Miracle-dz/UniFAR-FTUs huggingface dataset:
One-Step Deadbeat Control of a 5-Link Biped Using Data-Driven Nonlinear Approximation of the Step-to-Step Dynamics

For bipedal robots to walk over complex and constrained environments (e.g., narrow walkways, stepping stones), they have to meet precise control objectives of speed and foot placement at every single step. This control that achieves the objectives precisely at every step is known as one-step deadbeat control. The high dimensionality of bipedal systems and the under-actuation (number of joint exceeds the actuators) presents a formidable computational challenge to achieve real-time control. In this paper, we present a computationally efficient method for one-step deadbeat control and demonstrate it on a 5-link planar bipedal model with 1 degree of under-actuation. Our method uses computed torque control using the 4 actuated degrees of freedom to decouple and reduce the dimensionality of the stance phase dynamics to a single degree of freedom. This simplification ensures that the step-to-step dynamics are a single equation. Then using Monte Carlo sampling, we generate data for approximating the step-to-step dynamics followed by curve fitting using a control affine model and a Gaussian process error model. We use the control affine model to compute control inputs using feedback linearization and fine tune these using iterative learning control using the Gaussian process error enabling one-step deadbeat control. We demonstrate the approach in simulation in scenarios involving stabilization against perturbations, following a changing velocity reference, and precise foot placement. We conclude that computed torque control-based model reduction and sampling-based approximation of the step-to-step dynamics provides a computationally efficient approach for real-time one-step deadbeat control of complex bipedal systems.
Forest depletion in Ghana: the empirical evidence and associated driver intensities

PurposeThis study seeks to provide a robust piece of evidence of forest depletion in Ghana and its associated driver intensities to inform national policy decisions towards achieving Sustainable Development Goal (SDG) 15 and beyond.Design/methodology/approachUsing a representative sample size of 733 households, which was obtained with the aid of a structured questionnaire, a descriptive analysis is used to show the evidence of forest depletion. For robustness purposes, the geographic information system (GIS) is used to provide a piece of remote sensing evidence to substantiate the claim. In addition, an ordered probit regression model is estimated given the ranked nature of the responses to determine the drivers of forest depletion.FindingsThe results provide evidence that the urban forests in the Greater Accra Region (GAR) of Ghana have been depleted. Overall, 44% argued that the depletion of the forests is high, 30% indicated that the depletion is moderate, while 26% indicated that the depletion is low. Consistent with the literature, the ordered probit regression results show that human behaviour, climate change and institutional failure are the driver intensities of forest depletion in the Region. Besides, the authors find an increasing order effect for all three drivers. Using a descriptive analysis, majority of the respondents posited that human behaviour is the main driver intensity, followed by climate change and then institutional failure. This study recommends the need for education and advocacy, community participation, law enforcement, resource mobilization, modern adaptation strategies and internalization of externalities as a way of controlling the drivers of forest depletion.Originality/valueThe study uses remote sensing techniques to provide empirical evidence of protected forest depletion in the GAR, Ghana. In addition, an ordered probit regression is used to identify the driver intensities that explain the depleted protected forests in the region.
Supplementary material to "Microbial activity, methane production, and carbon storage in Early Holocene North Sea peats"

Abstract. Northern latitude peatlands act as important carbon sources and sinks but little is known about the greenhouse gas (GHG) budget of peatlands submerged beneath the North Sea during the last glacial-interglacial transition. We found that whilst peat formation was diachronous, commencing between 13,680 and 8,360 calibrated years before the present, stratigraphic layering and local vegetation succession were consistent across a large study area. The CH4 concentrations of the sediment pore waters were low at most sites, with the exception of two locations, and the stored carbon was large. Incubation experiments in the laboratory revealed molecular signatures of methanogenic archaea, with strong increases in rates of activity upon methylated substrate amendment. Remarkably, methanotrophic activity and the respective diagnostic molecular signatures could be not be detected. Heterotrophic Bathyarchaeia dominated the archaeal communities and bacterial populations were dominated by candidate phylum JS1 bacteria. Although CH4 accumulation is low at most sites, the presence of in situ methanogenic micro-organisms, the absence of methanotrophy, and large widespread stores of carbon hold the potential for GHG production if catalysed by a change in environmental conditions. Despite being earmarked as a critical source of CH4 seepage, seepage from these basal-peat deposits is restricted, as evidenced by low in situ CH4 concentrations.
Influence of Passenger Flow at the Station Entrances on Passenger Satisfaction Amid COVID-19

Railway stations are centers of mass accumulation of people. Additional regulations change the intensity of the flow of visitors and the time of entering the station. Delays become an essential factor affecting the perceived satisfaction with all services at stations. This paper analyzes the impact of the intensity of passenger flow in the key areas of the station (entrance groups) on the satisfaction of visitors with station functioning (by the example of Moscow railway stations). The authors of the paper used methods of observation to measure the current passenger flows at the entrances to the station and also collected secondary data on transport flows at city railway stations. To predict passenger flow, the authors used statistical methods to assess the relationship between variables and regression. The paper used a survey of passengers to analyze satisfaction with the functioning of railway station facilities and assess the acceptable delay time at the entrance/exit to the station. The article substantiates that in the context of current requirements for transport security, an important factor for perceived satisfaction with station services is the forecasting and management of passenger flows and control of time of entering the station.
Heat Transfer Correlations for Secondary Cooling in Continuous Casting

The general term “spray cooling” is for the research presented here limited to the spray cooling of hot surfaces with film boiling, starting at temperatures of about 1200 °C and finishing at the Leidenfrost point where cooling intensity changes rapidly. This is typical area of secondary cooling in continuous casting. Herein, a correlation for Heat Transfer Coefficient (HTC). The most frequently used parameter of water impingement density is in the presented correlation used together with impact pressure to get good results. This study uses both water and mist nozzles. It is shown and experimentally verified why equations based only on the water impingement density cannot provide sufficiently precise predictions of HTC.
Testing for Factor Loading Differences in Mixture Simultaneous Factor Analysis: A Monte Carlo Simulation-Based Perspective

ABSTRACT Factor analysis is ubiquitously applied in behavioral sciences for capturing covariances of observed variables by latent variables (factors). When factor-analyzing data from many groups of subjects, mixture simultaneous factor analysis (MSFA) determines which groups have the same factor model by clustering them based on their factor loadings, factor (co)variances and residual variances. Two Monte Carlo simulations are performed to investigate the power and type I error of Wald tests for factor loading differences in MSFA, as affected by characteristics of the data (sample size in terms of number and size of groups), factor models (item communality levels, sizes and types of loading differences) and clustering (cluster size, classification error and uncertainty). The results were better in case of equal cluster sizes, strongly overdetermined factors, high communalities, and larger primary loading differences.
The Effect of the Linear Velocity on the Detector Response and Effective Carbon Number: The Role of the Experimental Conditions in the Quantitative Analysis

Since its introduction in 1957 the Flame Ionization Detector (FID) is the most widely used Gas Chromatographic (GC) detector. Nowadays there is no Gas Chromatographic laboratory without apparatus containing a Flame Ionization Detector. However, the operation mechanism of the hydrogen flame and signal production is still not completely obvious. The FID response for hydrocarbons is proportional to the carbon content of the compound, while substances that contain heteroatoms yield smaller responses. In the Gas Chromatographic practice, a special relative response factor called Effective Carbon Number (ECN) is used for the expression of the response for molecules containing heteroatom. In the literature there are signal modifying constants published by different authors, which are typical of the carbon atoms and heteroatoms in the different chemical bonds. Although these constants express the nature of the modification (increase or decrease) the exact modifying value always depends on the chromatographic parameters and the molecular structure. If we want to apply the ECN method for our calculations these constants should be determined for our specific Gas Chromatographic system. In our earlier study we investigated the effect of the temperature of the injector, column and detector, the mode of the injection and the concentration level of the substance. The aim of this paper is to investigate the effect of the linear velocity on the response of the Flame Ionization Detector as a mass flow rate sensitive detector in the case of capillary column.
Cardiovascular Responses to Stress Utilizing Anticipatory Singing Tasks

Abstract. Models of psychobiological stress reactivity have a foundation in the measurement of responses to standardized stress tasks. Tasks with anticipatory phases have been proposed as an effective method of stress induction, either as a stand-alone task or replacement constituent elements for existing stressor paradigms. Tasks utilizing singing as a primary stressor have been proposed but the efficacy of these tasks have not been demonstrated while maintaining adherence to a resting/reactivity/recovery framework desirable for heart rate variability (HRV) measurement. This study examines the viability of an anticipatory sing-a-song task as a method for inducing mental stress and examines the utility of the task with specific reference to measures of cardiovascular reactivity and recovery activity, and standard protocols to examine HRV reactivity and recovery. Participants completed a dual task with a math task and an anticipation of singing component. Responses were examined according to a resting/reactivity/recovery paradigm and the findings indicate that the sing-a-song stimulus is effective in generating a stress response. Significant differences in heart rate and self-reported stress between baseline and stressor conditions were detected, with greater magnitude differences between baseline and anticipatory phases. This study has demonstrated the viability of the anticipation of singing as a standardized stressor using cardiovascular measures and has described variants of this task that may be used for repeated measures study designs.
Customer incivility and customer problem-solving behaviour in frontline employees: testing a moderated mediation model

Due to its prevalence and lasting implications, frontline employees’ (FLEs) experience of customer incivility has long occupied both managers and the human resources field as a whole. The current research employs the conservation of resources theory (COR) and justice theory to examine the influence of customer incivility on the customer problem-solving behaviour of FLEs via the mediation of employee burnout. Furthermore, it examines what alleviates the adverse influences of customer incivility by assessing the moderating roles of perceived supervisor justice and employee resilience. Using structural equation modelling (SEM), the research model is analysed based on a sample of 243 FLE-supervisor dyads in various hospitality organisations using a time-lagged research method, whereby supervisor-assessed FLEs’ customer problem-solving behaviours were also examined. The results demonstrate that customer incivility indirectly (via burnout) and directly has a negative influence on FLE willingness to engage in customer problem-solving behaviours. This influence is alleviated when a supervisor is perceived to be just and the employees are resilient. For managers, these research findings illustrate the significance of understanding what lessens the negative impact of customer incivility on the willingness to engage in customer problem-solving behaviours.
Invited Commentary Invited Commentary: Epigenetic Clocks and Obesity—Towards the Next Frontier Using Integrative Approaches and Early-Life Models

Why people of the same age show differences in age-related functional decline and whether biological aging can be slowed down through lifestyle changes and therapeutics are active research topics. Molecular tools that predict biological age based on DNA methylation markers, known as epigenetic clocks, are facilitating these efforts. In this issue, Kresovich et al. (Am J Epidemiol. 2021;190(6):984–993) investigated a cohort of non-Hispanic White women, demonstrating positive relationships between adiposity measures and the ticking rate of epigenetic clocks in blood. This commentary emphasizes that integrating molecular and genetic epidemiology approaches is crucial to dissecting the complex relationship between obesity and epigenetic aging. The early-life period is explored as a unique opportunity to gain novel insights into links between developmental processes and aging in later life. Last, the landscape of the next frontier in aging research is described in light of the imperative for transdisciplinary approaches to outline a shared vision and public health implementation dilemmas.
Groundwater annelids from Gran Canaria and Fuerteventura (Canary Islands), with the description of two new species of Namanereis (Namanereidinae, Nereididae, Polychaeta)

The Canary Islands are the richest volcanic region in the world in subterranean adapted fauna, followed by the Hawaiian Islands and the Undara Cave in Australia. Most of the subterranean adapted aquatic fauna from the Canary Islands is restricted to the anchialine environments in La Corona lava tube in Lanzarote, while the oligohaline stygobiont fauna, usually found in groundwater or interstitial freshwaters, is scarcer and represented by a few species of amphipods, copepods, and a single polychaete annelid recorded from Fuerteventura and doubtfully identified as Namanereis hummelincki (non Augener, 1933) (Hartmann-Schroder, 1988). Two new species of polychaete annelids belonging to the subfamily Namanereidinae are described from Gran Canaria and Fuerteventura. Both species live in groundwater, are depigmented and eyeless, and have bifid jaws. Although they are seemingly more related to each other than to other members of the bifid-jaw group, Namanereis canariarum sp. nov. can be diagnosed by its relatively longer tentacular cirri and parapodial dorsal cirri, as well as the presence of pseudospiniger chaetae. In contrast, Namanereis llanetensis sp. nov. has shorter cirri and usually lacks pseudospiniger chaetae. Namanereis canariarum sp. nov. and Namanereis llanetensis sp. nov. increase to 20 the total number of currently described species within this enigmatic genus. More than half of those species are adapted to live in groundwaters.
Do female managers perform better? Evidence from Italian manufacturing firms

The aim of the paper is to test whether the presence of females at management level influences firm productivity. The analysis is conducted on a sample of Italian manufacturing firms extracted from the AIDA database (2004-2012). Results demonstrate that firm productivity is positively influenced by women managers. We also find the productivity differential due to geographical localisation. In the presence of female managers, firms located in the North-West regions significantly increase the positive firm productivity differential of the geographical area, while firms located in the South and Islands reduce the differential productivity gap. Female and mixed managed firms result more productive than male only managed firms.
Technical Note: Analytical Inversion of the Parametric Budyko
Equations

Abstract. The non-parametric Budyko framework provides empirical relationships between a catchment's long-term mean evapotranspiration (E) and the aridity index, defined as the ratio of mean rainfall depth (P) to mean potential evapotranspiration (E0). The parametric Budyko equations attempt to generalize this framework by introducing a catchment-specific parameter (n or w), intended to represent differences in catchment climate and landscape features. Many studies have developed complex regression relationships for the catchment-specific parameter in terms of biophysical features, all of which use known values of P, E0, and E to numerically invert the parametric Budyko equations to obtain values of n or w. In this study, we analytically invert both forms of the parametric Budyko equations, producing expressions for n and w only in terms of P, E0, and E. These expressions allow for n and w to be explicitly expressed in terms of biophysical features through the dependence of P, E0, and E on those same features.
Does integrated health and care in the community deliver its vision? A workforce perspective

PurposeThe purpose of this paper is to explore and capture workforce perceptions, experiences and insights of the phenomena of integrated care (IC) in a community health and care NHS trust in England; including whether there are any associated factors that are enablers, barriers, benefits or challenges; and the level of workforce engagement in the process of integrated health and care.Design/methodology/approachA qualitative design based on an interpretivist research paradigm was used with a purposive sampling technique. Five in-depth semi-structured interviews were conducted with community nursing, social workers and allied health professionals. Colaizzi's (1978) descriptive phenomenological seven-step method was applied to analyse data, with the emergence of 170 significant statements, 170 formulated meanings and 8 thematic clustering of themes to reveal 4 emergent themes and 1 fundamental structure capturing the essential aspects of the structure of the phenomenon IC.FindingsThis study revealed four interdependent emergent themes: (1) Insight of IC and collaboration: affording the opportunity for collaboration, shared goals, vision, dovetailing knowledge, skills and expertise. Professional aspirations of person-centred and strength-based care to improve outcomes. (2) Awareness of culture and professionalism: embracing inter-professional working whilst appreciating the fear of losing professional identity and values. Working relationships based on trust, respect and understanding of professional roles to improve outcomes. (3) Impact of workforce engagement: participants felt strongly about their differing engagement experience in terms of restructuring and redesigning services. (4) Impact of organisational structure: information technology (IT) highlighted a barrier to IC as differing IT platforms prevent interoperability with one system to one patient. Shared positivity of IC, embracing new ways of working.Originality/valueThis study proposes considerations for future practice, policy and research from a local, national and global platform, highlighting the need for any IC strategy or policy to incorporate the uniqueness of the “voice of the workforce” as a key enabler to integration developments, only then can IC be a fully collaborative approach.
Langmuir Probe Diagnostics with Optical Emission Spectrometry (OES) for Coaxial Line Microwave Plasma

The Langmuir probe is a feasible method to measure plasma parameters. However, as the reaction progresses in the discharged plasma, the contamination would be attached to the probe surface and lead to a higher incorrect electron temperature. Then, the electron density cannot be obtained. This paper reports a simple approach to combining the Langmuir probe and the optical emission spectrometry (OES), which can be used to obtain the electron temperature to solve this problem. Even the Langmuir probe is contaminative, the probe current–voltage (I–V) curve with the OES spectra also gives the approximate electron temperature and density. A homemade coaxial line microwave plasma source driven by a 2.45 GHz magnetron was adopted to verify this mothed, and the electron temperature and density in different pressure (40–80 Pa) and microwave power (400–800 W) were measured to verify that it is feasible.
EFFECT OF BENZYLADENINE AND CHEMICAL FERTILIZATION ON GROWTH, FLOWERING AND CHEMICAL COMPOSITION OF JASMINUM SAMBAC PLANT

A pot experimental study was carried out at the Floriculture Nursery of the Horticulture Department, Faculty of Agriculture at Moshtohor, Benha University, Egypt during 2017 and 2018 seasons to study the effect of 16 treatments represented the combination between foliar spraying with four benzyladenine (BA) concentrations (0.0, 20, 40 and 60 ppm) and four chemical fertilization rates (0.0, 2, 4 and 6 g NPK/pot) on the growth, flowering and chemical composition of Arabian jasmine plant (Jasminum sambac Ait). The obtained results cleared that the tallest plants, the highest number of branches and leaves, the heaviest leaves fresh weight/plant, the highest number of flowers/plant, the heaviest flowers fresh weight/plant, the highest number and length of roots/plant, the heaviest fresh weight of roots/plant as well as the richest leaf total carbohydrates, nitrogen, phosphorus and potassium percentages were obtained by those treated with BA at 60 ppm + chemical fertilization at 6 g/pot in the two seasons. Conclusively, sprayingjasmine plants with BA at 60 ppm and supplying the plants with NPK mineral fertilizer at 6 g/pot, induced prospective effects on vegetative growth and flowering parameters with higher quality of this plant
The Effects of Financial Aid Loss on Persistence and Graduation: A Multi-Dimensional Regression Discontinuity Approach

Abstract For years Georgia's HOPE Scholarship program provided full tuition scholarships to high-achieving students. State budgetary shortfalls reduced its generosity in 2011. Under the new rules, only students meeting more rigorous merit-based criteria would retain the original scholarship covering full tuition, now called the Zell Miller Scholarship, with other students seeing aid reductions of approximately 15 percent. We exploit the fact that two of the criteria were high school grade point average and SAT/ACT score, which students could not manipulate when the change took place. We compare already-enrolled students just above and below these cutoffs, making use of advances in multi-dimensional regression discontinuity, to estimate effects of partial aid loss. We show that, after the changes, aid flowed disproportionately to wealthier students and find no evidence that the financial aid reduction affected persistence or graduation for these students. The results suggest that high-achieving students, particularly those already in college, may be less price-sensitive than their peers.