Abstract

Abstract
Effective navigation in mobile robotics relies on precise environmental mapping, including the detection of complex objects as geometric primitives. This work introduces a deep learning model that determines the pose, type, and dimensions of 2D primitives using a mobile robot equipped with a noisy LiDAR sensor. Simulated experiments conducted in Webots involved randomly placed primitives, with the robot capturing point clouds which were used to progressively build a map of the environment. Two mapping techniques were considered, a deterministic and probabilistic (Bayesian) mapping, and different levels of noise for the LiDAR were compared. The maps were used as input to a YOLOv5 network that detected the position and type of the primitives. A cropped image of each primitive was then fed to a Convolutional Neural Network (CNN) that determined the dimensions and orientation of a given primitive. Results show that the primitive classification achieved an accuracy of 95% in low noise, dropping to 85% under higher noise conditions, while the prediction of the shapes' dimensions had error rates from 5% to 12%, as the noise increased. The probabilistic mapping approach improved accuracy by 10-15% compared to deterministic methods, showcasing robustness to noise levels up to 0.1. Therefore, these findings highlight the effectiveness of probabilistic mapping in enhancing detection accuracy for mobile robot perception in noisy environments.

Abstract
The accurate measurement of joint angles during patient rehabilitation is crucial for informed decision making by physiotherapists. Presently, visual inspection stands as one of the prevalent methods for angle assessment. Although it could appear the most straightforward way to assess the angles, it presents a problem related to the high susceptibility to error in the angle estimation. In light of this, this study investigates the possibility of using a new approach to angle calculation: a hybrid approach leveraging both a camera and LiDAR technology, merging image data with point cloud information. This method employs AI-driven techniques to identify the individual and their joints, utilizing the cloud-point data for angle computation. The tests, considering different exercises with different perspectives and distances, showed a slight improvement compared to using YOLO v7 for angle calculation. However, the improvement comes with higher system costs when compared with other image-based approaches due to the necessity of equipment such as LiDAR and a loss of fluidity during the exercise performance. Therefore, the cost-benefit of the proposed approach could be questionable. Nonetheless, the results hint at a promising field for further exploration and the potential viability of using the proposed methodology.

Abstract
Density functional calculation of electronic structures of materials is one of the most used techniques in theoretical solid state physics. These calculations retrieve single electron wavefunctions and their eigenenergies. The berry suite of programs amplifies the usefulness of DFT by ordering the eigenstates in analytic bands, allowing the differentiation of the wavefunctions in reciprocal space. It can then calculate Berry connections and curvatures and the second harmonic generation conductivity. The berry software is implemented for two dimensional materials and was tested in hBN and InSe. In the near future, more properties and functionalities are expected to be added.Program summary Program Title: berry CPC Library link to program files: https://doi .org /10 .17632 /mpbbksz2t7 .1 Developer's repository link: https://github .com /ricardoribeiro -2020 /berry Licensing provisions: MIT Programming language: Python3 Nature of problem: Differentiation of Bloch wavefunctions in reciprocal space, numerically obtained from a DFT software, applied to two dimensional materials. This enables the numeric calculation of material's properties such as Berry geometries and Second Harmonic conductivity. Solution method: Extracts Kohn-Sham functions from a DFT calculation, orders them by analytic bands using graph and AI methods and calculates the gradient of the wavefunctions along an electronic band. Additional comments including restrictions and unusual features: Applies only to two dimensional materials, and only imports Kohn-Sham functions from Quantum Espresso package.

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This research is inserted in the context of cybersecurity and specifically in the attribution of Advanced Persistent Threats (APT). The investigation that gave rise to the article studies the MICTIC Framework, validating it and proposing an extension to facilitate the assignment of APTs. In this research, we present the motivation for this proposal and its validation. Also, the MICTIC is presented layer by layer and the extended version is submitted for validation through a survey of around 50 university professors and researchers. Due to the fact the MICTIC by itself has not been validated, we decided to do that in conjunction with the extension proposal. Attribution is very important because lets you know who promoted or who carried out an APT-type attack. On the other hand, just the fact that there are sophisticated Attribution mechanisms can act as a deterrent to future attacks. This research contributes to greater ease in obtaining the Assignment of APTs and consequently in understanding how this type of cybercrime works. so much so that there are few studies on the Assignment of APTs. This study objectively contributes to achieving the APT attribution by combining technological and non-technological techniques. It contributes to achieving computer security environments since an APT Attribution is a high deterrent to an APT group getting uncovered and an Attribution being assigned to it. Typically, cybercriminals who have been identified have stopped operating, whereas the opposite is not true; unidentified actors persist with attacks for a long time. Thus, this study also contributes to the overall maintenance of cybersecurity.

Abstract
This work provides a method that combines graphene oxide coating and self-image theory to improve the sensitivity of optical sensors. The sensor is designed specifically to measure the amount of glucose present quantitatively in aqueous solutions that replicate the range of glucose concentrations found in human saliva. COMSOL Multiphysics 6.0 was used to simulate the self-imaging phenomenon using a coreless silica fiber (CSF). For high-quality self-imaging, the second and fourth self-imaging points are usually preferred because of their higher coupling efficiency, which increases the sensor sensitivity. However, managing the fourth self-image is more difficult because it calls for a longer CSF length. As a result, the first and second self-image points were the focus of the simulation in this work. After the simulation, using the Layerby-Layer method, the sensor was constructed to a length that matched the second self-image point (29.12 mm) and coated with an 80 mu m/mL graphene oxide layer. When comparing uncoated and graphene oxide-covered sensors to measure glucose in liquids ranging from 25 to 200 mg/dL, one bilayer of polyethyleneimine/graphene demonstrated an eight-fold improvement in sensitivity. The final sensor, built on graphene oxide, showed stability with a low standard deviation of 0.6 pm/min. It also showed sensitivity at 10.403 +/- 0.004 pm/(mg/dL) with a limit of detection of 9.15 mg/dL.