Miracle-dz/UniFAR-FTUs huggingface dataset:
PlotMap: Automated Layout Design for Building Game Worlds

World-building, the process of developing both the narrative and physical world of a game, plays a vital role in the game's experience. Critically acclaimed independent and AAA video games are praised for strong world building, with game maps that masterfully intertwine with and elevate the narrative, captivating players and leaving a lasting impression. However, designing game maps that support a desired narrative is challenging, as it requires satisfying complex constraints from various considerations. Most existing map generation methods focus on considerations about gameplay mechanics or map topography, while the need to support the story is typically neglected. As a result, extensive manual adjustment is still required to design a game world that facilitates particular stories. In this work, we approach this problem by introducing an extra layer of plot facility layout design that is independent of the underlying map generation method in a world-building pipeline. Concretely, we present a system that leverages Reinforcement Learning (RL) to automatically assign concrete locations on a game map to abstract locations mentioned in a given story (plot facilities), following spatial constraints derived from the story. A decision-making agent moves the plot facilities around, considering their relationship to the map and each other, to locations on the map that best satisfy the constraints of the story. Our system considers input from multiple modalities: map images as pixels, facility locations as real values, and story constraints expressed in natural language. We develop a method of generating datasets of facility layout tasks, create an RL environment to train and evaluate RL models, and further analyze the behaviors of the agents through a group of comprehensive experiments and ablation studies, aiming to provide insights for RL-based plot facility layout design.
MINS: Efficient and Robust Multisensor-aided Inertial Navigation System

Robust multisensor fusion of multi-modal measurements such as IMUs, wheel encoders, cameras, LiDARs, and GPS holds great potential due to its innate ability to improve resilience to sensor failures and measurement outliers, thereby enabling robust autonomy. To the best of our knowledge, this work is among the first to develop a consistent tightly-coupled Multisensor-aided Inertial Navigation System (MINS) that is capable of fusing the most common navigation sensors in an efficient filtering framework, by addressing the particular challenges of computational complexity, sensor asynchronicity, and intra-sensor calibration. In particular, we propose a consistent high-order on-manifold interpolation scheme to enable efficient asynchronous sensor fusion and state management strategy (i.e. dynamic cloning). The proposed dynamic cloning leverages motion-induced information to adaptively select interpolation orders to control computational complexity while minimizing trajectory representation errors. We perform online intrinsic and extrinsic (spatiotemporal) calibration of all onboard sensors to compensate for poor prior calibration and/or degraded calibration varying over time. Additionally, we develop an initialization method with only proprioceptive measurements of IMU and wheel encoders, instead of exteroceptive sensors, which is shown to be less affected by the environment and more robust in highly dynamic scenarios. We extensively validate the proposed MINS in simulations and large-scale challenging real-world datasets, outperforming the existing state-of-the-art methods, in terms of localization accuracy, consistency, and computation efficiency. We have also open-sourced our algorithm, simulator, and evaluation toolbox for the benefit of the community: https://github.com/rpng/mins.
Artroplastía unicompartimental medial de rodilla con prótesis Oxford fase 3: Resultados con seguimiento de 2 a 11 años

Introduction: There has been great renewed interest in the past few years in uni- compartmental arthroplasty for medial arthrosis of the knee due to the advantages over total knee replacement. Methods: A retrospective epidemio- logical study was performed with 25 consecutive patients (30 knees) from January 2002 to Septem- ber 2013, who underwent unicompartmental knee arthroplasty with a phase 3 Oxford prosthesis us- ing polyethylene inserts with an ultra-congruent design. With an average follow-up of 6.1 years (1.1-11.5 years). The following demographical variables were analyzed: weight, size, body mass index and perioperative variables like hemoglobin, bleeding and surgical time; we evaluated the pre and post-operative function of patients according to clinical and functional scales. We performed a clinical and radiological evaluation of the implant to check for the presence of arthrosis changes in non-intervened compartments. Results: We ob- served optimal survival of the implant. The clinical Knee Score Society improved from 61 in the pre- op to 84 at the end of the follow-up period, with 90% excellent and good results. At the end of the follow-up the average post-surgical flection was 120 o and full extension. Only two patients showed satisfactory results due to progression of the ar- throsis in the lateral compartment and only one patient required conversion to total replacement in two surgeries due to a periprosthetic infection. Conclusion: Unicompartmental knee arthroplasty
Investigation of Acoustic Vector Sensor Data Processing in the Presence of Highly Variable Bathymetry

Abstract : Data has been collected on acoustic vector sensors mounted on autonomous underwater gliders in the Monterey Bay during 2012 2013. Previous processing work computed the acoustic vector intensity to estimate bearing to impulsive sources of interest. These sources included small explosive shots deployed by local fishermen and humpback whale vocalizations. While the highly impulsive shot data produced unambiguous bearing estimations, the longer duration whale vocalizations showed a fairly wide spread in bearing. In this work, causes of the ambiguity in bearing estimation are investigated in the context of the highly variable bathymetry of the Monterey Bay Canyon, as well as the coherent multipath interference in the longer duration calls. Sound speed data collected during the previous experimental effort, along with a three-dimensional bathymetric relief of the Monterey Bay Canyon, are incorporated into a three-dimensional version of the Monterey-Miami Parabolic Equation Model. Propagation results are computed over a frequency band from 336 464 Hz in order to provide predictions of pulse arrival structure. This data is analyzed using conventional pressure plane-wave beamforming techniques in order to highlight horizontal coupling caused by the canyon bathymetry. The data is also analyzed using the previously developed acoustic vector intensity processing string and shown to exhibit a qualitatively similar spread in the estimated bearing.
Deteksi Fitur Citra Stereo Terpolarisasi

Pengolahan citra terpolarisasi membutuhkan penanganan khusus, terlebih jika kita menggunakan citra ini dalam sistem stereo. Citra terpolarisasi yang terbentuk dari instalasi sistem optik pada sistem pencitraan (imaging system) konvensional akan menghasilkan citra yang berkualitas rendah. Pasangan citra yang cenderung ’gelap’ jika diterapkan begitu saja dalam sistem stereo untuk melakukan pencocokan citra (image matching) kiri dan kanan akan menghasilkan kecocokan yang rendah pula. Dalam makalah ini, penulis mencoba melakukan penyetaraan histogram pada tiap pasang citra terpolarisasi yang diambil, lalu memanfaatkan algoritma SIFT untuk melakukan pencocokan citra, kemudian membandingkan hasilnya dengan pencocokan citra SIFT pada pasangan citra terpolarisasi orisinil. Selain itu, dalam makalah ini juga dibahas beberapa kemungkinan konfigurasi parameter SIFT untuk pencocokan citra dan instalasi sistem polarisasi citra yang memungkinkan untuk mendapatkan hasil citra terpolarisasi yang berkualitas cukup, tanpa mengurangi informasi polarisasi yang ada di dalamnya. Kata Kunci: polarisasi citra, sistem stereo, pencocokan citra
Organic matter in carbonaceous chondrites, planetary satellites, asteroids and comets

A detailed review is given of the organic compounds found in carbonaceous chondrite meteorites, especially the Murchison meteorite, and detected spectroscopically in other solar-system objects. The chemical processes by which the organic compounds could have formed in the early solar system and the conditions required for these processes are discussed, taking into account the possible alteration of the compounds during the lifetime of the meteoroid. Also considered are the implications for prebiotic evolution and the origin of life. Diagrams, graphs, and tables of numerical data are provided.
A 640 kyr geomagnetic and palaeoclimatic record from Lake Baikal

SUMMARY Magnetic remanence vectors for 1737 samples from two ∼100 m cores of Lake Baikal sediments are reported along with complete magnetic susceptibility profiles obtained from a passthrough system. Chronological control is established by means of two independent correlations; first, by matching susceptibility variations to the oceanic oxygen isotope record and second, by matching the relative palaeointensity variations to the SINT-800 global reference curve. These both imply an average deposition rate of 15 cm kyr ‐1 and a basal age of ∼640 ka. Spectral analysis reveals the presence of Milankovitch signals at ∼100 kyr (eccentricity), ∼41 kyr (obliquity) and ∼23 and ∼19 kyr (precession). Stable remanence vectors are almost all of normal polarity. The few exceptions comprise brief intervals of low and/or negative inclinations which probably represent geomagnetic excursions. However, these are far less numerous than the high sedimentation rate would lead one to expect. Furthermore, only four of them can be readily matched to the—still poorly understood—global pattern. These are the Laschamp, the Albuquerque, the Iceland Basin and perhaps the West Eifel excursions which occurred at ∼38 000, ∼146 000, at 180 000‐190 000 and at 480 000‐495 000 yr ago, respectively.
Al-26, Pu-244, Ti-50, REE, and trace element abundances in hibonite grains from CM and CV meteorites

Hibonites from the CM meteorites Murchison, Murray, and Cold Bokkeveld, and hibonites and Ti-rich pyroxene from the CV chondrite Allende are studied. Electron microprobe measurements of major element concentrations and track and ion probe measurements of Mg and Ti isotopic ratios, rare earth elements (REEs), and trace element abundances are analyzed. Correlations between isotopic anomalies in Ti, Al-26, Pu-244, and Mg-26(asterisk) are examined. Ti isotopic anomalies are compared with REE and trace element abundance patterns. Reasons for the lack of Al-26 in the hibonites are investigated and discussed. It is observed that there is no correlation between the Ti isotopic compositions, and the presence of Mg-26(asterisk), Pu-244, and REE and trace element patterns in individual hibonite samples. The data reveal that hibonites are not interstellar dust grains but formed on a short time scale and in localized regions of the early solar system.
Factors controlling the structures of magma chambers in basaltic volcanoes

The depths, vertical extents, and lateral extents of magma chambers and their formation are discussed. The depth to the center of a magma chamber is most probably determined by the density structure of the lithosphere; this process is explained. It is commonly assumed that magma chambers grow until the stress on the roof, floor, and side-wall boundaries exceed the strength of the wall rocks. Attempts to grow further lead to dike propagation events which reduce the stresses below the critical values of rock failure. The tensile or compressive failure of the walls is discussed with respect to magma migration. The later growth of magma chambers is accomplished by lateral dike injection into the country rocks. The factors controlling the patterns of growth and cooling of such dikes are briefly mentioned.
Could Corneal Densitometry be a Progression Criterion for Subclinical Keratoconus?

Objectives: The objective of this study is to investigate the changes in topometry, tomography, and corneal densitometry in subclinical keratoconus (SK) at the 6-month interval. Methods: The clinical keratoconus and SK groups included 25 eyes; the control group included 22 eyes from 22 patients. Corneal topographic, tomographic, topometric, and densitometric values obtained using the Pentacam HR imaging system were analyzed. Results: Posterior elevation (PE), Keratoconus index (KI), index of height asymmetry (IHA), index of height decentration (IHD), Dp, Da, Final D, maximum pachymetric progression index (PPImax), and maximum Ambrósio relational thickness parameters showed significant changes between the baseline and the 6th-month follow-up in SK group (p<0.05 for all values). There were significant changes in all zones except a central layer of 6–10 zone, anterior, and central layer of 10–12 zone between the baseline and the 6th-month follow-up in the SK group (p<0.05, for all values). The changes in mean±standard deviation of KI, IHA, IHD, PPImax parameters, and corneal densitometry values of the posterior layer of 0–2 mm and 2–6 mm zones were significant in the SK group compared to the controls (p<0.05, for all values). Conclusion: PE, KI, IHA, IHD, and PPImax parameters as well as increasing corneal light backscatter of the posterior central layer might be useful for follow-up of progression of SK. New multimeric parameters created by combinations of topometric, tomographic, and corneal densitometry parameters could be the future of SK follow-up.
Congenital cervical teratoma: case report

Revista CES MEDICINA Volumen 23 No.1 EneroJunio / 2009 1 Neonatologos. Unidad de Cuidado Intensivo Neonatal. Fundacion Valle del Lili. Cali, Colombia. 2 Fellow Neonatologia Universidad CES 3 Residentes de Pediatria, Universidad CES. Correspondencia: rubenlasso@gmail.com Resivido: marzo 16. Revisado: abril de 2009. Aceptado: abril 24 de 2009 RESUMEN L Teratoma cervical congenito: reporte de casos Congenital cervical teratoma: case report JAIME ORREGO1,MARTHA LUCIA JARAMILLO1, ADRIANA BALLESTEROS1, JOSE IGNACIO LOPEZ2, MARTHA CECILIA TORRES3, RUBEN EDUARDO LASSO3 Forma de citar: Orrego J, Jaramillo ML, Ballesteros A, Lopez JI, Torres MC, Lasso RE. Teratoma cervical congenito: reporte de casos. Rev CES Med 2009, 23(1):77-83 Reporte de caso
Petrochemistry of sandstones from Neoproterozoic basins of the Bastar craton, Central Indian Shield: Implications for paleoweathering, provenance and tectonic history

Petrographic analysis and chemical analysis of major and trace elements including rare earth elements of the Neoproterozoic sandstones from the Chandarpur Group and the Tiratgarh Formation have been carried out to determine their provenance, tectonic setting and weathering conditions. All sandstone samples are highly enriched in quartz but very poor in feldspar and lithic fragments. Petrographically and geochemically these sandstones are classified as subarkose, sublitharenite and arenite. The Chemical Index of Alteration (CIA mean 68) and Th/U ratios (mean 4.2) for these sandstones suggest their moderate weathering nature. Generally, all sandstone samples are strongly depleted in major elements (except SiO2), trace elements (except Zr) and REE in comparison with Post Archean Australian Shale (PAAS) and Upper Continental Crust (UCC). Their mineralogy and mean of elemental ratios suitable for determination of provenance and tectonic setting, e.g. Al2O3/SiO2 (0.02), K2O/Na2O (10), Eu/Eu* (0.67), (La/Lu)n (10.4), La/Sc (3), Th/Sc (1.2), La/Co (0.22), Th/Co (0.08), and Cr/Th (7.2), support a felsic source and a passive margin tectonic setting for these sandstones. Also these key elemental ratios do not show much variation over a range of SiO2. Thus we attest their significance in determining source rock characteristics of quartz rich sandstones. Chondrite‐normalized REE patterns with LREE enrichment and a strong negative Eu anomaly are also attributed to felsic source rock characteristics for these sandstones. The source rocks identified are granite and gneiss of the Bastar craton. Minor amounts may have been derived from older supracrustals of the Bastar craton. However, the major element data of the Paleoproterozoic Sakoli schists when compared with those of the Neoproterozoic sandstones indicate that the schists were derived from a mafic source and deposited in an active continental margin tectonic setting. There is, however, little difference in CIA values between the Paleoproterozoic Sakoli schists and Neoproterozoic sandstones, indicating prevailing of similar (moderate‐intense) weathering conditions throughout the Proterozoic in the Bastar craton. Our study also suggests a change in the provenance and tectonic setting of deposition of sediments from dominantly a mafic source and an active continental margin in the Paleoproterozoic to dominantly granite and gneiss (felsic source) and a passive continental margin in the Neoproterozoic in the Bastar craton.
Characteristics of Amazonian Climate: Main Features

This chapter summarizes our current knowledge on the mean climatological features of Amazonia. Significant uncertainties remain in our understanding of the complex dynamics of climate and climate variability in that region, which are due, in part, to the lack of observational data. The strong seasonality of the rainfall and the relatively rapid transition between the wet and dry season associated with onset of the rainy season is related to the establishment of the South America Monsoon System (SAMS). The SAMS is controlled by large-scale thermodynamic conditions influenced by the near-equatorial sea surface temperature (SST). It has been suggested that land-surface dryness in the dry season is the main cause of the delay in the onset of the subsequent wet season. The 30- to 60-day oscillation is the major mode of intraseasonal variability. Interannual variability of the hydroclimatic system is strongly related to El Nino–Southern Oscillation. More generally, tropical Pacific and Atlantic SSTs control rainfall variability in Amazonia, and SW Atlantic SST anomalies influence the variability of the South Atlantic Convergence Zone (SACZ). Land surface-atmosphere interactions have been proposed as a possible dynamical mechanism for the unexplained variance at the annual and interannual timescales. At decadal and interdecadal timescales, rainfall variability is related to the Pacific Decadal Oscillation mainly over the southern portions, and linked to the North Atlantic Oscillation. At paleoclimate timescales, there is large uncertainty on major aspects of rainfall variability over tropical South America. For instance, there remains uncertainty on the basic character of rainfall anomalies over Amazonia, whether drier or wetter, during the Last Glacial Maximum, and paleoclimate reconstructions still suffer from lack of data.
City Map of Ancient Epomanduodurum (Mandeure–Mathay, Franche‐Comté, Eastern France): Contribution of Geophysical Prospecting Techniques

This study presents the main results of the geophysical survey of ancient Epomanduodurum, at Mandeure–Mathay, Eastern France. In northeastern Gaul, Epomanduodurum is a site of a major scientific interest for the understanding of past settlements and territorial formation at the end of the Iron Age and during the Roman period. The site, including a Roman urban centre and two suburbs containing workshops, occupies more than 500 ha inside and beyond a meander of the River Doubs. From the beginning of survey in 2001, several methods (fast electrical imaging automatic resistivity profiling system, ground penetrating radar, magnetic and electromagnetic mapping) have been performed on a large scale in order to precisely identify the vast extent and structure of the Roman town. The interpretation of the geophysical data was carried out using a combination of different data sources, including ancient maps and excavations recently conducted on restricted areas. The overall organization of an artisan quarter of 8 ha was revealed along a main Roman road leading to the left bank of the River Doubs. On the other bank, a river fortification and a vast monumental religious complex were recognized in the southern part of the Roman town. The geophysical imaging shows that the sacred area includes several temples or groups of temples radiating from the theatre. Other new buried structures probably corresponding to annexes, chapels and altars were also detected within this sacred area of 10 ha bound on three sides by a wall enclosure with monumental passages. In a surveyed area of 70 ha, geophysical prospecting techniques provided a clear overall image of the Roman urbanism revealed through a rectangular road network and street system delimiting insulae of variable sizes. The detection along the River Doubs of buildings similar to storehouses attests to fluvial transport and also suggests the likely existence of a port. More generally, the combination on a large scale of geophysical prospecting, aerial photographs and excavations allowed a new plan of the urban structure of the ancient town of Epomanduodurum to be produced for an area of over 300 ha. Copyright © 2012 John Wiley & Sons, Ltd.
IMPACTO DEL OZONO TROPOSFÉRICO SOBRE LA ANATOMÍA FOLIAR DE ABIES PINSAPO BOISS. I: ESTUDIO DE LA DISTRIBUCIÓN DE DAÑOS

Impacto del ozono troposferico sobre la anatomia foliar de Abies pinsapo Boiss. I: Estudio de la distribucion de danos. Con el fin de elaborar unos criterios unificados para la evaluacion del impacto del ozono troposferico y compararlos con la respuesta de las poblaciones naturales de Sierra Bermeja y Sierra de las Nieves, se han reproducido en camaras Open Top, ambientes filtrados y enriquecidos con ozono para realizar una caracterizacion microscopica del dano que produce el ozono troposferico sobre Abies pinsapo Boiss. Los resultados demuestran que pese a que la morfologia foliar permanece inalterada tras someter durante un mes en condiciones de 30 ppb durante 8 horas al dia, a nivel tisular se han producido danos de consideracion que afectan de este endemismo
Logarithmic terms in discrete heat kernel expansions in the quadrant

In the context of lattice walk enumeration in cones, we consider the number of walks in the quarter plane with fixed starting and ending points, prescribed step-set and given length. After renormalization, this number may be interpreted as a discrete heat kernel in the quadrant. We propose a new method to compute complete asymptotic expansions of these numbers of walks as their length tends to infinity, based on two main ingredients: explicit expressions for the underlying generating functions in terms of elliptic Jacobi theta functions along with a duality known as Jacobi transformation. This duality allows us to pass from a classical Taylor expansion of the series to an expansion at the critical point of the model. We work through two examples. First, we present our approach on the well-known Kreweras model, which is algebraic, and show how to obtain a complete asymptotic expansion in this case. We then consider a more generic (so-called infinite group) model, and find the associated complete asymptotic expansion. In this second case, we prove the existence of logarithmic terms in the asymptotic expansion, and we relate the coefficients appearing in the expansion to polyharmonic functions. To our knowledge, this is the first time that logarithmic terms have been observed in the asymptotics of a class of lattice walks confined to a quadrant.