Miracle-dz/UniFAR-FTUs huggingface dataset:
Collision Free Path Planning for Multi-DoF Manipulators

Path planning is a very important issue in robotics. It has been widely studied for the last decades. This subject has gathered three interesting fields that were quite different in the past. These fields are robotics, artificial intelligence and control. The general problem of path planning consists of searching a collision free trajectory that drives a robot from an initial location (position and orientation of the end effector) to a goal location. This problem is very wide and it has many variants such as planning for mobile robots, planning for multiple robots, planning for closed kinematic chains and planning under differential constraints. It includes also time varying problems and molecular modeling, see (LaValle, 2006) for a complete review. In this study we focus on the case of multi-Degrees of Freedom (DoF) serial manipulators. The first works on serial manipulators path planning began in the seventies with Udupa (Udupa, 1977), then with Lozano-Perez and Wesley (LozanoPerez & Wesley, 1979) who proposed solving the problem using the robot's configuration space (CSpace). Since then, most of path planning important works have been carried out in the CSpace. There are two kinds of path planning methods: Global methods and Local methods. Global methods (Paden et al., 1989; Lengyel et al., 1990; Kondo, 1991) generally act in two stages. The first stage, which is usually done off-line, consists of making a representation of the free configuration space (CSFree). There are many ways proposed for that: the octree, the Voronoi diagram, the grid discretization and probabilistic roadmaps. For each chosen representation, an adapted method is used in order to construct the CSFree, see (Tournassoud, 1992; LaValle, 2006). The representation built in the first stage is used in the second one to find the path. This is not very complicated since the CSFree is known in advance. Global methods give a good result when the number of degrees of freedom (DoF) is low, but difficulties appear when the number of DoF increases. Moreover, these methods are not suitable for dynamic environments, since the CSFree must be recomputed as the environment changes. Local methods are suitable for robots with a high number of DoF and thus they are used in real-time applications. The
Practical Detection of Metamorphic Computer Viruses

Metamorphic virus employs code obfuscation techniques to mutate itself. It absconds from signature-based detection system by modifying internal structure without compromising original functionality. However, it has been proved that machine learning technique like Hidden Markov model (HMM) can detect such viruses with high probability. HMM is a state machine where each state observes the input data with appropriate observation probability. HMM learns statistical properties of “virus features” rather than “signatures” and relies on such statistics to detect same family virus. Each HMM is trained with variants of same family viruses that are generated by same metamorphic engine so that HMM can detect similar viruses with high probability when encountered later on. Previous HMM-based detection techniques have relied on opcode sequences which are obtained by disassembling the binary (executable) code. Such an approach is impractical, since the disassembly process is slow, and this process must be applied to each file when scanning for viruses. In this paper, we develop a practical HMM-based metamorphic virus detector. We efficiently parses a Windows PE file and generate an approximate opcode sequence which is then used for scoring against the HMM. The results show that our method produce opcode sequences effectively, eliminate timeconsuming disassembling phase, reduce training time of HMM by 70% and produce clear separation of scores between family virus and non-members.
From theory to practice: the software RELAIS as a solution for record linkage

The combined use of statistical survey and administrative data is largely widespread to maximize their respective usefulness: unfortunately data sources are often hard to integrate due to errors or lacking information. Record linkage techniques are a multidisciplinary set of methods and practices aiming to identify the same real world entity, differently represented in data sources. Record linkage is a complex process but it can be decomposed in separate phases, each of them requiring a specific technique. To deal with such a problem, we propose RELAIS (REcord Linkage At IStat), an open source toolkit based on the idea of choosing the most appropriate technique for each phase and of dynamically combining them so as to build a record linkage workflow , given specific application constraints and input data features. The open source turned out to be a winning choice for sharing techniques and software. A case study shows the usability of RELAIS.
Electronic accounting Applications using Cloud Computing technology

Todays’ electronic accounting have become dependent on the information technologies and communication (IcTs) to support processes, business, functions and financial activities technology acts as a major requisite.One of these technologies is acloud computing which has changed the ways we exchange financial information and presentation of this interpreted and analyzed financial data to the end user or the client. cloud computing has a great role in mounting the heights on which e_accounting, cloud computing has helped the facades of business functions particularly e_accounting in achieving flexibility and efficiency like never before. The electronic accounting has again played its role in giving new dimensions to these business functions via the Cloud Computing. E_accounting applications going to move from the desktop into the cloud computing, wheree_accounting applications and accounting books are hosted on a “cloud” consisting of thousands of computers and servers this can gain many benefits for e_accounting application also faces many problems.
Statistics for Engineers and Scientists

Chapter 1: Sampling and Descriptive Statistics Chapter 2: Probability Chapter 3: Propagation of Error Chapter 4: Commonly Used Distributions Chapter 5: Confidence Intervals Chapter 6: Hypothesis Testing Chapter 7: Correlation and Simple Linear Regression Chapter 8: Multiple Regression Chapter 9: Factorial Experiments Chapter 10: Statistical Quality Control A Tables B Partial Derivatives C Suggestions for Further Reading Answers to Selected Exercises
Revue d'intelligence artificielle - Jeu sérieux, révolution pédagogique ou effet de mode ?

Il y a, au dela des mots « Serious Game », des problemes qui meritent d'etre analyses. Si l'on cherche a definir ce terme en couvrant tous les objets et applications qui s'en reclament, on tombe, non pas dans le vide, mais dans le trop plein. Il ne reste qu'une definition qui convienne : « Tout objet relevant du numerique qui n'est pas destine aux loisirs et qui utilise soit une technologie soit des principes de conception developpes a l'origine pour le jeu video ».
Using Declarative Metaprogramming To Detect Possible Refactorings

In this paper, we advocate the use of declarative metaprogramming to detect violations of important (object-oriented) design guidelines and best practices. This is particularly useful for detecting when a design should be refactored, and which refactorings in particular should be applied. As we will show, a declarative environment incorporating metaprogramming capabilities is very well suited for detecting such violations and providing information for possible refactorings.
Computing and Comprehending Topology: Persistence and Hierarchical Morse Complexes

algebra is based on abstracting from algebra its core properties, and studying algebra in terms of those properties. 3.1. 1 Binary Operations We begin by extending the concept of addition. For a review of sets, see section 2.1. 1. Definition 3.1 (Binary Operation) A binary operation ∗ on a set S is a rule that assigns to each ordered pair (a, b) of elements of S some element in S. It must assign a single element to each pair (otherwise it’s not defined or not well-defined, for assigning zero or more than one elements, respectively), and it must assign an element in S for the operation to be closed.
Ethical Practices and Implications in Distance Learning

Today, e-learning and various online education applications are used in more countries and educational institutions than ever before. However, as the industry grows, so do issues of ethical concern such as plagiarism, electronic voyeurism, and licensing. BEthical Practices and Implications in Distance Learning outlines a systems approach as the framework to guide all ethical perspectives in Open and Distance Learning System (ODLS). This important title provides academicians, students, and professionals with ethical insight into the world of e-learning through fascinating case studies that elucidate the issues through real-world examples.
Particle Finite Element Analysis of Cutting Processes

Although machining is a well established method in manufacturing, the numerical modeling is complicated since severe changes in the geometry and the topology can occur. Especially the formation of chips and burrs requires a method that tracks the large configurational changes. The particle finite element method (PFEM) combines the benefits of the standard finite element method (FEM) and discrete models, such as molecular dynamics simulations and is therefore well suited to cope with these tasks. In this article, a description of the conceptual realisation and the overall algorithm is given and a numerical analysis of a cutting process is performed. (© 2014 Wiley‐VCH Verlag GmbH & Co. KGaA, Weinheim)
Prozesstransparenz auf Gestenbasis

Kurzfassung Im folgenden Beitrag wird ein intelligentes Assistenzsystem vorgestellt, das manuelle Montageprozesse beobachten und Auffälligkeiten im Ablauf identifizieren kann. Das System ist prozessneutral: Der bestehende Montageablauf bleibt unverändert, Montagemitarbeiter müssen nicht zusätzlich qualifiziert werden. Das vernetzte System meldet Probleme zeitnah über Webservices und stellt intuitive Diagramme für mobilen Endgeräten bereit. Damit ermöglicht es eine schnellere Reaktion auf mögliche Probleme.
Robust Watermarking Framework for High Dynamic Range Images Against Tone-Mapping Attacks

As digital cameras become more and more popular recently, it is very easy for us to take many digital photos. Unfortunately, they are rarely true measurements of relative radiance in the scene due to the limited dynamic range in the image acquisition devices. High dynamic range (HDR) images emphasis in image processing fields because they can accommodate a greater dynamic range of luminance between the brightest and darkest parts of an image. Dynamic range is the ratio between the brightest and darkest luminance values of a scene. In general, human eyes can handle a very large dynamic range of approximately 100000:1 in a single view. However, a standard photo taken with a standard camera with film or an electronic imaging array always has a limited dynamic range [1]. A standard image, called a LDR image, cannot reproduce the luminance ratio observed in the real world. A scene containing very bright highlights and deep shadows always loses some detail if the exposure time is not suitably determined. Over the past decade, many researchers have developed HDR imaging techniques (Debevec & Malik, 1997)(Reinhard et al, 2005) (Reinhard et al, 2007). Debevec and Malik proposed a method to recover the single high dynamic range radiance map from multiple images with different exposure times (Debevec & Malik, 1997), this method has been implemented in many HDR software.
DFKI Oz User's Manual

DFKI Oz is an interactive implementation of Oz, a high-level programming language designed for concurrent symbolic computation. DFKI Oz features a programming interface based on GNU Emacs, a concurrent browser, an object-oriented interface to Tcl/Tk, powerful interoperability features (sockets, C, C++), an incremental compiler, a garbage collector, and support for stand-alone applications. Performance is competitive with commercial Prolog and Lisp systems. DFKI Oz is available for many platforms running Unix/X, including Sun SPARC systems and 80x86 PCs running Linux. This document describes DFKI Oz from the user's perspective, giving information about the programming environment, eeciency issues, stand-alone applications, the interface to C and C++, and the installation of the system.
Natural Language Annotation for Machine Learning

Create your own natural language training corpus for machine learning. This example-driven book walks you through the annotation cycle, from selecting an annotation task and creating the annotation specification to designing the guidelines, creating a "gold standard" corpus, and then beginning the actual data creation with the annotation process. Systems exist for analyzing existing corpora, but making a new corpus can be extremely complex. To help you build a foundation for your own machine learning goals, this easy-to-use guide includes case studies that demonstrate four different annotation tasks in detail. You'll also learn how to use a lightweight software package for annotating texts and adjudicating the annotations. This book is a perfect companion to O'Reilly's Natural Language Processing with Python, which describes how to use existing corpora with the Natural Language Toolkit.
Cross-Site Scripting (XSS) Abuse and Defense: Exploitation on Several Testing Bed Environments and Its Defense

Today cyber physical systems (CPS) facilitate physical world devices to integrate with several Internet data sources and services. In the contemporary era of Web 2.0 technologies, web applications are being developed on several advanced technologies (e.g., AJAX, JavaScript, Flash, ASP.net). However, due to the frequent usage in daily life, web applications are constantly under attack. Cross-site scripting (XSS) attacks are presently the most exploited security problems in the modern web applications. XSS attacks are generally caused by the improper sanitization of user-supplied input on the applications. These attacked use vulnerabilities in the source code, resulting in serious consequences such as stealing of session-identifications embedded in cookies, passwords, credit card numbers, and several other related personal credentials. This article describes a three-fold approach: 1) testing the vulnerabilities of XSS attack on the local host server Apache Tomcat by utilizing the malicious scripts from XSS cheat sheet website; 2) exploiting the same vulnerabilities on Web Goat; and 3) exploiting encoded versions of the injected scripts for testing the level of XSS attack prevention capability. Based on the observed results, further work is also discussed.
TEACHING ENGLISH BASED ON GAMETECHNIQUE TO THE SECOND GRADE STUDENTSOF SDN MASARAN I, SRAGEN

This final project report was written based on the job training done by the writer as an English teacher in SDN Masaran I, Sragen. In teaching English, the writer applied game techniques as the techniques of teaching. The game technique applied by the teacher was matching pairs game. The teacher applied this game to make the students enjoy the English learning activities. The teaching process based on matching pairs game was divided into three steps. They were introduction, explanation and practice. In the first step as the introduction, the teacher made two pre-teaching activities called, reviewing the previous lesson and presenting the new material. Then, the teacher offered the students to play matching pairs game. The next step was explanation. Here, the teacher explained how to play this game and its rules. Last, the teacher asked them to p lay the game based on the teacher‟s guidance. During the job training activities, the writer got some useful exp eriences. There, the teacher can understand how to handle the students in the class by applying game technique. There are also some benefits got by the writer during the job training activities. The writer is able to control the class well and knows how to arrange the lesson plan appropriately.
Apprentissage incrémental de la saillance visuelle pour des applications robotique

Nous proposons une methode d'apprentissage incremental de la saillance visuelle par un mecanisme d'exploration de l'environnement. Partant d'une definition geometrique de la saillance des objets, notre systeme observe de facon attentive et ciblee son environnement, jusqu'a decouvrir des elements saillants. Un classifieur permet alors d'apprendre les caracteristiques visuelles correspondantes afin de pouvoir ensuite predire rapidement les positions des objets sans analyse geometrique. Notre approche a ete testee sur des images RGBD, fonctionne en temps reel et depasse plusieurs methodes de l'etat de l'art sur le contexte particulier de la detection d'objets en interieur.
Topics in Graph Algorithms: Structural Results and Algorithmic Techniques

Coping with computational intractability has inspired the development of a variety of algorithmic techniques. The main challenge has usually been the design of polynomial time algorithms for NP -complete problems in a way that guarantees some, often worst-case, satisfactory performance when compared to exact (optimal) solutions. We mainly study some emergent techniques that help to bridge the gap between computational intractability and practicality. We present results that lead to better exact and approximation algorithms and better implementations. The problems considered in this dissertation share much in common structurally, and have applications in several scientific domains, including circuit design, network reliability, and bioinformatics. We begin by considering the relationship between graph coloring and the immersion order, a well-quasi-order defined on the set of finite graphs. We establish several (structural) results and discuss their potential algorithmic consequences. We discuss graph metrics such as treewidth and pathwidth. Treewidth is well studied, mainly because many problems that are NP -hard in general have polynomial time algorithms when restricted to graphs of bounded treewidth. Pathwidth has many applications ranging from circuit layout to natural language processing. We present a linear time algorithm to approximate the pathwidth of planar graphs that have a fixed disk dimension. We consider the face cover problem, which has potential applications in facilities location and logistics. Being fixed-parameter tractable, we develop an algorithm that solves it in time O(5 + n) where k is the input parameter. This is a notable improvement over the previous best known algorithm, which runs in O(8n).
A distributed mechanism to improve fairness in CAN networks

The controller area network (CAN) protocol was originally developed to be used in the automotive industry, but it was recently discovered that it is suited for a broader class of applications in various automated factory environments. Even though CAN is able to satisfy most of the real-time requirements found in automated manufacturing environments, it is not able to enforce either a fair subdivision of the network bandwidth among the stations or a satisfactory distribution of the access delays experienced when transmitting messages. This paper presents a simple modification of the basic CAN mechanisms which enforces such a kind of fair behavior. This modified mechanism is fully compatible with the original medium access control protocol layer of CAN, and thus with the electronic components which have already been developed and can be found on the market. What is more, the proposed solution provides a superset of the services of the CAN logical link control, which can coexist with the older CAN applications.
Lossless compression of EEG data using neural network predictors

Lossless compression of electroencephalograph (EEG) data is of great interest to the biomedical research community. Lossless compression through neural network is achieved by using the net as a predictor and coding the prediction error in a lossless manner. The predictive neural network uses a certain number of past samples to predict the present one and in most cases, the differences between the actual and predicted values are zero or close to zero. Entropy coding techniques such as Huffman and arithmetic coding are used in the second stage to achieve a high degree of compression. Predictive coding schemes based on single- layer and multi-layer perceptron networks and recurrent network models are investigated in this paper. Compression results are reported for EEG's recorded under various clinical conditions. These results are compared with those obtained by using linear predictors such as FIR and lattice filters.
Increasing Students' Reading Readiness Skills through the Use of a Balanced Literacy Program.

This report describes a literacy program that provides readers with materials and instructions that fit their individual levels of development. The targeted population consists of kindergarten students in a northwest suburb that is characterized by higher than average household earnings, highly educated residents, and a population encompassing all ages, occupations, and incomes. The children enter school displaying a wide range of reading readiness skills. Evidence includes running records that track each child's reading level, writing samples, and checklists that show children's understanding of print concepts and letter-sound relationships. Analysis of probable cause data reveals that a child's environment impacts literacy learning. Literacy development of children begins before formal schooling and is influenced by the quantity and quality of literacy-related experiences in the home environment. Parent involvement, preschool experiences, children's interests and strengths, and available materials are factors in a child's understanding of literacy. A review of solution strategies suggests a balanced literacy program. Through readalouds, shared reading, guided reading groups, interactive writing, and independent writing and reading, children will be provided with several kinds of reading and writing experiences. Post intervention data indicate an increase in student letter recognition and knowledge of letter and print concepts. The concepts about print the students learned during shared reading and writing experiences were transferred to journal writing and independent reading time. This is evidenced in the students' increased scores on their writing rubrics and the text levels. (Contains 18 references and 15 tables of data. Appendixes contain a permission letter; checklists; a running record sheet; and a sample writing rubric.) (Author/RS) Reproductions supplied by EDRS are the best that can be made from the original document. INCREASING. STUDENTS' READING READINESS SKILLS THROUGH THE USE OF A BALANCED LITERACY PROGRAM
A new architecture of third generation mobile system based on software radio

It is requested that the 3G mobile system should support multi-mode operation, especially multi-mode terminals. This paper, on the basis of evaluating the software radio technology, produces a new multi-mode architecture of the 3G mobile system based on software radio, and discusses some issues on realizing this kind of flexible 3G mobile.
Comparative study on the algorithm for mining association rules based on Data Mining

This paper first introduces the classical algorithm -- Apriori algorithm of association rules in data mining. Then from several width, depth, partitioning, sampling, incremental updating and the angles of the association rules mining of classification discussion. Then using literature search and comparative analysis method to the common association rules mining algorithm are reviewed, mainly including FP-growth algorithm, DHP algorithm, Partition algorithm, FUP algorithm, CD algorithm. Development prospect of association rules mining is discussed.