Miracle-dz/UniFAR-FTUs huggingface dataset:
The Importance of Coordinate Frames in Dynamic SLAM

Most Simultaneous localisation and mapping (SLAM) systems have traditionally assumed a static world, which does not align with real-world scenarios. To enable robots to safely navigate and plan in dynamic environments, it is essential to employ representations capable of handling moving objects. Dynamic SLAM is an emerging field in SLAM research as it improves the overall system accuracy while providing additional estimation of object motions. State-of-the-art literature informs two main formulations for Dynamic SLAM, representing dynamic object points in either the world or object coordinate frame. While expressing object points in a local reference frame may seem intuitive, it may not necessarily lead to the most accurate and robust solutions. This paper conducts and presents a thorough analysis of various Dynamic SLAM formulations, identifying the best approach to address the problem. To this end, we introduce a front-end agnostic framework using GTSAM that can be used to evaluate various Dynamic SLAM formulations.
Universal flux-based control of a $\pi$-SQUID

We describe a protocol for the universal control of non-ideal $\pi$-periodic superconducting qubits. Our proposal relies on a $\pi$-SQUID: a superconducting loop formed by two $\pi$-periodic circuit elements, with an external magnetic flux threading the circuit. The system exhibits an extensive sweet spot around half-flux where residual $2\pi$-periodic Cooper pair tunneling is highly suppressed. We demonstrate that universal single-qubit operations can be realised by tuning the flux adiabatically and diabatically within this broad sweet spot. We also assess how residual $2\pi$-periodicity in $\pi$-SQUIDs impacts holonomic phase gates.
Modeling and Numerical Analysis of Kangaroo Lower Body based on Constrained Dynamics of Hybrid Serial-Parallel Floating-Base Systems

This paper presents the modeling and numerical analysis of the Kangaroo lower body prototype, a novel bipedal humanoid robot developed and manufactured by PAL Robotics. Kangaroo features high-power linear electric actuators combined with unique serial-parallel hybrid chains, which allow for the positioning of all the leg actuators near the base of the robot in order to improve the overall mass distribution. To model and analyze such complex nonlinear mechanisms, we employ a constrained formulation that is extended to account for floating-base systems in contact with the environment. A comparison is made to demonstrate the significant improvements achieved with TALOS, another humanoid bipedal robot designed by PAL Robotics, in terms of equivalent Cartesian inertia at the feet and centroidal angular momentum. Finally, the paper includes numerical experiments conducted through simulation and preliminary tests performed on the actual Kangaroo platform.
EulerMormer: Robust Eulerian Motion Magnification via Dynamic Filtering within Transformer

Video Motion Magnification (VMM) aims to break the resolution limit of human visual perception capability and reveal the imperceptible minor motion that contains valuable information in the macroscopic domain. However, challenges arise in this task due to photon noise inevitably introduced by photographic devices and spatial inconsistency in amplification, leading to flickering artifacts in static fields and motion blur and distortion in dynamic fields in the video. Existing methods focus on explicit motion modeling without emphasizing prioritized denoising during the motion magnification process. This paper proposes a novel dynamic filtering strategy to achieve static-dynamic field adaptive denoising. Specifically, based on Eulerian theory, we separate texture and shape to extract motion representation through inter-frame shape differences, expecting to leverage these subdivided features to solve this task finely. Then, we introduce a novel dynamic filter that eliminates noise cues and preserves critical features in the motion magnification and amplification generation phases. Overall, our unified framework, EulerMormer, is a pioneering effort to first equip with Transformer in learning-based VMM. The core of the dynamic filter lies in a global dynamic sparse cross-covariance attention mechanism that explicitly removes noise while preserving vital information, coupled with a multi-scale dual-path gating mechanism that selectively regulates the dependence on different frequency features to reduce spatial attenuation and complement motion boundaries. We demonstrate extensive experiments that EulerMormer achieves more robust video motion magnification from the Eulerian perspective, significantly outperforming state-of-the-art methods. The source code is available at https://github.com/VUT-HFUT/EulerMormer.
N-ellipsis in Spanish*

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Signal Detection in Ambient Backscatter Systems: Fundamentals, Methods, and Trends

Internet-of-Things (IoT) is rapidly growing in wireless technology, aiming to connect vast numbers of devices to gather and distribute vital information. Despite individual devices having low energy consumption, the cumulative demand results in significant energy usage. Consequently, the concept of ultra-low-power tags gains appeal. Such tags communicate by reflecting rather than generating the radio frequency (RF) signals by themselves. Thus, these backscatter tags can be low-cost and battery-free. The RF signals can be ambient sources such as wireless-fidelity (Wi-Fi), cellular, or television (TV) signals, or the system can generate them externally. Backscatter channel characteristics are different from conventional point-to-point or cooperative relay channels. These systems are also affected by a strong interference link between the RF source and the tag besides the direct and backscattering links, making signal detection challenging. This paper provides an overview of the fundamentals, challenges, and ongoing research in signal detection for AmBC networks. It delves into various detection methods, discussing their advantages and drawbacks. The paper’s emphasis on signal detection sets it apart and positions it as a valuable resource for IoT and wireless communication professionals and researchers.
Spatial Inequality of Growth in Morocco Regions

The observation of spatial inequalities in the world today reveals that these are not just visible between countries. Indeed, they are also more pronounced between regions of the same country according to our level of development. In Morocco although the significant progress to be made, the inter-regional inequalities in economic still persist. Indicators show sharp inequalities in the development of different regions, which differentiates the living environment of residents and creates spatial migration.These inequalities lead us to wonder about the ways to reduce them. Thus, the regional studies help policy makers to formulate any regional development plan.This study will first review the literature about regional inequalities, and then spend the second part to growth regional analysis, through an analysis of spatial interdependencies. We will analyze the issue of reducing disparities through a convergence model.
Bioinformatics Approaches for Predicting Kinase–Substrate Relationships

Protein phosphorylation, catalyzed by protein kinases, is the main posttranslational modification in eukaryotes, regulating essential aspects of cellular function. Using mass spectrometry techniques, a profound knowledge has been achieved in the localization of phosphorylated residues at proteomic scale. Although it is still largely unknown, the protein kinases are responsible for such modifications. To fill this gap, many computa‐ tional algorithms have been developed, which are capable to predict kinase–substrate relationships. The greatest difficulty for these approaches is to model the complex nature that determines kinase–substrate specificity. The vast majority of predictors is based on the linear primary sequence pattern that surrounds phosphorylation sites. However, in the intracellular environment the protein kinase specificity is influenced by contextual factors, such as protein–protein interactions, substrates co-expression patterns, and subcellular localization. Only recently, the development of phosphoryla‐ tion predictors has begun to incorporate these variables, significantly improving specificity of these methods. An accurate modeling of kinase–substrate relationships could be the greatest contribution of bioinformatics to understand physiological cell signaling and its pathological impairment.
Contrast Improvement of Relativistic Few-Cycle Light Pulses

Laser-plasma interaction has been a widespread and popular field of research since the birth of the laser. It involves numerous interesting phenomena such as inertial confinement fusion; generation and acceleration of electron, positron, neutron, proton and ion particle beams; source of electro-magnetic radiation in the IR, visible, UV and x-ray range, just to mention some important applications. The continuously increasing power and the development of chirped pulse amplification lead to electric fields in which oscillating free electrons reach almost the speed of light. This so called relativistic optics regime starts at intensities about 1018 W/cm2 at 1 μm wavelength. The interaction of relativistically intense laser pulses with solid state -possibly liquidtarget material is always accompanied by the creation of inhomogeneous plasmas, as a given amount of extended preplasma is formed in front of the target before the main laser pulse arrives. This preplasma is produced by undesired laser light impinging onto the target before the short main pulse. Its density decreases rapidly farther from the target due to the hydrodynamic expansion of the hot plasma during the time till the interaction pulse comes. The extension of the preplasma significantly influences the interaction and leads to completely different types of processes depending on its value. Typical lasers produce an extended preplasma before the main pulse, because they amplify preand postpulses and pedestals from various origins. Therefore a certain types of processes involving interaction of intense laser pulse with extended low density plasmas dominate these investigations. On the other hand, practically preplasma-free environment is required by various relativistic laser-plasma experiments involving ultra-intense laser and high-density plasma interaction like surface high harmonic generation Monot et al. (2004); Thaury et al. (2007), laser-driven proton and ion acceleration Hegelich et al. (2006) or laser interaction with few nanometer thick diamond-like-carbon foils, so called nanofoils. This preplasma formation is influenced by the contrast, which characterizes the laser intensity before and after the main pulse relative to this pulse. Therefore precise characterization and improvement of the contrast are essential to successfully conduct these types of experiments. Laser pulses with a duration of only a few optical cycles at moderate intensities opened up the new era of attosecond physics Brabec & Krausz (2000); Krausz & Ivanov (2009) via the controlled reproducible generation of weak XUV pulses with a duration of hundred(s) of attoseconds precisely synchronized to the laser pulse. These pulses allow the investigation of electron motion in atoms, molecules and solid states in an XUV pump and visible / near infrared probe configuration. Relativistic intensity few-cycle sources hold the promise to generate XUV pulses with unprecedented energy and thus form the basis of the novel research 14
Some, For All, Forever: Emerging development of Integrated Water Resources Management in non-Nile Sudan

ion of groundwater and inadequate cost recovery. Support is needed to promote strengthening of urban water management for sustainability. There are cases such as El Fasher, El Obeid, Nyala and Kassala where urban water demands are potentially in competition with important water resource needs for agriculture. Port Sudan faces particularly severe challenges for sustainable water management.  Examples from Durban and Port Elizabeth demonstrate innovations in managing water resources for cities, particularly in drought conditions, which are relevant to the context in
School Indoor Air Quality Assessment and Program Implementation.

This paper describes the effectiveness of a three-step indoor air quality (IAQ) program implemented by 156 schools in the states of Washington and Idaho during the 2000-2001 school year. An experienced IAQ/building science specialist conducted walk-through assessments at each school. These assessments documented deficiencies and served as an on-site training opportunity for the schools' facilities and administration staffs. Schools used the assessment findings, along with guidance from the specialist, to adopt indoor air quality practices and procedures from a "menu" of options. At least 22 options were selected by all schools, with most schools adopting more, up to as many as 58. The findings from the assessments and the specific options selected were compiled into a database to be used by school officials and agencies. A survey of schools confirmed the program's usefulness. (EV) Reproductions supplied by EDRS are the best that can be made from the original document. SCHOOL INDOOR AIR QUALITY ASSESSMENT AND PROGRAM IMPLEMENTATION R Prill' *, D Blake' and D Hales' 'Washington State University, Spokane, WA, USA 'Northwest Air Pollution Authority, Mount Vernon, WA, USA 1 PERMISSION TO REPRODUCE AND DISSEMINATE THIS MATERIAL HAS BEEN GRANTED BY
An inventory of evaluation studies of information technology in health care: Trends in evaluation research 1982 - 2002

During the last years the significance of evaluation studies as well as the interest in adequate methods and approaches for evaluation has grown in medical informatics. In order to put this discussion into the historical context of evaluation research, we conducted a systematic overview on trends in evaluation research of information technology in health care 1982-2002. The inventory is based on a systematic literature search in PubMed. Each of the found 1.035 papers from 1982-2002 was indexed based on a taxonomy coding type of information system, clinical domain, research strategy, evaluation methods, setting and evaluation aspects. We found interesting developments in evaluation research in the last 20 years. For example, their has been a strong shift from medical journals to medical informatics journals. With regard to methods, explanative research and quantitative methods have dominated evaluation studies in the last 20 years. From 1982 to today, the number of lab studies and technical evaluation aspects has declined, while studies focusing on process quality or outcome quality of patient care have increased. Based on our results, we are inclined to talk of a kind of maturation of evaluation studies in medical informatics research.
Latin American Journal of Aquatic Mammals

Responsible Editor: Pedro Fruet Citation: Sironi, M. , Alzugaray, L. , Saez, A. , Vilches, F. , Fernández Ajó, A.A and Faiferman, P. (2018) The use of underwater viewing deck of the semi-submersible whalewatching vessel Yellow Submarine at Península Valdés, Argentina as a platform of opportunity for scientific research with the southern right whale, Eubalaena australis. Latin American Journal of Aquatic Mammals 13(1-2): 2-8. https://doi.org/10.5597/ lajam00242 Ar t i c l e in f o
Fatal Attraction : Focality , Naivete , and Sophistication in Experimental Hide-and-Seek Games

Rubinstein, Tversky, and Heller elicited experimental subjects' initial responses to twoperson constant-sum "Hide-and-Seek" games with unique mixed-strategy equilibria and non-neutral framing of locations. The least focal location was the most prevalent choice for both Hiders and Seekers, and more prevalent for Seekers than Hiders. This robust pattern is puzzling because it deviates from equilibrium in a game where its theoretical rationale is strong and confers an advantage on Seekers, relative to equilibrium. This paper compares alternative explanations of the observed patterns theoretically and econometrically, and proposes a structural non-equilibrium model of initial responses based on "level-k" types to explain them.
Calculations of natural hydrocarbon emissions in the Valley of Mexico

Air pollution is a pervasive problem in Mexico City, it affects not only the health of its inhabitants but also infrastructure and near by crops or forest. Impact of photochemical smog and acid rain on forest and crops is a well documented fact. A less known process is the possible impact of natural emissions of hydrocarbon and nitrogen oxides on the air quality of urban areas near to forest and crop areas. On this contribution we show our current work aiming to obtain an updated inventory of natural sources within the Valley, as well as to obtain emission factors from prevalent tree species and under the dominant climatic conditions (dry and rain seasons).
Lesson Study in Thailand

After the 1999 Educational Acts were enacted, Thailand was put into an educational reform movement. Most school teachers have been attempting to improve their teaching practices. Unfortunately, they do not find good ways to improve their everyday work. Most teachers still use a traditional teaching style focusing on coverage of content, but they do not emphasize students’ learning processes and their attitudes toward learning with understanding. More importantly, a number of teachers classify themselves into a reforming group (e.g., master teachers and inovative teachers) but, in effect, do not realize that they are still in an old paradigm group. Lesson Study is a comprehensive and well-articulated process for examining practices that many Japanese teachers are engaging in (Fernandez, Cannon & Chokshi, 2003). In fact, recently a number of American researchers and educators have suggested that Lesson Study might be an incredibly beneficial approach to examining practices for US teachers (Lewis, C., 2002; Fernandez et al., 2003). In Thailand, there is also another initiative to use Lesson Study to improve the teacher education program in mathematics. In 2002, the Faculty of Education at Khon Kaen University, in an attempt to improve the teacher education program, conducted a project to investigate how student teachers develop their own pedagogy. In addition, to investigate how students in the classroom are responsing to the open-approach teaching method and wheather or not they recognize their learning experiences.
Ocular Vaccinia Infection in Laboratory Worker, Philadelphia, 2004

We report a case of ocular vaccinia infection in an unvaccinated laboratory worker. The patient was infected by a unique strain used in an experiment performed partly outside a biosafety cabinet. Vaccination should continue to be recommended, but laboratories with unvaccinated workers should also implement more stringent biosafety practices.
The Effects of Feeding Reduced-oil DDGS to Broilers when Challenged with C. perfringens and Eimeria spp. on Necrotic Enteritis and Intestinal Microbiome.

ii Acknowledgments . iv List of Tables . viii List of Figures . x List of Abbreviations . xi Chapter 1.0 Introduction . 1 Chapter 2.0 Review of Literature . 3 2.1 Poultry Gut Health . 3 2.1.1 The Gastrointestinal Tract . 3 2.1.1. 1 The Digestive System . 3 2.1.1.2 Accessory Organs . 4 2.1.1.3 Microflora . 5 2.1.1.4 Immune System . 6 2.2 Clostridium perfringens . 6 2.2.1 Epidemiology in Poultry Operations. 7 2.2.2 Growth Characteristics . 8 2.2.3 Virulence Factors . 9 2.2.4 Pathogenesis in Necrotic Enteritis . 9 2.2.4.1 Alpha-toxin . 9 2.2.4.2 NetB Toxin . 11 2.3 Necrotic Enteritis in Poultry . 11 2.3. 1 History . 12 2.3. 2 The Types and Clinical Signs . 12 2.3. 3 Gross Lesions . 13 2.3. 4 Treatment and Prevention Through the Use of AGPs . 15 2.4. Predisposing Factors: Controlling Necrotic Enteritis Post-Antibiotic Era . 16
Conservation of freshwater fishes

List of contributors Preface 1. Lost fishes, who is counting? The extent of the threat to freshwater fish biodiversity William R. T. Darwall and Jorg Freyhof 2. Why are freshwater fish so threatened? Gerard P. Closs, Paul L. Angermeier, William R. T. Darwall and Stephen R. Balcombe 3. Climate change effects on freshwater fishes, conservation and management Jani Heino, Jaakko Erkinaro, Ari Huusko and Miska Luoto 4. Challenges and opportunities for fish conservation in dam-impacted waters Julian D. Olden 5. Chemical pollution Nathaniel L. Scholz and Jenifer K. McIntyre 6. Multiple stressor effects on freshwater fish: a review and meta-analysis Christoph D. Matthaei and Katharina Lange 7. Infectious disease and the conservation of freshwater fish Martin Krkosek and Robert Poulin 8. Non-indigenous fishes and their role in freshwater fish imperilment M. Jake Vander Zanden, Nicolas W. R. Lapointe and Michael P. Marchetti 9. Riparian management and the conservation of stream ecosystems and fishes Mark S. Wipfli and John S. Richardson 10. Fragmentation, connectivity and fish species persistence in freshwater ecosystems Keith B. Gido, James E. Whitney, Joshuah S. Perkin and Thomas F. Turner 11. Conservation of migratory fishes in freshwater ecosystems Peter B. McIntyre, Catherine Reidy Liermann, Evan Childress, Ellen J. Hamann, J. Derek Hogan, Stephanie R. Januchowski-Hartley, Aaron A. Koning, Thomas M. Neeson, Daniel L. Oele and Brenda M. Pracheil 12. Protecting apex predators Kirk O. Winemiller, Paul Humphries and Bradley J. Pusey 13. Artificial propagation of freshwater fishes: benefits and risks to recipient ecosystems from stocking, translocation, and re-introduction John Epifanio and Robin Waples 14. Freshwater conservation planning Virgilio Hermoso, Simon Linke, Stephanie R. Januchowski-Hartley and Mark J. Kennard 15. Sustainable inland fisheries - perspectives from the recreational, commercial and subsistence sectors from around the globe Steven J. Cooke, Vivian M. Nguyen, John M. Dettmers, Robert Arlinghaus, Michael C. Quist, Denis Tweddle, Olaf L. F. Weyl, Rajeev Raghavan, Marcela Portocarrero-Aya, Edwin Agudelo Cordoba and Ian G. Cowx 16. Understanding and conserving genetic diversity in a world dominated by alien introductions and native transfers: the case study of primary and peripheral freshwater fishes in Southern-Europe Valerio Ketmaier and Pier Giorgio Bianco 17. Maintaining taxonomic skills: the decline of taxonomy - a threat to fish conservation Maria J. Collares-Pereiram, Paul H. Skelton and Ian G. Cowx 18. Synthesis - what is the future of freshwater fishes? Gerard P. Closs, Martin Krkosek and Julian D. Olden Index.
Viability-Based Replication Management Scheme for Reliable IoT Data Services

— This paper proposed a new replication management scheme for IoT sensor network environments. Replicating data across multiple nodes can increase the reliability for the shared data. However, data replication inevitably results in overhead of maintaining data consistency, especially in the event of excessive sensor node failures, requiring more costly synchronization mechanisms. In order to lessen the overhead of excessive node failures in fault-prone IoT sensor networks, a new scheme called sensor delegation con-sensus (SDC) was devised in this study. SDC minimizes the message exchange overheads of performing quorum access processes by means of viable deputy polling method which uses strong sensor nodes except unreliable nodes in polling process. This paper also proposed a computer simulation system to present the efficiency of SDC scheme. The performance evaluation results showed that the SDC model outperforms traditional replication management models.