dataesr/scientific-paragraphs-categorization huggingface dataset:
Details about the line data are presented in Appendix B. We then treated the line profiles as LSD profiles, added synthetic noise, and used them to reconstruct the magnetic field using the ZDI code by  Folsom et al. ( 2018 ). We also studied the impact of two input parameters on the reconstruction of the magnetic topology with the ZDI code: l max , setting the maximum degree of the spherical harmonic expansion describing the magnetic field, and E slope , controlling the change in slope in the entropy curve. More information about these tests can be found in Appendices C and D , along with tables gathering the results. In this discussion, we only address the WFA. The reconstructed magnetic topology for the three values of dipolar field strengths is presented in Table  B1. The magnetic topology is almost perfectly reco v ered for a dipole field of 500 G and 5 kG, and Downloaded from https://academic.
Consequently, the magnetic signature extracted from other spectra obtained 'pole-on' is underestimated. As the longitudinal magnetic field is computed from Stokes signatures according to equation ( 1 ), the change in line depth impacts the value of B l. Ho we v er, this change is v ery weak (points are shifted only by a few Gauss). Finally, the ZDI code run on LSD files computed from a single mask shows similar results as the one presented in Section 4. 5. The parameters computed following Section 4. 5. 2 are not impacted by this mask change.
C O N C L U S I O N In this paper, we presented the first spectropolarimetric analysis of the magnetic CP hot star V352 Peg. With an ef fecti ve temperature of T eff = 11 400 K and gravity log g = 4. 2progress in the understanding of magnetism2 found with Gene v a photometry in good agreement with the TIC, this is an early main-sequence star. Chemical abundances and the projected rotation velocity have been derived using the ZEEMAN code from  Landstreet ( 1988 ). Chromium, iron, and titanium are found in large excess while oxygen, helium, and magnesium are depleted. We have thus reclassified the star as a B9Vp star. Stokes I and V profiles were obtained through a LSD of the spectra. Zeeman signatures are clearly detected in all the spectra, with a clear modulation of the signature with the rotation phase due to a misalignment between the rotation and magnetic axis of the star, predicted by the Oblique Rotator Model.
002 for a 10 kG field strength. The noise level is taken relative to the continuum (as 1 σ of the Gaussian distribution). For the ZDI reconstruction, we adopted the same vsin i , i , rotation phases, line wavelength, and ef fecti ve Land é factor as in the line model. The local Gaussian and Lorentzian line widths were set by fitting the Stokes I profiles through χ 2 minimization, with the final values of 4. 5 and 0. 2 km s -1 , respectively. We then ran the ZDI code on the synthetic line profiles to obtain a magnetic configuration for the three values of dipolar magnetic field. The relative magnetic energies and dipole magnetic field strength estimated using ZDI are gathered in Table  B1  , while magnetic and relative-line strength maps and fits to Stokes I and V profiles are presented in Figs B1 -B3.
On the other hand, if E slope is too small, there is a risk of underfitting. We used three values of entropy slope, scaled with respect to the dipolar magnetic field strength. For example, with B dip = 500 G, we took E slope = 1, 10, and 100, while we multiplied these values by a factor 10 for a field with B dip = 5 kG. We then used the ZDI code by Folsom   2018 ) to reconstruct the magnetic field, using the synthetic line profiles described in Appendix B. We are especially interested in the poloidal and dipolar percentage of the total magnetic energy (supposed to be 100 per cent) as well as the reconstructed dipolar magnetic field strength. We fit Stokes V profiles to a reduced χ 2 = 1. 3. The results are gathered in Table  C1. The trend is similar for the three magnetic field strengths. For a E slope value about the same order of magnitude as the dipolar field strength, the reconstructed magnetic topology is less well-reco v ered than for a smaller value of entropy slope.
to map relative line strengths. Based on observations obtained at the Canada-France-Hawaii Telescope (CFHT), which is operated by the National Research Council (NRC) of Canada, the Institut National des Sciences de l'Univers of the Centre National de la Recherche Scientifique (CNRS) of France, and the University of Hawaii. This research has made use of the SIMBAD database operated at the Strasbourg astronomical Data Center (CDS), Strasbourg (France), of NASA's Astrophysics Data System (ADS), and of the VALD database, operated at Uppsala University, the Institute of Astronomy RAS in Moscow, and the University of Vienna. MNRAS 520,3201-3217 (2023).
Our goal is to provide a comparative study of the existing tools to create MIBS. However, these tools are not designed according to a unique creation process, thus they are rarely interoperable. Moreover, these tools only provide support for specific tasks in their respective processes. Therefore, we first need to propose a synthesis of the processes to create MIBS. For this purpose, we first introduce the tasks usually related to the MIBS life cycle. Then, we propose a literature review of the existing tools that correspond to this life cycle and these tasks. Then we discuss about the lack of tools in the creation process. We finally conclude on the process and software tools related to MIBS creation. We illustrate the different tasks and analyze the existing tools with the meeting room booking service previously presented.
Software components modeling From the UIs and the dialogue models, developers can define the components necessary for building interaction chains. There are different approaches to categorize these components, and each provides modeling languages to define the components' inputs and outputs interfaces, as well as their features. These components could follow the canonical representation as in DynaMo  (Avouac et al. , 2011) , but this isn't the sole approach for MIBS. For instance, in DAME  (Pruvost, 2013) , interaction chains include media controller components that abstract the interaction capabilities of devices or set of devices, and language controller components that act as a bridge between these device-specific components and the device-independent dialogue components. Developers frequently use off-the-shelf software programs when working with IoT ecosystems from various vendors, and for the modality-specific interpretation algorithms.
Software components development The next task for developers is to implement the components from their designs. Components are usually implemented in the same development environment, but the toolkit may be different according to their proximity to devices or interaction techniques. Indeed, in the canonical representation, input and output modalities components are implemented with manufacturers' APIs to communicate with the associated devices while following standard APIs on the MIBS side. Therefore, developers mainly need knowledge about IoT characteristics. If we take the fusion component in our use case as an example, the developers need to implement a tracking algorithm from the user detection, and when a command is received, send it with the tracked information. The tracking method needs to be tailored to the presence sensors data to avoid false positives and negatives.
Device software setup Finally, the connected devices must be started, configured, and connected to the system depending on the architecture discovery and registration capabilities. Regarding the communication process, Rodriguez et al. (Rodriguez and Moissinac, 2017)  explain that there is no single protocol in the IoT, as each vendor usually has its own network ecosystem. As a result, devices deployment is generally not addressed in MIBS-related literature, and they resort to ad hoc solutions. Nevertheless, they propose in their work a model of modality component and a process for discovery and registration that could lead to a consensus in the IoT community. Administrators could also specify here the location of the devices if they have no way of knowing their location in the environment.
Execution Stage Once the MIBS is running, end-users can finally interact with it. However, the MIBS can be further evaluated with the extensive data available at this stage to identify user preferences or dislikes regarding the interactive system. It should be mentioned that the MIBS maintenance remains a challenge  (Chang et al. , 2019) : the IoT is composed of various networks evolving at different rates, and each device in these networks has its own hardware and software lifespan.
Tools such as the ontology editor Protégé 6  provide easy management of generic standard ontologies. Protégé in particular was used to represent knowledge bases in multimodal systems  (Mendonca et al. , 2009; Pruvost, 2013)  and supports the W3C language standard 7. However, Pruvost  (Pruvost, 2013)  asserts that this tool is complex to learn and too permissive. Thus, he has built on its API the "Describe" tool  (Pruvost, 2013)  to simplify the edition of ontologies, and to forbid the edition of their architecture core ontologies. Ontologies have some shortcomings compared to other context representations  (Perttunen et al. , 2009). For instance, it is relatively easy to create inconsistency in the context representation, and consistency checks are expensive. Once the context is defined, numerous tools are proposed to model the dialogue tasks  (Nigay et al.
, 2007)  for formal verification of the interaction paths, and MIGTool  (Brajnik and Harper, 2016)  helps to transform scenario specifications into interaction paths to analyze and compare abstract interaction models according to metrics such as UI flexibility or consistency. With the tasks defined and validated, designers can model the UIs. UI design could be separated between graphical and non-graphical device-dependent representations. Graphical user interfaces  (Pruvost, 2013; Neßelrath, 2015)  in multimodal systems are designed with UI description languages and associated tools. For web-based interfaces, tools such as Bootstrap 8 support HTML5 and CSS edition, and various tools such as the markup validation service 9  complement the editors with useful features. Apple Interface Builder 10  and Sketch 11  are tools to create UIs for the Apple ecosystem.
Development tools As detailed in Section 2. 2. 1, the process to define the components inputs, outputs, and features prior to the actual implementation helps to clarify the purpose of each component. Therefore, it ensures the necessity of each component and providing better documentation. System designers could use SKEMMI  (Lawson et al. , 2009)  to describe components with a simplified component representation, whereas developers could work on these components on their specific level. The possibility to work on the same components on different views for system designers and developers is beneficial for cooperation, but, to our knowledge, this feature is only present in this software tool. To develop the device drivers, services, presentation, and interpretation software components, existing approaches often offer the same editor and require to follow code patterns to match their component model and functionalities.
In SIAM-DP  (Neßelrath, 2015) , they propose plugins for Eclipse to help developers generate code templates, visualize the dialogue flow and preview the GUI. Identically, the AsTeRICS toolkit 14  also provides templates with Eclipse extensions to implement compatible components. Then, it is up to the developers to fill the component patterns with the necessary code, using service API and SDKs. Before implementing the dialogue components, developers could transform the model into a machinereadable dialogue. To do this, developers have access to various interactive system editors. IM-Builder  (Bourguet, 2002) , FSM translator  (Chang and Bourguet, 2008)  and MyUI editor  (Peissner et al. , 2011)  are some of these tools that permit the implementation of the dialogue as a finite state machine (FSM).
Integration tools At this stage, developers and designers can use the developed components in integration tools to create prototypes. To assemble software components in interac-tion chains, most tools adopt a graphical representation of components, and the components can be linked to each other through their interfaces. ICON  (Dragicevic and Fekete, 2001 ) is a graphical editor that helps to create interaction chains. However, it requires a good understanding of its components representation and implementation, and can therefore be difficult to master quickly. ICARE  (Bouchet et al. , 2004)  improves on this concept and enables creation without the need of extensive knowledge thanks to the CARE paradigm representation  (Coutaz et al. , 1995). Indeed, interaction chains are presented here from the end-user perspective, which is more intuitive to work with than abstract implementation variables such as cursors x or y positions.
The level of expertise to use these tools isn't high: it only consists in graphically adding and linking components. From the developed prototypes, designers and ergonomists could assess their usability before delivering the best one to the administrators. There are multiple methods to assess these multimodal prototypes (see section 2. 3), but software tools are not used for methods other than simulation. Indeed, the designers rely on their personal experience for the guidelines compliance assessment. For the users' experiments, designers only need to observe users and collect their feedback with questionnaires. For the simulation method, only one tool was found to assess MIBS prototypes. Pruvost (Pruvost, 2013) created the "Simulate" tool that a designer could use to simulate the system behavior in a schematic representation of the environment.
Deployment tools The final prototype is sent to the administrator for deployment. Some processes present the deployment phase as being simple as starting a software program. One example is the ARE tool 16  that provides a simple menu to handle the system execution. Even if there are systems that dynamically select their interaction devices, most approaches still need an administrator to place the hardware, start and configure the interactive system and the devices. To do this, administrators could be assisted in their tasks. The assembly tools presented in the integration stage (e. g. ICON  (Dragicevic and Fekete, 2001 )) could also be used here. However, users need knowledge about multimodality and data representation to be able to use them. Moreover, they still need to know how to install the devices in the environment, as no spatial information is provided.
Finally, the MIBO Interactive Editor  (Peters et al. , 2016)  offers two features for an administrator. This graphical programming tool enables instantiating simple services rapidly without expertise. It even provides a debugging tool to determine if the defined services conflict with each other. Nevertheless, it doesn't handle multimodal output (i. e. it only controls connected devices), nor does it provides spatial installation guidelines. Therefore, the existing tools provide some support to the deployment stage but don't perform all the tasks identified in the section 2. 4: the tasks of placing devices and configuring their software programs are not addressed.
Indeed, field and laboratories experiments are difficult and costly to perform, but they guarantee results close to the ground truth. Simulation is a good strategy to quickly test several configuration chains, but existing tools rely on modeled users, so the results are more likely to be biased. Simulation with real users could bring the reliability of laboratory experiments with the ease of use of the simulation approach, Virtual Reality (VR) could be a promising technology in this aspect. Works on simulated interactive systems such as the VUMS project  (Peissner et al. , 2011)  or the Augmented Reality (AR) application pipeline in  (Soedji et al. , 2020)  could provide a basis to assess user interactions in MIBS simulations. Deployment tools only consider the software configuration, but they lack a mean to help the administrator place the interaction devices without relying on trial and error.
Our approach focuses on solving the task sequencing and the motion planning in an obstructed industrial environment. The majority of current solutions solve only partially this problem with insufficient performance for being integrated into the global solution. Also, current simulation software, such as RobCad, Delmia, or Roboguide, does not integrate an effective solution for the task sequencing problem, even less with the automatic robot-robot collision management. On the other hand, IPS software cited in  [13]  works on solving the task sequencing with conflicts. There are two main approaches addressing the coordination of multi-robot systems: centralized and decoupled  [14]. The centralized approach is characterized by coordinating robots in a combined configuration space C space. Namely, the configuration spaces of all robots are merged into a single composite configuration space by performing a Cartesian product.
C. New Overall Strategy The iterative approach adopted is a major improvement with respect to previously developed algorithms. To the best of our knowledge, our solution is the first to attempt to solve the problem in its entirety by analyzing the influence of each stage on the final cycle time. In addition, this approach has been directly implemented in the industrial software Fanuc ROBOGUIDE. Moreover, the algorithms have been also interfaced with ROS-I capabilities to ensure more generalized simulations. Fig. 5  illustrates the strategy on which our solution is based. The complexity of RTSP is due to an increasing number of parameters introduced by the considered robotic factors, as has been previously discussed. For instance, it is complicated to achieve sufficient performance by calling the planner between each two consecutive robot actions to avoid collisions, especially when dealing with an NP-hard problem with, for instance, up to 50 tasks including multiple IK solutions in multi-robot systems.
6-b  shows the high-quality solution when the following constraint are considered: points '3', '5' and '8' are not reachable for robot r 1 and points '7', '9', '11' are not reachable for robot r 2. The solution in the constrained case demonstrates the capacity of our algorithm to adapt and find a new solution respecting the accessibility constraints. As previously stated, the optimality gap is very complex to be determined for the studied problem. However, it can be determined for a special case of a single robot without considering obstacles where the problem can be reduced to GTSP. Fig. 7  shows the evolution over time of our cost function for 30 tasks solving GTSP. It can be appreciated that the cost converges to similar values as the exact solver Gurobi (gurobi. com) with a small distribution around it.
Note that all the cases have been simulated and Case 3 has been validated on real robots for demonstrative purposes. For real validation, we have constructed a scenario with two sixaxis Stäubli TX-90 robots, each one equipped with Schunk grippers, both in simulation and in a real robotic cell. Fig. 6. Solution with and without constraint on accessibility (high quality sequence in blue for r 1 and in red for r 2 ): a) both robots can reach all the welding points; b) points 3, 5 and 8 are not reachable by robot r 1 , and points 7, 9 and 11 are not reachable by robot r 2. Fig. 7. Solutions of multiple runs for GTSP using our approach compared to an optimal solution for 30 tasks. The implementation was based on Robot Operating System (ROS) (ros. org). By exploiting ROS-Industrial capabilities, the implementation has the main advantage of, not only encompassing all types of robots, but also making the solution easily embeddable into any industrial simulation software.
The muscle groups can be selected along with the start and finish angles at which they are activated. The pulse width, amplitude, and frequency can be modified. The application was designed to collect and save data for offline processing, including the configuration for each channel (ON/OFF, start angle, finish angle, frequency, pulse width, and amplitude), as well as the timestamp, cadence reference value, actual angle, and actual speed. The system exchanges data via the Bluetooth wireless communication protocol at 10 Hz. A mobile application (Android) was developed to set and modify the stimulation parameters of the stimulation channels in real time (Figure  5 ). The muscle groups can be selected along with the start and finish angles at which they are activated. The pulse width, amplitude, and frequency can be modified.
A predefined cadence sequence was set, starting at 25 rpm for 60 s, then rising to 38 rpm for 30 s, rising again to 42 rpm and remaining at that level for 60 s before dropping to 38 rpm for 30 s and finishing at 25 rpm for an additional 60 s. The cadence tracking results are illustrated in Figure  9. A moving average filter with a window size of 20 was used for a better visual inspection. The data were collected at 10 Hz. A one-sample Wilcoxon signed-rank test was performed to determine whether the median of the whole pedaling cycle was equal to each of the cadences defined in the protocol. was proposed. A predefined cadence sequence was set, starting at 25 rpm for 60 s, then rising to 38 rpm for 30 s, rising again to 42 rpm and remaining at that level for 60 s before dropping to 38 rpm for 30 s and finishing at 25 rpm for an additional 60 s.
Acknowledgments: We would like to extend our deepest thanks to the research volunteer, J. S. M. We would like to thank the  Brazilian LEB/UFMG laboratory , the postgraduate programs in Electrical Engineering (PPGEE/UFMG),  Angelo Freitas  for the 3D mechanical part design. We are also grateful for the support of the Sports Training Center ( CTE/EEFFTO/UFMG ), of the  National Secretariat for High Performance Sports of the Ministry of Citizenship (Federal Government, Brasília, Brazil-Protocols  No. 58000. 008978/2018-37and  No. 71000. 056251/2020-49 )and the  Brazilian Paralympic Committee (CPB). The authors are members of the CACAO associate team between Brazil and France.
6. 1). Lavaan is a statistical package designed for a large variety of multivariate statistical models, such as path analysis, confirmatory factor analysis, growth curve analysis, and structural equation modelling  (Rosseel, 2012). For robustness of the results, we estimated three models: Models A, B, and C. Models A and B had no control variables, while in Model C, we controlled for gender, age, and the level of education of the respondents. Our initial model, Model A, did not fit the data properly as indicated by relatively higher SRMR and RMR values. In such cases, it is common to modify initial model (see e. g. Paul et al. 's (2016) ) by introducing additional paths (direct and indirect), that resulted Model B (See Table  6  for the results of the indirect path estimations). Subsequently, we estimated the model with control variables to obtain Model C.
The glass ceiling was replaced, and we then switched to a background with a white circle on a dark background, with the female positioned in the middle of the white circle. We observed the behaviour of the female for 90 seconds, with video recording at 25 frames per second (with a resolution of 1080 p), with a Nikon © D750 camera (Figure  2. a). We then analysed the videos files, determining the 2D spatial position (x-y coordinates) and body orientation (in radians) of the female on each frame, with C-trax software  (Branson, Robie, Bender, Perona, & Dickinson, 2009). We independently determined the exact position of the border between the white circle and the black background with ImageJ software  (Abràmoff, Magalhães, & Ram, 2004). We thus defined regions of interest of 0. 5 cm on either side of the border, for investigation of the behaviour of the insect near the border (Figure  2.