nils-herrmann/clean_scirepeval huggingface dataset:
Very Fast Solution to the PnP Problem with Algebraic Outlier Rejection

We propose a real-time, robust to outliers and accurate solution to the Perspective-n-Point (PnP) problem. The main advantages of our solution are twofold: first, it in- tegrates the outlier rejection within the pose estimation pipeline with a negligible computational overhead, and sec- ond, its scalability to arbitrarily large number of correspon- dences. Given a set of 3D-to-2D matches, we formulate pose estimation problem as a low-rank homogeneous sys- tem where the solution lies on its 1D null space. Outlier correspondences are those rows of the linear system which perturb the null space and are progressively detected by projecting them on an iteratively estimated solution of the null space. Since our outlier removal process is based on an algebraic criterion which does not require computing the full-pose and reprojecting back all 3D points on the image plane at each step, we achieve speed gains of more than 100&times; compared to RANSAC strategies. An extensive exper- imental evaluation will show that our solution yields accu- rate results in situations with up to 50% of outliers, and can process more than 1000 correspondences in less than 5ms.
Design and dynamic analysis of a Transformable Hovering Rotorcraft (THOR)

This paper describes the Transformable HOvering Rotorcraft (THOR), a prototype Unmanned Aerial Vehicle (UAV) that explores a novel approach in combining the range and speed of a horizontal flying platform with the hovering and maneuverability of a rotor-wing. This is achieved by integrating a tailless flying wing configuration with a single-axis rotor, or monocopter. By maintaining full utilization of all aerodynamic surfaces and propulsion sources in both flight modes, this method represents the most structurally efficient approach to achieving a cruising mode and a hovering mode on the same frame. Using a dual servo and motor configuration, we propose an under-actuated system that is able to achieve controllability in 4 degrees of freedom while in its horizontal cruising mode and in 5 degrees of freedom while in its hovering mode. In both indoor and outdoor experiments, the UAV is able to transition between either flight modes seamlessly and repeatedly without the need for any additional mechanisms and actuators.
An Accurate and Robust Artificial Marker Based on Cyclic Codes

Artificial markers are successfully adopted to solve several vision tasks, ranging from tracking to calibration. While most designs share the same working principles, many specialized approaches exist to address specific application domains. Some are specially crafted to boost pose recovery accuracy. Others are made robust to occlusion or easy to detect with minimal computational resources. The sheer amount of approaches available in recent literature is indeed a statement to the fact that no silver bullet exists. Furthermore, this is also a hint to the level of scholarly interest that still characterizes this research topic. With this paper we try to add a novel option to the offer, by introducing a general purpose fiducial marker which exhibits many useful properties while being easy to implement and fast to detect. The key ideas underlying our approach are three. The first one is to exploit the projective invariance of conics to jointly find the marker and set a reading frame for it. Moreover, the tag identity is assessed by a redundant cyclic coded sequence implemented using the same circular features used for detection. Finally, the specific design and feature organization of the marker are well suited for several practical tasks, ranging from camera calibration to information payload delivery.
Using scrum in a globally distributed project: a case study

While seemingly incompatible, combining global software development and agile practices is a challenge undertaken by many companies. Case study reports on the successful use of agile practices in small distributed projects already exist. How these practices can be applied to larger projects, however, remains unstudied. This paper reports a case study on agile practices in a 40person development organization distributed between Norway and Malaysia. Based on seven interviews in the development organization, we describe how scrum practices were successfully applied, e.g. using teleconferencing and web cameras for daily scrum meetings, synchronized 4-week sprints, weekly scrum-of-scrums, and Jira for backlog management. Non-scrum agile practices included nightly builds, automated testing, and team rooms. Supportig global software development practices, e.g. frequent visits, unofficial distributed meetings, domain expert networks, and annual gatherings are described. Positive experiences of using scrum included improved communication, trust and motivation, as well as better perceived quality. Challenges included misunderstood requirements, lack of videoconferencing possibilities, and awkward communication in distributed meetings due to cultural and geographical distance.
Artificial Intelligence as a Positive and Negative Factor in Global Risk

By far the greatest danger of Artificial Intelligence is that people conclude too early that they understand it. Of course this problem is not limited to the field of AI. Jacques Monod wrote: "A curious aspect of the theory of evolution is that everybody thinks he understands it." (Monod 1974.) My father, a physicist, complained about people making up their own theories of physics; he wanted to know why people did not make up their own theories of chemistry.  Nonetheless the problem seems to be unusually acute in Artificial Intelligence. The field of AI has a reputation for making huge promises and then failing to deliver on them. Most observers conclude that AI is hard; as indeed it is. But the embarrassment does not stem from the difficulty. It is difficult to build a star from hydrogen, but the field of stellar astronomy does not have a terrible reputation for promising to build stars and then failing. The critical inference is not that AI is hard, but that, for some reason, it is very easy for people to think they know far more about Artificial Intelligence than they actually do.
Composite restorations may lead to increased concentrations of salivary and urinary BPA.

Subjects The study sample was composed of 172 adults (U.S. Commissioned Corps and Air Force officers) recruited from dental clinics in military bases in Rockville, Maryland, San Antonio, Texas, and Biloxi, Mississippi. Patients were eligible for the study if they were to be treated with at least one dental composite restoration. Patients were excluded if they had received composite restorations or pit-and-fissure sealants within the last 3 months or wore removable dental appliances, such as orthodontic retainers or partial dentures. The mean age of participants was 43.9 years (standard deviation, SD, 1.1 years), and the sample was evenly distributed by gender (50.3% male, 49.7% female). Subjects were followed a maximum of 30 h after receiving the dental composite restoration, which was adequate to assess short-term changes in chemical concentrations of urine and saliva samples. The authors did not report the years of subject recruitment or data collection.
FrameWire: a tool for automatically extracting interaction logic from paper prototyping tests

Paper prototyping offers unique affordances for interface design. However, due to its spontaneous nature and the limitations of paper, it is difficult to distill and communicate a paper prototype design and its user test findings to a wide audience. To address these issues, we created FrameWire, a computer vision-based system that automatically extracts interaction flows from the video recording of paper prototype user tests. Based on the extracted logic, FrameWire offers two distinct benefits for designers: a structural view of the video recording that allows a designer or a stakeholder to easily distill and understand the design concept and user interaction behaviors, and automatic generation of interactive HTML-based prototypes that can be easily tested with a larger group of users as well as "walked through" by other stakeholders. The extraction is achieved by automatically aggregating video frame sequences into an interaction flow graph based on frame similarities and a designer-guided clustering process. The results of evaluating FrameWire with realistic paper prototyping tests show that our extraction approach is feasible and FrameWire is a promising tool for enhancing existing prototyping practice.
Particle swarm optimization-based algorithms for TSP and generalized TSP

A novel particle swarm optimization (PSO)-based algorithm for the traveling salesman problem (TSP) is presented. An uncertain searching strategy and a crossover eliminated technique are used to accelerate the convergence speed. Compared with the existing algorithms for solving TSP using swarm intelligence, it has been shown that the size of the solved problems could be increased by using the proposed algorithm. Another PSO-based algorithm is proposed and applied to solve the generalized traveling salesman problem by employing the generalized chromosome. Two local search techniques are used to speed up the convergence. Numerical results show the effectiveness of the proposed algorithms.
Characterization of the decision-making deficit of patients with ventromedial prefrontal cortex lesions.

On a gambling task that models real-life decisions, patients with bilateral lesions of the ventromedial prefrontal cortex (VM) opt for choices that yield high immediate gains in spite of higher future losses. In this study, we addressed three possibilities that may account for this behaviour: (i) hypersensitivity to reward; (ii) insensitivity to punishment; and (iii) insensitivity to future consequences, such that behaviour is always guided by immediate prospects. For this purpose, we designed a variant of the original gambling task in which the advantageous decks yielded high immediate punishment but even higher future reward. The disadvantageous decks yielded low immediate punishment but even lower future reward. We measured the skin conductance responses (SCRs) of subjects after they had received a reward or punishment. Patients with VM lesions opted for the disadvantageous decks in both the original and variant versions of the gambling task. The SCRs of VM lesion patients after they had received a reward or punishment were not significantly different from those of controls. In a second experiment, we investigated whether increasing the delayed punishment in the disadvantageous decks of the original task or decreasing the delayed reward in the disadvantageous decks of the variant task would shift the behaviour of VM lesion patients towards an advantageous strategy. Both manipulations failed to shift the behaviour of VM lesion patients away from the disadvantageous decks. These results suggest that patients with VM lesions are insensitive to future consequences, positive or negative, and are primarily guided by immediate prospects. This 'myopia for the future' in VM lesion patients persists in the face of severe adverse consequences, i.e. rising future punishment or declining future reward.
Social Sensing

A number of sensor applications in recent years collect data which can be directly associated with human interactions. Some examples of such applications include GPS applications on mobile devices, accelerometers, or location sensors designed to track human and vehicular traffic. Such data lends itself to a variety of rich applications in which one can use the sensor data in order to model the underlying relationships and interactions. This requires the development of trajectory mining techniques, which can mine the GPS data for interesting social patterns. It also leads to a number of challenges, since such data may often be private, and it is important to be able to perform the mining process without violating the privacy of the users. Given the open nature of the information contributed by users in social sensing applications, this also leads to issues of trust in making inferences from the underlying data. In this chapter, we provide a broad survey of the work in this important and rapidly emerging field. We also discuss the key problems which arise in the context of this important field and the corresponding
Prefrontal space ratio: comparison between trisomy 21 and euploid fetuses in the second trimester.

To evaluate a novel ultrasound measurement, the prefrontal space ratio (PFSR), in second-trimester trisomy 21 and euploid fetuses.



Stored three-dimensional volumes of fetal profiles from 26 trisomy 21 fetuses and 90 euploid fetuses at 15-25 weeks' gestation were examined. A line was drawn between the leading edge of the mandible and the maxilla (MM line) and extended in front of the forehead. The ratio of the distance between the leading edge of the skull and that of the skin (d(1)) to the distance between the skin and the point where the MM line was intercepted (d(2)) was calculated (d(2)/d(1)). The distributions of PFSR in trisomy 21 and euploid fetuses were compared, and the relationship with gestational age in each group was evaluated by Spearman's rank correlation coefficient (r(s) ).



The PFSR in trisomy 21 fetuses (mean, 0.36; range, 0-0.81) was significantly lower than in euploid fetuses (mean, 1.48; range, 0.85-2.95; P < 0.001 (Mann-Whitney U-test)). There was no significant association between PFSR and gestational age in either trisomy 21 (r(s) = 0.25; 95% CI, - 0.15 to 0.58) or euploid (r(s) = 0.06; 95% CI, - 0.15 to 0.27) fetuses.



The PFSR appears to be a highly sensitive and specific marker of trisomy 21 in the second trimester of pregnancy.
A Parallel Method for Earth Mover's Distance

We propose a new algorithm to approximate the Earth Mover’s distance (EMD). Our main idea is motivated by the theory of optimal transport, in which EMD can be reformulated as a familiar L1 type minimization. We use a regularization which gives us a unique solution for this L1 type problem. The new regularized minimization is very similar to problems which have been solved in the fields of compressed sensing and image processing, where several fast methods are available. In this paper, we adopt a primal-dual algorithm designed there, which uses very simple updates at each iteration and is shown to converge very rapidly. Several numerical examples are provided.
Combining Feature-Based and Direct Methods for Semi-dense Real-Time Stereo Visual Odometry

Visual motion estimation is challenging, due to high data rates, fast camera motions, featureless or repetitive environments, uneven lighting, and many other issues. In this work, we propose a twolayer approach for visual odometry with stereo cameras, which runs in real-time and combines feature-based matching with semi-dense direct image alignment. Our method initializes semi-dense depth estimation, which is computationally expensive, from motion that is tracked by a fast but robust feature point-based method. By that, we are not only able to efficiently estimate the pose of the camera with a high frame rate, but also to reconstruct the 3D structure of the environment at image gradients, which is useful, e.g., for mapping and obstacle avoidance. Experiments on datasets captured by a micro aerial vehicle (MAV) show that our approach is faster than state-of-the-art methods without losing accuracy. Moreover, our combined approach achieves promising results on the KITTI dataset, which is very challenging for direct methods, because of the low frame rate in conjunction with fast motion.
Performance evaluation of SQL and MongoDB databases for big e-commerce data

With the advent of big data phenomenon in the world of data and its related technologies, the developments on the NoSQL databases are highly regarded. It has been claimed that these databases outperform their SQL counterparts. The aim of this study is to investigate the claim by evaluating the document-oriented MongoDB database with SQL in terms of the performance of common aggregated and non-aggregate queries. We designed a set of experiments with a huge number of operations such as read, write, delete, and select from various aspects in the two databases and on the same data for a typical e-commerce schema. The results show that MongoDB performs better for most operations excluding some aggregate functions. The results can be a good source for commercial and non-commercial companies eager to change the structure of the database used to provide their line-of-business services.
The Disposition Toward Critical Thinking

There is a set of characterological attributes thought to be associated with developing success at critical thinking (CT). This paper explores the disposition toward CT theoretically, and then as it appears to be manifest in college students. Factor analytic research grounded in a consensus-based conceptual analysis of CT described seven aspects of the overall disposition toward CT: truth-seeking, open-mindedness, analyticity, systematicity, CTconfidence, inquisitiveness, and cognitive maturity. The California Critical Thinking Disposition Inventory (CCTDI), developed in 1992, was used to sample college students at two comprehensive universities. Entering college freshman students showed strengths in openmindedness and inquisitiveness, weaknesses in systematicity and opposition to truth-seeking. Additional research indicates the disposition toward CT is highly correlated with the psychological constructs of absorption and openness to experience, and strongly predictive of ego-resiliency. A preliminary study explores the interesting and potentially complex interrelationship between the disposition toward CT and CT abilities. In addition to the significance of this work for psychological studies of human development, empirical research on the disposition toward CT promises important implications for all levels of education. 1 This essay appeared as Facione, PA, Sánchez, (Giancarlo) CA, Facione, NC & Gainen,  (1995). The disposition toward critical thinking. Journal of General Education. Volume 44, Number(1). 1-25.
A covariance analysis model for DDoS attack detection

This paper discusses the effects of multivariate correlation analysis on the DDoS detection and proposes an example, a covariance analysis model for detecting SYN flooding attacks. The simulation results show that this method is highly accurate in detecting malicious network traffic in DDoS attacks of different intensities. This method can effectively differentiate between normal and attack traffic. Indeed, this method can detect even very subtle attacks only slightly different from the normal behaviors. The linear complexity of the method makes its real time detection practical. The covariance model in this paper to some extent verifies the effectiveness of multivariate correlation analysis for DDoS detection. Some open issues still exist in this model for further research.
Screening by coral green fluorescent protein (GFP)-like chromoproteins supports a role in photoprotection of zooxanthellae

Green fluorescent protein (GFP)-like pigments are responsible for the vivid colouration of many reef-building corals and have been proposed to act as photoprotectants. Their role remains controversial because the functional mechanism has not been elucidated. We provide direct evidence to support a photoprotective role of the non-fluorescent chromoproteins (CPs) that form a biochemically and photophysically distinct group of GFP-like proteins. Based on observations of Acropora nobilis from the Great Barrier Reef, we explored the photoprotective role of CPs by analysing five coral species under controlled conditions. In vitro and in hospite analyses of chlorophyll excitation demonstrate that screening by CPs leads to a reduction in chlorophyll excitation corresponding to the spectral properties of the specific CPs present in the coral tissues. Between 562 and 586 nm, the CPs maximal absorption range, there was an up to 50 % reduction of chlorophyll excitation. The screening was consistent for established and regenerating tissue and amongst symbiont clades A, C and D. Moreover, among two differently pigmented morphs of Acropora valida grown under identical light conditions and hosting subclade type C3 symbionts, high CP expression correlated with reduced photodamage under acute light stress.
Automatic Adaptive Center of Pupil Detection Using Face Detection and CDF Analysis

—This paper presents a novel adaptive algorithm to detect the center of pupil in frontal view faces. This algorithm, at first, employs the viola-Jones face detector to find the approximate location of face in an image. The knowledge of the face structure is exploited to detect the eye region. The histogram of the detected region is calculated and its CDF is employed to extract the eyelids and iris region in an adaptive way. The center of this region is considered as the pupil center. The experimental results show ninety one percent's accuracy in detecting pupil center.
Comparing software metrics tools

This paper shows that existing software metric tools interpret and implement the definitions of object-oriented software metrics differently. This delivers tool-dependent metrics results and has even implications on the results of analyses based on these metrics results. In short, the metrics-based assessment of a software system and measures taken to improve its design differ considerably from tool to tool. To support our case, we conducted an experiment with a number of commercial and free metrics tools. We calculated metrics values using the same set of standard metrics for three software systems of different sizes. Measurements show that, for the same software system and metrics, the metrics values are tool depended. We also defined a (simple) software quality model for "maintainability" based on the metrics selected. It defines a ranking of the classes that are most critical wrt. maintainability. Measurements show that even the ranking of classes in a software system is metrics tool dependent.
A V-band waveguide to microstrip inline transition

A wideband, low loss inline transition from microstrip line to rectangular waveguide is presented. This transition efficiently couples energy from a microstrip line to a ridge and subsequently to a TE10 waveguide. This unique structure requires no mechanical pressure for electrical contact between the microstrip probe and the ridge because the main planar circuitry and ridge sections are placed on a single housing. The measured insertion loss for back-to-back transition is 0.5 – 0.7 dB (0.25 – 0.35 dB/transition) in the band 50 – 72 GHz.
Anomaly Detection in Wireless Sensor Networks in a Non-Stationary Environment

Anomaly detection in a WSN is an important aspect of data analysis in order to identify data items that significantly differ from normal data. A characteristic of the data generated by a WSN is that the data distribution may alter over the lifetime of the network due to the changing nature of the phenomenon being observed. Anomaly detection techniques must be able to adapt to a non-stationary data distribution in order to perform optimally. In this survey, we provide a comprehensive overview of approaches to anomaly detection in a WSN and their operation in a non-stationary environment.