Miracle-dz/UniFAR-FTUs huggingface dataset:
Real-Time Control in Robotic Systems

Robotic systems are beginning to interact with humans and are increasing in dimensionality, control complexity, task difficulty, and dynamic capability. It is therefore becoming increasingly imperative that control be performed in real-time (i.e. on or faster than the timescale of the system dynamics), intelligently making decisions on demand, and then executing them in a dependable fashion. In addition, high-dimensional bio-inspired systems are becoming more common (Butterfab & et al., 2001; Movellan et al., 2005; Simpkins et al., 2011; Todorov et al., 2010; Vandeweghe et al., 2004; Wilkinson et al., 2003), and are based upon a different strategy for control (and therefore control system design) than traditional engineered systems coordinated, compliant, and often coupled control rather than orthogonal, stiff, and independent control of joints. As a result, issues related to real-time capability, more critical now than ever, must be addressedwith a coherent, measured approach. In order to deal with this challenge appropriately, a number of sub-problems must be addressed and will be discussed in this chapter. These are timing, dimensionality, computational capabilities, system bandwidth, and safety. There are fields devoted to each problem independently, and the background of each will be given as each one is discussed. Rarely does a researcher or practitioner in one field work in any of the other fields, let alone all of them. However, ignoring any of these sub-problems will likely lead to a failure of a complex real-time system. Therefore, familiarization with these issues and methods will help the researcher and practitioner design, implement, and troubleshoot a real-time system most effectively. This chapter will present current solution methods for each component of the problem and show how they can be integrated together effectively.
Simulation models of fair scheduling for the TCP and UDP streams

Nowadays, a lot of Internet applications are using UDP protocol to transport the data. The congestion control mechanisms built into TCP protocol in conjunction with the Active Queue Management mechanisms, during normal operation of the Internet network, favor UDP streams. The article investigates the influence of active queue menagement and scheduling algorithm on fairness of TCP and UDP data streams.
Automatic marker recognition on MR images for EEG electrode localization

Images for EEG Electrode Localization Gert Van Hoey1;2, Bart Vanrumste1;2, Rik Van de Walle1;3, Paul Boon2, Ignace Lemahieu1 1 University of Ghent, ELIS Department, 2 University Hospital Ghent, Department of Neurology, 3 University Hospital Ghent, MR Department, Sint-Pietersnieuwstraat 41, B-9000 Ghent, Belgium tel. +32 9 240 45 47 fax. +32 9 240 49 71 gert.vanhoey@rug.ac. be Abstract|The electroencephalogram (EEG) can be used to localize focal electrical activity of the brain. Determining accurately the electrode positions on the scalp is required to obtain a reliable brain source reconstruction. In this paper a method is presented to localize the electrodes by detecting and localizing markers on MR images.
Information Transmission by Phantom Sensations

A sensory-aids display system that transmits information to its user through the location of a vibratory sensation on the skin has been developed. The sensation location is controlled by use of the phantom-sensation phenomenon. The development of the display included the determination of sensory and mechanical characteristics of the skin. The system was evaluated as a kinesthetic feedback display from the elbow prostheses for above-elbow amputees.
INFERENSI DATA UJI HIDUP TERSENSOR TIPE II BERDISTRIBUSI RAYLEIGH

Abstrak Analisis data uji tahan hidup merupakan salah satu teknik analisis statistika yang banyak digunakan di bidang industri dan kesehatan. Data waktu hidup dapat berupa data lengkap atau data tersensor, dan merupakan variabel random nonnegatif. Estimator titik untuk parameter q digunakan MLE, kemudian MLE tersebut digunakan untuk uji kecocokan distribusi Rayleig dengan metode Anderson Darling. Estimator titik uji tahan hidup meliputi rata-rata waktu kegagalan (mean time to failure / MTTF), fungsi kegagalan h(t), dan fungsi ketahanan S(t). Estimasi interval dilakukan dengan metode besaran pivot. Kata kunci: data tersensor, MLE, rata-rata waktu kegagalan, fungsi kegagalan, fungsi ketahanan
Viterbi detector architectures for magnetic recording

Viterbi detectors are at the heart of the data detection in magnetic recording. They are used to detect the user bits read from the disk that are impaired by intersymbol interference and noise. However, the non-linear, recursive nature of the Viterbi algorithm makes the implementation for magnetic recording with data throughputs in excess of 1 Gb/s non-trivial. This paper will survey various Viterbi detector architectures that allow keeping pace with the speed dynamics of the storage industry.
Developing an Automated Procedure for Evaluating Software Development Methodologies and Associated Products

Over the past decade the demand for increasingly complex software systems has risen dramatically [PARD 85]. Recognizing the fact that such systems cannot be developed effectively through ad hoc means, the software engineering community has continued to investigate the fundamental concepts, development methodologies, and automated tools to assist in the software development process. For example, SREM [ALFM 85] and SADT [SOFT 76, ROSD 77] are methodology based environments that focus on supporting particular phases of the software life cycle. SCR [CLEP 84, HENK 78] and DARTS [GOMH 84], on the other hand, are methodologies that emphasize specific goals, e . g . , reducing software development costs and designing real-time systems, respectively. This steady proliferation of design methodologies, however, is not without its price. In particular, users find increasing difficulty in choosing an appropriate methodological approach and recognizing reasonable expectations of a design or development methodology. These concerns motivated an initial research effort that led to a procedural approach for evaluating software development methodologies [ARTJ 86].
Diagram Representation: a comparison of animated and static formats.

Research into diagrams has revealed limited current knowledge of the “cognitive value of any graphical representation” (Scaife and Rogers 1996, p.185). This study investigated the effects of different formats of the same graphical representation and of different task presentation on student learning. One hundred and twelve pupils aged thirteen and fourteen used either a static paper or animated computer graphical representation of cardiac circulation. Half of the pupils in each condition used an open task from which to find information, the other half used a structured work sheet. Pupils completed a test diagram to demonstrate their understanding of blood flow through the heart, which was analysed on four different aspects to assess student learning. A two way independent analysis of variance and chi-square analyses were used to determine differences in learning. Although no significant differences in media presentation were found, learning was significantly affected by task presentation. Futhermore, the types of errors made in student learning were found to differ significantly across conditions.
Two-sided Markets, Competitive Bottlenecks and Exclusive Contracts

We provide a framework for analyzing two-sided markets that allows for different degrees of product differentiation on each side of the market. When platforms are viewed as homogenous by sellers but heterogeneous by buyers, we show that “competitive bottlenecks” arise endogenously. In equilibrium, platforms do not compete directly for sellers, instead choosing to compete indirectly by subsidizing buyers to join. Sellers are left with none of the gains from trade. Despite this, it is sellers who choose to purchase from multiple platforms (multihome). Finally, the role of exclusive contracts to prevent multihoming is explored.
Image Processing on MR Brain Images Using Social Spiders

Image segmentation is one of the most difficult tasks for digital image processing. This is an important step for quantitative analysis of images as brain images and so for studying many brain disorders. Indeed, structural changes in the brain can be the result of brain disorders. The quantification of these changes, by measuring area of regions of interest, can be used to characterize disease severity or evolution. The classical way of manual marking out of cerebral structures in MRI1 images by an expert is obviously a time consuming process. Moreover, these manual segmentations are prone to large intra/inter-observer variability. A lot of researchers have spent many years trying to solve this problem and proposed lots of methods. Unfortunately, these methods are dedicated to particular solutions. There is no generic method for solving the image segmentation problem. One main difficulty comes from that two types of noise are presented in medical images: physical noise due to the acquisition system, for example, Optical, X-rays and MRI, and physiological noise due to the patient status. Thus, the segmentation remains a challenging task. Image segmentation algorithms subdivide images into their constituent regions, with the level of subdivision depending on the problem to be solved. Robust, automatic image segmentation requires the incorporation and efficient utilization of global contextual knowledge. However, the variability of the background, the versatile properties of the target partitions that characterize themselves and the presence of noise make it difficult to accomplish this task. Considering the complexity, it is often required different methods in the segmentation process according to the nature of the images. In this work, we propose to use a MAS2 to realize image segmentation and particularly, a MAS based on social agents. A MAS is composed of heterogeneous unembodied agents carrying out explicitly assigned tasks, and communicating via symbols. On the contrary, many extremely competent natural collective systems of multiple agents (e.g. social spiders and social ants) are not knowledge based, and are predominantly homogeneous and embodied; agents have no explicit task assignment, and do not communicate symbolically. A common method of control used in such collective systems is stigmergy, the production of a certain behaviour in agents
Multimedia content understanding: Bringing context to content

There is a digital revolution happening right before our eyes, the way we communicate is rapidly changing dues to rapid technological advances. Pencil and paper communication is drastically reducing and being replaced with newer communication medium ranging from emails to sms/mms and other instant messaging services. Information/news used to be broadcasted only through official and dedicated channels such as television, radio or newspapers. The technology available today allows every single one of us to be individual information broadcasters whether through text, image or video using our personal connected mobile device. In effect, the current trend shows that video will soon become the most important media on the Internet. While the amount of multimedia content continuously increases there is still progress to be done for automatically understanding multimedia documents in order to provide means to index, search and browse them more effectively. The objectives of this chapter are three-fold. First, we will motivate multimedia content modeling research in the current technological context. Secondly, a broad state of the art will provide the reader with a brief overview of the methodological trends of the field. Thirdly, a bird eye view of the various research themes I have supervised and/or conducted will be presented and will expose how contextual information has become an important additional source of information for multimedia content understanding.
Multidisciplinary palliation for unresectable recurrent rectal cancer: hypoxic pelvic perfusion with mitomycin C and oxaliplatin in patients progressing after systemic chemotherapy and radiotherapy, a retrospective cohort study

Background Innovative systemic treatments and loco-regional chemotherapy by hypoxic pelvic perfusion (HPP) have been proposed for unresectable recurrent rectal cancer (URRC). Regorafenib and trifluridine-tipiracil reported significantly increased PFS 1.9-2.0 months, OS 6.4-7.1 months vs placebo, respectively. Present study evaluated safety and efficacy of mitomycin/oxaliplatin HPP associated to intravenous cetuximab, and of third line systemic therapy in clinical practice. Methods HPP consisted of: isolation, perfusion, chemofiltration. Patients received mitomycin 25 mg/m2 and oxaliplatin 80 mg/m2 during HPP; from days 21 to 28, cetuximab 250 mg/m2/week. In case of partial response or stable disease, HPPs were repeated every 8 weeks. In control group, systemic third and further lines of therapy were defined in clinical practice according to clinical (age, comorbidities, performance status), biological parameters (KRAS, NRAS, BRAF genotype). Results From 2005 to 2018, 49 URRC patients were enrolled; 33 in HPP/target-therapy, 16 in systemic therapy control group. No HPP related complications were reported. Most common adverse events were skin, bone marrow toxicities. In HPP/target-therapy group, ORR and DCR were 36.4 and 100%; in systemic therapy control group, 18.7 and 31.25%, respectively. In HPP/target-therapy compared with systemic therapy group, respectively, DCR seemed significantly favourable (P = 0.001), as PFS 8 vs 4 months (P = 0.018), and OS 15 vs 8 months (P = 0.044). Conclusions Present data showed that integration of HPP/target-therapy may be effective in local control, and efficacy as third line treatment of URCC patients. This therapeutic strategy deserves further prospective randomized trials to be compared to conventional systemic treatments.
Application of IFDMA to mobile radio transmission

"Interleaved frequency-division multiple-access" (IFDMA) has been introduced which is a new spread-spectrum multiple-access scheme showing several advantages over other multiple-access schemes. In this paper, the application of IFDMA to mobile radio transmission is considered. Especially, the frequency-diversity achievable with IFDMA taking into account the influence of pulse shaping is investigated. As a result, maximum diversity can be achieved with a set of IFDMA parameters which enables maximum-likelihood detection at the receiver. Therefore, maximum-likelihood detection is proposed for IFDMA and investigated using Monte-Carlo simulations. In comparison with multicarrier code-division multiple-access, IFDMA shows an even better performance whereas having additional advantages, such as avoiding large crest factors.
Extended Kalman filter based friction compensation

Two friction compensation schemes for a single-axis servomechanism are developed and compared. The first compensator is an integral control regulator/estimator which uses the Coulomb friction model. The second, more complicated, compensator is an extended Kalman filter (EKF) design which uses the friction model developed by P. R. Dahl in the late 1960s. Comparisons are made of the time response characteristics to determine if any increases in performance are worth the added complexity of the Dahl model EKF controller. <<ETX>>
Semantic Mapping Based on Ontology and a Bayesian Network and Its Application to CAD and PDM Integration

In a Collaborative Product Commerce (CPC) environment, it is necessary that the participants in a product life cycle should share semantics of terms although they may be represented differently. In order to manage this sharing of semantics, it is necessary to recognize automatically that two terms represented differently can have equivalent semantics. To this end, a semantic mapping logic that utilizes ontology and a Bayesian Network is proposed. The proposed approach consists of three phases: character matching, definition comparisons and similarity checking. First, character matching maps two terms that have identical character strings; second, the definition comparison step compares the two terms using their ontological definitions. Finally, similarity checking evaluates the similarity between two terms using their ontological structure and the Bayesian network. This final phase consists of three steps. Firstly, it calculates similarity between two terms in terms of their character strings and ontological definitions. After this step, it constructs a Bayesian network with the paired terms based on their ontological structure. Finally, it infers whether the pairs are mapped based on the network through a probability equation. The proposed approach is also applied to the integration of the CAD and PDM systems. © 2006 ASME
Diagnosis and prognosis of bearings using data mining and numerical visualization techniques

Traditionally, condition-based monitoring techniques have been used to diagnose failure in rotary machinery by application of low-level signal processing and trend analysis techniques. Such techniques consider small windows of data from large data sets to give preliminary information of developing fault(s) or failure precursor(s). However, these techniques only provide information of a minute portion of a large data set, which limits the accuracy of predicting the remaining useful life of the system. Diagnosis and prognosis (DAP) techniques should be able to identify the origin of the fault(s), estimate the rate of its progression and determine the remaining useful life of the system. This research demonstrates the use of data mining and numerical visualization techniques for diagnosis and prognosis of bearing vibration data. By using these techniques a comprehensive understanding of large vibration data sets can be attained. This approach uses intelligent agents to isolate particular bearing vibration characteristics using statistical analysis and signal processing for data compression. The results of the compressed data can be visualized in 3-D plots and used to track the origination and evolution of failure in the bearing vibration data. The Bearing Test Bed is used for applying measurable static and dynamic stresses on the bearing and collecting vibration signatures from the stressed bearings.
Incremental generation of projections of CT-volumes

In order to achieve the illusion of rotation of an object in a 3-D image (density volume), a sequence of projections of the image must be computed. A method that alleviates the need to perform a full-fledged ray-casting operation for each projection in the sequence when the projections are depth coded (range images) is described. The method proceeds incrementally exploiting the coherence between successive projections. The idea behind the incremental method (INC) is that speed can be gained if costly ray-casting methods are as far as possible replaced by 2-D geometric transformations of the currently visible surface points. As is shown, INC significantly reduces the number of ray-casting operations needed. Experiments indicate that a speed up factor of about 10 is achievable. Increasing the angle increment phi diminishes the coherence between successive projections, and thus more rays are required. As phi is further increased, INC gradually degenerates into full ray casting. <<ETX>>
Induction machine Direct Torque Control system based on fuzzy adaptive control

Direct Torque Control technology is a high-performance communication control method, it uses the space voltage vector method, and then to the inverter switch state control, to obtain high torque dynamic performance. But none of the switching states is able to generate the exact voltage vector to produce the desired changes in torque and flux in most of the switching instances. This causes a high ripple in torque. To solve this problem, a fuzzy implementation of Direct Torque Control of Induction machine is presented here. Error of stator flux, error of motor electromagnetic torque and position of angle of flux are taken as fuzzy variables. In order to further solve nonlinear problem of variation parameters in direct torque control system, the paper proposes a fuzzy parameter PID adaptive control method which is suitable for the direct torque control of an asynchronous motor. The generation of its fuzzy control is obtained by analyzing and optimizing PID control step response and combining expert's experience. For this reason, it carries out fuzzy work to PID regulator of motor speed to achieve to regulate PID parameters. Therefore the control system gets swifter response velocity, stronger robustness and higher precision of velocity control. The computer simulated results verify the validity of this novel method.
In search of a foundation: towards a theory of the term

The major objection to a purely linguistic theory of terms stems from the fact that formally terms are indistinguishable from words. For a justification of terms as a distinct category of lexical items we have to look in two areas: (1) the things terms refer to and (2) the nature of this reference. An examination of some philosophical writings on the subject will lead to an attempt to explain the different nature of terms.
A Novel Heuristic PageRank Algorithm in Web Search

With the booming development of the Internet, web search engines have become the most important Internet tools for retrieving information. PageRank computes the principal eigenvector of the matrix describing the hyperlinks in the web using the famous power method. Based on empirical distributions of Web page degrees, we derived analytically the probability distribution for the PageRank metric. We found out that it follows the familiar inverse polynomial law reported for Web page degrees.
Evaluation of a glottal ARMA model of speech production

In many speech analysis/synthesis schemes, the source for excitation for voiced speech is a train of impulses. However, the quality of speech that has been attained due to the introduction of a dynamically varying source, e.g., parametric source model, multipulse excitation has been found to be better than that using impulse excitation. The authors describe a pitch-synchronous glottal autoregressive moving average analysis/synthesis scheme in which a parametric voice source model is used in jointly estimating the source and vocal tract parameters from the speech signal. This method is then compared with closed-phase linear predictive coding (LPC), wherein covariance analysis is required to be carried out in the closed glottis interval, and with robust LPC, in which the analysis frame is insensitive to glottal closure. The superiority of the proposed scheme over the latter two methods is shown in terms of better formant/bandwidth tracking capability and efficiency of resynthesis. <<ETX>>
Spline-based deformable models

There are well established techniques for the biomathematical analysis of sets of homologous images with landmarks. These include the construction of the average configuration of landmarks, the statistical analysis of the procrustes residuals of the landmark positions and the averaging of the images themselves. This paper outlines a method of performing similar steps on sets of images with homologous 1D features as well as landmarks. The basis of the method is the expanded and consistent application of the thin-plate spline, a tool already used in the analysis of landmark images.