snu-aidas/HVMap-dataset huggingface dataset:
Ford Campus vision and lidar data set

This paper describes a data set collected by an autonomous ground vehicle testbed, based upon a modified Ford F-250 pickup truck. The vehicle is outfitted with a professional (Applanix POS-LV) and consumer (Xsens MTi-G) inertial measurement unit (IMU), a Velodyne 3D-lidar scanner, two push-broom forward looking Riegl lidars, and a Point Grey Ladybug3 omnidirectional camera system. Here we present the time-registered data from these sensors mounted on the vehicle, collected while driving the vehicle around the Ford Research campus and downtown Dearborn, Michigan during NovemberDecember 2009. The vehicle path trajectory in these data sets contain several large and small-scale loop closures, which should be useful for testing various state of the art computer vision and simultaneous localization and mapping (SLAM) algorithms. Fig. 1. The modified Ford F-250 pickup truck.
Why do you play World of Warcraft? An in-depth exploration of self-reported motivations to play online and in-game behaviours in the virtual world of Azeroth

Massively multiplayer online role-playing games (MMORPGs) are video games in which players create an avatar that evolves and interacts with other avatars in a persistent virtual world. Motivations to play MMORPGs are heterogeneous (e.g. achievement, socialisation, immersion in virtual worlds). This study investigates in detail the relationships between self-reported motives and actual in-game behaviours. We recruited a sample of 690 World of Warcraft players (the most popular MMORPG) who agreed to have their avatar monitored for 8 months. Participants completed an initial online survey about their motives to play. Their actual in-game behaviours were measured through the game’s official database (the Armory website). Results showed specific associations between motives and in-game behaviours. Moreover, longitudinal analyses revealed that teamworkand competition-oriented motives are the most accurate predictors of fast progression in the game. In addition, although specific associations exist between problematic use and certain motives (e.g. advancement, escapism), longitudinal analyses showed that high involvement in the game is not necessarily associated with a negative impact upon daily living. 2012 Elsevier Ltd. All rights reserved.
Performance of Reliable Transport Protocol over IEEE 802.11 Wireless LAN: Analysis and Enhancement

IEEE 802.11 Medium Access Control(MAC) is proposed to support asynchronous and time bounded delivery of radio data packets in infrastructure and ad hoc networks. The basis of the IEEE 802.11 WLAN MAC protocol is Distributed Coordination Function(DCF), which is a Carrier Sense Multiple Access with Collision Avoidance(CSMA/CA) with binary slotted exponential back-off scheme. Since IEEE 802.11 MAC has its own characteristics that are different from other wireless MAC protocols, the performance of reliable transport protocol over 802.11 needs further study. This paper proposes a scheme named DCF+, which is compatible with DCF, to enhance the performance of reliable transport protocol over WLAN. To analyze the performance of DCF and DCF+, this paper also introduces an analytical model to compute the saturated throughput of WLAN. Comparing with other models, this model is shown to be able to predict the behaviors of 802.11 more accurately. Moreover, DCF+ is able to improve the performance of TCP over WLAN, which is verified by modeling and elaborate simulation results.
Review of Micro Thermoelectric Generator

Used for thermal energy harvesting, thermoelectric generator (TEG) can convert heat into electricity directly. Structurally, the main part of TEG is the thermopile, which consists of thermocouples connected in series electrically and in parallel thermally. Benefiting from massive progress achieved in a microelectromechanical systems technology, micro TEG (<inline-formula> <tex-math notation="LaTeX">$\mu$ </tex-math></inline-formula>-TEG) with advantages of small volume and high output voltage has obtained attention in recent 20 years. The review gives a comprehensive survey of the development and current status of <inline-formula> <tex-math notation="LaTeX">$\mu$ </tex-math></inline-formula>-TEG. First, the principle of operation is introduced and some key parameters used for characterizing the performance of <inline-formula> <tex-math notation="LaTeX">$\mu$ </tex-math></inline-formula>-TEG are highlighted. Next, <inline-formula> <tex-math notation="LaTeX">$\mu$ </tex-math></inline-formula>-TEGs are classified from the perspectives of structure, material, and fabrication technology. Then, almost all the relevant works are summarized for the convenience of comparison and reference. Summarized information includes the structure, material property, fabrication technology, output performance, and so on. This will provide readers with an overall evaluation of different studies and guide them in choosing the suitable <inline-formula> <tex-math notation="LaTeX">$\mu$ </tex-math></inline-formula>-TEGs for their applications. In addition, the existing and potential applications of <inline-formula> <tex-math notation="LaTeX">$\mu$ </tex-math></inline-formula>-TEG are shown, especially the applications in the Internet of things. Finally, we summarize the challenges encountered in improving the output power of <inline-formula> <tex-math notation="LaTeX">$\mu$ </tex-math></inline-formula>-TEG and predicted that more researchers would focus their efforts on the flexible structure <inline-formula> <tex-math notation="LaTeX">$\mu$ </tex-math></inline-formula>-TEG, and combination of <inline-formula> <tex-math notation="LaTeX">$\mu$ </tex-math></inline-formula>-TEG and other energy harvestings. With the emergence of more low-power devices and the gradual improvement of <italic>ZT</italic> value of the thermoelectric material, <inline-formula> <tex-math notation="LaTeX">$\mu$ </tex-math></inline-formula>-TEG is promising for applications in various fields. [2017-0610]
30 + years of research and practice of outsourcing – Exploring the past and anticipating the future

Article history: Received 7 January 2008 Received in revised form 24 June 2008 Accepted 31 July 2008 Available online 5 April 2009 Outsourcing is a phenomenon that as a practice originated in the 1950s, but it was not until the 1980s when the strategy became widely adopted in organizations. Since then, the strategy has evolved from a strictly cost focused approach towards more cooperative nature, in which cost is only one, often secondary, decision-making criterion. In the development of the strategy, three broad and somewhat overlapping, yet distinct phases can be identified: the era of the Big Bang, the era of the Bandwagon, and the era of Barrierless Organizations. This paper illustrates that the evolution of the practice has caused several contradictions among researchers, as well as led to the situation where the theoretical background of the phenomenon has recently become much richer. Through examining existing research, this paper intends to identify the development of outsourcing strategy from a practical as well as a theoretical perspective from its birth up to today. In addition, through providing insights from managers in the information technology industry, this paper aims at providing a glimpse from the future – that is – what may be the future directions and research issues in this complex phenomenon? © 2009 Elsevier Inc. All rights reserved.
Ontologies: principles, methods and applications

This paper is intended to serve as a comprehensive introduction to the emerging eld concerned with the design and use of ontologies. We observe that disparate backgrounds, languages, tools, and techniques are a major barrier to e ective communication among people, organisations, and/or software systems. We show how the development and implementation of an explicit account of a shared understanding (i.e. an `ontology') in a given subject area, can improve such communication, which in turn, can give rise to greater reuse and sharing, inter-operability, and more reliable software. After motivating their need, we clarify just what ontologies are and what purposes they serve. We outline a methodology for developing and evaluating ontologies, rst discussing informal techniques, concerning such issues as scoping, handling ambiguity, reaching agreement and producing de nitions. We then consider the bene ts of and describe, a more formal approach. We re-visit the scoping phase, and discuss the role of formal languages and techniques in the speci cation, implementation and evaluation of ontologies. Finally, we review the state of the art and practice in this emerging eld, considering various case studies, software tools for ontology development, key research issues and future prospects. AIAI-TR-191 Ontologies Page i
Client attachment, attachment to the therapist and client-therapist attachment match: how do they relate to change in psychodynamic psychotherapy?

OBJECTIVE
We examined the associations between client attachment, client attachment to the therapist, and symptom change, as well as the effects of client-therapist attachment match on outcome. Clients (n = 67) and their therapists (n = 27) completed the ECR to assess attachment.


METHOD
Clients completed also the Client Attachment to Therapist scale three times (early, middle, and late sessions) and the OQ-45 at intake and four times over the course of a year of psychodynamic psychotherapy.


RESULTS
Clients characterized by avoidant attachment and by avoidant attachment to their therapist showed the least improvement. A low-avoidant client-therapist attachment match led to a greater decrease in symptom distress than when a low-avoidant therapist treated a high-avoidant client.


CONCLUSIONS
These findings suggest the importance of considering client-therapist attachment matching and the need to pay attention to the special challenges involved in treating avoidant clients in order to facilitate progress in psychotherapy.
Prioritized multi-task compliance control of redundant manipulators

We propose a new approach for dynamic control of redundant manipulators to deal with multiple prioritized tasks at the same time by utilizing null space projection techniques. The compliance control law is based on a new representation of the dynamics wherein specific null space velocity coordinates are introduced. These allow to efficiently exploit the kinematic redundancy according to the task hierarchy and lead to a dynamics formulation with block-diagonal inertia matrix. The compensation of velocity-dependent coupling terms between the tasks by an additional passive feedback action facilitates a stability analysis for the complete hierarchy based on semi-definite Lyapunov functions. No external forces have to be measured. Finally, the performance of the control approach is evaluated in experiments on a torque-controlled robot. © 2015 Elsevier Ltd. All rights reserved.
Corporate social responsibility and bank customer satisfaction A research agenda

Purpose – The purpose of this paper is to explore the relationship between corporate social responsibility (CSR) and customer outcomes. Design/methodology/approach – This paper reviews the literature on CSR effects and satisfaction, noting gaps in the literature. Findings – A series of propositions is put forward to guide future research endeavours. Research limitations/implications – By understanding the likely impact on customer satisfaction of CSR initiatives vis-à-vis customer-centric initiatives, the academic research community can assist managers to understand how to best allocate company resources in situations of low customer satisfaction. Such endeavours are managerially relevant and topical. Researchers seeking to test the propositions put forward in this paper would be able to gain links with, and possibly attract funding from, banks to conduct their research. Such endeavours may assist researchers to redefine the stakeholder view by placing customers at the centre of a network of stakeholders. Practical implications – An understanding of how to best allocate company resources to increase the proportion of satisfied customers will allow bank marketers to reduce customer churn and hence increase market share and profits. Originality/value – Researchers have not previously conducted a comparative analysis of the effects of different CSR initiatives on customer satisfaction, nor considered whether more customer-centric initiatives are likely to be more effective in increasing the proportion of satisfied customers.
Maxillary length at 11-14 weeks of gestation in fetuses with trisomy 21.

OBJECTIVE
To determine the value of measuring maxillary length at 11-14 weeks of gestation in screening for trisomy 21.


METHODS
In 970 fetuses ultrasound examination was carried out for measurement of crown-rump length (CRL), nuchal translucency and maxillary length, and to determine if the nasal bone was present or absent, immediately before chorionic villus sampling for karyotyping at 11-14 weeks of gestation. In 60 cases the maxillary length was measured twice by the same operator to calculate the intraobserver variation in measurements.


RESULTS
The median gestation was 12 (range, 11-14) weeks. The maxilla was successfully examined in all cases. The mean difference between paired measurements of maxillary length was -0.012 mm and the 95% limits of agreement were -0.42 (95% CI, -0.47 to -0.37) to 0.40 (95% CI, 0.35 to 0.44) mm. The fetal karyotype was normal in 839 pregnancies and abnormal in 131, including 88 cases of trisomy 21. In the chromosomally normal group the maxillary length increased significantly with CRL from a mean of 4.8 mm at a CRL of 45 mm to 8.3 mm at a CRL of 84 mm. In the trisomy 21 fetuses the maxillary length was significantly shorter than normal by 0.7 mm and in the trisomy 21 fetuses with absent nasal bone the maxilla was shorter than in those with present nasal bone by 0.5 mm. In fetuses with other chromosomal defects there were no significant differences from normal in the maxillary length.


CONCLUSION
At 11-14 weeks of gestation, maxillary length in trisomy 21 fetuses is significantly shorter than in normal fetuses.
From e-commerce to social commerce: A close look at design features

E-commerce is undergoing an evolution through the adoption of Web 2.0 capabilities to enhance customer participation and achieve greater economic value. This new phenomenon is commonly referred to as social commerce, however it has not yet been fully understood. In addition to the lack of a stable and agreed-upon definition, there is little research on social commerce and no significant research dedicated to the design of social commerce platforms. This study offers literature review to explain the concept of social commerce, tracks its nascent state-of-the-art, and discusses relevant design features as they relate to e-commerce and Web 2.0. We propose a new model and a set of principles for guiding social commerce design. We also apply the model and guidelines to two leading social commerce platforms, Amazon and Starbucks on Facebook. The findings indicate that, for any social commerce website, it is critical to achieve a minimum set of social commerce design features. These design features must cover all the layers of the proposed model, including the individual, conversation, community and commerce levels. 2012 Elsevier B.V. All rights reserved.
Psychometric Properties of Physical Activity and Leisure Motivation Scale in Farsi: an International Collaborative Project on Motivation for Physical Activity and Leisure.

BACKGROUND
Given the importance of regular physical activity, it is crucial to evaluate the factors favoring participation in physical activity. We aimed to report the psychometric analysis of the Farsi version of the Physical Activity and Leisure Motivation Scale (PALMS).


METHODS
The Farsi version of PALMS was completed by 406 healthy adult individuals to test its factor structure and concurrent validity and reliability.


RESULTS
Conducting the exploratory factor analysis revealed nine factors that accounted for 64.6% of the variances. The PALMS reliability was supported with a high internal consistency of 0.91 and a high test-retest reliability of 0.97 (95% CI: 0.97-0.98). The association between the PALMS and its previous version Recreational Exercise Motivation Measure scores was strongly significant (r= 0.86, P < 0.001).


CONCLUSION
We have shown that the Farsi version of the PALMS appears to be a valuable instrument to measure motivation for physical activity and leisure.
Decision Support based on Bio-PEPA Modeling and Decision Tree Induction: A New Approach, Applied to a Tuberculosis Case Study

The problem of selecting determinant features generating appropriate model structure is a challenge in epidemiological modelling. Disease spread is highly complex, and experts develop their understanding of its dynamic over years. There is an increasing variety and volume of epidemiological data which adds to the potential confusion. The authors propose here to make use of that data to better understand disease systems. Decision tree techniques have been extensively used to extract pertinent information and improve decision making. In this paper, the authors propose an innovative structured approach combining decision tree induction with Bio-PEPA computational modelling, and illustrate the approach through application to tuberculosis. By using decision tree induction, the enhanced Bio-PEPA model shows considerable improvement over the initial model with regard to the simulated results matching observed data. The key finding is that the developer expresses a realistic predictive model using relevant features, thus considering this approach as decision support, empowers the epidemiologist in his policy decision making. KEywoRDS Bio-PEPA Modelling, Data Mining, Decision Support, Decision Tree Induction, Epidemiology, Modelling and Simulation, Optimisation, Refinement, Tuberculosis
Aesthetics and Entropy III . Aesthetic measures 2

1 Consultant, Maplewood, MN USA 4 * Correspondence: sahyun@infionline.net; 1-(651)-927-9686 5 6 Abstract: We examined a series of real-world, pictorial photographs with varying 7 characteristics, along with their modification by noise addition and unsharp masking. As 8 response metrics we used three different versions of the aesthetic measure originally 9 proposed by Birkhoff. The first aesthetic measure, which has been used in other studies, 10 and which we used in our previous work as well, showed a preference for the least 11 complex of the images. It provided no justification for noise addition, but did reveal 12 enhancement on unsharp masking. Optimum level of unsharp masking varied with the 13 image, but was predictable from the individual image’s GIF compressibility. We expect this 14 result to be useful for guiding the processing of pictorial photographic imagery. The 15 second aesthetic measure, that of informational aesthetics based on entropy alone failed 16 to provide useful discrimination among the images or the conditions of their modification. 17 A third measure, derived from the concepts of entropy maximization, as well as the 18 hypothesized preference of observers for “simpler”, i.e., more compressible, images, 19 yielded qualitatively the same results as the more traditional version of the measure. 20 Differences among the photographs and the conditions of their modification were more 21 clearly defined with this metric, however. 22
Hardware design experiences in ZebraNet

The enormous potential for wireless sensor networks to make a positive impact on our society has spawned a great deal of research on the topic, and this research is now producing environment-ready systems. Current technology limits coupled with widely-varying application requirements lead to a diversity of hardware platforms for different portions of the design space. In addition, the unique energy and reliability constraints of a system that must function for months at a time without human intervention mean that demands on sensor network hardware are different from the demands on standard integrated circuits. This paper describes our experiences designing sensor nodes and low level software to control them.
 In the ZebraNet system we use GPS technology to record fine-grained position data in order to track long term animal migrations [14]. The ZebraNet hardware is composed of a 16-bit TI microcontroller, 4 Mbits of off-chip flash memory, a 900 MHz radio, and a low-power GPS chip. In this paper, we discuss our techniques for devising efficient power supplies for sensor networks, methods of managing the energy consumption of the nodes, and methods of managing the peripheral devices including the radio, flash, and sensors. We conclude by evaluating the design of the ZebraNet nodes and discussing how it can be improved. Our lessons learned in developing this hardware can be useful both in designing future sensor nodes and in using them in real systems.
iCONCUR: informed consent for clinical data and bio-sample use for research

Background
Implementation of patient preferences for use of electronic health records for research has been traditionally limited to identifiable data. Tiered e-consent for use of de-identified data has traditionally been deemed unnecessary or impractical for implementation in clinical settings.


Methods
We developed a web-based tiered informed consent tool called informed consent for clinical data and bio-sample use for research (iCONCUR) that honors granular patient preferences for use of electronic health record data in research. We piloted this tool in 4 outpatient clinics of an academic medical center.


Results
Of patients offered access to iCONCUR, 394 agreed to participate in this study, among whom 126 patients accessed the website to modify their records according to data category and data recipient. The majority consented to share most of their data and specimens with researchers. Willingness to share was greater among participants from an Human Immunodeficiency Virus (HIV) clinic than those from internal medicine clinics. The number of items declined was higher for for-profit institution recipients. Overall, participants were most willing to share demographics and body measurements and least willing to share family history and financial data. Participants indicated that having granular choices for data sharing was appropriate, and that they liked being informed about who was using their data for what purposes, as well as about outcomes of the research.


Conclusion
This study suggests that a tiered electronic informed consent system is a workable solution that respects patient preferences, increases satisfaction, and does not significantly affect participation in research.
Two Modifications of CNN
A collaborative filtering framework based on fuzzy association rules and multiple-level similarity

The rapid development of Internet technologies in recent decades has imposed a heavy information burden on users. This has led to the popularity of recommender systems, which provide advice to users about items they may like to examine. Collaborative Filtering (CF) is the most promising technique in recommender systems, providing personalized recommendations to users based on their previously expressed preferences and those of other similar users. This paper introduces a CF framework based on Fuzzy Association Rules and Multiple-level Similarity (FARAMS). FARAMS extended existing techniques by using fuzzy association rule mining, and takes advantage of product similarities in taxonomies to address data sparseness and nontransitive associations. Experimental results show that FARAMS improves prediction quality, as compared to similar approaches.