nils-herrmann/clean_scirepeval huggingface dataset:
Software Architecture for Reducing Testing Effort while Ensuring Safety in Autonomous Road Vehicles

This study proposes a software architecture which separates safety constraints from functionality within the context of decision making in autonomous road vehicles. The intention of the separation is to avoid having to recertify safety requirements when updating functionality. The scope is limited to only solving problems which exist as a result of separating safety constraints and functionality. A literature review was done in order to identify common software architectural patterns used in connection with safety in autonomous road vehicles. The patterns were used to design a general architecture which was evaluated through application in an industrial case. The resulting system is divided into a decision component and a safety component. The decision component is responsible for passenger comfort and for reaching the desired destination. The safety component is responsible for ensuring safety and has the power to override any action proposed by the decision component. A prototype was implemented and showed promising results. While the proposed architecture does not necessarily make the initial development easier the benefits are realized later in the life cycle through faster and cheaper verification of new functionality.
A Low Radar Cross Section and Low Profile Antenna Co-Designed With Absorbent Frequency Selective Radome

A low radar cross section (RCS) and low profile antenna co-designed with absorbent frequency selective radome (AFSR) is investigated. A pair of circular slot resonators is embedded on surface of the AFSR to realize a transmission window in the vertical polarization, while the wide absorption band is still maintained in the horizontal polarization. When a patch antenna is etched within the AFSR, where the metal grounds of the patch antenna and AFSR are co-used, the co-designed antenna with low RCS and low profile is thus realized. For demonstration, an AFSR is designed with its transmission window has a minimal insertion loss of 0.45 dB at 8.9 GHz, and two separate absorption bands (a lower absorption band from 4.8 to 7.5 GHz and an upper absorption band from 10 to 13 GHz) in the vertical polarization, a wide absorption band (from 4.5 to 12.5 GHz) in the horizontal polarization. A patch antenna etched within the AFSR is optimized to operate at 8.9 GHz, then it is simulated and fabricated. The measured results demonstrate that the proposed antenna not only has good radiation patterns, but also obtains significant RCS reduction.
Flying Ad-Hoc Networks (FANETs): A survey

One of the most important design problems for multi-UAV (Unmanned Air Vehicle) systems is the communication which is crucial for cooperation and collaboration between the UAVs. If all UAVs are directly connected to an infrastructure, such as a ground base or a satellite, the communication between UAVs can be realized through the in-frastructure. However, this infrastructure based communication architecture restricts the capabilities of the multi-UAV systems. Ad-hoc networking between UAVs can solve the problems arising from a fully infrastructure based UAV networks. In this paper, Flying Ad-Hoc Networks (FANETs) are surveyed which is an ad hoc network connecting the UAVs. The differences between FANETs, MANETs (Mobile Ad-hoc Networks) and VANETs (Vehicle Ad-Hoc Networks) are clarified first, and then the main FANET design challenges are introduced. Along with the existing FANET protocols, open research issues are also discussed.
A Simple Model for Intrinsic Image Decomposition with Depth Cues

We present a model for intrinsic decomposition of RGB-D images. Our approach analyzes a single RGB-D image and estimates albedo and shading fields that explain the input. To disambiguate the problem, our model estimates a number of components that jointly account for the reconstructed shading. By decomposing the shading field, we can build in assumptions about image formation that help distinguish reflectance variation from shading. These assumptions are expressed as simple nonlocal regularizers. We evaluate the model on real-world images and on a challenging synthetic dataset. The experimental results demonstrate that the presented approach outperforms prior models for intrinsic decomposition of RGB-D images.
Watershed Cuts: Minimum Spanning Forests and the Drop of Water Principle

We study the watersheds in edge-weighted graphs. We define the watershed cuts following the intuitive idea of drops of water flowing on a topographic surface. We first establish the consistency of these watersheds: they can be equivalently defined by their "catchment basinsrdquo (through a steepest descent property) or by the "dividing linesrdquo separating these catchment basins (through the drop of water principle). Then, we prove, through an equivalence theorem, their optimality in terms of minimum spanning forests. Afterward, we introduce a linear-time algorithm to compute them. To the best of our knowledge, similar properties are not verified in other frameworks and the proposed algorithm is the most efficient existing algorithm, both in theory and in practice. Finally, the defined concepts are illustrated in image segmentation, leading to the conclusion that the proposed approach improves, on the tested images, the quality of watershed-based segmentations.
UAV Formation Control : Theory and Application !

Unmanned airborne vehicles (UAVs) are finding use in military operations and starting to find use in civilian operations. UAVs often fly in formation, meaning that the distances between individual pairs of UAVs stay fixed, and the formation of UAVs in a sense moves as a rigid entity. In order to maintain the shape of a formation, it is enough to maintain the distance between a certain number of the agent pairs; this will result in the distance between all pairs being constant. We describe how to characterize the choice of agent pairs to secure this shape-preserving property for a planar formation, and we describe decentralized control laws which will stably restore the shape of a formation when the distances between nominated agent pairs become unequal to their prescribed values. A mixture of graph theory, nonlinear systems theory and linear algebra is relevant. We also consider a particular practical problem of flying a group of three UAVs in an equilateral triangle, with the centre of mass following a nominated trajectory reflecting constraints on turning radius, and with a requirement that the speeds of the UAVs are constant, and nearly (but not necessarily exactly) equal.
The Interaction of Architecture and Operating System Design

Today’s high-performance RISC microprocessors have been highly tuned for integer and floating point application performance. These architectures have paid less attention to operating system requirements. At the same time, new operating system designs often have overlooked modern architectural trends which may unavoidably change the relative cost of certain primitive operations. The result is that operating system performance is well below application code performance on contemporary RISCS. This paper examines recent directions in computer architecture and operating systems, and the implications of changes in each domain for the other. The requirements of three components of operating system design are discussed in detail: interprocess communication, virt ual memory, and thread management. For each component, we relate operating system functional and performance needs to the mechanisms available on commercial RISC architectures such as the MIPS R2000 and R3000, Sun SPARC, IBM RS6000, Motorola 88000, and Intel i860. Our analysis reveals a number of specific reasons why the performance of operating system primitives on RISCS has not scaled with integer performance. In addition, we identify areas in which architectures could better (and cost-effectively) accommodate operating system needs, and areas in which operating system design could accommodate certain necessary characteristics of cost-effective highperformance microprocessors. This work was supported in part by the National Science Foundation under Grants No. CCR-8703049, CCR-8619663, and CCR-8907666, by the Washington Technology Center, by the Digital Equipment Corporation Systems Research Center and External Research Program, and by IBM and AT&T Fellowships. Bershad is now with the School of Computer Science, Carnegie Mellon University. Permission to copy without fee all or part of this material is granted provided that the copies are not made or distributed for direct commercial advantage, the ACM copyright notice and the title of the publication and its date appear, and notice is given that copying is by permission of the Association for Computing Machinery. To copy otherwise, or to republish, requires a fee and/or specific permission. 01991 ACM 0-89791 -380 -9/91 /0003 -0108 . ..$1 .50
An Oz-Centric Review of Interactive Drama and Believable Agents

Believable agents are autonomous agents that exhibit rich personalities. Interactive dramas take place in virtual worlds inhabited by characters (believable agents) with whom an audience interacts. In the course of this interaction, the audience experiences a story (lives a plot arc). This report presents the research philosophy behind the Oz Project, a research group at CMU that has spent the last ten years studying believable agents and interactive drama. The report then surveys current work from an Oz perspective. This research was partially supported by a grant from Intel Corporation. The views and conclusions contained in this document are those of the author and should not be interpreted as representing the official policies, either expressed or implied, of Intel Corporation.
Learning Category-Specific Deformable 3D Models for Object Reconstruction

We address the problem of fully automatic object localization and reconstruction from a single image. This is both a very challenging and very important problem which has, until recently, received limited attention due to difficulties in segmenting objects and predicting their poses. Here we leverage recent advances in learning convolutional networks for object detection and segmentation and introduce a complementary network for the task of camera viewpoint prediction. These predictors are very powerful, but still not perfect given the stringent requirements of shape reconstruction. Our main contribution is a new class of deformable 3D models that can be robustly fitted to images based on noisy pose and silhouette estimates computed upstream and that can be learned directly from 2D annotations available in object detection datasets. Our models capture top-down information about the main global modes of shape variation within a class providing a “low-frequency” shape. In order to capture fine instance-specific shape details, we fuse it with a high-frequency component recovered from shading cues. A comprehensive quantitative analysis and ablation study on the PASCAL 3D+ dataset validates the approach as we show fully automatic reconstructions on PASCAL VOC as well as large improvements on the task of viewpoint prediction.
Optimal Personalized Filtering Against Spear-Phishing Attacks

To penetrate sensitive computer networks, attackers can use spear phishing to sidestep technical security mechanisms by exploiting the privileges of careless users. In order to maximize their success probability, attackers have to target the users that constitute the weakest links of the system. The optimal selection of these target users takes into account both the damage that can be caused by a user and the probability of a malicious e-mail being delivered to and opened by a user. Since attackers select their targets in a strategic way, the optimal mitigation of these attacks requires the defender to also personalize the e-mail filters by taking into account the users’ properties. In this paper, we assume that a learned classifier is given and propose strategic per-user filtering thresholds for mitigating spear-phishing attacks. We formulate the problem of filtering targeted and non-targeted malicious e-mails as a Stackelberg security game. We characterize the optimal filtering strategies and show how to compute them in practice. Finally, we evaluate our results using two real-world datasets and demonstrate that the proposed thresholds lead to lower losses than nonstrategic thresholds.
Inverse Kinematics Problem (IKP) of 6-DOF Manipulator by Locally Recurrent Neural Networks (LRNNs)

The paper presents a cognitive architecture for solution of inverse kinematics problem (IKP) of 6-DOF elbow manipulator with spherical wrist by Locally Recurrent Neural Networks (LRNNs) and simulated the solution by using MATLAB/Simulink. This design is aimed to allow the manipulator system to perform complex movement operations by solving the Inverse Kinematic Problem (IKP) with LRNNs by using the position and orientation of end-effector which represent by wrist with 3-DOF. The Levenberg-Marquardt back propagation (LMBP) is used in the learning of LRNNs which offered the high computation and accuracy for solving IKP for manipulator. This model permits direct forward dynamics simulation, which accurately predicts wrist position, also present a solution to the inverse problem of determining set of joints angle to achieve a given command for posture of manipulator. The simulation of design achieved by connect the program with Simulink\MATLAB Ver. 2009b to calculate the forward and inverse kinematic and implement the movements manipulator. Satisfactory results are obtained, that explains the ability of implement the posture of 6-DOF manipulator by calculate the kinematic with LRNNs and implement high complex movements.
Commercialization of microfluidic devices.

Microfluidic devices offer automation and high-throughput screening, and operate at low volumes of consumables. Although microfluidics has the potential to reduce turnaround times and costs for analytical devices, particularly in medical, veterinary, and environmental sciences, this enabling technology has had limited diffusion into consumer products. This article analyzes the microfluidics market, identifies issues, and highlights successful commercialization strategies. Addressing niche markets and establishing compatibility with existing workflows will accelerate market penetration.
Customer Engagement in an Online Social Platform: A Conceptual Model and Scale Development

The rise of new media channels in the last few years has changed the ways customers communicate and exchange information. Managing customer relationship through social media engagement has become an important component of successful electronic marketing strategies. Though the concept of customer engagement has received considerable attention in the business community, there is a paucity of theory-guided empirical research in customer engagement in an online social platform. More importantly, there is a lack of consensus regarding its definition, forms, dimensionality, and operationalization. This study addresses these limitations in part by theoretically conceptualizing and empirically validating a scale to measure customer engagement in an online social platform. In this research-in-progress paper, we present our conceptual model of customer engagement and propose a rigorous approach in scale development and validation. The authors believe that this research will contribute to the development of online community literature and add to the repository of rigorous research instruments for researchers to use.
Car-like robot navigation at high speed

This paper investigates the use of dynamic window approach (DWA) to solve the high speed autonomous navigation problem for mobile robots. In this paper, our main interest is to adapt the DWA to a car-like robot Robucar. This latter can moves with high speed. It is characterized also by its bounded steering angle imposed by its mechanical structure which thereby implies that the robot always moves on circular trajectories whose radius is upper than a certain extent. This approach considers the car-like robot shape, kinematics and dynamics in the determination of translational velocity and steering angle in one step. The approach has been tested in simulation for different environments and demonstrates its practicability.
Jamming sensor networks: attack and defense strategies

Wireless sensor networks are built upon a shared medium that makes it easy for adversaries to conduct radio interference, or jamming, attacks that effectively cause a denial of service of either transmission or reception functionalities. These attacks can easily be accomplished by an adversary by either bypassing MAC-layer protocols or emitting a radio signal targeted at jamming a particular channel. In this article we survey different jamming attacks that may be employed against a sensor network. In order to cope with the problem of jamming, we discuss a two-phase strategy involving the diagnosis of the attack, followed by a suitable defense strategy. We highlight the challenges associated with detecting jamming. To cope with jamming, we propose two different but complementary approaches. One approach is to simply retreat from the interferer which may be accomplished by either spectral evasion (channel surfing) or spatial evasion (spatial retreats). The second approach aims to compete more actively with the interferer by adjusting resources, such as power levels and communication coding, to achieve communication in the presence of the jammer.
Studying the implementation of iterative impedance control for assistive hand rehabilitation using an exoskeleton

A positive training synergy can be obtained when two individuals attempt to learn the same motor task while mechanically coupled to one another. In this paper, we have studied how mimicking this interaction through impedance control can be exploited to improve assistance delivered by hand exoskeleton devices during rehabilitation. In this context, the machine and user take complementary roles akin to two coupled individuals. We present the derivation of a dynamic model of the human hand for the purpose of controller development for new hand exoskeleton platforms. Using this model, we have simulated the behavior of an iterative impedance controller programmed for rehabilitative training. The controller interacts with cylindrical objects to be grasped by means of an inverse kinematic mapping and tuning of mechanical impedance characteristic of the finger joints. Through fusion of concepts from motor control theory, muscle impedance and task oriented control, the controller is capable of iteratively learn to accomplish simple tasks involving grasping and lifting while cooperating with a user. The controller is also capable of adapting to more complex dynamics for more dexterous tasks, such as pulling on a hand-bar or loosening the cap of a jar. We believe the human-robot synergy established in this investigation has benefits to therapy. It can be combined with a broad range of training exercises and represents an incremental step towards mimicking natural human motor responses.
BCDForest: a boosting cascade deep forest model towards the classification of cancer subtypes based on gene expression data

The classification of cancer subtypes is of great importance to cancer disease diagnosis and therapy. Many supervised learning approaches have been applied to cancer subtype classification in the past few years, especially of deep learning based approaches. Recently, the deep forest model has been proposed as an alternative of deep neural networks to learn hyper-representations by using cascade ensemble decision trees. It has been proved that the deep forest model has competitive or even better performance than deep neural networks in some extent. However, the standard deep forest model may face overfitting and ensemble diversity challenges when dealing with small sample size and high-dimensional biology data. In this paper, we propose a deep learning model, so-called BCDForest, to address cancer subtype classification on small-scale biology datasets, which can be viewed as a modification of the standard deep forest model. The BCDForest distinguishes from the standard deep forest model with the following two main contributions: First, a named multi-class-grained scanning method is proposed to train multiple binary classifiers to encourage diversity of ensemble. Meanwhile, the fitting quality of each classifier is considered in representation learning. Second, we propose a boosting strategy to emphasize more important features in cascade forests, thus to propagate the benefits of discriminative features among cascade layers to improve the classification performance. Systematic comparison experiments on both microarray and RNA-Seq gene expression datasets demonstrate that our method consistently outperforms the state-of-the-art methods in application of cancer subtype classification. The multi-class-grained scanning and boosting strategy in our model provide an effective solution to ease the overfitting challenge and improve the robustness of deep forest model working on small-scale data. Our model provides a useful approach to the classification of cancer subtypes by using deep learning on high-dimensional and small-scale biology data.
Learning deep physiological models of affect

More than 15 years after the early studies in Affective Computing (AC),  the problem of detecting and modeling emotions in the context of human-computer interaction (HCI) remains complex and largely unexplored. The detection and modeling of emotion is, primarily, the study and use of artificial intelligence (AI) techniques for the construction of computational models of emotion. The key challenges one faces when attempting to model emotion [2] are inherent in the vague definitions and fuzzy boundaries of emotion, and in the modeling methodology followed. In this context, open research questions are still present in all key components of the modeling process. These include, first, the appropriateness of the modeling tool employed to map emotional manifestations and responses to annotated affective states; second, the processing of signals that express these manifestations (i.e., model input); and third, the way affective annotation (i.e., model output) is handled. This paper touches upon all three key components of an affective model (i.e., input, model, output) and introduces the use of deep learning (DL) , ,  methodologies for affective modeling from multiple physiological signals.
Recognition and Pose Estimation of Rigid Transparent Objects with a Kinect Sensor

Recognizing and determining the 6DOF pose of transparent objects is necessary in order for robots to manipulate such objects. However, it is a challenging problem for computer vision. We propose new algorithms for segmentation, pose estimation and recognition of transparent objects from a single RGB-D image from a Kinect sensor. Kinect’s weakness in the perception of transparent objects is exploited in their segmentation. Following segmentation, edge fitting is used for recognition and pose estimation. A 3D model of the object is created automatically during training and it is required for pose estimation and recognition. The algorithm is evaluated in different conditions of a domestic environment within the framework of a robotic grasping pipeline where it demonstrates high grasping success rates compared to the state-of-the-art results. The method doesn’t deal with occlusions and overlapping transparent objects currently but it is robust against non-transparent clutter.