Abstract
Purpose - The purpose of this paper is to achieve reliable estimation of yaw angles by fusing data from low-cost inertial and magnetic sensing. Design/methodology/approach - In this paper, yaw angle is estimated by fusing inertial and magnetic sensing from a digital compass and a gyroscope, respectively. A Kalman filter estimates the error produced by the gyroscope. Findings - Drift effect produced by the gyroscope is significantly reduced and, at the same time, the system has the ability to react quickly to orientation changes. The system combines the best of each sensor, the stability of the magnetic sensor and the fast response of the inertial sensor. Research limitations/implications - The system does not present a stable behavior in the presence of large vibrations. Considerable calibration efforts are needed. Practical implications - Today, most of human-robot interaction technologies need to have the ability to estimate orientation, especially yaw angle, from small-sized and low-cost sensors. Originality/value - Existing methods for inertial and magnetic sensor fusion are combined to achieve reliable estimation of yaw angle. Experimental tests in a human-robot interaction scenario show the performance of the system.

Abstract
The optimal solution provided by metaheuristics can be viewed as a random variable, whose behavior depends on the value of the algorithm's strategic parameters and on the type of penalty function used to enforce the problem's soft constraints. This paper reports the use of parametric and non-parametric statistics to compare three different penalty functions implemented to solve the Security Constrained Optimal Power Flow (SCOPF) problem using the new enhanced metaheuristic Differential Evolutionary Particle Swarm Optimization (DEEPSO). To obtain the best performance for the three types of penalty functions, the strategic parameters of DEEPSO are optimized by using an iterative algorithm based on the two-way analysis of variance (ANOVA). The results show that the modeling of soft constraints significantly influences the best achievable performance of the optimization algorithm.

Abstract

Abstract
Although most current pointing devices rely on relative rotation increments, absolute orientation allows for a more intuitive interaction. However, this is difficult to implement in low-energy consumption devices since accurate fusion filters are computationally intensive. This work presents a comparative study of low-complexity filters and state-of-the-art orientation tracking systems, enabling to access complexity versus portability. A relevant set of different MARG units currently available on the market were studied under systematic tests and human subjective user analysis. Experimental results show that it is possible to obtain similar accuracy using low-complexity filters to the ones observed with state-of-the-art orientation tracking systems.

Abstract
In many institutions relational databases are used as a tool for managing information related to day to day activities. Institutions may be required to keep the information stored in relational databases accessible because of many reasons including legal requirements and institutional policies. However, the evolution in technology and change in users with the passage of time put the information stored in relational databases in danger. In the long term the information may become inaccessible when the operating system, database management system or the application software is not available any more or the contextual information not stored in the database may be lost thus affecting the authenticity and understandability of the information. This paper presents an approach for preserving relational databases for the long-term. The proposal involves migrating a relational database to a dimensional model which is simple to understand and easy to write queries against. Practical transformation rules are developed by carrying out multiple case studies. One of the case studies is presented as a running example in the paper. Systematic implementation of the rules ensures no loss of information in the process except for the unwanted details. The database preserved using the approach is converted to an open format but may be reloaded to a database management system in the long-term.

Abstract
Motivation: Ebola virus causes high mortality hemorrhagic fevers, with more than 25 000 cases and 10 000 deaths in the current outbreak. Only experimental therapies are available, thus, novel diagnosis tools and druggable targets are needed. Results: Analysis of Ebola virus genomes from the current outbreak reveals the presence of short DNA sequences that appear nowhere in the human genome. We identify the shortest such sequences with lengths between 12 and 14. Only three absent sequences of length 12 exist and they consistently appear at the same location on two of the Ebola virus proteins, in all Ebola virus genomes, but nowhere in the human genome. The alignment-free method used is able to identify pathogen-specific signatures for quick and precise action against infectious agents, of which the current Ebola virus outbreak provides a compelling example.