Miracle-dz/UniFAR-FTUs huggingface dataset:
Adaptive Cubature Split Covariance Intersection Filter for Multi-Vehicle Cooperative Localization

Cooperative localization is still an open problem for autonomous vehicle driving tasks. Generally, there are two essential issues to be handled for multi-vehicle cooperative localization: one is how to use extra information shared by neighbour vehicles to augment ego-vehicle localization; the other is how to handle data sources of various error types used for state estimation, such as nonlinearity, dynamic noises, and correlation which may exist simultaneously. Previous works usually evaluate performance under one of the issues at one time, or they do not perform well under some extreme situations with both of the two types of problems. This paper presents an accurate and robust cooperative localization system with a decentralized framework, which not only takes advantages of inter vehicle relative pose estimation via shared information, but also ensures the performance under data sources of various error types simultaneously. We adopt a state-of-the-art point cloud registration method to obtain the cooperative relative pose estimation using shared information. In addition, we use the adaptive cubature split covariance intersection filter (ACSCIF) to estimate the vehicle state. This algorithm can approximate nonlinearity and deal with dynamic measurement noise by a third-order term using cubature transformation and innovation-based adaptive estimation (IAE) theory, also considering correlations among estimated sources inevitably exists in the decentralized mechanism. Finally, a comparative study based on the CARLA simulation platform demonstrates the potential and advantage of the proposed multi-vehicle cooperative localization system using ACSCIF in terms of accuracy, robustness and efficiency.
Pesticide residues analysis in farm gate vegetables of agricultural areas in Tumakuru district, Karnataka, India

The main purpose of this experiment was to understand pesticide residues persistence and their toxicity level in vegetables. In the present study pesticide residues in tomato (Solanum lycopersicum) and capsicum (Capsium annuum L.) vegetables cultivated in Tumakuru, Gubbi, Kunigal and Pavagada taluks in Tumkur district were analysed. In methodology, samples of 1 kg each were collected, cut into small pieces, macerated in a grinder and used for the analysis. Pesticides were quantified by gas chromatography-mass spectrometry (GC-MS). Results showed tomato samples of Pavagada recorded acephate (0.346 mg/kg), dichlorvos (0.189 mg/kg), fenvalerate (0.057 mg/kg) and Tumakuru samples recorded phorate (0.072 mg/kg) residues higher than MRLs (Maximum residue levels). Chlorpyrifos, cyhalothrin-g and cypermethrin were below detection level (BDL) in all the samples. Cyfluthrin-β recorded highest in Kunigal samples (0.294 mg/kg), Tumakuru and Gubbi samples showed BDL. Deltamethrin was highest in Pavagada (0.296 mg/kg) samples and Tumakuru and Kunigal samples revealed BDL. Pavagada samples (0.026 mg/kg) showed monocrotophos residues higher than MRLs. In capsicum samples, acephate residue was highest in Tumakuru samples (0.333 mg/kg), highest chlorpyrifos (0.153 mg/kg) in Kunigal samples, deltamethrin (0.381 mg/kg), fenvalerate (0.168 mg/kg) and phorate (0.089 mg/kg) residues were higher than MRLs in Pavagada samples. Cyfluthrin-β (0.045 mg/kg) was high in Tumakuru and dichlorvos (0.042 mg/kg) high in Pavagada samples. Cyhalothrin-g, cypermethrin and monocrotophos were BDL in all the samples. An attempt has been made to assess the different pesticides usage and their adverse impacts on vegetables, which are backbone to afford assistance for an extensive array of investigators.
The KPC multichannel correlation signal processor for velocity measurement

To date, cross-correlation flowmeters have not achieved commerical importance, and this is believed to have been due primarily to oversimplified assumptions concerning the statistical nature of flow-derived signals. A detailed analysis of signals from flow-modulated ultrasonic beams has led to a set of parameters that a correlation signal processor must satisfy for reliable measurement of flow velocity. This paper describes these parameters and their implementation in the Kent Process Control correlation signal processor, forming the heart of a commercial flow-velocity meter. A new concept of multichannel correlation is utilised, whereby further statistically independent data inherently present in the flow are correlated simultaneously to yield a multichannel correlation function. This technique gives a reduction in response time to sudden changes of flow velocity, extends the operating range and allows greater flexibility in transducer configurations to give improved flow interrogation. The theory of operation of the multichannel correlation signal processor is given, with particular emphasis on the analysis of practical correlation functions and the system response to nonstationary data processed under changing flow conditions.
Practical cases of assessing innovation capability with a theoretical model: The process and findings

Organisations are required, now more than ever, to grow and mature their innovation capability – the fundamental mechanism by which competitive advantage is created and sustained. This paper briefly describes the research conducted to develop an Innovation Capability Maturity Model and the process of identifying the fundamental constituents of organisational innovation capability. Further, the case studies conducted with the objective of evaluating the model are discussed, including the process through which these case studies evolved and their collective findings. The paper concludes with a few fundamental findings pertaining to innovation and a discussion of potential future research opportunities.
Fuzzy System for DOA Estimation of Coherent Signals

This paper presents an efficient direction-of-arrival (DOA) Estimator for dealing with coherent signals. The empirical results show that significant performance degradation occurs when coherent signals coexist. Therefore, an utilizes the low sensitivity of Bartlett algorithm in estimation of DOAs for coherent signals to yield a low-resolution estimation of DOAs as initial search angle and uses fuzzy logic systems with incorporating expert knowledge to improve the resolution and performance of estimation of DOAs in coherent signals environment. Finally, numerical example was analyzed to illustrate high performance of the proposed method and to confirm the designed procedure.
Useful Void: The Art of Forgetting in the Age of Ubiquitous Computing

As humans we have the capacity to remember and to forget. For millennia remembering was hard, and forgetting easy. By default, we would forget. Digital technology has inverted this. Today, with affordable storage, effortless retrieval and global access remembering has become the default, for us individually and for society as a whole. We store our digital photos irrespective of whether they are good or not - because even choosing which to throw away is too time-consuming, and keep different versions of the documents we work on, just in case we ever need to go back to an earlier one. Google saves every search query, and millions of video surveillance cameras retain our movements. In this article I analyze this shift and link it to technological innovation and information economics. Then I suggest why we may want to worry about the shift, and call for what I term data ecology. In contrast to others I do not call for comprehensive new laws or constitutional adjudication. Instead I propose a simple rule that reinstates the default of forgetting our societies have experienced for millennia, and I show how a combination of law and technology can achieve this shift.
Analiza modela sustava za automatsko statističko strojno prevođenje

Automatsko strojno prevođenje sve je popularnija istraživačka tema u znanosti i raznim znanstvenim disciplinama, kao što su informacijske i komunikacijske znanosti, računarstvo, računalna lingvistika i sl. Razlog tome je prvenstveno to što danas omogućuje nezaobilaznu komunikaciju i brz prijenos informacija između različitih prirodnih jezika. To je posebno bitno za manje govorene jezike poput hrvatskoga, za koji još uvijek ne postoji dovoljan broj softverskih alata i digitalnih resursa potrebnih za razvoj specijaliziranih i kvalitetnih sustava za strojno prevođenje koji bi bili optimizirani za upotrebu u jednom specifičnom području. Sve brži rast količine podataka i sve veća potreba raznih dionika u sektorima industrije, gospodarstvu, znanosti, ali i u svakodnevnom životu ljudi impliciraju motivaciju za sistematiziranim i organiziranim razvojem te naknadnom prilagodbom sustava za automatsko strojno prevođenje za različite jezične parove. Budući da strojni prijevodi nisu savršeni, važno je primijeniti metode za računalno generiranje prijevoda prihvatljive razine kvalitete koja ovisi o samom zadatku i području primjene sustava za strojno provođenje. U ovom radu analiziran je model sustava za automatsko statističko strojno prevođenje, njegove komponente te uloga i značaj pojedinih elemenata unutar modela.
Resonant frequencies of a split‐ring resonator: Analytical solutions and numerical simulations

A set of differential equations describing the current and voltage distribution in a split‐ring resonator is derived and solved analytically. The resonant frequencies may be obtained from the solution of a characteristic equation. An approximate solution for the lowest resonant frequency agrees with that obtained by heuristic arguments. The analytical results are supported by numerical simulations. © 2004 Wiley Periodicals, Inc. Microwave Opt Technol Lett 44: 133–136, 2005; Published online in Wiley InterScience (www.interscience.wiley.com). DOI 10.1002/mop.20567
Correlation between milk composition and selected blood indicators of liver function in ewes during lactation

The objective of this study was to research correlations between milk composition and selected blood indicators of liver function in ewes during lactation. The research was conducted with samples of milk and blood from Travnik Pramenka ewes (n = 99). Samples were collected in the area of western Slavonia in Croatia from lactating sheep grazing on natural pastures. Chemical composition of sheep milk was analysed as well as biochemical parameters in serum. Positive correlation between ALB : TGC, ALB : ALT, GUK : GGT, CHOL : ALT and AST : GGT was determined, while significant negative correlation was determined between GUK : ALB, GUK : TGC, GUK : ALT, ALB : GGT as well as ALT : GGT. Significant positive correlation was determined between blood and milk indicators, like ALB protein (r = 0.243), ALB : DMNF (r = 0.309) and ALB : SCC (r = 0.249), as well as negative correlation between TGC : MY (r = -0.264), ALT : protein (r = -0.258), lactose : TGC (r = -0.274) and ALT : DMNF (r = -0.234). The relations between indicators of milk composition, milk production and ewes blood indicators as well as their mutual connections indicate the justification of using the analysis of liver status indicators. Accordingly, by using these relations metabolic pathways of liver status indicators could be better monitored, which is important for practice regarding prevention of possible feeding errors and prevention of major production losses while maintaining the health of lactating sheep.
Optimization of Water Distribution Network: A Comparison using Genetic Algorithm and Particle Swarm Optimization

In this paper the authors compare two optimization techniques, namely the Genetic Algorithm and the Particle Swarm Optimization for water distribution networks. The effectiveness of the two algorithms is tested on two benchmark water distribution networks namely, the New York City water supply tunnel system and the Hanoi water distribution network and a comparison of the two techniques is presented. Furthermore the two algorithms are applied to two local water distribution networks in Mauritius which is very old and no such study has been done before on these data. This study will be beneficial to the government for decision making more specific for water management of the island following the severe drought problems during the last three years.
Small-Signal Analysis of Decananometer Bulk and SOI MOSFETs for Analog/Mixed-Signal and RF Applications Using the Time-Dependent

A state-of-the-art Monte Carlo simulator is applied to the investigation of the radio-frequency performance of bulk and ultrathin-body single-gate SOI MOSFETs that are designed according to the prescriptions of the 2005 ITRS for analog and mixed-signal applications. We provide an analysis of the signal- delay buildup along the channel and an investigation of the scaling properties of the parameters of the ac equivalent circuit, the transition frequency, and the 3-dB bandwidth of the voltage gain in common-source configuration. A comparison with a standard drift-diffusion approach is presented in order to discuss the main differences between the two transport models in terms of high- frequency ac analysis.
BURST-ANC-COAST SWIMMING IN SCHOOLING FISH

The burst-and-coast behavior and tail beat frequency were analysed to determine if an energetic saving was realized for fish when swimming in formation. 2. Individual Notemigonus crysofeucas were compared as they swam singly or in a school of five at 0.15 m/sec in a flow tank. 3. No significant difference was found in time intervals of bursting and coasting between leading fish in the school and solitary fish. 4. Trailing fish in the school were significantly different from the other fish with increased coast time and decreased burst time by 19%, which was calculated to provide a maximum energy saving of over 20%; however, higher tail beat frequencies of trailing fish indicate greater relative velocities compared to solitary or leading fish. 5. These results infer that energy savings through the collective use of schooling and burst-and-coast behaviors is sacrificed.
MEMS variable‐capacitor phase shifters part I: Loaded‐line phase shifter

This article describes the design and characterization of a continuously variable loaded‐line phase shifter using micro‐electro‐mechanical system (MEMS) variable capacitors as phase shifting components. The design and characterization of micro‐electro‐mechanical system (MEMS) variable capacitors for operation at 26.5 GHz is described. A lumped‐element model is obtained from measurements and physical consideration. Experimental results show a capacitance‐tuning ratio of 3.7:1. The capacitor's characterization results are used for designing the phase shifter. A phase shift of 40.5° at 26.5 GHz for a loaded‐line type has been measured. There is good agreement between simulated and measured results. A companion article (Part II) describes the application of these variable capacitors to the design of reflection‐type phase shifters. © 2003 Wiley Periodicals, Inc. Int J RF and Microwave CAE 13: 321–337, 2003.
"On-zone" and "off-zone" geomorphic features for multirisk assessment related to slope dynamics in the Icelandic fjords

Geomorphological studies are a useful tool for risk analysis in mountainous areas, as most of the vulnerable settlements are located within the deposit zones of various processes acting on slopes. Risk assessment related to slope dynamics in the Icelandic fjords, such as snow avalanches and debris flows, often consider the geomorphic characteristics “on-zone”, i.e. in the slope above the inhabited area, from the starting zone to the first houses. However, most of the useful extreme runout distance features are no longer visible in built areas, as slope deposits have been removed from the residential areas during the building time, and later on. Indeed, these landforms are of great significance in risk analysis. Therefore, inquiries into “off-zone” geomorphic evidences, in unspoiled areas with similar lithologic, topographic and meteorologic conditions than inhabited surroundings, reveal the missing information “on-zone”. Based on field investigations and using dendrogeomorphologic opportunities, it especially indicates the potential runout distance of slope dynamics that are lacking in built areas. Consequently, by transferring the data from unspoiled areas to inhabited areas, geomorphic investigations are an indicator for damage potential analysis in areas subjected to devastating multi-slope dynamics. Furthermore, the specific topography of the Icelandic fjords is prone to unexpected risk, as local snowavalanche induced tsunamis. This process has not yet been taken in account in risk analysis, originating “off-zone”. However, it caused severe damages and loss of lives during the last century in the Icelandic fjords.
Panicle-3D: Efficient Phenotyping Tool for Precise Semantic Segmentation of Rice Panicle Point Cloud

The automated measurement of crop phenotypic parameters is of great significance to the quantitative study of crop growth. The segmentation and classification of crop point cloud help to realize the automation of crop phenotypic parameter measurement. At present, crop spike-shaped point cloud segmentation has problems such as fewer samples, uneven distribution of point clouds, occlusion of stem and spike, disorderly arrangement of point clouds, and lack of targeted network models. The traditional clustering method can realize the segmentation of the plant organ point cloud with relatively independent spatial location, but the accuracy is not acceptable. This paper first builds a desktop-level point cloud scanning apparatus based on a structured-light projection module to facilitate the point cloud acquisition process. Then, the rice ear point cloud was collected, and the rice ear point cloud data set was made. In addition, data argumentation is used to improve sample utilization efficiency and training accuracy. Finally, a 3D point cloud convolutional neural network model called Panicle-3D was designed to achieve better segmentation accuracy. Specifically, the design of Panicle-3D is aimed at the multiscale characteristics of plant organs, combined with the structure of PointConv and long and short jumps, which accelerates the convergence speed of the network and reduces the loss of features in the process of point cloud downsampling. After comparison experiments, the segmentation accuracy of Panicle-3D reaches 93.4%, which is higher than PointNet. Panicle-3D is suitable for other similar crop point cloud segmentation tasks.
Toxicological aspects of halogen free flame retardants based on denitrification inhibition tests

The change from brominated flame retardants to nonhalogenated alternatives has started in the electronics industry. Information about toxicological aspects concerning the involved chemicals is however limited. This study shows that one nonhalogenated alternative has lower toxicity than the brominated flame retardant TBBPA, when tested for inhibition of denitrification. The other nonhalogenated alternative showed higher toxicity, but was more soluble in water than the brominated flame retardant TBBPA, indicating less risk for bioaccumulation. Denitrification is a bacterial process that is of great importance in soil and water environments.
Hyperuricemia and Associated Factors in Children with Chronic Kidney Disease: A Cross-Sectional Study

Background: Hyperuricemia is increasingly recognized as a risk factor for chronic kidney disease (CKD) just in adults. The purpose of this study was to investigate the clinical characteristics of hyperuricemia and its associated factors in Chinese children with CKD at a single center. Methods: A cross-sectional study of 170 CKD children collected from the Department of Nephrology, The Zhejiang University Children’s Hospital was conducted. The clinical data, including anthropometric data, blood pressure measurements, and biochemical parameters, were recorded and analyzed retrospectively. The factors associated with hyperuricemia in CKD children were evaluated by Pearson and Spearman correlation analysis and multiple logistic regression analysis. Results: The mean age was 9.79 ± 4.10 years, and 72 (42.35%) were girls. Higher blood urea nitrogen (BUN), serum creatinine, cystatin C, D-dimer, lower hemoglobin, albumin, and estimated glomerular filtration rate (eGFR) were significantly associated with higher serum uric acid (SUA). In multiple logistic regression analysis, anemia and higher BUN were both positively associated factors, whereas eGFR ≥ 90 mL/min/1.73 m2 was a negatively associated factor for subjects with SUA ≥ 390 µmol/L (6.5 mg/dL). Conclusions: SUA was significantly associated with kidney risk factors in CKD children. Monitoring and controlling SUA, Hb, BUN, and Scr levels in CKD children may help to prevent the progression of CKD.
Analytical model for nonlinear piezoelectric energy harvesting devices

In this work we propose analytical expressions for the jump-up and jump-down point of a nonlinear piezoelectric energy harvester. In addition, analytical expressions for the maximum power output at optimal resistive load and the 3 dB-bandwidth are derived. So far, only numerical models have been used to describe the physics of a piezoelectric energy harvester. However, this approach is not suitable to quickly evaluate different geometrical designs or piezoelectric materials in the harvester design process. In addition, the analytical expressions could be used to predict the jump-frequencies of a harvester during operation. In combination with a tuning mechanism, this would allow the design of an efficient control algorithm to ensure that the harvester is always working on the oscillatorʼs high energy attractor.
Process fault isolation for linear systems with unknown inputs

A systematic and straightforward fault estimation approach for process fault detection, isolation and accommodation is presented. The approach includes the design of a reduced-order observer and an algebraic fault estimator. The observer is designed for an unknown input and fault-free system, which is obtained by co-ordinate transformations of original systems with unknown inputs and faults. The observer information is devoted to the fault estimation for fault detection and isolation. The fault estimates can be used to form an additional control input to accommodate the fault. The suggested scheme is verified through simulation studies performed on the control of a vertical takeoff and landing aircraft in the vertical plane.