes) technique to change the data model and introduce more redundancy in the data. We have experimented QBT-I at a pre-processing stage before applying arithmetic coding compression method. QBT-I transforms most frequent 4-byte (quad-byte) integers. Most frequent quad-bytes are arranged in sorted order of their frequency and then divided in a group of 256 quad-bytes. Each quad-byte in a group is encoded using two tokens: group number and the location in a group. Group number is denoted using variable length codeword; whereas location within a group is denoted using 8-bit index. QBT-I can be applied on any source; not necessarily text or image or audio. Minimum of 2.5% compression gain is observed using QBT-I at a preprocessing as compared to compression using only arithmetic coding. Increasing number of groups gives better compression. Keywords—data compression, data transformation, quad-byte transformation, arithmetic coding
Cooperative Control of Miniature Air Vehicles

COOPERATIVE CONTROL OF MINIATURE AIR VEHICLES Derek Rich Nelson Department of Mechanical Engineering Master of Science Cooperative control for miniature air vehicles (MAVs) is currently a highly researched topic. There are many application for which MAVs are well suited, including fire monitoring, surveillance and reconaissance, and search and rescue missions. All of these applications can be carried out more effictively by a team of MAVs than by a single vehicle. As technologies for microcontrollers and small sensors have improved so have the capabilities of MAVs. This improvement in MAV performance abilities increases the possibility for cooperative missions. The focus of this research was on cooperative timing missions. The issues faced when dealing with multi-MAV flight include information transfer, real time path planning, and maintenance of a fleet of flight-worthy MAVs. Additional challenges associated with timing missions include path following and velocity control. Two timing scenarios were studied and both of these scenarios were flight tested. The first scenario was a sequenced arrival of the MAVs over a target at a predetermined fly-through heading. The second scenario was a simultaneous arrival of the team of MAVs over a known target location. The ideas of coordination functions and coordination variables have been employed to achieve coordination. Experimental results verify the feasibility of real time coperative control for a team of MAVs. Initial cooperative timing tests revealed the need for more accurate path following. Accordingly, a new method for path following using vector fields was developed. A vector field of desired ground track headings is calculated and commanded ground track headings are calculated such that ground track heading error and lateral following error decay asymptotically even in the presence of constant wind disturbances. The utilization of ground track heading and ground speed in the path following control, in combination with the vector field methods is what makes this zero-error following possible. Methods for following straight lines and orbits as well as combinations of the lines and circular arcs are presented. The assertions that minimal following errors result when using these methods have been verified experimentally.
Weighting quantitative and qualitative variables in clustering methods

Description of individuals in ill-structured domains produces messy data matrices. In this context, automated classification requires the management of those kind of matrices. One of the features involved in clustering is the evaluation of distances between individuals. Then, a special function to calculate distances between individuals partially simultaneously described by qualitative and quantitative variables is required. In this paper properties and details of the metrics used by Klass in this situation is presented --- Klass is a clustering system oriented to the classification of ill-structured domains which implements an adapted version of the reciprocal neighbors algorithm; it also takes advantage of any additional information that an expert can provide about the target concepts.
A Secure Group Data Access Protocol with Provable Data Possession for Cloud Environment

Cloud-based data storage service has provided a lucrative option for organizations and individual users to store and manipulate their data with a relatively lower cost than traditional data storage approach. However, data stored in a cloud are vulnerable to loss and corruption caused by hardware and software failures, and human errors through interactive online data handling activities. Therefore, authenticity verification on users before granting data access rights has emerged as a critical process for cloud-based data storage service. Current approaches focus only on data owned by individual users. To address access security on cloud-based data shared within a group of users, a data access verification protocol for group users is proposed in this paper. In addition, security analysis is conducted for the proposed protocol to evaluate its security strength. KE YWORDS Authenticated group key agreement protocol, Data integrity, Provable data possession, Secure cloud storage service, Data storage outsourcing.
Generic constraint logic programming and incompleteness in the analysis of software

Current logic programming systems, as typified by Prolog, contain limitations which restrict their usefulness during the specification, design, and testing of software. A major limitation is the inability to perform analysis in the presence of incomplete information. Three sources of incompleteness are discussed. The result of this analysis suggests an efficient algorithm for a special case. Furthermore, it partitions the problem for testing purposes into three classes: (1) those points which satisfy the special case; (2) those which satisfy the general case but not the special case; and (3) those points which do not satisfy either. Thus, the analysis has uncovered possible structure within the implementation including the case in which the implementation has failed to address class 2 correctly (error of omission) but handle classes 1 and 3 correctly. <<ETX>>
Uncoded diversity sum performance of FH/CPFSK in partial-band jamming

A performance analysis is presented for a slow-hopped continuous-phase FSK system subject to thermal noise plus partial-band noise jamming. The authors evaluate the effectiveness of a proposed antijam technique consisting of repeating the bit sequence L times, on different hops. At the receiver the L analog data sample values for each bit decision are given by the polarity of this sum. It is shown that a diversity gain is not realized by the system. <<ETX>>
TCP Issues in Mobile Ad Hoc Networks： Challenges and Solutions

活动特定的网络(MANET ) 是有能是的无线移动式节点的一种很复杂的分布式的通信系统自由地并且动态地 self-organizedinto 任意、暂时的网络拓扑。 MANET 继承无线网络的几限制，同时使从 MANET 的特性产生的新挑战例如线路失败，隐藏终端和暴露的终端。 当 TCP 在 MANET 环境被使用时，问题不得不被处理的流氓的棕土。 在这篇论文，这块动态地上的全面调查被给。 明确地，第一次，损害 TCP 性能的所有因素基于网络协议分级被识别，即，在物理层的有损耗的无线隧道；在 MAC 层的过多的竞争和不公平的存取；在网络层， MAC 层和网络层的脆弱的路由选择协议联系了移动式节点；在传送层和传送层的不适宜的拥挤窗口大小联系了不对称的路径。 这些因素怎么降级 TCPperformance 清楚地被解释。 基于怎么减轻每上面列出的这些因素的影响，然后，存在答案尽可能包括地被收集并且分类进很多个范畴，和他们的优点和限制被讨论。 这些答案的基于的在限制，为设计更柔韧的答案的一套开的问题被建议。
A Single-Type Ontology for Natural Language

In (Montague, 1970a), Richard Montague deﬁnes a formal theory of linguistic meaning that interprets natural languages through the use of two basic types of objects: individuals and propositions. In this paper, I present a comparable semantic theory that only uses a single basic type of object (hence, single-type semantics). The possibility of the latter has been conjectured by Partee (2006) to account for the ambiguity between a noun phrase’s referential and assertoric interpretation (observed in (Carstairs-McCarthy, 1999; Cheney and Seyfarth, 1990; Snedeker et al., 2007)). My paper provides ontological support for Partee’s hypothesis. To this aim, I ﬁrst identify a number of semantic requirements (i.e. Booleanness, representability, intensionality, and partiality) on any single basic type and apply them to the set of the simplest Montagovian types. This process enables the elimination of all but one candidate: partial sets of propositions. The remainder of the paper surveys the objects in this domain. The paper closes with an assessment of the merits of single-type semantics and pointers to future work.