dataesr/scientific-paragraphs-categorization huggingface dataset:
The basic CANopen standard is defined in  [9]  (about 150 pages). CANopen associates to each device several data structures (e. g. , the OD) and various services, among which the NMT, PDO, SDO, EMCY, and (optional) LSS. There are additional services of CANopen, each represented by its own set of protocols, being enabled and disabled according to the current state of the NMT FSAs. Concerning the NMT: The behaviour of each NMT slave node in the network can be seen as a 6-state FSA. Textual explanations are provided for each of these states: Initialising, Reset Application, and Reset Communication describe initialisation stages, whereas Pre-Operational, Operational, and Stopped represent communication configurations. The NMT service enables the NMT master node to manipulate the NMT FSAs of the NMT slave nodes.
Formal Specification of the EnergyBus in LNT To formally model the EnergyBus, we chose the LNT specification language  [3] , which is the most recent descendent in the family of LOTOS  [4]  and E-LOTOS  [5]  languages. In a nutshell, LNT combines functional languages -to describe data types and functions operating on typed values -and process calculi -to describe concurrent agents that execute in parallel, synchronise using rendezvous, and communicate via message passing. As usual with process calculi, the operational semantics of LNT is defined in terms of Labeled Transition Systems (LTSs) and Structural Operational Semantics (SOS) rules. A translator from LNT to LOTOS exists, thus enabling LNT specifications to be compiled, executed, and verified using the CADP toolbox  [6]. As mentioned above, our formal specification is based on the CANopen and EnergyBus standards.
For the latter, we took into account about 400 pages of documentation, out of which approximately 300 pages describe OD entries. The modelling process took six months, with several iterations to follow the EnergyBus specification updates and to introduce abstractions in the models. Our LNT model  [12,  Appendix C] is divided into several parts, each representing a single aspect (e. g. , a specific service) of the CANopen/EnergyBus specifications. Each part is split into a header file containing the type and channel definitions, and a file containing the process definitions. These files are assembled together by means of cpp preprocessor directives (e. g. , #include, #ifdef, etc. ) to produce a model having about 1700 lines of LNT code and 200 lines of comments. Table  1  provides data concerning the different parts, the second column providing best-effort estimations, as information about a given component being often distributed across multiple documents.
The latter is provided by emtas 4  , an SME developping industrial CANopen solutions. The execution engine returns whether the device complies with the test graph(s). The test execution software (nearly 3100 lines of C code) is logically split into modules performing different tasks. The Explorer module uses the BCG library of CADP to traverse the test graph. In this graph, the Partitioner and IO-Chooser modules select a test case on the fly, using a uniform random generator to choose one among several enabled transitions. The Adapter module provides software and hardware interface based on an industrial CANopen stack. The Instantiator module replaces abstract data values by concrete ones in transition actions, so as to provide the Driver with parameters used in the Adapter functions. Finally, the Driver module connects both worlds, checks test verdicts, and emits test results.
Results and Discussion Discussions with EnergyBus developers were distilled into test purposes covering realistic scenarios, such as the initialisation of unconfigured nodes via combinations of LSS communications, or the boot-up procedure of configured nodes, including the transmission of its PDOs with dynamic and static variable values. These test purposes are of manageable size (about 80 lines of LNT code on average) and generate complex test graphs (e. g. , 600 states and 1100 transitions each) that would be difficult to produce manually. These test purposes provide the initial database for setting up a model-based certification process for EnergyBus-compliance. Since no EnergyBus devices are thus far available on the market, we emulated them with C code, using the same software stack and hardware as the adapter component, bridged by a CAN connection.
This provides us with a fully automatic way to exercise, debug and tune the testing platform itself, and to prepare for the arrival of the first prototype devices to be certified. As our LNT specification models CANopen aspects (via the test context C[ ]), our platform can be applied for the testing of CANopen devices as well. In fact, this enabled us to detect three deviations in the CANopen software stack  [12,  Appendix E] used. 1. missing counter value data in SYNC message reception; 2. missing state change in the LSS FSA during configuration process by slave devices; 3. wrong behaviour of unconfigured slaves in the LSS Fastscan protocol (not confirmed yet). Notably, deviation (1) was not signalled by a fail test verdict, but by a timeout of test execution followed by a manual inspection of the test results log file.
Related works In recent years, many research communities were interested in studying the SRIO interconnect to develop highperformance computing systems. Adams et al. [14]  have done a simulation analysis of a high-performance processing architecture based on Rapi-dIO. Two network topologies were simulated: a simple network consisting of an 8-port switch and 8 processing nodes and a more extensive network consisting of five 8port switches and 24 processing nodes. Results indicate that latencies as low as 92 ns for a remote 64-bit read request/response transaction may be achieved in an unloaded single-switch system. X Zhang et al. [15]  were interested in developing highperformance technologies to meet the demanding requirement of future real-time signal processing applications. A universal, flexible, and high-performance signal processing module based on the TMS320C6455 DSP and RapidIO interconnect were developed for a next-generation, scalable, modular, and adaptable signal-processing system such as radar jamming system.
X Zhang et al. [16]  have also developed two kinds of flexible signal processing modules based on high-performance ADC and heterogeneous processors. They used RapidIO as an interconnect technology. The receiver module mainly consists of two 10bit 2Gsps ADCs, one TMS320C6455 DSP and one XC5V95T fieldprogrammable gate array (FPGA). The processing module is composed of four TMS320C6455 DSPs and one XC4VSX55 FPGA. The constructed system shows the application of a multi-channel receiver, and it is scalable in resources and application. Changrui et al. [17]  have designed a high-performance heterogeneous embedded signal processing system based on the SRIO interconnection for radar systems application. The system consists of three modules which are high-speed AD module, heterogeneous processing module including FPGA and central processing unit (CPU), and RapidIO switch module.
They have used four C6455 DSPs interconnected pointto-point by SRIO. They have measured the data rate of the communication by SRIO in direct IO mode. Experimental results show that the read and write operation can stably work at 3. 125 Gbps per channel between different DSPs. The data rate obtained is up to 275 MB/s when the baud rate is 3. 125 Gbps. Xue et al. [20]  have proposed a new implementation platform for parallel fast Fourier transform (FFT) called multi-core DSPs. They have used SRIO to achieve DSPto-DSP communication and enhanced direct memory access (EDMA) to perform core-to-core communication. The proposed implementation has improved the efficiency of parallel FFT, especially for large points; the speed-up obtained is about 2. 95 when the FFT is distributed on four DSP cores.
Our previous research work  [12]  was addressing the performance optimization of the SRIO interconnect. We have used an experimental test bed composed of two multi-core C6474 DSPs connected by two links of SRIO V1. 3. We have measured the data rate of different transactions proposed by SRIO in the Direct IO mode. We have also proposed three methods to transfer a data stream greater than 4 KB. Experimental results show that Nwrite and Swrite transactions achieve more performances than Nwrite_R and Nread transactions. We have determined that in order to transfer a data stream, the interrupt method is the simplest. In addition, it increases transfer robustness. The performance difference between the interrupt method and method of the EDMA in synchronized mode is tolerable. Bueno et al. [3, [21] [22] [23] [24] [25]  were interested in using the RapidIO embedded interconnect in system architectures for space-based radar.
Description of the proposed parallel machine and the experimental platform This section describes the experimental platform selected for this research work. We describe the parallel machine architecture; we give an overview about the multi-core C6678 DSP and its evaluation module. Then we describe the RapidIO embedded systems interconnect and the SRIO implemented like a peripheral device in the C6678 DSP. Finally, we provide results of SRIO performances studies performed to define the best way to use this interconnect.
The EVM6678 evaluation module used in our test bed is a standalone development platform. It has a single-wide equivalent connectors PICMG® AMC. 0 R2. 0 AdvancedMC module  [32]  (Figure  10 ). The RapidIO interconnect is an open standard controlled by the RapidIO Trade Association. It is a highperformance, packet-switched protocol that was developed to address the embedded industry's need for faster bus speeds, increased bandwidth, reliability, cost effectiveness, and scalability. The RapidIO interconnect allows chip-tochip, board-to-board, and chassis-to-chassis communications at performance levels scaling from 1 gigabit per second per link up to 20 Gbps  [13]. The RapidIO standard is defined as a three layer architectural hierarchy (Figure  11 ): logical, transport, and physical. The physical layer specifies electrical signaling and link level handshaking mechanism.
SRIO performances optimization SRIO proposes various communication modes and transaction types in its logical layer. Because of that it was necessary to evaluate the performances of the interconnect and to define the best way to use it. We have done a series of measurements to evaluate the SRIO performances in direct I/O mode. We have measured performances of posted transactions (Swrite and Nwrite) and non-posted transactions (Nread and Nwrite_R) by sending several packets from one C6678 DSP to another through the CPS1848 SRIO switch using the SRDP2. The transfer was done with different sizes using one SRIO lane at the maximal baud rate supported which is 5 Gbps. In direct I/O mode implemented by TI, it is possible to transfer up to 1 MB of data using a single transaction. Results presented in Figure  12  show that posted transactions achieve better performances than non-posted transactions when the size of the transferred data is less than 64 KB.
This result is due to the fact that non-posted transactions require waiting for a response. But when size of the transferred data is greater than 64 KB, performances of posted and non-posted transactions are very close. This result can be explained by an implementation improvement, performed by TI to optimize the SRIO on the C66x  DSP family, that allow better throughput for non-posted transactions with higher packet size. The Swrite transaction is a little more efficient than the Nwrite transaction. Its header is smaller than the Nwrite transaction. The Swrite transaction achieves a maximal data rate of 3. 70 Gbps while the Nwrite transaction achieves a maximal data rate of 3. 67 Gbps. When the size of the transferred data is greater than 256 bytes, the Swrite transaction achieves its maximal data rate.
Mapping results of the use case on a single DSP core We start our mapping study by implementing the use case processing on a single core of the C6678 DSP. Code development has been done using the integrated development environment (IDE) Code Composer Studio (CCS) provided by the TI. All optimization levels were active for the TI compiler (7. 3. 2 version). Due to the size taken by the input burst, all input and output bursts have been placed in MSM memory, while coefficients are in L2 memory. L1 has been fully activated as cache. Beamforming and Doppler filtering, which are based on a matrix product, have been implemented and optimized using C-intrinsic SIMD instructions. TI C-intrinsic allows access to low-level assembly and constrains the compiler to choose specific hardware features. The pulse compression is based on FFT and IFFT algorithms.
Finally, S outputs its guess b * for the bit b. We say that S succeeds in the query privacy game if b = b *. Definition 2. Let Π S success denote the probability that S succeeds in the query privacy game. We say that a word search protocol ensures query privacy, iff for any cloud server Ideally, a privacy preserving delegated word search should assure that when an authorized user is revoked, it can no longer look for words in the cloud server's files (this does not imply that the revoked user cannot query the server's database, rather it means that it cannot successfully interpret the cloud server's responses). In other words, a privacy preserving delegated word search should make sure that even if a revoked user is able to issue word search queries, it cannot infer any new information about the outsourced files that it did not learn before its revocation.
PRIVACY PRESERVING WORD SEARCH In this section, we describe the first version of the proposed word search solution which does not offer any delegation capabilities and therefore only assures privacy against honest-but-curious cloud providers. Similarly to  [3, 5] , to assure query privacy against a semi-honest cloud server, we rely on Private Information Retrieval (PIR) to build our word-search scheme. Actually, PIR allows a user to retrieve a data block from a server's database without disclosing any information about the sought block. However, PIR protocols assume that the user know beforehand the position in the database of the data block to be retrieved, and therefore, they cannot be used directly in privacy preserving word search wherein a user only holds a list of words to look for. Fortunately, Chor et al.
Building Blocks Trapdoor Private Information Retrieval For efficiency purposes, we opt for a PIR mechanism called trapdoor PIR which was proposed by Trostle and Parrish  [16] , and whose security is based on the trapdoor group assumption. We stress however that this particular PIR can be interchanged by any other efficient PIR algorithm. In compliance with the work of Trostle and Parrish  [16] , we model the server's database on which private information retrieval is performed by a binary (k, l)-matrix M. Trapdoor PIR allows a user to retrieve the bit b at position (x, y) in M as follows: -PIRQuery(x) → α: The user picks a secret large number p (typically |p| = 200 bits) and selects randomly u ∈ Z * p and k other values a i ∈ Z p. Next, it computes the k following values: e x = 1 + 2 • a x and ∀ i = x, e i = 2 • a i , and sends the vector α = (α i ) k i=1 = (u • e i mod p) k i=1 to the cloud.
Privacy against Revoked Users Since in this paper, we only focus on the case where data owner O revokes attributes instead of individual users, it follows that using for instance the CP-ABE scheme proposed by Bethencourt et al. [2]  suffices to ensure efficient revocation. As shown in the previous section, revocation is achieved by updating the access policy associated with file F and by exploiting the properties of OPRF: Obfuscating S's responses during the token generation phase (cf. Section 5. 2) stops a revoked user from deriving new word search tokens and consequently from verifying S's responses. Note also that even if revoked users gain access to the cloud server's database, they cannot decrypt the content of the outsourced files as they do not have access to the encryption key K enc.
This paper describes the CUIK suite, a software toolbox for the kinematic analysis of general multibody systems. The implemented tools can isolate the valid configurations, determine the motion range of the whole multibody system or of some of its parts, detect singular configurations leading to control or dexterity issues, or find collision-and singularity-free paths between configurations. The toolbox has applications in robot design and programming, and it is the result of several years of research and development within the Kinematics and Robot Design group at IRI, Barcelona. It is available under GPLv3 license from http://www. iri. upc. edu/cuik.
The projection of this surface to the (x, y) plane produces the reachable workspace of point P. ods for this case. The approach is sound, but it may introduce extraneous roots and the size and degree of the resultant rapidly grow with the number of bodies and the complexity of their connection pattern. General elimination packages can be used  [8] , but they rapidly explode in complexity even on small problems, which explains why no general software for motion analysis has been built using them. The CUIK suite circumvents these issues by adopting an opposite approach. Instead of reducing the initial system of equations to a resultant polynomial, we formulate it as a larger system including only linear and quadratic equations. This particular formulation is then exploited to implement a branch-and-prune method able to compute the whole solution set.
The method departs from an initial box bounding this set and effectively prunes unfeasible portions of the box until all solution points are isolated at the desired accuracy. Software toolboxes like ALIAS  [16] , Bertini  [1] , or PHC  [28]  have been applied to kinematics, but they implement general methods for solving systems of algebraic equations. In contrast, the CUIK suite sacrifices generality to gain simplicity and efficiency in the implementation. Opposite to  [1, 28] , moreover, it directly isolates the real roots instead of the complex ones, which is beneficial in practice. While many approaches can only identify the solutions when they are isolated points, the branch-and-prune methods in the CUIK suite can also approximate positive-dimensional solutions. This can be used to compute the whole C-space or some of its subsets, providing global information on the motion capabilities of a manipulator.
Conclusions This paper has described the CUIK suite, a comprehensive set of tools to analyze C-spaces implicitly defined by systems of kinematic constraints. We provided a brief account of the underlying techniques and the commands used to invoke them. Since problems involving kinematic constraints are ubiquitous in Robotics, the suite may potentially be used in contexts beyond those described in the paper, including mobile robot localization and mapping  [17] , motion analysis and synthesis of robot formations, tensegrity and deployable structures, or programmable surfaces, to name a few. In the future we plan to extend the suite to also accommodate the dynamics of multibody systems, in order to facilitate a direct interfacing with robots operating under high accelerations. However, the suite is an open source package under continuous development, and hence we invite the community to use it and to help us to improve it by sending feedback and suggestions on new functionalities to include.
Acknowledgments The branch-and-prune methods in the CUIK suite have evolved from years of collaboration with Federico Thomas, whose guidance and inspiring comments have certainly shaped the final result. We would like to express our gratitude to  Michael. E. Henderson , for introducing the authors to the higher-dimensional continuation methods, and to  Dimiter Zlatanov , for his feedback and support on the analysis and interpretation of mechanism singularities. This work has been partially supported by the  Spanish Ministry of Economy and Competitiveness  under project  DPI2010-18449 , by a  Juan de la Cierva  fellowship supporting Montserrat Manubens, and by a  CSIC JAE-Doc  fellowship partially funded by the  ESF supporting Léonard Jaillet.
Section 2 describes the novel observational strategies used to reduce sky subtraction uncertainties. Section 3 presents the image reduction pipeline; with night sky flat fielding in Section 4, median sky subtraction in Section 5, and zeropoint calibration practises in Section 6. In Section 7 we present our method for recovering the galaxy surface brightness by minimizing image-to-image differences across the mosaic, while in Section 8 we analyze the results of this algorithm. We estimate the systematic uncertainties in our mosaic solution in Section 9, where we also compare our technique to the Montage package  (Berriman et al. 2008 ) and the Spitzer/IRAC mosaics. In Section 10 we consider the accuracy of the surface brightness shapes recovered by our pipeline. Ultimately we seek the observation and reduction method that maximizes surface brightness accuracy.
Since the sky itself is ∼ 10 3 × brighter than the outer disk of M31 in the NIR, a 5% uncertainty in the background would be fatal to our objective of recovering M31's extended NIR surface brightness. To constrain sky brightness to within 1%, we ensured that a sky sample would be no more than 5 minutes removed from a M31 target image. Given the re- spective exposure times (chosen so as not to saturate with the sky brightness), this implied a sky (S)-target (T ) observing sequence of S 3 T 8 S 3 in J and S 5 T 13 S 5 in K s. 1  Four sky fields were chosen (Fig. 1 ), and each disk field was associated with a single sky field. 2. 2. 2009B Semester Analysis of the 2007B data revealed that the adopted skytarget nodding strategy was not sufficient for recovering the M31 surface brightnesses due to uncertainties in the sky background.
IMAGE PREPARATION The crux of this paper is finding how wide-field NIR mosaics can best be made with the WIRCam instrument on CFHT, and determining what limits the accuracy of our surface brightness maps. To begin, we note that WIRCam data are offered by CFHT in three progressive stages of preprocessing by their 'I'iwi 1. 0 pipeline to allow programmes, such as this one, to re-implement calibration recipes for potentially higher surface brightness accuracy. The data flavours are: a raw image that is essentially untouched after leaving the instrument ( * o. fits); an image that has been corrected for nonlinearity, dark subtracted and flat fielded ( * s. fits); and an image that has been sky subtracted, in addition to all the previous treatments ( * p. fits). As sky subtraction is the highest source of error in our program, the middle data product, * s.
fits, would appear most amenable as a starting point. Nonetheless, two 'I'iwi 1. 0 processing stages included in * s. fits products must be handled carefully. Cross-talk correction -WIRCam integrations prior to March 2008 (includes the 2007B data set, not the 2009B data) suffered from electronic cross talk within the detector. This cross talk is manifested in repeating rings above and below saturated stars. 2 By default, the 'I'iwi 1. 0 pipeline removes this cross talk by subtracting a median of the 32 amplifier slices. Unfortunately, this algorithm fails in cases where the background has a surface brightness gradient (such as on the disk of M31) and produces an brightness gradient that is stronger than the galaxy surface brightness itself. Loic Albert (then at CFHT) kindly re-processed our 2007B data set with the crosstalk correction turned off.