Miracle-dz/UniFAR-FTUs huggingface dataset:
Modular Manipulators for Cluttered Environments: A Task-Based Configuration Design Approach

Modular manipulators gained popularity for their implicit feature of “reconfigurability”—that is, the ability to serve multiple applications by adopting different configurations. As reported in the literature, most of the robotic arms with modular architecture used specific values of twist angles, e.g., 0 deg or 90 deg. Further, the number of degrees-of-freedom (DoF) is also kept fixed. These constraints on the design parameters lead to a smaller solution space for the configuration synthesis problems and may result as no-feasible solution in a cluttered work-cell. To work in a realistic environment, the task-based customized design of a manipulator may need a larger solution space. This work deals with the extension of the modular architecture from conventional values to unconventional values of design parameters, keeping the degrees-of-freedom also as variable. This results into an effective utilization of modular designs for highly cluttered environments. A three-phase design strategy is proposed in the current work. The design strategy starts with the decision of optimal number of modules required for the given environment in the first phase, which is followed by task-based “configuration planning” and “optimal assembly” in the second and third phase, respectively. Three types of modules are proposed with same architecture and different sizes—heavy (H), medium (M), and light (L). The configuration planning includes detailed discussion on the type-selection of the modules and their possible combinations. Comparison of all possible n-link combinations is analyzed based upon the optimized results with respect to the minimum torque values. Case studies of a power plant with two different workspaces are included to illustrate the three-phase strategy representing the importance of modularity in nonrepetitive maintenance tasks.
Iterative learning control for output‐constrained nonlinear systems with input quantization and actuator faults

In this work, we propose a novel iterative learning control algorithm to deal with a class of nonlinear systems with system output constraint requirements and quantization effects on the system control input. Actuator faults have also been considered, which include multiplicative, additive, and stuck actuator faults. To the best of our knowledge, this is the first reported work in the iterative learning control literature to deal with quantization effects for the control input of nonlinear systems under the effects of actuator faults and system output constraints. Under the proposed scheme, using backstepping design and composite energy function approaches in the analysis, we show that uniform convergence of the state tracking errors can be guaranteed over the iteration domain, and the constraint requirement on the system output will not be violated at all time. In the end, a simulation study on a single‐link robot model is presented to demonstrate the effectiveness of the proposed scheme.
Modeling of inhomogeneous mixing of plasma species in argon–steam arc discharge

This paper presents numerical simulation of mixing of argon- and water-plasma species in an argon–steam arc discharge generated in a thermal plasma generator with the combined stabilization of arc by axial gas flow (argon) and water vortex. The diffusion of plasma species itself is described by the combined diffusion coefficients method in which the coefficients describe the diffusion of argon ‘gas,’ with respect to water vapor ‘gas. ’ Diffusion processes due to the gradients of mass density, temperature, pressure, and an electric field have been considered in the model. Calculations for currents 150–400 A with 15–22.5 standard liters per minute (slm) of argon reveal inhomogeneous mixing of argon and oxygen–hydrogen species with the argon species prevailing near the arc axis. All the combined diffusion coefficients exhibit highly nonlinear distribution of their values within the discharge, depending on the temperature, pressure, and argon mass fraction of the plasma. The argon diffusion mass flux is driven mainly by the concentration and temperature space gradients. Diffusions due to pressure gradients and due to the electric field are of about 1 order lower. Comparison with our former calculations based on the homogeneous mixing assumption shows differences in temperature, enthalpy, radiation losses, arc efficiency, and velocity at 400 A. Comparison with available experiments exhibits very good qualitative and quantitative agreement for the radial temperature and velocity profiles 2 mm downstream of the exit nozzle.
A Hybrid Reduced-Order Model for the Aeroelastic Analysis of Flexible Subsonic Wings—A Parametric Assessment

A hybrid reduced-order model for the aeroelastic analysis of flexible subsonic wings with arbitrary planform is presented within a generalised quasi-analytical formulation, where a slender beam is considered as the linear structural dynamics model. A modified strip theory is proposed for modelling the unsteady aerodynamics of the wing in incompressible flow, where thin aerofoil theory is corrected by a higher-fidelity model in order to account for three-dimensional effects on both distribution and deficiency of the sectional air load. Given a unit angle of attack, approximate expressions for the lift decay and build-up are then adopted within a linear framework, where the two effects are separately calculated and later combined. Finally, a modal approach is employed to write the generalised equations of motion in state-space form. Numerical results were obtained and critically discussed for the aeroelastic stability analysis of a uniform rectangular wing, with respect to the relevant aerodynamic and structural parameters. The proposed hybrid model provides sound theoretical insights and is well suited as an efficient parametric reduced-order aeroelastic tool for the preliminary multidisciplinary design and optimisation of flexible wings in the subsonic regime.
Temporal Acuity and the Identification of Temporal Order: Related, but Distinct, Auditory Abilities

Nearly a half century ago, Ira Hirsh published the ﬁrst of many articles establishing the difference between (A) auditory temporal acuity (the ability to distinguish two sounds by their temporal properties) and (B) the limits of the perception of the temporal order of sounds. The thresholds for both A and B are described in terms of stimulus onset asynchrony (SOA). For many sounds, A is in the order of microseconds if the two sounds are delivered dichotically, one to each ear, and reaches two to three milliseconds when both are presented to one ear. The limits of B are much greater, generally 20 milliseconds or more for pairs of sounds, and roughly the same limits are found for pairs of stimuli from more than one sensory modality: light-sound, sound-touch, light-touch. Although still not well understood, several experiments on these topics suggest that A is limited by more peripheral mechanisms of sensory processing, whereas B involves higher levels of the nervous system, where perceived temporal relations may be subject to control via mechanisms of selective attention, as in prior entry phenomena. Some evidence suggests a very broad range of SOA over which temporally correlated stimuli may be brought into registration, perhaps to enhance their mutual effects on the extraction of common information.
Structured tensors : theory and applications

The thesis is devoted to studying spectral properties and positive semi-definiteness of several kinds of structured tensors. Furthermore, the SOS (sum-of-squares) tensor decomposition of structured tensors in the literature are established. Five topics are considered: 1. Positive definiteness and semi-definiteness of even order Cauchy tensors. 2. Generalized Cauchy tensors and Hankel tensors. 3. Some spectral properties of odd-bipartite Z-Tensors and their absolute tensors. 4. SOS tensor decomposition and applications. 5. Positive semi-definiteness and extremal H-eigenvalues of extended essentially non-negative tensors. For topic 1, motivated by symmetric Cauchy matrices, we define symmetric Cauchy tensors and their generating vectors in this thesis. An even order symmetric Cauchy tensor is positive semi-definite if and only if its generating vector is positive. An even order symmetric Cauchy tensor is positive definite if and only if its generating vector has positive and mutually distinct entries. This extends Fiedler’s result for symmetric Cauchy matrices to symmetric Cauchy tensors. Then, it is proven that the positive semi-definiteness character of an even order symmetric Cauchy tensor
New Insights into the HCV Quasispecies and Compartmentalization

Hepatitis C virus (HCV) is a hepatotropic RNA virus with an extraordinary propensity to persist in the vast majority of infected individuals. During replication, because of the inherent inﬁdelity of the viral RNA polymerase, each progeny RNA genome contains mutations that lead to a continuous diversiﬁcation of the viral population. Consequently, HCV circulates in vivo as a quasispecies, which is a dynamic distribution of divergent but closely related genomes subjected to a continuous process of genetic variation, competition, and selection. This genomic heterogeneity confers a remarkable advantage to the viral population allowing for a rapid adaptation to a changing environment when the virus is subject to selective constraints exerted by the host, such as antiviral immunity, or external to the host, such as antiviral therapy. The large reservoir of variants provided by the quasispecies represents a great challenge for the control of HCV infection and has important biologic implications for viral persistence, host cell tropism, antiviral drug resistance, and development of an HCV vaccine. This review discusses the molecular mechanisms of HCV genetic variation and the biologic and clinical relevance of the quasispecies nature of HCV.
Learning of Actions in Finitely Repeated Games

This paper studies a novel setting in game theory: a player may learn new actions over time by observing the opponent’s play. We investigate the impact of such learning behavior in the context of finitely repeated games. In contrast to related literature such as Kreps et al. (1982), we provide a framework with full rationality and consistent stage-game payoffs for sustaining cooperation, which bridges the gap between theories of finitely and infinitely repeated games. Even if rational cooperation is impossible without learning, for instance in a Prisoner’s Dilemma, it can be sustained with approximate efficiency when players can learn from one another. Cooperation does not have to be endowed in each player’s initial action set, but can be “taught” and enforced. When learning is imperfect, the set of sustainable payoffs is not continuous, in the sense that no equilibrium exists when learning is nearly perfect and the repeated games last for sufficiently many periods.
Piezoelectrically tunable resonance properties of boron nitride nanotube based resonators

Resonance properties such as the resonance frequency, the sensitivity, and the intrinsic dissipation of boron nitride nanotube (BNNT) based resonators are investigated in this work based on molecular dynamics simulations together with density functional theory calculations. A remarkable resonance property comparable to their carbon nanotube (CNT) counterparts is found in the present BNNT based resonators. Moreover, due to the unique piezoelectric characteristic of BNNTs, the resonance properties of BNNT based resonators can be efficiently tailored by external electric fields. It is found that when a negative electric field is applied, the resonance frequency and the sensitivity of BNNT based resonators can be significantly enhanced. This effect is attributed to the fact that due to the inverse piezoelectric response the applied negative electric field will induce a residual tensile stress in BNNTs and thus enhance their equivalent stiffness. Meanwhile, it is also found that the intrinsic dissipation of BNNT based resonators can be mitigated by a positive external electric field, since under this condition the thermoelastic dissipation and the phonon-phonon scattering of BNNTs are both reduced by the piezoelectric effect. Such unique piezoelectrically tunable resonance properties in BNNT based resonators render them have a broader spectrum of applications than their conventional CNT counterparts.Resonance properties such as the resonance frequency, the sensitivity, and the intrinsic dissipation of boron nitride nanotube (BNNT) based resonators are investigated in this work based on molecular dynamics simulations together with density functional theory calculations. A remarkable resonance property comparable to their carbon nanotube (CNT) counterparts is found in the present BNNT based resonators. Moreover, due to the unique piezoelectric characteristic of BNNTs, the resonance properties of BNNT based resonators can be efficiently tailored by external electric fields. It is found that when a negative electric field is applied, the resonance frequency and the sensitivity of BNNT based resonators can be significantly enhanced. This effect is attributed to the fact that due to the inverse piezoelectric response the applied negative electric field will induce a residual tensile stress in BNNTs and thus enhance their equivalent stiffness. Meanwhile, it is also found that the intrinsic dissipation of BN.
Secondary Treatment Benefits Achieved by Hearing-Impaired Tinnitus Patients Using Aided Environmental Sound Therapy for Tinnitus Retraining Therapy: Comparisons with Matched Groups of Tinnitus Patients Using Noise Generators for Sound Therapy

Tinnitus patients with hearing loss may use ampliﬁed environmental sound from hearing aids (HAs) for the sound therapy (ST) component of tinnitus retraining therapy (TRT). Sizable secondary treat-ment beneﬁts, namely, incremental shifts in loudness discomfort levels (LDLs) and expansion of the auditory dynamic range (DR) for loudness, have been reported for tinnitus patients who use noise generators (NGs) for ST in TRT. The primary questions addressed in this study are (1) Then hearing-impaired tinnitus patients using ampliﬁed environmental sound for their ST also achieve signiﬁcant secondary treatment beneﬁts and, if so, (2) are these secondary effects of similar magnitude to those measured for tinnitus patients using NGs for their ST? An analysis of patient records in the University of Maryland Tinnitus and Hyperacusis Center (UMTHC) revealed TRT treatment-related changes in the LDL averaged 2.70 dB for a group of 25 aided hearing-impaired tinnitus patients. Corresponding treat-ment effects for four matched groups of tinnitus patients, who used NGs for their ST, ranged from 5.91 to 10.10 dB. The associated incremental changes in the DR averaged 0.60 dB for the aided tinnitus patients and from 4.10 to 9.23 dB for the matched groups of tinnitus patients who used NGs for their ST. These ﬁndings indicate that hearing-impaired tinnitus patients using aided environmental sound for TRT achieve smaller secondary treatment beneﬁts than do tinnitus patients who use NGs for their ST.
Contralateral Routing of the Signal Amplification Strategies

Contralateral routing of the signal (CROS) ﬁtting applications have been an important remediation for individuals with single-sided deafness (SSD) since the 1960s when Earl Harford and colleagues at Northwestern University reported its use. Since that time, CROS and bilateral contralateral routing of the signal (BICROS) have remained popular ﬁtting options for those with SSD. Over the past decade and a half, digital signal processing, along with other technological advances, has increased the ﬁtting ﬂexibility of wired and wireless CROS devices. This article will review the most current commercially available CROS and BICROS ampliﬁcation strategies. Additionally, studies evaluating the efﬁcacy and effectiveness of CROS ﬁttings will be reviewed. Finally, a systematic approach to verifying and validating CROS/BICROS ﬁttings will be examined.
Clinical Application of the P1 Cortical Auditory Evoked Potential Biomarker in Children with Sensorineural Hearing Loss and Auditory Neuropathy Spectrum Disorder

The P1 component of the cortical auditory evoked potential (CAEP) shows age-related decreases in latency and changes in morphology in normal-hearing children, providing a biomarker for development of the auditory cortical pathways in humans. In hearing-impaired children, auditory deprivation may affect the normal age-related changes in central auditory maturation. Appropriate early intervention with ampliﬁcation and/or electrical stimulation can provide the necessary stimulation needed to drive progress in central auditory maturation and auditory skill development; however, objective measures are needed to evaluate the effectiveness of these treatments in infants and young children. We describe three pediatric cases in which we explored the clinical utility of the P1 as an objective biomarker of auditory cortical development after early intervention. We assessed development of P1 CAEP latency and morphology in two children with sensorineural hearing loss who received intervention with hearing aids (case 1) and cochlear implants (case 2) and a child with auditory neuropathy spectrum disorder (case 3). Overall, we ﬁnd that the P1 CAEP serves as a useful tool for assessing the effectiveness of early intervention treatment and clinical management of pediatric hearing-impaired patients.
Precise scatterer localization for ultrasound contrast imaging

This thesis is concerned with developing algorithms for the precise localization of ultrasound point scatterers with an eye to super-resolution ultrasound contrast imaging. In medical ultrasound, the conventional resolution is limited by diffraction and, in contrast to other sensing fields, point source imaging has not been extensively investigated. Here, two independent methods were proposed aiming to increase the lateral and the axial resolution respectively, by improving the localization accuracy of a single scatterer. The methods were examined with simulated and experimental data by using standard transmission protocols. Where a technique is applicable to imaging of more complicated structures than point sources, this was also examined. Further, a preliminary study was included with algorithm application to microbubbles that are currently used in contrast enhanced ultrasound. It was demonstrated that it is feasible to translate to ultrasonics, adaptive processes or techniques from optical imaging/astronomy. This way, it was possible to overcome the diffraction limit and achieve sub-wavelength localization. The accuracy gains are subject to many parameters but may reach up to two orders of magnitude, and are based exclusively on array signal processing. The latter is an important advantage since current attempts for super-resolution ultrasound are image-based which is generally undesired.
The Effectiveness of Communication Strategy Training with Adult Cochlear Implantees

This study evaluated changes in repair strategy use by adult cochlear implantees following a communication training program that emphasized the use of communication repair strategies. Fifteen subjects, male and female, pre-and postlingually deafened adults, participated. The experimental group completed a four-session training program. The control group received no intervention. Evaluations were performed preintervention, postintervention, and at a 5-to 7-week follow-up with both familiar and unfamiliar communication partners. A video analysis technique was implemented. Video analysis showed that subjects often requested repetition (verbal/nonverbal), conﬁrmation, or repetition of a speciﬁc portion of an utterance. Other repair strategies were rarely used. Results showed no signiﬁcant change in the use of repair strategies for the control or experimental groups. Findings suggest that the training program was not effective with the present subject group or that the video analysis measure was not sufﬁciently sensitive to detect a change in communication behavior. It is suggested that some repair strategies may not comply with the rules of normal conversation.
Autoimmune Inner Ear Disease

Autoimmune inner ear disease (AIED), ﬁrst reported by McCabe in 1979, describes a disease process in which cochleovestibular is compromised by one’s own immune system. Only indirect laboratory evidence exists regarding the underlying immune reaction, which can only be conﬁrmed histopathologically in postmortem studies. Diagnosis involves a thorough history and complete head and neck, otomicroscopic, and audiometric evaluation. AIED classically presents with bilateral, ﬂuctuating, or rapidly progressive asymmetric sensor-ineural hearing loss (SNHL), which typically occurs over weeks to months but can occur suddenly over a period of a few hours or days. Fifty percent of patients have vestibular symptoms as well, which can be unilateral or bilateral. A lengthy serological workup is unwarranted given the absence of a reliable diagnostic laboratory test. Antibodies to the 68-kDa protein (heat shock protein-70) is marker-speciﬁc but not sensitive for AIED and may correlate with steroid responsiveness. In cases where the diagnosis remains unclear, a prolonged course of steroids, with repeat audiometric testing at 1 month, can be undertaken. Treatment aims to inhibit the detrimental immune response using immunosuppressant drugs; however, no standardized treatment regimen has been found. Cochlear implantation remains a viable last resort for patients with progressive SNHL.
Obstetric and Gynecologic Emergencies: A Review of Indications and Interventional Techniques

There are many interventional techniques that can be used to aid the obstetrician or gynecologist in caring for their patients in the acute setting. Embolization can be life saving in the case of postpartum hemorrhage. Bleeding related to cervical cancer or the threat of bleeding from cervical ectopic pregnancy is amenable to embolization as is hemorrhage related to uterine arteriovenous malformations. Postpartum women are also at a uniquely high risk for deep vein thrombosis and pulmonary emboli and may beneﬁt from consultation and treatment by an interventional radiologist. The goal of this article is to discuss the valuable role that the interventional radiologist plays in the treatment of these obstetric and gynecologic conditions
Sensitivity analysis and metamodels for the bulk parametrization of turbulent air–sea fluxes

State‐of‐the‐art climate models rely on bulk formulae arising from the Monin–Obukhov semi‐empirical theory to estimate turbulent air–sea fluxes. The mathematical structure of those formulae implies several difficulties when trying to study the numerical properties of coupling algorithms used for practical applications. This article introduces a methodology for building physically realistic approximations of existing bulk formulae which would also satisfy suitable mathematical properties (explicit character, regularity, differentiability). This is achieved by applying the Sobol' method to compute sensitivity indices in order to reduce the number of inputs and derive a simple metamodel for the parametrization of turbulent air–sea fluxes. Numerical results show excellent agreement between our approximations and the standard bulk formulae. In particular, single‐column simulations using the TOGA–COARE experiment within the LMDZ atmospheric model show negligible changes in numerical results.