Miracle-dz/UniFAR-FTUs huggingface dataset:
Parametrically Excited Dynamic Walking Control of Telescopic Legged Robots

It is clarified throughout studies of passive dynamic walking mechanisms that the common necessary condition for dynamic gait generation comes from the requirement on mechanical energy restoration. Until now we have treated only rotational joints of the robot, whereas in this paper we considers a novel dynamic gait generation method based on mechanical energy restoration by parametric excitation phenomenon using telescopic leg actuation. We first introduce a simple biped walking model and a control law for telescopic leg motion, and analyze the typical walking pattern with respect to the change of control and physical parameters by numerical simulations. We then numerically analyze the energy efficiency in the presence of an elastic element by introducing criterions, and show that suitable adjustment of mechanical impedance dramatically increases the energy efficiency. Further, some extensions of the mechanism and control applications are investigated.
FEN EGITIMINDE PROJE TABANLI ÖGRENME YAKLAŞiMi PROJECT-BASED LEARNING APROACH IN SCIENCE EDUCATION

The purposes of this paper are to identify a useful definition of project-based leaming approach, the essential characteristics of project-based leaming approach in science education and to evaluate its general effective- ness. The study is intended to provide answers to the fo11o- wing questions: What is the project-based leaming appro- ach? What are the principal characteristics of project-ba- sed leaming approach? How must been problem based le- arning approach in elemantary schools organized in terms of science education? How effective has the project-ba- sed leaming process been in achieving in science educati- ons' objectives?
Impact of biochar and manure application on in situ carbon dioxide flux, microbial activity, and carbon budget in degraded cropland soil of southern India

Biochar application is attracting attention to be an effective soil organic carbon (SOC) management to prevent land degradation, though quantitative information of its effect on carbon dioxide (CO2) flux and associated microbial responses is still scarce, especially in degraded tropical agroecosystems. We conducted a 27‐month field experiment with periodically measuring environmental factors, CO2 efflux rate, microbial biomass C (MBC), and SOC stock, and evaluated the impact of land management (control (C), biochar (B; 8.2 Mg C ha−1), farmyard manure (FYM) (M; 1.1 Mg C ha−1 yr−1), and a mixture of both (BM) on CO2 flux, microbial responses (MBC and qCO2 as microbial activity) and C budget, in tropical alkaline cropland of southern India. Based on the relationship between the CO2 efflux rate and environmental factors, cumulative CO2 flux was estimated at 2.4, 2.7, 4.0, and 3.7 Mg C ha−1 in the C, B, M, and BM treatments, respectively. Biochar application increased soil moisture though did not affect CO2 flux, causing a positive C budget (6.7 Mg C ha−1), because of the limited response of microbes to increased soil moisture due to the small amount of SOC. Biochar and FYM combined application did not increase CO2 flux compared with FYM alone, contributing to the largest SOC increment (8.9 Mg C ha−1) with a positive C budget (9.1 Mg C ha−1), due to little difference of microbial responses between the two treatments. Hence, biochar application combined with FYM could be an effective SOC management in the degraded cropland of southern India.
Single Incision Cholecystectomies for Acute Cholecystitis: A Single Surgeon Series from the Caribbean

Introduction Single incision laparoscopic surgery (SILS) is accepted as a safe alternative to conventional multiport laparoscopic (MPL) cholecystectomy for benign gallbladder disease. Since many surgeons carefully select patients without inflammation, there are limited data on SILS for acute cholecystitis. We report a single surgeon experience with SILS cholecystectomy for patients with acute cholecystitis. Materials and Methods After securing ethical approval, we performed an audit of all SILS cholecystectomies for acute cholecystitis by a single surgeon from January 1, 2009, to December 31, 2019. The following data were extracted: patient demographics, intraoperative details, surgical techniques, specialized equipment utilized, conversions (additional port placement), morbidity, and mortality. Data were analyzed using SPSS 12.0. Results SILS cholecystectomy was performed in 25 females at a mean age of 35 ± 4.1 (SD) years and a mean BMI of 31.9 ± 3.8 (SD) using a direct fascial puncture technique without access platforms. The operations were completed in 83 ± 29.4 minutes (mean ± SD) with an estimated blood loss of 76.9 ± 105 (mean + SD). Three (12%) patients required additional 5 mm port placement (conversions), but no open operations were performed. The patients were hospitalized for 1.96 ± 0.9 days (mean ± SD). There were 2 complications: postoperative superficial SSI (grade I) and a diaphragmatic laceration (grade III). No bile duct injuries were reported. There were 9 patients with complicated acute cholecystitis, and this sub-group had longer mean operating times (109.2 ± 27.3 minutes) and mean postoperative hospital stay (1.3 ± 0.87 days). Conclusion The SILS technique is a feasible and safe approach to perform cholecystectomy for acute cholecystitis. We advocate a low threshold to place additional ports to assist with difficult dissections for patient safety.
Retinal vessel changes in pulmonary arterial hypertension

Abstract Pulmonary arterial hypertension (PAH) is classically considered an isolated small vessel vasculopathy of the lungs with peripheral pulmonary vascular obliteration. Systemic manifestations of PAH are increasingly acknowledged, but data remain limited. We hypothesized that retinal vascular changes occur in PAH. PAH subjects underwent retinal fluorescein angiography (FA) and routine disease severity measures were collected from the medical record. FA studies were analyzed using VESsel GENerational Analysis (VESGEN), a noninvasive, user‐interactive computer software that assigns branching generation to large and small vessels. FAs from controls (n = 8) and PAH subjects (n = 9) were compared. The tortuosity of retinal arteries was higher in PAH subjects compared to unmatched controls (1.17, 95% confidence interval: [1.14, 1.20] in PAH vs. 1.13, 95% CI: [1.12, 1.14] in controls, p = 0.01). Venous tortuosity was higher and more variable in PAH (1.17, 95% CI: [1.14, 1.20]) compared to controls (1.13, 95% CI: [1.12, 1.15]), p = 0.02. PAH subjects without connective tissue disease had the highest degree of retinal tortuosity relative to controls (arterial, p = 0.01; venous, p = 0.03). Younger PAH subjects had greater retinal arterial tortuosity, which attenuated with age and was not observed in controls. Retinal vascular parameters correlated with some clinical measures of disease in PAH subjects. In conclusion, PAH subjects exhibit higher retinal vascular tortuosity. Retinal vascular changes may track with pulmonary vascular disease progression. Use of FA and VESGEN may facilitate early, noninvasive detection of PAH.
Study Design Characteristics and Endpoints for Enriched Enrollment Randomized Withdrawal Trials for Chronic Pain Patients: A Systematic Review

Abstract Enriched enrollment randomized withdrawal (EERW) pain trials are designed to include only responders with considerable pain relief without unacceptable side effects into the randomized phase. There are no recommendations for primary endpoints in such trials. Our objective was to propose recommendations based on assessment of trial characteristics, endpoints and effect sizes in EERW pain trials. We conducted a systematic review by searching electronic databases up to June 2020 for EERW trials comparing an analgesic with a placebo in adults suffering from chronic pain. A total of 28 trials met our criteria, involving 13662 patients in the open or single-blind phase and 7937 patients in the double-blind phase. As primary endpoint 18 trials used pain intensity measured with the visual analogue scale (VAS) or the 11-point numerical rating scale (NRS); 1 trial used a 4-point NRS. Loss of therapeutic response (LTR) was used in 1 trial and time to LTR was used in 8 trials as primary endpoint. Definitions of time to LTR differed considerably between trials. Only 2 out of 8 trials using time to LTR as primary endpoint reported the percentage of patients experiencing a minimum pain relief of 50%, compared to 14 out of 18 trials using NRS or VAS. Due to the complexity and diversity of time to LTR in EERW pain trials, we propose to use the NRS as primary endpoint with conservative imputation methods, and to use time to LTR as secondary endpoint.
Factors Influencing Construction Labour Productivity: An Indian Case Study

Construction productivity is of interest to researchers and practitioners because of its impact on the performance of construction projects. Despite various studies to identify factors influencing productivity in other countries, no study has addressed productivity issues in India. This paper reports the results of a questionnaire survey of project managers, site engineers, supervisors and craftsmen, in the state of Kerala in India, to identify the factors influencing construction labour productivity. The top five factors identified as having a significant impact on productivity: (1) timely availability of materials at the worksite, (2) delayed material delivery by the supplier, (3) strikes called by political parties or hartals, (4) frequent revisions of drawings/design, resulting in additional work/rework and (5) timely availability of drawings at the worksite. The findings provide a better understanding of the factors influencing productivity in the Indian context and will aid construction practitioners in making effective plans for productivity improvement.
Methods Combining Genomic and Epidemiological Data in the Reconstruction of Transmission Trees: A Systematic Review

In order to better understand transmission dynamics and appropriately target control and preventive measures, studies have aimed to identify who-infected-whom in actual outbreaks. Numerous reconstruction methods exist, each with their own assumptions, types of data, and inference strategy. Thus, selecting a method can be difficult. Following PRISMA guidelines, we systematically reviewed the literature for methods combing epidemiological and genomic data in transmission tree reconstruction. We identified 22 methods from the 41 selected articles. We defined three families according to how genomic data was handled: a non-phylogenetic family, a sequential phylogenetic family, and a simultaneous phylogenetic family. We discussed methods according to the data needed as well as the underlying sequence mutation, within-host evolution, transmission, and case observation. In the non-phylogenetic family consisting of eight methods, pairwise genetic distances were estimated. In the phylogenetic families, transmission trees were inferred from phylogenetic trees either simultaneously (nine methods) or sequentially (five methods). While a majority of methods (17/22) modeled the transmission process, few (8/22) took into account imperfect case detection. Within-host evolution was generally (7/8) modeled as a coalescent process. These practical and theoretical considerations were highlighted in order to help select the appropriate method for an outbreak.
Low Paleointensities and Ar/Ar Ages From Saint Helena Provide Evidence for Recurring Magnetic Field Weaknesses in the South Atlantic

The South Atlantic Anomaly (SAA) is an area of geomagnetic weakness that represents the most significant anomaly in the present‐day field. Notwithstanding anomalies such as these, a long‐lived hypothesis is that, if averaged over sufficient time (104–106 years), the Earth's magnetic field approximates a geocentric axial dipole (GAD). The question of how significant the non‐GAD features are in the time‐averaged field is an important and unresolved one. The SAA has not always been visible in the historic and paleo‐field models; yet an unstable field was reported in the South Atlantic region on a multimillion‐year timescale. This study presents the first paleointensity study from Saint Helena, a volcanic island in the South Atlantic consisting primarily of lavas emplaced between 10 and 8 Ma. While paleointensity success rates were low, we were able to recover results from five independent lavas that together suggest a low field intensity of 10.5 ± 3.0 μT corresponding to a virtual axial dipole moment (VADM) of 2.4 ± 0.7 × 1022 A m2. These low paleointensity estimates suggest a field in the South Atlantic that was not only unstable in directions, but also substantially weaker than expected. We consider this to constitute further evidence that the SAA is not a single occurrence but rather, the latest in a series of recurring weaknesses in the field in this region, probably caused by Reversed Flux Patches on the Core Mantle Boundary.
Economic Planning and Comparative Analysis of Market-Driven Multi-Microgrid System for Peer-to-Peer Energy Trading

This article focuses on the implementation of peer-to-peer (P2P) energy trading and planning of a grid-connected multi-microgrid system based on an advanced optimization approach. The proposed architecture is comprised of three microgrids (MGs) with combinations of distributed energy resources (DERs), including wind turbines, photovoltaic panels, and storage batteries, to meet the load requirement. A game theory technique, Nash equilibrium, is used to structure the proposed model for multiobjective optimization, where the main objectives are used to determine the correct sizing of DERs and optimum payoff values. Due to the variability of DERs, to maintain lower energy costs, the reliability index (IR) and levelized cost of energy are the benchmarks considered for optimization. The proposed model is analyzed, and rigorous comparison is carried out for both peer-to-grid and P2P energy trading schemes, considering the Australian profiles for wind speed, solar irradiation, and residential load. The simulation model is built in MATLAB software, and the particle swarm optimization algorithm is exploited for the optimization. The results illustrate that P2P energy trading reduces the payoff value of the multiobjective function (MOF) to 36%. The robustness of MOF is validated and analyzed with different combinations of constant coefficients K1 and K2. In the end, the most economical and suitable models with DERs are proposed for each MG, and the results are verified with sensitivity analysis.
Lived Experiences of COVID-19 Survivors in Nepal: A Phenomenological Analysis

Introduction: Novel coronavirus (COVID-19) is the new public health crisis rapidly threatening the world. A deeper understanding of these devastating lifetime experiences helps to develop a more complete picture of how holistic health may have been affected in survivors from pandemic. The objective of the study was to explore the lived experiences of COVID-19 survivors. Methods: A phenomenological qualitative research design was adopted following purposive sampling traced from the hospital record of Koshi Covid Hospital of Biratnagar, Province 1 Nepal. Based on principles of data saturation, ten covid survivors were interviewed following the interview guide. The obtained data were transcribed in reference to notes and tape recordings, and themes were generated. The data collection and analysis were carried out simultaneously, using thematic analysis phases of Gibson manually. Results: The study findings emerged five themes: key stakeholders in COVID-19 pandemic, mystery of COVID-19, social stigma and discrimination, mass media influence, and safety measures. Most (8/10) of the participants reported COVID-19 as mysterious disease with unknown cause and few (2/10) reported peculiar symptoms (something stuck in throat, presence of abscess in chest, etc). Seven of them faced stigmatizing responses from health care workers and most of them reported inadequate health counseling at health care institutions. Conclusions: COVID-19 survivors were scared of infecting their family and neighbors and of death related to infection. Interventions for breaking the chain of transmission were carried out, however, healthcare workers’ approach of care was inadequate along with stigma and discrimination. Adequate counseling is vital to address physical and psychological issues among survivors.
Value-Action Gap in Climate Change Amongst Indonesians

The problem of climate change is defined by continued sea-level rise, melting of the ice caps, and increasing global temperatures. However, despite increasing informational awareness towards these facts by government and grassroots advocacy in many countries, emissions as the leading determinant of climate change continue to rise, with the growing consumption and activities being major emitters. In behavioral studies, this gap between perceived concerns and reflected actions is called the ‘value-action gap’ (VAG). This research evaluates the existence of a VAG among the Indonesians as increasingly significant emitters. Therefore, this research aims to determines whether relationships exist between climate change knowledge, reported concerns, and exhibited actions taken to mitigate climate change. The research proposes the hypotheses that concerns and awareness of climate change are high among the studied population, but do not influence high climate behavior. The research gathers three class variables through a quantitative sampling, namely climate change knowledge, climate change concerns, and climate change behaviors. The gap is then calculated as a subtraction score between the latter two variables. Moreover, discrepancies between the actions taken and reported concerns are assessed, showcasing policy implications going forward. The findings of this research based on the sample suggest that varying income groups of urbanite households hold significant knowledge of climate change and have reported concerns towards the issue, and that the two as variables are linked to each other.
Automatic droop control for a low voltage DC microgrid

A DC microgrid (DC-MG) provides an effective mean to integrate various sources, energy storage units and loads at a common dc-side. The droop-based, in the context of a decentralised control, has been widely used for the control of the DC-MG. However, the conventional droop control cannot achieve both accurate current sharing and desired voltage regulation. This study proposes a new adaptive control method for DC-MG applications which satisfies both accurate current sharing and acceptable voltage regulation depending on the loading condition. At light load conditions where the output currents of the DG units are well below the maximum limits, the accuracy of the current sharing process is not an issue. As the load increases, the output currents of the DG units increase and under heavy load conditions accurate current sharing is necessary. The proposed control method increases the equivalent droop gains as the load level increases and achieves accurate current sharing. This study evaluates the performance and stability of the proposed method based on a linearised model and verifies the results by digital time-domain simulation and hardware-based experiments.
MECHANICKÉ VLASTNOSTI PERSPEKTÍVNYCH ZLIATIN MG MECHANICAL PROPERTIES OF ADVANCED MG ALLOYS MECHANICKÉ VLASTNOSTI PERSPEKTÍVNYCH ZLIATIN MG MECHANICAL PROPERTIES OF ADVANCED MG ALLOYS

Automobilový priemysel prejavuje rastúci záujem o horčíkové zliatiny ako o konštrukčný materiál, ktorý zníži hmotnosť automobilu a zníži spotrebu pohonných hmôt, a tým aj emisií. Uplatnenie nájdu aj v leteckom priemysle a v komunikáciách. Očakáva sa, že tieto zliatiny budú hrať významnú úlohu, pretože majú nízku hustotu a vysoké tlmenie zvuku. Na druhej strane ich nevýhodou je, že majú nízku pevnosť a menšiu odolnosť proti tečeniu. Odolnosť proti tečeniu možno zlepšiť zjemnením mikroštruktúry, vyššou čistotou zložiek zliatiny a legovaním niektorými prvkami napr. vápnikom a prvkami vzácnych zemín [1]. Pri zlepšovaní mechanických vlastností je dôležité pochopiť mechanizmy určujúce medzu sklzu a deformačné spevnenie. Spevnenie tuhého roztoku, precipitačné a disperzné spevnenie ovplyvňujú medzu sklzu. Jej hodnota závisí od veľkosti zrna a môže byť vyjadrená známym Hallovým-Petchovým vzťahom. Je všeobecne známe, že existuje vzťah medzi mikroštruktúrou a medzou sklzu. V tomto článku chceme informovať o mechanických vlastnostiach perspektívnych horčíkových zliatin a uviesť základné mechanizmy, ktoré ovplyvňujú ich pevnosť. Najčastejšie používané zliatiny vychádzajú zo systémov Mg-Al a Mg-Zn.
A Child with Maxillofacial Injury by Three Pronged Spear Gun

OZET Bu raporda, nadir gorulen, mortalite ve morbidite ile sonuclanabilecek zopkona balo maksillofasiyal bir yaralanma olgusu sunulmaktador. Bu tip hastalarda nasol mudahale edilmesi gerektiini bilmek buyuk onem ta�omaktador. Olgu, yuzunden zopkon ile vurulma nedeni ile cocuk acil servisine bavurdu. �lk bakoda bilinci acok, oryantasyonu tam, solunum ve dola�om bulgularo stabildi. Uc mozraklo zopkon, yuzun sol malar bolgesine saplanmo�to. Zopkono hastanon yuzunden cokarmak icin gerekli mudahale yapolmadan once beyin tomograsi ile deerlendirildi ve herhangi bir norovaskuler penetrasyon olmado�o belirendi. Operasyon sorasonda hastanon entubasyonu salayabilmek icin oncelikle zopkonon balanto noktaso hidrolik kesici ile kesildi ve zopkonon alt parcaso acil serviste kontrollu birekilde cokaroldo. Kalan parcalar genel anestezi altonda ameliyathaneartlaronda cokaroldo. Hast a3 gun sonra herhangi bir sekel kalmadan taburcu edildi. Zopkon oldukca tehlikeli ve cocuklarda tarafondan kolayca ula�olabilen bir ekipmandor. Bu tur vakalaron yonetimi farklo zopkon turlerine gore deiiklik gostermektedir. Bu vaka, acil serviste zopkona balo bir yaralanmaya nasol mudahale edilmesi gerektiini ortaya koymaktador. CAYD 2015;2(1):45-48. Anahtar Kelimeler: Zopkon, maksillofasiyal, cocuk, travma, acil SUMMARY This report illustrates a rare maxillofacial injury by spear gun that can cause mortality and morbidity. It's important to know how to intervene suc ha patient. He was conscious and oriented when he administered to the emergency depart- ment (ED), his respiration and circulation was stable. Three pronged spear was stuck into left malar region. Computed tomography was performed before manipulation of spear gun and no neurovascular penetration was determined. The external part of the spear gun was cut out b ya hydraulic cutter to facilitate patient's intubation. The lower fragment of the harpoon was removed in ED. The rest of the spear was removed in operation room under general anesthesia. The patient healed with no decit and discharged three days after operation. Spear guns are very dangerous equip- ment that children can easily access. Management of cases can be dierent according to the dierent kind of spear guns. This case demonstrates management to the spear gun injuries in ED. CAYD 2015;2(1):45-48.