nils-herrmann/clean_scirepeval huggingface dataset:
Large-scale direct SLAM for omnidirectional cameras

We propose a real-time, direct monocular SLAM method for omnidirectional or wide field-of-view fisheye cameras. Both tracking (direct image alignment) and mapping (pixel-wise distance filtering) are directly formulated for the unified omnidirectional model, which can model central imaging devices with a field of view above 180°. This is in contrast to existing direct mono-SLAM approaches like DTAM or LSD-SLAM, which operate on rectified images, in practice limiting the field of view to around 130° diagonally. Not only does this allows to observe - and reconstruct - a larger portion of the surrounding environment, but it also makes the system more robust to degenerate (rotation-only) movement. The two main contribution are (1) the formulation of direct image alignment for the unified omnidirectional model, and (2) a fast yet accurate approach to incremental stereo directly on distorted images. We evaluated our framework on real-world sequences taken with a 185° fisheye lens, and compare it to a rectified and a piecewise rectified approach.
Current Harmonics Cancellation in Three-Phase Four-Wire Systems by Using a Four-Branch Star Filtering Topology

This paper presents a new solution for filtering current harmonics in three-phase four-wire networks. The original four-branch star (FBS) filter topology presented in this paper is characterized by a particular layout of single-phase inductances and capacitors, without using any transformer or special electromagnetic device. Via this layout, a power filter, with two different and simultaneous resonance frequencies and sequences, is achieved-one frequency for positive-/negative-sequence and another one for zero-sequence components. This filter topology can work either as a passive filter, when only passive components are employed, or as a hybrid filter, when its behavior is improved by integrating a power converter into the filter structure. The paper analyzes the proposed topology, and derives fundamental concepts about the control of the resulting hybrid power filter. From this analysis, a specific implementation of a three-phase four-wire hybrid power filter is presented as an illustrative application of the filtering topology. An extensive evaluation using simulation and experimental results from a DSP-based laboratory prototype is conducted in order to verify and validate the good performance achieved by the proposed FBS passive/hybrid power filter.
AdaBatch: Adaptive Batch Sizes for Training Deep Neural Networks

Training deep neural networks with Stochastic Gradient Descent, or its variants, requires careful choice of both learning rate and batch size. While smaller batch sizes generally converge in fewer training epochs, larger batch sizes offer more parallelism and hence better computational efficiency. We have developed a new training approach that, rather than statically choosing a single batch size for all epochs, adaptively increases the batch size during the training process. Our method delivers the convergence rate of small batch sizes while achieving performance similar to large batch sizes. We analyse our approach using the standard AlexNet, ResNet, and VGG networks operating on the popular CIFAR10, CIFAR-100, and ImageNet datasets. Our results demonstrate that learning with adaptive batch sizes can improve performance by factors of up to 6.25 on 4 NVIDIA Tesla P100 GPUs while changing accuracy by less than 1% relative to training with fixed batch sizes.
Use of Collagen Matrix for Augmentation of the Peri-implant Soft Tissue at the Time of Immediate Implant Placement.

The aim of this study was to determine the treatment outcome of the use of a porcine monolayer collagen matrix (mCM) to augment peri-implant soft tissue in conjunction with immediate implant placement as an alternative to patient's own connective tissue.



A total of 27 implants were placed immediately in 27 patients (14 males and 13 females, with a mean age of 52.2 years) with simultaneous augmentation of the soft tissue by the use of a mCM. The patients were randomly divided into two groups: Group I: An envelope flap was created and mCM was left coronally uncovered, and group II: A coronally repositioned flap was created and the mCM was covered by the mucosa. Soft-tissue thickness (STTh) was measured at the time of surgery (T0) and 6 months postoperatively (T1) using a customized stent. Cone beam computed tomographies (CBCTs) were taken from 12 representative cases at T1. A stringent plaque control regimen was enforced in all the patients during the 6-month observation period.



Mean STTh change was similar in both groups (0.7 ± 0.2 and 0.7 ± 0.1 mm in groups I and II respectively). The comparison of STTh between T0 and T1 showed a statistically significant increase of soft tissue in both groups I and II as well as in the total examined population (p < 0.001). The STTh change as well as matrix thickness loss were comparable in both groups (p > 0.05). The evaluation of the CBCTs did not show any signs of resorption of the buccal bone plate.



Within the limitations of this study, it could be concluded that the collagen matrix used in conjunction with immediate implant placement leads to an increased thickness of peri-implant soft tissue independent of the flap creation technique and could be an alternative to connective tissue graft.



The collagen matrix used seems to be a good alternative to patient's own connective tissue and could be used for the soft tissue augmentation around dental implants.
An Attribute-Based Encryption Scheme to Secure Fog Communications

Fog computing is deemed as a highly virtualized paradigm that can enable computing at the Internet of Things devices, residing in the edge of the network, for the purpose of delivering services and applications more efficiently and effectively. Since fog computing originates from and is a non-trivial extension of cloud computing, it inherits many security and privacy challenges of cloud computing, causing the extensive concerns in the research community. To enable authentic and confidential communications among a group of fog nodes, in this paper, we propose an efficient key exchange protocol based on ciphertext-policy attribute-based encryption (CP-ABE) to establish secure communications among the participants. To achieve confidentiality, authentication, verifiability, and access control, we combine CP-ABE and digital signature techniques. We analyze the efficiency of our protocol in terms of security and performance. We also implement our protocol and compare it with the certificate-based scheme to illustrate its feasibility.
Modeling cognitive control in task-switching.

This article describes a quantitative model, which suggests what the underlying mechanisms of cognitive control in a particular task-switching paradigm are, with relevance to task-switching performance in general. It is suggested that participants dynamically control response accuracy by selective attention, in the particular paradigm being used, by controlling stimulus representation. They are less efficient in dynamically controlling response representation. The model fits reasonably well the pattern of reaction time results concerning task switching, congruency, cue-target interval and response-repetition in a mixed task condition, as well as the differences between mixed task and pure task conditions.
Assessment of a Propeller Model Embedded on a Panel Method Code for Aircraft Aerodynamics . ∗

An inviscid actuator disk model is embedded in a three-dimensional low-order panel method code for inviscid incompressible flow in order to study the propeller effects on an arbitrary body. The actuator disk model predicts the time–averaged induced velocities in the slipstream of a propeller with an arbitrary radial distribution of load. The model is constructed by superposition of four vorticity distributions, by neglecting the radial contraction of the vortex tube and assuming a fixed wake for the propeller. Experimental data, available from the licterature, have been used to validate the actuator disk model embedded in the panel method code.
Game AI as Storytelling

Historically, games have been played between human opponents. However, with the advent of the computer came the notion that one might play with or against a computational surrogate. Dating back to the 1950s with early efforts in computer chess, approaches to game artificial intelligence (AI) have been designed around adversarial, or zero-sum, games. The goal of intelligent game-playing agents in these cases is to maximize their payoff. Simply put, they are designed to win the game. Central to the vast majority of techniques in AI is the notion of optimality, implying that the best performing techniques seek to find the solution to a problem that will result in the highest (or lowest) possible evaluation of some mathematical function. In adversarial games, this function typically evaluates to symmetric values such as +1 when the game is won and -1 when the game is lost. That is, winning or losing the game is an outcome or an end. While there may be a long sequence of actions that actually determine who wins or loses the game, for all intents and purposes, it is a single, terminal event that is evaluated and “maximized.” In recent years, similar approaches have been applied to newer game genres: real-time strategy, first person shooters, role-playing games, and other games in which the player is immersed in a virtual world. Despite the relative complexities of these environments compared to chess, the fundamental goals of the AI agents remain the same: to win the game. There is another perspective on game AI often advocated by developers of modern games: AI is a tool for increasing engagement and enjoyability. With this perspective in mind, game developers often take steps to “dumb down” the AI game playing agents by limiting their computational resources (Liden, 2003) or making suboptimal moves (West, 2008) such as holding back an attack until the player is ready or “rubber banding” to force strategic drawbacks if the AI ever gets the upper hand. The gameplaying agent is adversarial but is intentionally designed in an ad hoc manner to be non-competitive to make the player feel powerful.
Traction Control for a Rocker-Bogie Robot with Wheel-Ground Contact Angle Estimation

(1) Robotics and Automation Laboratory, Department of Mechanical Engineering, Faculty of Engineering, Chulalongkorn University, Phayathai Rd. Prathumwan, Bangkok 10330 http://161.200.80.142/mech, Thailand  A method for kinematics modeling of a six-wheel Rocker-Bogie mobile robot is described in detail. The forward kinematics is derived by using wheel Jacobian matrices in conjunction with wheel-ground contact angle estimation. The inverse kinematics is to obtain the wheel velocities and steering angles from the desired forward velocity and turning rate of the robot. Traction Control is also developed to improve traction by comparing information from onboard sensors and wheel velocities to minimize wheel slip. Finally, a simulation of a small robot using rockerbogie suspension has been performed and simulate in two conditions of surfaces including climbing slope and travel over a ditch.
Regulated ATP release from astrocytes through lysosome exocytosis

Release of ATP from astrocytes is required for Ca2+ wave propagation among astrocytes and for feedback modulation of synaptic functions. However, the mechanism of ATP release and the source of ATP in astrocytes are still not known. Here we show that incubation of astrocytes with FM dyes leads to selective labelling of lysosomes. Time-lapse confocal imaging of FM dye-labelled fluorescent puncta, together with extracellular quenching and total-internal-reflection fluorescence microscopy (TIRFM), demonstrated directly that extracellular ATP or glutamate induced partial exocytosis of lysosomes, whereas an ischaemic insult with potassium cyanide induced both partial and full exocytosis of these organelles. We found that lysosomes contain abundant ATP, which could be released in a stimulus-dependent manner. Selective lysis of lysosomes abolished both ATP release and Ca2+ wave propagation among astrocytes, implicating physiological and pathological functions of regulated lysosome exocytosis in these cells.
Keratinase production and biodegradation of polluted secondary chicken feather wastes by a newly isolated multi heavy metal tolerant bacterium-Alcaligenes sp. AQ05-001.

Biodegradation of agricultural wastes, generated annually from poultry farms and slaughterhouses, can solve the pollution problem and at the same time yield valuable degradation products. But these wastes also constitute environmental nuisance, especially in Malaysia where their illegal disposal on heavy metal contaminated soils poses a serious biodegradation issue as feather tends to accumulate heavy metals from the surrounding environment. Further, continuous use of feather wastes as cheap biosorbent material for the removal of heavy metals from effluents has contributed to the rising amount of polluted feathers, which has necessitated the search for heavy metal-tolerant feather degrading strains. Isolation, characterization and application of a novel heavy metal-tolerant feather-degrading bacterium, identified by 16S RNA sequencing as Alcaligenes sp. AQ05-001 in degradation of heavy metal polluted recalcitrant agricultural wastes, have been reported. Physico-cultural conditions influencing its activities were studied using one-factor-at-a-time and a statistical optimisation approach. Complete degradation of 5 g/L feather was achieved with pH 8, 2% inoculum at 27 °C and incubation period of 36 h. The medium optimisation after the response surface methodology (RSM) resulted in a 10-fold increase in keratinase production (88.4 U/mL) over the initial 8.85 U/mL when supplemented with 0.5% (w/v) sucrose, 0.15% (w/v) ammonium bicarbonate, 0.3% (w/v) skim milk, and 0.01% (w/v) urea. Under optimum conditions, the bacterium was able to degrade heavy metal polluted feathers completely and produced valuable keratinase and protein-rich hydrolysates. About 83% of the feathers polluted with a mixture of highly toxic metals were degraded with high keratinase activities. The heavy metal tolerance ability of this bacterium can be harnessed not only in keratinase production but also in the bioremediation of heavy metal-polluted feather wastes.
Detecting cheaters for multiplayer games: theory, design and implementation[1]

Massively multiplayer game holds a huge market in the digital entertainment industry. Companies invest heavily in the game and graphics development since a successful online game can attract million of users, and this translates to a huge investment payoff. However, multiplayer online game is also subjected to various forms of hacks and cheats. Hackers can alter the graphic rendering to reveal information otherwise be hidden in a normal game, or cheaters can use software robot to play the game automatically and gain an unfair advantage. Currently, some popular online games release software patches or incorporate anti-cheating software to detect known cheats. This not only creates deployment difficulty but new cheats will still be able to breach the normal game logic until software patches are available. Moreover, the anti-cheating software themselves are also vulnerable to hacks. In this paper, we propose a scalable and efficient method to detect whether a player is cheating or not. The methodology is based on the dynamic Bayesian network approach. The detection framework relies solely on the game states and runs in the game server only. Therefore it is invulnerable to hacks and it is a much more deployable solution. To demonstrate the effectiveness of the propose method, we implement a prototype multiplayer game system and to detect whether a player is using the “aiming robot” for cheating or not. Experiments show that not only we can effectively detect cheaters, but the false positive rate is extremely low. We believe the proposed methodology and the prototype system provide a first step toward a systematic study of cheating detection and security research in the area of online multiplayer games.
Positioning and Driving Control of Fork-type Automatic Guided Vehicle With Laser Navigation

We designed and implemented a fork-type automatic guided vehicle (AGV) with a laser guidance system. Most previous AGVs have used two types of guidance systems: magnetgyro and wire guidance. However, these guidance systems have high costs, are difficult to maintain with changes in the operating environment, and can drive only a pre-determined path with installed sensors. A laser guidance system was developed for addressing these issues, but limitations including slow response time and low accuracy remain. We present a laser guidance system and control system for AGVs with laser navigation. For analyzing the performance of the proposed system, we designed and built a fork-type AGV, and performed repetitions of our experiments under the same working conditions. The results show an average positioning error of 51.76 mm between the simulated driving path and the driving path of the actual fork-type AGV. Consequently, we verified that the proposed method is effective and suitable for use in actual AGVs.
Cooperative Learning of Audio and Video Models from Self-Supervised Synchronization

There is a natural correlation between the visual and auditive elements of a video. In this work we leverage this connection to learn general and effective models for both audio and video analysis from self-supervised temporal synchronization. We demonstrate that a calibrated curriculum learning scheme, a careful choice of negative examples, and the use of a contrastive loss are critical ingredients to obtain powerful multi-sensory representations from models optimized to discern temporal synchronization of audio-video pairs. Without further finetuning, the resulting audio features achieve performance superior or comparable to the state-of-the-art on established audio classification benchmarks (DCASE2014 and ESC-50). At the same time, our visual subnet provides a very effective initialization to improve the accuracy of video-based action recognition models: compared to learning from scratch, our self-supervised pretraining yields a remarkable gain of +19.9% in action recognition accuracy on UCF101 and a boost of +17.7% on HMDB51.
World Federation of Societies of Biological Psychiatry (WFSBP) guidelines for biological treatment of schizophrenia, part 2: update 2012 on the long-term treatment of schizophrenia and management of antipsychotic-induced side effects.

These updated guidelines are based on a first edition of the World Federation of Societies of Biological Psychiatry (WFSBP) guidelines for biological treatment of schizophrenia published in 2006. For this 2012 revision, all available publications pertaining to the biological treatment of schizophrenia were reviewed systematically to allow for an evidence-based update. These guidelines provide evidence-based practice recommendations that are clinically and scientifically meaningful. They are intended to be used by all physicians diagnosing and treating people suffering from schizophrenia. Based on the first version of these guidelines, a systematic review of the MEDLINE/PUBMED database and the Cochrane Library, in addition to data extraction from national treatment guidelines, has been performed for this update. The identified literature was evaluated with respect to the strength of evidence for its efficacy and then categorised into six levels of evidence (A-F) and five levels of recommendation (1-5) ( Bandelow et al. 2008a ,b, . This second part of the updated guidelines covers long-term treatment as well as the management of relevant side effects. These guidelines are primarily concerned with the biological treatment (including antipsychotic medication and other pharmacological treatment options) of adults suffering from schizophrenia.
A simple transmit diversity technique for wireless communications

This paper presents a simple two-branch transmit diversity scheme. Using two transmit antennas and one receive antenna the scheme provides the same diversity order as maximal-ratio receiver combining (MRRC) with one transmit antenna, and two receive antennas. It is also shown that the scheme may easily be generalized to two transmit antennas and M receive antennas to provide a diversity order of 2M . The new scheme does not require any bandwidth expansion any feedback from the receiver to the transmitter and its computation complexity is similar to MRRC.
Interactive Teaching Strategies for Agent Training

Agents learning how to act in new environments can benefit from input from more experienced agents or humans. This paper studies interactive teaching strategies for identifying when a student can benefit from teacher-advice in a reinforcement learning framework. In student-teacher learning, a teacher agent can advise the student on which action to take. Prior work has considered heuristics for the teacher to choose advising opportunities. While these approaches effectively accelerate agent training, they assume that the teacher constantly monitors the student. This assumption may not be satisfied with human teachers, as people incur cognitive costs of monitoring and might not always pay attention. We propose strategies for a teacher and a student to jointly identify advising opportunities so that the teacher is not required to constantly monitor the student. Experimental results show that these approaches reduce the amount of attention required from the teacher compared to teacher-initiated strategies, while maintaining similar learning gains. The empirical evaluation also investigates the effect of the information communicated to the teacher and the quality of the student’s initial policy on teaching outcomes.
DesignCon 2012 Design and Characterization of the Power Supply System for a High Speed 1600 Mbps DDR 3 Interface in Wirebond Package

This paper presents a supply system design methodology for high-speed interface systems used in the design of a 1600 Mbps DDR3 interface in wirebond package. The high data rate and challenging system environment requires a system-level approach of supply noise mitigation that demonstrates the full spectrum of Power Integrity considerations typical in the design of high-speed interfaces. We will first discuss supply noise considerations during the architectural design phase used to define a supply mitigation strategy for the interface design. Next, we will discuss the physical implementation of the supply network component on the chip, the package, and the PCB using a co-design approach. Finally, we will present measurement data demonstrating the achieved supply quality and correlations to simulation results based on supply systems models developed during the design phase of the interface.