esa-sceva/satcom-chunk-collection huggingface dataset:
## 4 Experiments and Results
### Performance Comparision between PE-ASM and Other Face Models  
The Boston University (BU) head pose DB [21] is the standard head pose dataset which provides ground truth of each subject's head pose movements. It has been used in many previous studies in evaluating the head pose estimation task. However, the pose variation in the BU DB was not significant and, normally, it was less than 30\({}^{\circ}\). Thus, it requires building a new database in which the range of head poses is large, as is often seen in the natural driving condition.  
We have tested four face models such as AAM, ST-ASM, DB-ASM, and PE-ASM using the above two datasets. It is found that PE-ASM outperforms other three face models regarding the yaw fitting,  
Figure 8: A wireless gyro-sensor module mounted in a white box and its receiver (**left**), and cameras and other setup installed in the vehicle (**right**).  
\begin{table}
\begin{tabular}{c c c c} \hline
**Value** & **Pitch** & **Roll** & **Yaw** \\ \hline Min & \(-\)30.9305 & \(-\)46.0244 & \(-\)54.5366 \\ Max & 39.4360 & 52.2275 & 75.1661 \\ \hline \end{tabular}
\end{table}
Table 3: Head pose ranges of four subjects in our custom-made face database.  
Figure 9: Images for four subjects taken from our custom-made driving face database. The driver often nods without looking at the side and rear mirrors. In our custom-made DB, subjects are asked to move their head to the extreme head poses while driving naturally. The yaw, pitch, and roll of the extreme poses are greater than 30\({}^{\circ}\) for four subjects and the image size is 640 \(\times\) 480 with 500 frames length for each case.  
which is the most important head pose component among three, for the BU DB case as shown in the top of Figure 10. Yet, performance between DB-ASM and PE-ASM for three components is not significant, which is in fact expected because the head pose ranges of BU DB are mostly less than 30\({}^{\circ}\). The bottom panel of Figure 10 shows the result for our custom-made DB, where PE-ASM and DB-ASM outperform other two models in general. Notice that performance for the yaw is significantly improved with PE-ASM and DB-ASM. Overall performance of PE-ASM is better than that of DB-ASM, especially when the head pose is within the extreme head pose range.  
Figure 11 illustrates the head pose estimations by AAM and PE-ASM, respectively. The top graphs (a,b) are obtained by applying two face models to BU DB, whereas the bottom ones (c,d) from our custom face DB. Given that the dotted lines in these graphs are the ground truth values, PE-ASM estimates the subject's head pose reasonably well, whereas AAM cannot accommodate the extreme head cases. The blue arrows indicate when each subject made his head rotation. The top subject's image came from BU DB, whereas the bottom one is from our custom-made face DB.  
Figure 10: Performance comparison between four face models using BU DB (Boston University database) (**top**) and our custom-made database (**bottom**). Three different head rotations are indicated with blue, red, and green, respectively.
Sensors_**2012**, _12_, 14592-14603; doi:10.3390/s121114592  
_Sensors_  
**ISSN 1424-8220**  
www.mdpi.com/journal/sensors  
_Article_  
**Multipath Estimation in Urban Environments from Joint GNSS Receivers and LiDAR Sensors**  
**[PERSON] 1,\({}^{\star}\), [PERSON] 2, [PERSON] 1, [PERSON] 3 and [PERSON] 3**  
\({}^{1}\) Department of Electronics and Telecommunications (DET), Politecnico di Torino,  
Corso Duca degli Abruzzi, 24-10129 Turin, Italy; E-Mail: [EMAIL_ADDRESS]  
\({}^{2}\) Shanghai Advanced Research Institute, Chinese Academy of Sciences, 3 rd floor, 1 st Building,  
Haike Road 99, Pudong, Shanghai 201203, China; E-Mail: [EMAIL_ADDRESS]  
\({}^{3}\) DEIMOS Space S.L.U., Ronda de Poniente, 19-28760 Tres Cantos, Madrid, Spain;  
E-Mails: [EMAIL_ADDRESS] (D.D.C.);  
[EMAIL_ADDRESS] (A.J.F.)  
\({}^{\star}\) Author to whom correspondence should be addressed; E-Mail: [EMAIL_ADDRESS];  
Tel.: +39-011-2276-432.  
_Received: 31 July 2012; in revised form: 10 October 2012 / Accepted: 23 October 2012 / Published: 30 October 2012_  
**Abstract:** In this paper, multipath error on Global Navigation Satellite System (GNSS) signals in urban environments is characterized with the help of Light Detection and Ranging (LiDAR) measurements. For this purpose, LiDAR equipment and Global Positioning System (GPS) receiver implementing a multipath estimating architecture were used to collect data in an urban environment. This paper demonstrates how GPS and LiDAR measurements can be jointly used to model the environment and obtain robust receivers. Multipath amplitude and delay are estimated by means of LiDAR feature extraction and multipath mitigation architecture. The results show the feasibility of integrating the information provided by LiDAR sensors and GNSS receivers for multipath mitigation.  
**Keywords:** global navigation satellite system; light detection and ranging; multipath
# Structural Health Monitoring Using Machine Learning and Cumulative Absolute Velocity Features
## 2 Setting of the Computer Experiments
### Data Source
#### 2.1.1 Analytical Model  
The SDOF model used in this study was developed in OpenSees [32] using Steel01 material which has a bilinear behavior with strain hardening of 1%. The mass, stiffness, and damping of the SDOF system were based on pushover and eigenvalue analyses reported in [33; 34]. The base shear coefficient (\(\eta\)), i.e., the ratio between the base shear at yield (\(Vy_{base}\)) and the weight of the building (\(W\)), was taken as 0.2, as recommended by [35] for regular structures designed for seismic risk category D.
# Full-Duplex MAC Protocol for CSMA/CA-Based Single-Hop Wireless Networks
## 3 Proposed FD MAC Protocol  
According to the model above, in the HD networks, if more than one node sends signals, then collisions will occur. However, in the FD networks, two nodes are allowed to transmit signals simultaneously. Moreover, if two nodes in the network send the frames for each other, then the system throughput is twice that of the two nodes working in the HD mode. Hence, the proposed FD MAC protocol needs to increase this opportunity.
# UAV Formation Shape Control via Decentralized Markov Decision Processes
## 3 NBO Approach to Solve Dec-MDP  
It is well know in the literature that solving Equation (2) exactly is computationally prohibitive and not practical. For this reason, we extend a heuristic approach called _nominal belief-state optimization_ (NBO) [10]. As discussed in the previous section, we let a UAV optimize its own and its nearest neighbor's controls over the time horizon \(H\). Once the UAV calculates local controls for itself and its neighbors, the UAV implements its own controls and discards its neighbors controls at each time step. Since obtaining the expectation in Equation (2) exactly is not tractable, the NBO approach approximates this expectation by assuming that all the future random variables (over which the expectation is supposed to be evaluated) assume the nominal values, i.e., the mean values. Since we model the above-mentioned random variable as zero-mean Gaussian, the nominal values are simply zeros. In summary, the NBO approach approximates the cumulative cost function in Equation (2) by replacing the expectation with the random trajectory of the states over time by a sequence of states obtained by replacing future random variables with zeros. In the NBO method, the objective function at agent \(i\) is approximated as follows:  
\[J(b_{0}^{i})\approx\sum_{k=0}^{H-1}c(\hat{b}_{k}^{i},a_{k}^{i},a_{k}^{m}), \tag{3}\]  
where \(\hat{b}_{1}^{i},\hat{b}_{2}^{i},\ldots,\hat{b}_{H-1}^{i}\) is a _nominal_ local state sequence.
## 2 Phase-Resolved Doppler Model in SD-OCT
### The Impact of Lateral Resonant Scanning on PR-DOCT
Considering the contour plots in Figure 1 describing the Doppler phase shift in dependence on the normalized axial \(\delta z\) and transverse \(\delta x\) displacement, a lateral resonant scanning relative to the transverse component of the oblique sample movement results in a negative offset in the \(\delta x\)-direction of the linear slope, describing the phase shift. Knowing the Doppler angle \(\vartheta\) from 2D or 3D scans, the absolute sample velocity can be calculated by the linear \(\Delta\varphi\)-\(v_{2}\)-relation in Equation (2). Finally, the question of whether LR-DOCT is practicable for moving volume scatterers arises. The challenge for flowing emulsions and suspensions with scattering structures for the near-infrared wavelength range is the temporal variability of the particle position within flow channels or blood vessels, which hampers the particle tracking and LR-DOCT. The experimental validation of this question is the subject of the presented research study.
# Timbre Preferences in the Context of Mixing Music
## 3 Sound Manipulations
### Relations of Timbre Manipulators to Physical Concepts in Music Generation
#### 3.3.1 Slope Manipulation  
It is well known that the amplitudes of upper partials increase more than those for lower partials when instruments are played with a higher intensity, which makes them sound brighter [16]. In conventional synthesizers, this often leads to the velocity of the input being not only linked to the overall amplitude but also to the frequency of a cut-off filter (low-pass) to imitate the behavior of physical instruments.
# Dispensing of Prescribed Medicines in Swiss Community Pharmacies-Observed Counselling Activities
## 4 Discussion
### Counselling
#### 4.1.1 Patient Involvement  
This observational study showed that the pharmacy staff were the main initiators of discussion, confirming the findings of another observational Dutch study, which videotaped their encounters [9]. A systematic review revealed a mainly passive role of the patient in conversations with healthcare providers [36], even though guidelines encourage interactive communication [5]. This is in line with this observational study; customers asked only a few questions, although these questions might give the pharmacy staff the opportunity to tailor information on patients' needs [4]. Lack of privacy at the counter [37], lack of interest in pharmacy counselling [38; 39; 40], and patients' underestimation of pharmacists' role in healthcare are possible reasons for patients' barriers in asking questions [27; 34; 41]. Nevertheless, the patients' initiative would be important, knowing that the outcome of a dialogue depends on the person who initiates the discussion [42]. Indeed, in patient-centered care, the patient always comes first, and their needs should drive the PE [43]. Therefore, the patient should be encouraged in PEs to be more active in the discussion. Furthermore, the findings revealed that pharmacy staff sometimes offered counselling only by asking general closed questions (e.g., do you know this medicine already?), limiting the counselling provision and the patient involvement, and consequently not taking into account the patients' needs. It has been shown that the counselling provided to the patients does not fulfil their information needs [44]. A study exploring advice-giving behavior in British community pharmacies reported that the counselling was mostly based on product use, and that the customers wished information about the drug's effectiveness, while the pharmacists provided information on drug safety. The authors proposed a protocol to guide pharmacy staff, including the customers' perspective [27]. To meet patient needs, the pharmacists should better listen to the patients' problems and provide individualized counselling [45].
## 2 Materials and Methods
### RNA Sequencing Analysis  
Total RNA was extracted from the whole fruit body using the TRIzol reagent (Invitrogen, Waltham, MA, USA) and then used for the library construction with the RibospinTMII Kit (Geneall Biotechnology, Seoul, Korea) according to the manufacturer's instructions. A total of six RNA-seq paired-end libraries were constructed from the control (no light) and blue light illuminated sample consisting of three biological replicates each, using the SMARTer Stranded RNA-Seq Kit (Clontech Laboratories Inc., Mountain View, CA, USA) following the manufacturer's instructions. Each library was then loaded onto the Illumina Hiseq2000 platform, high-throughput sequencing was performed, and paired-end reads were generated. High-quality reads were obtained after several steps of quality checks, which included trimming and the removal of the adaptor/primer and low-quality reads using Trimmomatic v 0.35 [13], and sequence data with quality scores of Q \(\geq\) 20 were extracted using SolexaQA. High-quality filtered reads of all samples were mapped to a draft genome sequence of _Lentinual edodes_ W1-26 (v1.0) from the Joint Genome Institute (JGI) [14] using histat2 [15], with all parameters set to the default. Then, HTSeq v0.6.1 was used to count the reads that were mapped to each gene and how many reads were mapped to the exons of each gene [16]. The differentially expressed genes between blue light and no-light conditions were identified by the EdgeR package [17], and up and downregulated genes with a \(p\)-value \(<\) 0.05 and an absolute fold change value of \(\geq\)2 were considered for differentially expressed genes (DEGS) and used for downstream functional analysis. Furthermore, assessment of the quality of the mapped reads was conducted by Qualimap for mapping alignment rates, the duplication rate, the GC content, and reads of genomic location [18].
## 4 Results
### Nutrient Export Estimation Using NDR Model
#### 4.8.4 Nutrient Export Estimation of Predicted LULC under Scenario III
\begin{table}
\begin{tabular}{c c c c c c c} \hline \hline \multirow{2}{*}{**Year**} & \multicolumn{2}{c}{**Area**} & \multicolumn{2}{c}{**Nitrogen Export**} & \multicolumn{2}{c}{**Phosphorus Export**} & \multicolumn{2}{c}{**Mean Annual Rainfall**} \\ \cline{2-7}  & **km2** & **Total (kg)** & \
\begin{tabular}{c} **Average** \\ **(kg/km2)** \\ \end{tabular} & **Total (kg)** &
\begin{tabular}{c} **Average** \\ **(kg/km2)** \\ \end{tabular} & **(mm)** \\ \hline
2020 & 891.35 & 200,387.36 & 224.81 & 43,956.03 & 49.31 & 1523.53 \\
2021 & 891.35 & 204,228.36 & 229.12 & 44,919.41 & 50.39 & 1508.50 \\
2022 & 891.35 & 207,404.15 & 232.69 & 45,715.39 & 51.29 & 1465.20 \\
2023 & 891.35 & 210,923.54 & 236.63 & 46,580.29 & 52.26 & 1517.76 \\
2024 & 891.35 & 213,774.11 & 239.83 & 47,267.91 & 53.03 & 1537.45 \\
2025 & 891.35 & 217,498.34 & 244.01 & 48,206.67 & 54.08 & 1544.38 \\
2026 & 891.35 & 220,573.44 & 247.46 & 48,942.83 & 54.91 & 1486.75 \\
2027 & 891.35 & 223,621.85 & 250.88 & 49,650.28 & 55.70 & 1472.48 \\
2028 & 891.35 & 226,714.19 & 254.35 & 50,389.99 & 56.53 & 1539.43 \\
2029 & 891.35 & 229,756.13 & 257.76 & 51,149.42 & 57.38 & 1498.28 \\ \hline \hline \end{tabular}
\end{table} 
Table 30: Estimation of nitrogen and phosphorus export between 2020 and 2029 under Scenario III. on the biophysical table, wetland provides the highest maximum retention efficiency and provides low nitrogen and phosphorus load. The decreased paddy field area under scenario II affected the nutrient export, as this LULC type supplies the highest nitrogen and phosphorus load with low maximum retention efficiency. Nevertheless, scenario III (Economic crop zonation) generated higher nutrient export than other scenarios, as the paddy field and field crop areas were increased according to their LDD suitability classes. These areas provide the highest nitrogen and phosphorus load, but low maximum retention efficiency. This result is in agreement with [65], who applied the NDR model to calculate nutrient export under two different scenarios. They found that the cropland balance policy negatively impacted water purification by increasing nitrogen export, which was 8.36% higher than that in the no strict cropland protection scenario.
###### Abstract  
Free space optical (FSO) communication can support various unmanned aerial vehicles' (UAVs) applications that require large capacity data transmission. In order to perform FSO communication between two terminals, it is essential to employ a pointing, acquisition, and tracking (PAT) system with an efficient and optimal performance. We report on the development of a common optical-path-based FSO communication system, tailored for applications in UAVs. The proposed system is equipped with a quadrant photodiode (QPD)-based PAT system without an additional beacon beam subsystem. The presented approach reduced the structural complexity and improved the tracking efficiency for the same size, weight, and power (SWaP). To achieve a robust FSO link in a dynamic UAV environment, the observability and controllability were obtained based on the linearized control according to the incident beam size on the QPD, which was verified by optical simulation and experiments. As a result, the QPD-based PAT system for implementing FSO links demonstrated an up to 4.25 times faster tracking performance. Moreover, the FSO link experimentally confirmed the 1.25 Gbps full-duplex error-free communication at a 50 m distance.  
free space optical communications; optical wireless communications; quadrant photodiode; optical sensor; position measurement; tracking +
Footnote †: journal: Sensors
# Routing Schemes in FANETs: A Survey
## 6 Open Issues
### Improving Network Coverage by Using High and Low Altitude UAVs  
Frequent link disconnections and network partitions occur due to high dynamicity (X.1) of network topology, particularly when nodes move out of the coverage (or transmission range) of neighboring nodes or BS. This increases route discovery and maintenance to reestablish routes, as well as packet retransmission, resulting in higher cost (X.2) [133]. Consequently, network performance degrades, which can be unacceptable in critical circumstances, such as during disaster relief and rescue operations [104; 134]. Both high and low altitude platforms can be used. The high altitude platforms (e.g., balloons) provide a large coverage that can improve connectivity among nodes [150; 151], hence improving the routing performance. The low altitude platforms (e.g., helikites [152]) provide a small coverage that can improve local connectivity among nodes [153]. Further investigation could be pursued to investigate how UAVs can collaborate with high and low altitude platforms to improve routing performance.
# A Novel Mobile Communications Authentication Scheme with Roaming Service and User Anonymity
## 2 Preliminaries
### [PERSON]'s Scheme
#### 2.1.2 Authentication Phase
Otherwise, the HA calculates MAC\({}_{\rm HA}\) = H(X \(|\) Y \(|\) IID\({}_{\rm FA}\) \(|\) IID\({}_{\rm HA}\) \(|\) I\({}_{\rm HA}\) \(|\) ISK\({}_{\rm HF}\)) and c\({}_{2}\) = H(X\({}^{\prime}\)1 \(|\) H(ID\({}^{\prime}\)MU \(|\) N) \(|\) I\(\rm X\) \(|\) Y \(|\) IID\({}_{\rm FA}\) \(|\) IID\({}_{\rm HA}\)), where T\({}_{\rm HA}\) is the HA's current timestamp. The HA then sends the message {MAC\({}_{\rm HA}\), c\({}^{\prime}\)2 = c\({}_{2}\)\(\oplus\)H(T\({}_{\rm HA}\) \(|\) ISK\({}_{\rm HF}\)), T\({}_{\rm HA}\)} to the FA. **V4. ** FA\(\rightarrow\)MU: m\({}_{\rm LV4}\){Y, c\({}_{2}\), c\({}_{3}\) = (TCert\({}_{\rm MU}\))\({}_{\rm sk}\)}  
When the message is received from the HA, the FA checks the validity of the timestamp T\({}_{\rm HA}\). If it is valid, the FA calculates H(X \(|\) Y \(|\) IID\({}_{\rm FA}\) \(|\) IID\({}_{\rm HA}\) \(|\) IID\({}_{\rm HA}\) \(|\) ITH\({}_{\rm A}\) \(|\) ISK\({}_{\rm HF}\)) and verifies whether H(X \(|\) Y \(|\) IID\({}_{\rm FA}\) \(|\) IID\({}_{\rm HA}\) \(|\) ITH\({}_{\rm A}\) \(|\) ISK\({}_{\rm HF}\)) is the same as the received MAC\({}_{\rm HA}\). If it is not valid, the FA terminates the execution. Otherwise, the FA believes that the HA is a valid home agent and the MU is an authenticated user. The FA then calculates c\({}_{2}\) = c\({}^{\prime}\)2\(\oplus\)H(T\({}_{\rm HA}\) \(|\) ISK\({}_{\rm HF}\)) and a session key sk = yX = xyP and sends the message {Y, c\({}_{2}\), c\({}_{3}\) = (TCert\({}_{\rm MU}\))\({}_{\rm sk}\)} to the MU, where TCert\({}_{\rm MU}\) is a temporary certificate for the MU. **V5. ** MU: Y, c\({}_{2}\), c\({}_{3}\) = (TCert\({}_{\rm MU}\))\({}_{\rm sk}\)  
When a message is received from the FA, the MU calculates H(X\({}^{\prime}\)1 \(|\) H(ID\({}^{\prime}\)MU \(|\) I N) \(|\) I\(\rm X\) \(|\) Y \(|\) IID\({}_{\rm FA}\) \(|\) IID\({}_{\rm HA}\)) and verifies whether it is the same as the received c\({}_{2}\). If it is not valid, the MU terminates the execution. Otherwise, the MU believes that it is communicating with a legal FA. The MU subsequently calculates a session key sk\({}^{\prime}\) = xY = xyP = sk and decrypts c\({}_{3}\). Finally, the MU obtains TCert\({}_{\rm MU}\) from the FA.
## 5 Discussion  
The proposed linewidth narrowing scheme based on mutual injection locking is a different method compared with traditional approaches such as self-injection or external cavity lasers. For narrow linewidth operation, self-injection or external cavity increase the photon lifetime via low loss external cavity. The lasing mode is a result of multiple mode selection components. For example, in classical Littrow [42] or Littman [43] configuration, the mode is selected by grating and FP cavity. The Vernier effect in multiple ring resonators [11; 12; 13; 16] is also employed to realize single mode selection. However, stable single-mode lasing state in mutual injection locking is a result of coupling between two oscillators [30; 31], which can last independently without mutual optical injection. Hence the proposed approach can be simply implemented by coupling lasers through an optical path. Moreover, mutual phase-locking in mutual injection locking provides a unique mechanism for linewidth narrowing. The intrinsic linewidth of lasers mutually coupled by fiber link is in the order of 100 Hz, narrower than -kHz obtained in fiber-link based self-injection configuration [15; 16]. In this work, frequency noise reduction mechanisms, dependence on coupling parameters and locking conditions are investigated  
Figure 14: (**a**) PSD of FM noise of injection locked lasers under different coupling strength; (**b**) PSD of FM noise of injection locked lasers with different coupling length. Insets: a magnified view of the white noise. (Peaks at multiples of 100 kHz are measurement artefacts of delayed self-heterodyne measurement).  
Figure 15: Numerical simulation of linewidth performance of mutually injection locked laser based on fiber link. (\(\tau_{d}\) =50 ns, \(\kappa_{c}\)= \(5\times 10^{8}/\)s, \(\delta\) = 0 GHz).  
theoretically and experimentally, demonstrating mutual injection locking as a simple and practical method to compress laser linewidth.  
Although linewidth narrowing of mutually injection locked lasers is achieved in both short and long delay regimes, laser behavior shows different rules. The laser in the short delay regime allows strong coupling and the laser state exhibits a strong dependence on coupling phase. Linewidth narrowing is attributed to the combined effect of the three mechanisms analyzed in Section 2. While, stable injection locking only occurs at weak coupling in the long delay regime and it is insensitive to coupling phase. Mutual phase-locking is considered the main factor for frequency noise suppression.