Miracle-dz/UniFAR-FTUs huggingface dataset:
Hybrid fuzzy position/force control by adaptive network-based fuzzy inference system for robot manipulator mounted on oscillatory base

This study considered the hybrid position/force control of robots with an oscillatory base. The objective when controlling such a system is to control the contact force between the environment and the object in the constrained directions. The auxiliary control input laws with the ANFIS tuning methodology were successfully applied to robot manipulators mounted on an oscillatory base to provide hybrid position/force control. Linguistic fuzzy information from human knowledge was incorporated into the fuzzy system, which was equipped with a training algorithm. The advantage of the proposed control scheme is that only select control inputs are needed to select control inputs for task space trajectory tracking. In other words, such a system does not require the redesign of the vibration damping controller. Tracking performance comparison is also presented for the proposed control scheme and the other existing control techniques. It is shown that the proposed fuzzy control scheme offers several implementation advantages such as less steady-state errors, reduced effect of overshoot, and a fast convergent rate in real-time verification. The experimental results of this study confirmed the efficiency of the proposed control design and its feasibility for use in various mechanical systems, including mobile robots, gantry cranes, underwater robots, and other dynamic systems mounted on oscillatory bases and used to perform constrained motion tasks.
Glial Cultures Differentiated from iPSCs of Patients with PARK2-Associated Parkinson’s Disease Demonstrate a Pro-Inflammatory Shift and Reduced Response to TNFα Stimulation

Parkinson’s disease (PD) is the second most common neurodegenerative diseases characterized by progressive loss of midbrain dopaminergic neurons in the substantia nigra. Mutations in the PARK2 gene are a frequent cause of familial forms of PD. Sustained chronic neuroinflammation in the central nervous system makes a significant contribution to neurodegeneration events. In response to inflammatory factors produced by activated microglia, astrocytes change their transcriptional programs and secretion profiles, thus acting as immunocompetent cells. Here, we investigated iPSC-derived glial cell cultures obtained from healthy donors (HD) and from PD patients with PARK2 mutations in resting state and upon stimulation by TNFα. The non-stimulated glia of PD patients demonstrated higher IL1B and IL6 expression levels and increased IL6 protein synthesis, while BDNF and GDNF expression was down-regulated when compared to that of the glial cells of HDs. In the presence of TNFα, all of the glial cultures displayed a multiplied expression of genes encoding inflammatory cytokines: TNFA, IL1B, and IL6, as well as IL6 protein synthesis, although PD glia responded to TNFα stimulation less strongly than HD glia. Our results demonstrated a pro-inflammatory shift, a suppression of the neuroprotective gene program, and some depletion of reactivity to TNFα in PARK2-deficient glia compared to glial cells of HDs.
On the dynamics of the large-scale structures in round impinging jets

Time-averaged two-point measurements of the fluctuating wall pressure and instantaneous measurements of the full fluctuating wall pressure field were performed in incompressible turbulent impinging jets with nozzle-to-plate spacings of 2 and 4 diameters, Reynolds numbers of 23 300, and Mach numbers of 0.03. An azimuthal Fourier decomposition of the fluctuating wall pressure revealed that the fluctuations in the stagnation region were dominated by azimuthal mode 1 to 3, and the contributions from these modes were larger for the jet with $H/D=4$. Azimuthal modes 0 and 1 made significant contributions to the pressure fluctuations in the wall jet region of both jets, indicating that the large-scale ring structures formed in the jet shear-layer play a prominent role in this region. The contributions from modes 0 and 1 in the wall jet were smaller for the jet with $H/D=4$ indicating that the ring structures play a less prominent role in the wall jet region as the nozzle-to-plate distance increased. A wavelet analysis of the transient fluctuations indicated that azimuthal mode 1 had dominant high-frequency and low-frequency components, while azimuthal mode 0 had only the higher-frequency oscillations. The higher-frequency components of azimuthal modes 0 and 1 occurred in both the stagnation and the wall jet regions and are attributed to the asymmetric evolution of the ring structures in the jet. The low-frequency oscillations were primarily associated with azimuthal mode 1 and were evident only in the stagnation region. These oscillations became more prominent as the nozzle-to-plate distance was increased.
Almost Everywhere Convergence of Inverse Spherical Transforms on Noncompact Symmetric Spaces

LetGbe a connected noncompact semisimple Lie group with finite center and real rank one. Fix a maximal subgroupK. We considerKbi-invariant functionsfonGand their spherical transformf(λ)=∫Gf(g)ϕλ(g)dg,whereϕλdenote the elementary spherical functions onG/Kandλ⩾0. We consider the maximal operatorsS*f(t)=SupR>1∫R1f(λ)λ(a(t))|c(λ)|−2dλand prove thatS* maps boundedlyKLKs(G)→Ls(G)+L2(G) for 2n/(n+1)<s⩽2 wheren=dim(G/K). The result is sharp and it implies a.e. convergence properties of the inverse spherical transforms.
Assessing the Impact of the Covariance Localization Radius when Assimilating Infrared Brightness Temperature Observations Using an Ensemble Kalman Filter

AbstractA regional-scale Observing System Simulation Experiment is used to examine how changes in the horizontal covariance localization radius employed during the assimilation of infrared brightness temperature observations in an ensemble Kalman filter assimilation system impacts the accuracy of atmospheric analyses and short-range model forecasts. The case study tracks the evolution of several extratropical weather systems that occurred across the contiguous United States during 7–8 January 2008. Overall, the results indicate that assimilating 8.5-μm brightness temperatures improves the cloud analysis and forecast accuracy, but has the tendency to degrade the water vapor mixing ratio and thermodynamic fields unless a small localization radius is used. Vertical cross sections showed that varying the localization radius had a minimal impact on the shape of the analysis increments; however, their magnitude consistently increased with increasing localization radius. By the end of the assimilation period, th.
Assessment of the Relationships between Prospective Mathematics Teachers’ Classroom Management Anxiety, Academic Self-Efficacy Beliefs, Academic Amotivation and Attitudes toward the Teaching Profession Using Structural Equation Modelling

Academic self-efficacy, academic amotivation, attitude toward the teaching profession, and classroom management anxiety are four of the most significant factors for both teacher training and performance because these psychological and behavioral constructs are first developed during the initial training, and reflect on the actual teaching quality of teachers. Therefore, investigation into their development and relationships, particularly with regard to prospective teachers, is significant both for the theory and practice of teaching. Hence, the current study aims to explore the casual relationships between these variables with a sample of prospective mathematics teachers, using the structural equation modelling (SEM). The participants were selected using simple random sampling method from prospective mathematics teachers studying at educational faculties of seven universities in different regions of Turkey. The data were collected using the academic amotivation scale, academic self-efficacy scale, attitude toward the teaching profession scale, classroom management anxiety scale, and a personal information form developed by the researchers. Data obtained from 581 participants were analyzed using path analysis. The findings showed that prospective mathematics teachers had a positive attitude toward the profession, and were eager to teach. Their academic self-efficacy predicted their attitude toward the teaching profession. Similarly, prospective mathematics teachers’ attitude toward the teaching profession correlated negatively with their academic amotivation. In other words, as prospective mathematics teachers’ attitude scores toward the profession increased, their academic amotivation scores decreased. However, prospective mathematics teachers had a high level of classroom management anxiety. Interestingly, prospective mathematics teachers with a positive attitude toward the profession experienced higher levels of classroom management anxiety. The findings mostly supported previous results in the literature. Implications were suggested both for teacher training and practice of quality teaching.
Arbitrary (cid:96) -state solutions of the Feynman propagator with the Deng-Fan molecular potential

The bound state solutions of the Feynman propagator with the rotating Deng-Fan molecular potential are presented approximately. An approximation of the centrifugal potential is used and nonlinear space-time transformations are applied. A relation between the original path integral and the Green function of a new quantum soluble system is derived. The energy spectrum and the normalized eigenfunctions are both obtained for the application of this technique to the Deng-Fan molecular potential. Our results are in very good agreement with those found by using numerical and other methods.
A High-Efficiency QR Flyback DC–DC Converter with Reduced Switch Voltage Stress Realized by Applying a Self-Driven Active Snubber (SDAS)

In this paper, a QR flyback converter using a self-driven active snubber (SDAS) was proposed to solve the problem of voltage surge in the switch of QR flyback converters. In the proposed converter, the SDAS consisting of a clamping capacitor and an active switch can be configured in parallel with the main switch or transformer to reduce the voltage surge in the switch. To confirm the steady-state characteristics of the QR flyback converter to which the proposed SDAS is applied, equivalent circuits for each state were constructed, and the equations and characteristics for each state were determined. A 60 W class small AC–DC adapter was constructed to confirm the effectiveness of the proposed converter and the control circuit method, and the experimental results were analyzed. The size of the experimental AC–DC adapter was 74×29×23 mm, and it had a high power density of 20 W/in3 or more. The experimental circuit was limited to the high power conversion efficiency of up to 91.56%, and the maximum voltage surge in the switch was approximately 450 V. One of the reasons for such high efficiency is the SDAS circuit, which sufficiently reduces the voltage surge of the QR flyback switch, compared with the RCD clamp circuit, and does not consume power in principle.
A method for deriving lower bounds for the complexity of monotone arithmetic circuits computing real polynomials

This work suggests a method for deriving lower bounds for the complexity of polynomials with positive real coefficients implemented by circuits of functional elements over the monotone arithmetic basis . Using this method, several new results are obtained. In particular, we construct examples of polynomials of degree in each of the variables with coefficients 0 and 1 having additive monotone complexity and multiplicative monotone complexity as . In this form, the lower bounds derived here are sharp. Bibliography: 72 titles.
Effect of Hydrogen Peroxide on the Surface and Attractiveness of Various Zirconia Implant Materials on Human Osteoblasts: An In Vitro Study

The aim of this in vitro study was to investigate the effect of hydrogen peroxide (H2O2) on the surface properties of various zirconia-based dental implant materials and the response of human alveolar bone osteoblasts. For this purpose, discs of two zirconia-based materials with smooth and roughened surfaces were immersed in 20% H2O2 for two hours. Scanning electron and atomic force microscopy showed no topographic changes after H2O2-treatment. Contact angle measurements (1), X-ray photoelectron spectroscopy (2) and X-ray diffraction (3) indicated that H2O2-treated surfaces (1) increased in hydrophilicity (p < 0.05) and (2) on three surfaces the carbon content decreased (33–60%), while (3) the monoclinic phase increased on all surfaces. Immunofluorescence analysis of the cell area and DNA-quantification and alkaline phosphatase activity revealed no effect of H2O2-treatment on cell behavior. Proliferation activity was significantly higher on three of the four untreated surfaces, especially on the smooth surfaces (p < 0.05). Within the limitations of this study, it can be concluded that exposure of zirconia surfaces to 20% H2O2 for 2 h increases the wettability of the surfaces, but also seems to increase the monoclinic phase, especially on roughened surfaces, which can be considered detrimental to material stability. Moreover, the H2O2-treatment has no influence on osteoblast behavior.
Gallium-Doped Hydroxyapatite Shows Antibacterial Activity against Pseudomonas aeruginosa without Affecting Cell Metabolic Activity

Calcium phosphates (CaPs) have been used in bone regeneration for decades. Among the described CaPs, synthetic hydroxyapatite (HAp) has a chemical composition similar to that of natural bone. Gallium-containing compounds have been studied since the 1970s for the treatment of autoimmune diseases and have shown beneficial properties, such as antibacterial activity and inhibition of osteoclast activity. In this study, we synthesized hydroxyapatite (HAp) powder with Ga doping ratios up to 6.9 ± 0.5 wt% using the wet chemical precipitation method. The obtained products were characterized using XRD, BET, FTIR, and ICP-MS. Ga3+ ion release was determined in the cell culture media for up to 30 days. Antibacterial activity was assessed against five bacterial species: Pseudomonas aeruginosa, Escherichia coli, Staphylococcus aureus, Staphylococcus epidermidis, and Streptococcus pyogenes. The biocompatibility of the GaHAp samples was determined in human fibroblasts (hTERT-BJ1) through direct and indirect tests. The structure of the synthesized products was characteristic of HAp, as revealed with XRD and FTIR, although the addition of Ga caused a decrease in the crystallite size. Ga3+ was released from GaHAp paste in a steady manner, with approximately 40% being released within 21 days. GaHAp with the highest gallium contents, 5.5 ± 0.1 wt% and 6.9 ± 0.5 wt%, inhibited the growth of all five bacterial species, with the greatest activity being against Pseudomonas aeruginosa. Biocompatibility assays showed maintained cell viability (~80%) after seven days of indirect exposure to GaHAp. However, when GaHAp with Ga content above 3.3 ± 0.4 wt% was directly applied on the cells, a decrease in metabolic activity was observed on the seventh day. Overall, these results show that GaHAp with Ga content below 3.3 ± 0.4 wt% has attractive antimicrobial properties, without affecting the cell metabolic activity, creating a material that could be used for bone regeneration and prevention of infection.
Multi-gene phylogeny reveals a new genus and species of Hapalidiales (Rhodophyta) from Antarctica: Thalassolithon adeliense gen. & sp. nov.

ABSTRACT Non-geniculate coralline algal specimens were collected in 2013 during the XXVIII Italian Expedition to Antarctica in Adélie Cove (Terra Nova Bay; Ross Sea) and deposited in the collections of the Italian National Antarctic Museum (MNAIT, Section of Genoa). Specimens were characterized through a polyphasic approach combining DNA sequence data obtained for four genes (psbA, rbcL, 18S rDNA and cox1) with morpho-anatomical observations. DNA sequences revealed that all specimens belonged to the same species. Phylogenetic reconstructions unambiguously recovered this alga as a member of the order Hapalidiales, but without any close relationship to a genus of this order currently recognized on a molecular phylogenetic basis. Instead, it formed a well-supported lineage with specimens named ‘Hapalidiales sp. ZH-Twist-2019’, collected in New Zealand, for which no formal assignment at genus level has been proposed. Species delimitation methods (ABGD, PTP, GMYC) applied to the psbA dataset indicated that the Adélie Cove coralline alga is a distinct species from all other known hapalidialean species for which such sequences are available. A new genus, Thalassolithon gen. nov., is proposed for T. adeliense sp. nov.
Comparing Changes in IPV Risk by Age Group over Time in Conflict-Affected Northeast Nigeria

Increased risk of intimate partner violence (IPV) has been well documented among women and girls living in conflict zones. However, how residence in a conflict area differentially impacts adolescent girls and young women (AGYW) compared to older women is less understood. This paper examines whether the levels of IPV changed more among AGYW compared to older women in six Boko Haram (BH)-affected States in Nigeria. The Nigeria Demographic and Health Survey data was used to compare the level of the three types of IPV (emotional, physical, and sexual) among AGYW compared to older women before and during the BH conflict (2008 and 2018). We ran a multiple linear regression model with an interaction term for ever-partnered female respondents living in six Northeast States, adjusting for relevant covariates. A significantly higher proportion of both older and younger women reported experiencing emotional and sexual IPV in 2018 than in 2008, with a higher increase reported among AGYW. Sexual IPV increased by six percentage points more among AGYW compared to older women. AGYW in the BH-affected States are more vulnerable to experiencing sexual IPV relative to older women. This study highlights the need for youth-focused IPV interventions in the BH-affected States.
Resilience-Oriented Train Rescheduling Optimization in Railway Networks: A Mixed Integer Programming Approach

Due to the inventible disruptions caused by e.g., flood, hurricane and blizzard, metro managers in recent years have gradually shifted their attention from prevention of disruptions to ability to withstand and quick recovery from these disruptions, hence the need for enhancing the resilience of an urban rail system. In this paper, we propose a resilience-oriented train rescheduling framework, which helps the rail transit system recover to the normal state as soon as possible in case of disruptions, with the help of pre-allocated rolling stocks at the depots, side tracks and timetable rescheduling of grains. Specifically, we first construct an event-activity network for an urban rail line with multiple depots and side tracks, in which the arrival and departure of trains are modeled as a set of events. Several groups of decision variables and linear constraints are denoted to model the rescheduling of trains. Considering the use of short-turning train rescheduling strategy and pre-allocated rolling stocks, we then formulate the problem into a mixed-integer linear programming (MILP) model, where the objective is to maximize the resilience of the urban rail line against disruptions. Through the analysis of model properties, we develop a branch-and-cut algorithm by deriving a series of linear inequalities, which we prove are valid inequalities, to strength the tightness of the MILP model. Finally, numerical experiments based on real-world data of Beijing metro are conducted to verify the effectiveness of our approach.
Globular clusters in the halo of M31

The CFHT was used to obtain high-resolution CCD images of 82 cluster candidates in the halo of M31. These data, combined with radial velocities which cover an additional 27 candidates, are used to compile a catalog of 51 bona fide M31 halo globulars. The other candidates are found to be background galaxies (54) and field stars (4). The cluster sample appears to be incomplete for V greater than 18. The projected distribution of globulars follows an 1/r-squared law for r(kpc) between values of 6 and 22 and then drops faster, suggesting a cutoff at about 40 kpc. These trends are similar to those for globular clusters in the Milky Way halo. The total populaton of globulars in M31 is estimated to be larger than in the Milky Way by a factor of 1.8 + or - 0.3. 30 refs.
New lower matrix bounds for the solution of the continuous algebraic lyapunov equation

New lower matrix bounds are derived for the solution of the continuous algebraic Lyapunov equation (CALE). Following each bound derivation, an iterative algorithm is proposed to derive tighter matrix bounds. In comparison to existing results, the presented results are more concise and are always valid when the CALE has a non‐negative definite solution. We finally give numerical examples to show the effectiveness of the derived bounds and make comparisons with existing results. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society
An up‐to‐date approach to physics

A unified approach to science teaching based upon a certain class of quantities which play fundamental roles in classical and modern physics is introduced. These quantities share the property of being substance‐like, that is, each can be pictured to be contained in bodies and to flow from one body to another like a kind of ‘‘stuff. ’’ Such quantities include, for example, energy (=mass), momentum, angular momentum, electric charge, particle number (=amount of substance), and entropy. When emphasizing substance‐like quantities, the breakup of physics into sub‐branches is nothing more than a classification of natural processes according to the substance‐like quantity playing the dominant role in each case. The method of presentation, however, remains the same from one sub‐branch to another: different natural processes can be simply visualized and quantitatively described according to the same formal rules in terms of the increasing, decreasing, and flowing of the respective substance‐like quantities in each .
On group velocity delays in microwave millisecond oscillating events and radio spikes

Time delays between opposite polarizations, interpreted by a dierence between the ordinary and extraordinary modes, are studied. Two dierent density and magnetic field models are used, and three emission mechanisms generating radio waves in double upper-hybrid, plasma, and gyro frequencies are considered. It is found that time delays and their spectra can reach various values and forms depending on plasma parameters in the radio wave emission and propagation. For the emission in double upper-hybrid frequency the considerable decrease of the time delay is due to an increase of the electron plasma density in the radio wave generation. In a dense flare plasma the power index a of the time delay spectrum is negative. On the other hand, in a diluted plasma a becomes positive, but in this case it is much lower than observed for dm-pulsations (a= 3). Furthermore model values are compared with the time delays presented by Fleishman et al. (2002), and it is shown that the best agreement is with the model assuming the emission on double gyro-frequency. But, in this case the gyro-resonant absorption limits the angle for escape of radio waves to< 3-10. Finally, an eect of the dierence of the group and light velocities on the frequency drift is analyzed. It is shown that such an eect can be important for wave propagation along magnetic field lines at frequencies close to the plasma frequency.