Tootfinder

Localization and Offline Mapping of High-Voltage Substations in Rough Terrain Using a Ground Vehicle
Ioannis Alamanos, George P. Moustris, Costas S. Tzafestas
https://arxiv.org/abs/2403.19875

Localization and Offline Mapping of High-Voltage Substations in Rough Terrain Using a Ground Vehicle
This paper proposes an efficient hybrid localization framework for the autonomous navigation of an unmanned ground vehicle in uneven or rough terrain, as well as techniques for detailed processing of 3D point cloud data. The framework is an extended version of FAST-LIO2 algorithm aiming at robust localization in known point cloud maps using Lidar and inertial data. The system is based on a hybrid scheme which allows the robot to not only localize in a pre-built map, but concurrently perform sim…

Les valeurs linguistiques et culturelles des documents num{\'e}riques et leur traitement s{\'e}mantique dans les syst{\`e}mes d'information {\'e}lectroniques
Mokhtar Ben Henda (MICA, ISD, GRESIC, ISIC, Chaire Unesco-ITEN)
https://arxiv.org/abs/2404.12681

Les valeurs linguistiques et culturelles des documents num{é}riques et leur traitement s{é}mantique dans les syst{è}mes d'information {é}lectroniques
The digital document evolves rapidly and spectacularly in its structure and information content conveyed on networks and information systems. Generally understood as a neutral support for information carrying a semantic value, the digital document nevertheless carries parameters that denote certain cultural and linguistic values specific to its creator. This document attempts to emphasize some technical aspects that reflect this intrinsic identity of electronic documents. The objective is to de…

SaulLM-7B: A pioneering Large Language Model for Law
Pierre Colombo, Telmo Pessoa Pires, Malik Boudiaf, Dominic Culver, Rui Melo, Caio Corro, Andre F. T. Martins, Fabrizio Esposito, Vera L\'ucia Raposo, Sofia Morgado, Michael Desa
https://arxiv.org/abs/2403.03883

SaulLM-7B: A pioneering Large Language Model for Law
In this paper, we introduce SaulLM-7B, a large language model (LLM) tailored for the legal domain. With 7 billion parameters, SaulLM-7B is the first LLM designed explicitly for legal text comprehension and generation. Leveraging the Mistral 7B architecture as its foundation, SaulLM-7B is trained on an English legal corpus of over 30 billion tokens. SaulLM-7B exhibits state-of-the-art proficiency in understanding and processing legal documents. Additionally, we present a novel instructional fine…

This https://arxiv.org/abs/2311.00232 has been replaced.
initial toot: https://mastoxiv.page/@arXiv_csRO_…

Mechanically-Inflatable Bio-Inspired Locomotion for Robotic Pipeline Inspection
Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot inspired by the ovipositor of parasitic wasps to navigate and inspect pipelines. The robot features a flexible locomotion system that adapts to different tube sizes and shapes through a mechanical inflation technique. The flexible locomotion system employs a r…