nils-herrmann/clean_scirepeval huggingface dataset:
Wheeled Rob 17 . Wheeled Robots

The purpose of this chapter is to introduce, analyze, and compare the models of wheeled mobile robots (WMR) and to present several realizations and commonly encountered designs. The mobility of WMR is discussed on the basis of the kinematic constraints resulting from the pure rolling conditions at the contact points between the wheels and the ground. According to this discussion it is shown that, whatever the number and the types of the wheels, all WMR belong to only five generic classes. Different types of models are derived and compared: the posture model versus the configuration model, the kinematic model versus the dynamic model. The structural properties of these models are discussed and compared. These models as well as their properties constitute the background necessary for model-based control design. Practical robot structures are classified according to the number of wheels, and features are introduced focusing on commonly adopted designs. Omnimobile robots and articulated robots realizations are described in more detail.
Intuitive Learning and Artificial Intuition Networks

Intuition-based learning (IBL) has been used in various problem-solving areas such as risk analysis, medical diagnosis and criminal investigation. However, conventional IBL has the limitation that it has no criterion for choosing the trusted intuition based on the knowledge and experience. The purpose of this paper is to develop a learning model for human-computer cooperative from user’s perspective. We have established the theoretical foundation and conceptualization of the constructs for learning system with trusted intuition. And suggest a new machine learning technique called Trusted Intuition Network (TIN). We have developed a general instrument capable of reliably and accurately measuring trusted intuition in the context of intuitive learning systems. We also compare the results with the learning methods, artificial intuition networks and conventional IBL. The results of this paper show that the proposed technique outperforms those of many other methods, it overcomes the limitation of conventional IBL, and it provides improved uncertainty learning theory.
A Feedback Control-Based Crowd Dynamics Management in IoT System

The development of technologies related to the Internet of Things (IoT) provides a new perspective on applications pertaining to smart cities. Smart city applications focus on resolving issues facing people in everyday life, and have attracted a considerable amount of research interest. The typical issue encountered in such places of daily use, such as stations, shopping malls, and stadiums is crowd dynamics management. Therefore, we focus on crowd dynamics management to resolve the problem of congestion using IoT technologies. Real-time crowd dynamics management can be achieved by gathering information relating to congestion and propose less crowded places. Although many crowd dynamics management applications have been proposed in various scenarios and many models have been devised to this end, a general model for evaluating the control effectiveness of crowd dynamics management has not yet been developed in IoT research. Therefore, in this paper, we propose a model to evaluate the performance of crowd dynamics management applications. In other words, the objective of this paper is to present the proof-of-concept of control effectiveness of crowd dynamics management. Our model uses feedback control theory, and enables an integrated evaluation of the control effectiveness of crowd dynamics management methods under various scenarios. We also provide extensive numerical results to verify the effectiveness of the model.
Fast object recognition and 6D pose estimation using viewpoint oriented color-shape histogram

In this paper, we present an object recognition and pose estimation framework consisting of a novel global object descriptor, so called Viewpoint oriented Color-Shape Histogram (VCSH), which combines object's color and shape information. During the phase of object modeling and feature extraction, the whole object's color point cloud model is built by registration from multi-view color point clouds. VCSH is trained using partial-view object color point clouds generated from different synthetic viewpoints. During the recognition phase, the object is identified and the closest viewpoint is extracted using the built feature database and object's features from real scene. The estimated closest viewpoint provides a good initialization for object pose estimation optimization using the iterative closest point strategy. Finally, objects in real scene are recognized and their accurate poses are retrieved. A set of experiments is realized where our proposed approach is proven to outperform other existing methods by guaranteeing highly accurate object recognition, fast and accurate pose estimation as well as exhibiting the capability of dealing with environmental illumination changes.
FORWARD LINK POWER CONTROL FOR HIGH ALTITUDE PLATFORM STATION W-CDMA SYSTEM

iii This work is dedicated to my beloved parents, for all the sacrifices they have made to ensure that I obtain the best education possible. Their unconditional love and words of encouragement has really been a tonic to me. Looking back to the dark days and tough times I have been through, my parents has always given me the strength to persevere. Then I dedicated to my brother and sisters. May Allah be with them every step of the way, and richly bless them in everything they do iv ACKNOWLEDGEMENTS First and foremost, I would like to give thanks to the Almighty Allah for He made my dream comes true by giving me strength and good health to complete this study. Without Him, all my efforts would have been fruitless but because He is the only one who knows our fate, He made it possible for me to pursue my studies at UTM. Special thanks go to my supervisor Dr. Jafri Bin Din, for allowing me to carry out this study under his supervision, and for his constructive criticism and support, which has enabled me to complete this study on time. During the past one year of my research under his supervision, I have known Dr. Jafri Bin Din as a sympathetic and principle-centered person. He thought me how to be a challenger, how to set my benchmark ever higher and how to look for solutions to problems rather than focus on the problems. I learned to believe in myself, my work and my future. Thank you Dr. Jafri Bin Din, for your love, emotional and intellectual support as well as your never-ending faith in me. Last but not least, I am forever indebted to all my family members for their constant support throughout the entire duration of this project. Their words of encouragement never failed to keep me going even through the hardest of times and it is here that I express my sincerest gratitude to them.  In parallel with terrestrial and satellite wireless networks, a new alternative based on platforms located in the stratosphere has recently introduced, known as High Altitude Platforms (HAPS). HAPS are either airships or aircraft positioned between 17 and 22.5 km above the earth surface. It has capability to deliver a wide spectrum of applications to both mobile and fixed users over a broad coverage area. Wideband code division multiple access (WCDMA) has …
Graphene-on-silicon Schottky junction solar cells.

www.MaterialsViews.com C O M Graphene-On-Silicon Schottky Junction Solar Cells M U N I By Xinming Li , Hongwei Zhu , * Kunlin Wang , * Anyuan Cao , Jinquan Wei , Chunyan Li , Yi Jia , Zhen Li , Xiao Li , and Dehai Wu C A IO N Graphene, a single atomic layer of carbon hexagons, has stimulated a lot of research interest owing to its unique structure and fascinating properties.  Graphene has been produced in the form of ultrathin sheets consisting of one or a few atomic layers by chemical vapor deposition (CVD) [ 2–4 ] or solution processing [ 5 , 6 ] and can be transferred to various substrates. The two-dimensionality and structural fl atness make graphene sheets ideal candidates for thin-fi lm devices and combination with other semiconductor materials such as silicon. These fi lms typically show sheet resistances on the order of several hundred ohm per square at about 80% optical transparency.  With modifi cation on the electronic properties and improvement of processing techniques, graphene fi lms show potential for use in conductive, fl exible electrodes, as an alternative for indium tin oxide (ITO). Graphene applications are just starting, and current investigations are on a number of areas such as fi llers for composites, nanoelectronics, and transparent electrodes.  For applications related to solar cells, graphene microsheets were dispersed into conjugated polymers to improve exciton dissociation and charge transport.  and dyesensitized [ 13 ] solar cells, although the cell effi ciency is still lower than those with ITO and fl uorine tin oxide (FTO) electrodes. Compared with carbon nanotube fi lms that have been extensively studied, graphene fi lms may have several advantages. A continuous single-layer graphene fi lm could retain high conductivity at very low (atomic) thickness, and avoid contact resistance that occurs in a carbon nanotube fi lm between interconnected nanotube bundles. In addition, graphene fi lms have minimum porosity and, in small areas, can provide an extremely fl at surface for molecule assembly and device integration. There are many opportunities in utilizing distinct properties of graphene and exploring novel applications. Bulk heterojunction structures based on carbon materials have attracted a great deal of interest for both scientifi c fundamentals and potential applications in various new optoelectronic devices,
Uncertainty in Multitask Learning: Joint Representations for Probabilistic MR-only Radiotherapy Planning

Multi-task neural network architectures provide a mechanism that jointly integrates information from distinct sources. It is ideal in the context of MR-only radiotherapy planning as it can jointly regress a synthetic CT (synCT) scan and segment organs-at-risk (OAR) from MRI. We propose a probabilistic multi-task network that estimates: 1) intrinsic uncertainty through a heteroscedastic noise model for spatiallyadaptive task loss weighting and 2) parameter uncertainty through approximate Bayesian inference. This allows sampling of multiple segmentations and synCTs that share their network representation. We test our model on prostate cancer scans and show that it produces more accurate and consistent synCTs with a better estimation in the variance of the errors, state of the art results in OAR segmentation and a methodology for quality assurance in radiotherapy treatment planning.
A Deep Primal-Dual Network for Guided Depth Super-Resolution

In this paper we present a novel method to increase the spatial resolution of depth images. We combine a deep fully convolutional network with a non-local variational method in a deep primal-dual network. The joint network computes a noise-free, highresolution estimate from a noisy, low-resolution input depth map. Additionally, a highresolution intensity image is used to guide the reconstruction in the network. By unrolling the optimization steps of a first-order primal-dual algorithm and formulating it as a network, we can train our joint method end-to-end. This not only enables us to learn the weights of the fully convolutional network, but also to optimize all parameters of the variational method and its optimization procedure. The training of such a deep network requires a large dataset for supervision. Therefore, we generate high-quality depth maps and corresponding color images with a physically based renderer. In an exhaustive evaluation we show that our method outperforms the state-of-the-art on multiple benchmarks.
Robust kaomoji detection in Twitter

In this paper, we look at the problem of robust detection of a very productive class of Asian style emoticons, known as facemarks or kaomoji. We demonstrate the frequency and productivity of these sequences in social media such as Twitter. Previous approaches to detection and analysis of kaomoji have placed limits on the range of phenomena that could be detected with their method, and have looked at largely monolingual evaluation sets (e.g., Japanese blogs). We find that these emoticons occur broadly in many languages, hence our approach is language agnostic. Rather than relying on regular expressions over a predefined set of likely tokens, we build weighted context-free grammars that reward graphical affinity and symmetry within whatever symbols are used to construct the emoticon.
A Capacitor less LDO Regulator using Push – Pull Composite Power Transistor with A Sub-1 V Transient An Enhanced Output

A yield capacitor less low-dropout (OCL-LDO) controller with a push–pull composite force transistor is introduced in this paper. Utilizing the proposed composite transistor, the non predominant parasitic posts can be pushed to higher frequencies, prompting great security. Moreover, the large number rate restriction at the door of the force transistor is enhanced incredibly by the proposed push–pull structure. Actualized and manufactured in UMC 65-nm CMOS innovation, the LDO controller involves just an dynamic region of 0.0096 mm2 . The exploratory results have demonstrated that the controller has the capacity work at VIN = 0.75 V and convey a most extreme burden current of 50 mA with a dropout voltage of under 250 mV. It expends a quiet current of 16.2 μA and has the capacity settle inside of 1. I.INTRODUCTION LOW-DROPOUT (LDO) controller is an imperative building block in present day VLSI circuit outlines. Contrasted and exchanging sort of controllers, LDO controller is frequently utilized to give a controlled and stable supply voltage to those commotion touchy simple/RF pieces, particularly under on-chip applications environment. Routine LDO controller obliges an extensive off-chip capacitor in the scope of μF to guarantee strength. In this way, yield capacitor less LDO controller (OCLLDO) is favored for on-chip applications. Lowcontrol utilization is a standout amongst the most discriminating parameters, particularly for compact electronic circuits . To diminish the force utilization, the working supply voltage must be lessened while tending to calm mindful outline. It is on the grounds that this is a standout amongst the best approaches to drag out the battery life of a convenient . Along these lines, it has an interest of a ultralow voltage LDO controller which can give a 0.5 V supply line to those coordinated circuits. Ultralow voltage outline forces a few difficulties for LDO controllers as far as soundness, headroom, and slew-rate issues Fig. 1. Structure of the buffer based LDO regulator As shown in Fig. 1, the buffer based LDO regulators require an additional VSG to ensure the operation. Under sub-1 V environment, the buffer based LDO regulator is difficult to fulfill the headroom budget. In addition, the parasitic capacitor CP associated at the gate of power transistor MP is greatly affected by the input supply VIN and the dropout voltage V dropout(max) = (VIN–VOUT) of regulator design. Consider a pMOS power transistor operates in saturation region, the required aspect ratio is given as
A 1.2V 10µW NPN-based temperature sensor in 65nm CMOS with an inaccuracy of ±0.2°C (3s) from −70°C to 125°C

This paper describes a temperature sensor realized in a 65nm CMOS process with a batch-calibrated inaccuracy of ±0.5°C (3s) and a trimmed inaccuracy of ±0.2°C (3s) from −70°C to 125°C. This represents a 10-fold improvement in accuracy compared to other deep-submicron temperature sensors , and is comparable with that of state-of-the-art sensors implemented in larger-feature-size processes [3,4]. The sensor draws 8.3µA from a 1.2V supply and occupies an area of 0.1mm2, which is 45 times less than that of sensors with comparable accuracy [3,4]. These advances are enabled by the use of NPN transistors as sensing elements, the use of dynamic techniques i.e. correlated double sampling (CDS) and dynamic element matching (DEM), and a single room-temperature trim.
Reverse Engineering of SPARQL Queries using Examples Anonymous

Semantic Web offers a great variety of public datasets for use to end users but the users who are unaware of the Semantic Web technologies such as RDF and SPARQL query language will face obstacles in making complete use of the data. SPARQLByE deals with these issues by letting the users query the data with examples and thus reverse-engineers SPARQL queries. The paper first provides a brief introduction to the problem, related work. In the subsequent section, detailed implementation details about SPARQLByE and the main components which perform reverse engineering of the query are provided. The paper illustrates how SPARQLByE guides the users in understanding the structure of data and developing insights from it.
Optimal model following control of four-wheel active steering vehicle

In this paper, four-wheel active steering (4WAS), which can control the front wheel steering angle and rear wheel steering angle independently, has been investigated based on the analysis of deficiency of conventional four wheel steering (4WS). A model following control structure is adopted to follow the desired yaw rate and vehicle sideslip angle, which consists of feedforward and feedback controller. The feedback controller is designed based on the optimal control theory, minimizing the tracking errors between the outputs of actual vehicle model and that of linear reference model. Finally, computer simulations are performed to evaluate the proposed control system via the co-simulation of Matlab/Simulink and CarSim. Simulation results show that the designed 4WAS controller can achieve the good response performance and improve the vehicle handling and stability.
DEVELOPING A SMS-BASED CLASSROOM INTERACTION SYSTEM

Classroom interactivity has a number of significant benefits: it promotes an active learning environment, provides greater feedback for lecturers, increases student motivation, and enables a learning community (Bishop, Dinkins, & Dominick, 2003; Mazur, 1998; McConnell et al., 2006). On the other hand, interactive activities for large classes (over 100 students) have proven to be quite difficult and, often, inefficient (Freeman & Blayney, 2005).
American Association of Clinical Endocrinologists and American Association of Endocrine Surgeons Medical Guidelines for the Management of Adrenal Incidentalomas: executive summary of recommendations.

The American Association of Clinical Endocrinologists and American Association of Endocrine Surgeons Medical Guidelines for the Management of Adrenal Incidentalomas are systematically developed statements to assist health care providers in medical decision making for specific clinical conditions. Most of the content herein is based on literature reviews. In areas of uncertainty, professional judgment was applied. These guidelines are a working document that reflects the state of the field at the time of publication. Because rapid changes in this area are expected, periodic revisions are inevitable. We encourage medical professionals to use this information in conjunction with their best clinical judgment. The presented recommendations may not be appropriate in all situations. Any decision by practitioners to apply these guidelines must be made in light of local resources and individual circumstances.
Gene therapy for myocardial angiogenesis: initial clinical results with direct myocardial injection of phVEGF165 as sole therapy for myocardial ischemia.

We initiated a phase 1 clinical study to determine the safety and bioactivity of direct myocardial gene transfer of vascular endothelial growth factor (VEGF) as sole therapy for patients with symptomatic myocardial ischemia.



VEGF gene transfer (GTx) was performed in 5 patients (all male, ages 53 to 71) who had failed conventional therapy; these men had angina (determined by angiographically documented coronary artery disease). Naked plasmid DNA encoding VEGF (phVEGF165) was injected directly into the ischemic myocardium via a mini left anterior thoracotomy. Injections caused no changes in heart rate (pre-GTx=75+/-15/min versus post-GTx=80+/-16/min, P=NS), systolic BP (114+/-7 versus 118+/-7 mm Hg, P=NS), or diastolic BP (57+/-2 versus 59+/-2 mm Hg, P=NS). Ventricular arrhythmias were limited to single unifocal premature beats at the moment of injection. Serial ECGs showed no evidence of new myocardial infarction in any patient. Intraoperative blood loss was 0 to 50 cm3, and total chest tube drainage was 110 to 395 cm3. Postoperative cardiac output fell transiently but increased within 24 hours (preanesthesia=4.8+/-0.4 versus postanesthesia=4.1+/-0.3 versus 24 hours postoperative=6. 3+/-0.8, P=0.02). Time to extubation after closure was 18.4+/-1.4 minutes; average postoperative hospital stay was 3.8 days. All patients had significant reduction in angina (nitroglycerin [NTG] use=53.9+/-10.0/wk pre-GTx versus 9.8+/-6.9/wk post-GTx, P<0.03). Postoperative left ventricular ejection fraction (LVEF) was either unchanged (n=3) or improved (n=2, mean increase in LVEF=5%). Objective evidence of reduced ischemia was documented using dobutamine single photon emission computed tomography (SPECT)-sestamibi imaging in all patients. Coronary angiography showed improved Rentrop score in 5 of 5 patients.



This initial experience with naked gene transfer as sole therapy for myocardial ischemia suggests that direct myocardial injection of naked plasmid DNA, via a minimally invasive chest wall incision, is safe and may lead to reduced symptoms and improved myocardial perfusion in selected patients with chronic myocardial ischemia.
Pelvic organ prolapse in older women: prevalence and risk factors.

We sought to estimate the prevalence of pelvic organ prolapse in older women using the Pelvic Organ Prolapse Quantification examination and to identify factors associated with prolapse.



Women with a uterus enrolled at one site of the Women's Health Initiative Hormone Replacement Therapy randomized clinical trial were eligible for this ancillary cross-sectional study. Subjects underwent a Pelvic Organ Prolapse Quantification examination during a maximal Valsalva maneuver and in addition completed a questionnaire. Logistic regression was used to identify independent risk factors for each of 2 definitions of prolapse: 1) Pelvic Organ Prolapse Quantification stage II or greater and 2) the leading edge of prolapse measured at the hymen or below.



In 270 participants, age (mean +/- SD) was 68.3 +/- 5.6 years, body mass index was 30.4 +/- 6.2 kg/m(2), and vaginal parity (median [range]) was 3 (0-12). The proportions of Pelvic Organ Prolapse Quantification stages (95% confidence intervals [CIs]) were stage 0, 2.3% (95% CI 0.8-4.8%); stage I, 33.0% (95% CI 27.4-39.0%); stage II, 62.9% (95% CI 56.8-68.7%); and stage III, 1.9% (95% CI 0.6-4.3%). In 25.2% (95% CI 20.1-30.8%), the leading edge of prolapse was at the hymen or below. Hormone therapy was not associated with prolapse (P =.9). On multivariable analysis, less education (odds ratio [OR] 2.16, 95% CI 1.10-4.24) and higher vaginal parity (OR 1.61, 95% CI 1.03-2.50) were associated with prolapse when defined as stage II or greater. For prolapse defined by the leading edge at or below the hymen, older age had a decreased risk (OR 0.50, 95% CI 0.27-0.92) and less education, and larger babies had an increased risk (OR 2.38, 95% CI 1.31-4.32 and OR 1.97, 95% CI 1.07-3.64, respectively).



Some degree of prolapse is nearly ubiquitous in older women, which should be considered in the development of clinically relevant definitions of prolapse. Risk factors for prolapse differed depending on the definition of prolapse used.