Miracle-dz/UniFAR-FTUs huggingface dataset:
Hierarchical Impedance-Based Tracking Control of Kinematically Redundant Robots

The control of a robot in its task space is a standard approach nowadays. If the system is kinematically redundant with respect to this goal, one can even execute additional subtasks simultaneously. By utilizing null space projections, for example, the whole stack of tasks can be implemented within a strict task hierarchy following the order of priority. One of the most common methods to track multiple task-space trajectories at the same time is to feedback-linearize the system and dynamically decouple all involved subtasks, which finally yields the exponential stability of the desired equilibrium. In this article, we provide a hierarchical multi-objective controller for trajectory tracking that ensures both asymptotic stability of the equilibrium and a desired contact impedance at the same time. In contrast to the state of the art in prioritized multi-objective control, feedback of the external forces can be avoided and the natural inertia of the robot is preserved. The controller is evaluated in simulations and on a standard lightweight robot with torque interface. The approach is predestined for precise trajectory tracking where dedicated and robust physical-interaction compliance is crucial at the same time.
Closed lateral Internal Sphincterotomy under local anesthesia in OPD in the treatment of chronic Anal Fissure

Objective of this study is to provide best therapy in terms of hospital stay and post operative complications after closed lateral internal sphincterotomy under local anaesthesia in the treatment of chronic anal fissure. It is descriptive type of study carried out at Nishtar Hospital Multan, from February 2001 to April 2001. Thirty patients underwent closed lateral internal sphicterotomy in local anaesthesia in OPD. Internal anal sphincter divided up to dentate line by introducing no.11 surgical blade in the intersphicteric groove. Pts were allowed to go home just after the surgery. Follow up for complications was done for the period of 6months. Mean postoperative stay was for 12 minutes. Postoperative complications were soiling (6.6%), incontinence to flatus (3.3%) and recurrence (3.3%). CLIS can be done safely under local anesthesia in OPD with low complication rate and less postop period of stay.
Patient factors do not predict symptomatic response to botulinum toxin for the treatment of anal fissure

Background: Botulinum toxin (Botox) is being used increasingly for the treatment of anal fissures despite variable success rates reported in the literature. Our aim was to further characterise the role of patient factors in the response to Botox therapy in order to improve response rates. Methods: A retrospective case note review of patients who received Botox was performed over a twelve-year period (1999-2011). Responder and non-responder cohorts were compared to identify any differences between groups. Statistical analysis using chi-square and logistic regression analysis were used to compare the groups. Results: 192 patients were included in study. All patients received Botox injection type A for anal fissure with average dose 40 Units (range 20-80units). A total of 166 of 192 patients in total responded (86.5% with 71.4% after the 1 st injection and a further 15.1% after a 2 nd Botox injection). Comparison of responder and non-responder cohorts revealed no significant difference in age or gender. Similarly there was no significant difference in the type of fissure, duration of symptoms or position of fissure or prior use of topical therapy. Conclusions: Botox is effective in the management of anal fissure however patient factors do not appear to predict response to Botox therapy.
Màxima oxidació de greix a través de variabilitat de la freqüència cardíaca en subjectes físicament actius

Introduction: the objective of this study is to identify the intensity of the maximal fat oxidation point (Fatmax) and its relationship to the first heart rate variability threshold (HRVT1). Subjects and methods. 23 subjects (10 M; 13 W), BMI 24.3 ± 3.1 kg/m 2 , age 32 ± 10 years, physically active (≥ 600 METS minute-week), performed an incremen tal step test on a cycloergometer. V· O 2 , V· CO 2 , HRV and fat oxidation were recorded for each stage. Measurements of central tendency, mean contrast, correlation coefficient and Bland-Altman plot analysis were used for the statisti cal analysis. Results. The values for Fatmax vs. HRVT1 were 48.7 ± 7.1 vs. 55.4 ± 9.2 % V· O 2 peak , 68 ± 34 vs. 84 ± 39 Watts, 112 ± 14 vs. 125 ± 11 bpm and 1.25 ± . 49 vs. 1.41 ± . 54 L · min -1 ; all intensities presented significant differences ( p < .01) and correlations higher than . 8 were identified for W and V· O 2 . The SD1 value in Fatmax was 5.56 ± 2.8 ms. Fatmax was at 84.2; 90.5 and 90.5% of the load in W, HR and V· O 2 peak of HRVT1, respectively. The value of 84.2% HRVT1 and SD1 = 5.56 in intensity of watts did not present significant differences ( p > .05), correlations higher than . 8, a bias of ≈3W and a good level of agreement with the values of Fatmax. Conclusion: there is correlation between HRVT1 and Fatmax in the V· O 2 and Watts variables. The watts load of Fatmax can be identified using this relationship.
Confidence intervals for variance component ratios in unbalanced linear mixed models

Methods for constructing confidence intervals for variance component ratios in general unbalanced mixed models are developed. The methods are based on inverting the distribution of the signed root of the log‐likelihood ratio statistic constructed from either the restricted maximum likelihood or the full likelihood. As this distribution is intractable, the inversion is rather based on using a saddlepoint approximation to its distribution. Apart from Wald's exact method, the resulting intervals are unrivalled in terms of achieving accuracy in overall coverage, underage, and overage. Issues related to the proper “reference set” with which to judge the coverage as well as issues connected to variance ratios being nonnegative with lower bound 0 are addressed. Applications include an unbalanced nested design and an unbalanced crossed design.
Backward uniqueness results for some parabolic equations in an infinite rod

The goal of this article is to provide backward uniqueness results for several models of parabolic equations set on the half line, namely the heat equation, and the heat equation with quadratic potential and with purely imaginary quadratic potentials, with non-homogeneous boundary conditions. Such result can thus also be interpreted as a strong lack of controllability on the half line, as it shows that only the trivial initial datum can be steered to zero. Our results are based on the explicit knowledge of the kernel of each equation, and standard arguments from complex analysis, namely the Phragmen Lindelof principle.
INVESTIGATING FEMALE AND MALE STUDENTS’ MOTIVATIONAL CHARACTERISTICS AND PERFORMANCE IN INTRODUCTORY PHYSICS

Physics is one of the science, technology, engineering, and mathematics (STEM) disciplines in which the participation of women and ethnic/racial minorities is unacceptably low. The representation gaps among certain groups of students in physics has motivated education researchers and practitioners to understand and address the underlying reasons of low diversity in physics. Although there has been an increasing effort in the physics community to increase the participation of women, only 20% of the all bachelors’ degrees in physics across U.S. is currently earned by women. Lack of prior preparation, low encouragement from mentors, gender-based ability attributions, and stereotype threat are some of the proposed reasons that can undermine women’s sense of belonging and self-efficacy and lead to have higher anxiety and self-doubt in their physics content knowledge and related skills. In this thesis, I focused on understanding the gender differences in students’ motivational characteristics in introductory physics courses for STEM majors and how they vary across time by investigating the relation between gender, physics performance, and motivational characteristics. In particular, I examined how physics self-efficacy, interest, intelligence mindset views (e.g., whether intelligence is innate or can grow with effort) and getting recognition can predict students’ physics course performance overall and on standardized conceptual physics tests after controlling for their prior academic preparation (e.g., SAT scores, AP exam, High School GPA) and their demographics (gender, ethnicity/race). Since physics is one of the pillar courses in STEM programs and first-year college experiences in these courses is significantly influential for students’ retention in STEM, I also examined the physics identity of students as STEM majors in the introductory physics courses. Specifically, I have studied the female and male students’ perception of how their peers and teaching assistant/instructors recognize them as someone who is good at physics. In all of the studies I have conducted, I have found large gender differences in the motivational constructs examined which created gendered-patterns in students’ identity formation as STEM majors. The implication of these results for how to enhance women’s participation and achievement in STEM disciplines in which they are severely underrepresented is discussed throughout the thesis.
The Effect of Workload, Job Satisfaction, and Role Conflict on the Timing of Leaving of Nursing Faculty From Their Current Faculty Position

Due to the significant nursing faculty shortage and the probable impact on healthcare, it is imperative to expand the available literature on the nursing faculty shortage. The descriptive data in this study highlight the critical nature of the aging and retiring nursing faculty body. The statistics available in this study regarding this are quite alarming. The Northeast may be looking at a mass exodus of nursing faculty in the next 5 years with up to 70 percent of the faculty leaving their current position. Another alarming factor is the significant level of inexperience the remaining faculty may have and the prospect of this effecting student outcomes. In regard to workload, it is evident that it affects job satisfaction. It is also evident that job satisfaction affects the timing of leaving of nursing faculty. In order to minimize the dwindling nursing faculty it is imperative for administrators to employ initiatives to help retain faculty and increase their job satisfaction. Job satisfaction significantly impacts the timing of leaving of nursing faculty from their current position. This is another reason why policy and initiatives must be developed and research to help slow the inevitable draining of the nursing faculty pool. Role conflict on the other hand, was not a factor in the timing of leaving. Perhaps researchers would be better suited focusing on other contributors to the nursing faculty shortage. Overall this study contributed to the body of knowledge on the nursing faculty shortage but the question still remains as to why faculty are leaving. It is evident that job satisfaction is a factor as well as workload. Role conflict did not have the impact that the literature implies.
Nonvolatile charge memory with optical controllability in two-terminal pristine α-In2Se3 nanosheets

Two-dimensional (2D) materials offer a promising platform for next-generation data-storage devices due to their unique planar structure, as well as brilliant electronic properties. However, the reported 2D materials-based nonvolatile memory devices have complicated architectures with multilayer stacking of 2D materials, metals, organics or oxides, which limits their capacity for device miniaturization, scalability and integration functionality. In this work, we propose a nonvolatile charge memory in pristine α-In2Se3 nanosheets with a two-terminal configuration. We present a programmable nonvolatile charge memory via applying gate voltage pulses. The devices show superb memory properties at room temperature with a large memory window, long retention time and robust endurance, which are comparable with 2D material heterostructures. Further, we demonstrate an optical manipulation of charge storage with laser power-controlled numbers of stored charges and on/off ratio. Supported by a theoretical model, we find the nonvolatile charge storage originates from the surficial/interfacial trapped electrons, which are removed via photo-generated holes. Our photo-tunable nonvolatile charge memory devices with simple structure pave the way towards large-scale integration and high-speed intelligent electronics, such as ultrafast remote operation on data coding, artificial synapse and neurons.
New non-conventional methods for quantitative concepts of anomalous rheology

This paper addresses the general calculus operators with respect to another functions containg the power-law and exponential functions. The Boltzmann-type superposition principles for the anomalous linear viscoelasticity are considered for the first time. The new technologies are as non-conventional tools proposed to extend the quantitative concepts of anomalous rheology for solid mechanics.
SN 1987A in the LMC. III. UBVRI photometry at Cerro Tololo

UBVRI photometry of supernova 1987A in the Large Magellanic Cloud for 813 days since outburst is presented. This photometry is based on an improved calibration of the photometry of the local standard stars and a careful analysis of the transformation from the natural system to the standard photometric system. Compared to the uniform exponential decline seen in UBVRI between days 125 and 400, SN 1987A began to fade more rapidly in all colors starting around day 500, at the time a strong thermal component appeared. Comparison with photometry of SN 1987A taken at other observatories shows that while the internal accuracy of any measurement approaches 0.01 mag, the systematic differences between UBVRI photometry obtained at different sites can be as large as 0.4 mag, due to the nonstellar nature of the spectral energy distribution of SN 1987A. 39 refs.
Origin of the Short-lived Radionuclide 10Be and Its Implications for the Astronomical Setting of CAI Formation in the Solar Protoplanetary Disk

We report Li–Be–B and Al–Mg isotopic compositions of Ca-Al-rich inclusions (CAIs) in Sayh al Uhaymir 290 (CH) and Isheyevo (CH/CB) metal-rich carbonaceous chondrites. All CAIs studied here do not show resolvable excesses in 26Mg, a decay product of the short-lived radionuclide 26Al, which suggests their formation occurred prior to the injection of 26Al into the solar system from a nearby stellar source. The inferred initial 10Be/9Be ratios obtained for these CAIs range from 0.17 × 10−3 to 6.1 × 10−3, which tend to be much higher and more variable than those of CAIs in CV3 chondrites. The high 10Be/9Be ratios suggest that 10Be was most likely synthesized through solar cosmic-ray irradiation. The lithium isotopic compositions of these CAIs are nearly chondritic, independent of their initial 10Be/9Be ratios. This can be explained by the irradiation targets being of chondritic composition; in other words, targets were most likely not solid CAI themselves, but their precursors in solar composition. The larger variations in 10Be/9Be ratios observed in CH and CH/CB CAIs than in CV CAIs may reflect more variable cosmic-ray fluxes from the earlier, more active Sun at an earlier evolutionary stage (class 0-I) for the former, and a later, less active stage of the Sun (class II) for the latter. If this is the case, our new Be–B and Al–Mg data set implies that the earliest formed CAIs tend to be transported into the outer part of the solar protoplanetary disk, where the parent bodies of metal-rich chondrites likely accreted.
ARTHROSCOPIC DETERMINATION OF ACCURACY OF CLINICAL EXAMINATION IN INJURIES WITH INTERNAL DERANGEMENT OF KNEE

Abstract Background: For the diagnosis of knee injuries some investigations along with detailed history and clinical examination such as arthrography and arthroscopy are required, which increase the authenticity of diagnosis. Objective: To determine diagnostic accuracy of pre-operative clinical diagnosis with arthroscopic diagno-sis in internal derangement of knee. Methods: This was a Comparative cross sectional study. Conducted at Department of Orthopaedic Sur-gery and Traumatology (DOST) Unit - 1, King Edward Medical University, Mayo Hospital Lahore. Total 45 patients having symptomatic knee injuries, were inclu-ded in this study. After taking informed consent from these patients, a clinical diagnosis of medial meniscus tear (MMT), lateral meniscus tear (LMT), anterior cruciate ligament (ACL), posterior cruciate ligament (PCL), medial collateral ligament(MCL) and lateral collateral ligament (LCL) injury of knee was made, confirmation with magnetic resonance imaging (MRI) was done and those patients having positive clinical and MRI findings of above mentioned injuries arthro-scopy was carried out and then findings of both clini-cal examination and arthroscopy were compared to find out the diagnostic accuracy of clinical examinat-ion. Data was analyzed with the help of SPSS version 20. Results: Mean age of all 45 patients was 29.51 ± 8.72 years. Minimum and maximum age of patients was 18 and 48 years respectively. Clinical examination is 70.83% sensitive and 19.05% specific for medial meniscus tear. Clinical examination has 50% Positive predictive value and 36.36% Negative predictive value. For the diagnosis of Lateral Meniscal tear, clini-cal examination is 16.67% sensitive and 89.47% speci-fic. While clinical examination has 20% positive pre-dictive value and 87.5% negative predictive value. For ACL rupture diagnosis clinical examination is 72.73% sensitive and 66.67% specific. While clinical examina-tion has 85.71% positive predictive value and 47.06% negative predictive value. Conclusion: Results of this study clearly revealed that diagnostic accuracy of clinical examination for the diagnosis of internal derangement of knee shows vari-ability. Clinical examination findings have high sensi-tivity for diagnosis of MMT and ACL injuries while it shows very low sensitivity for LMT. While specificity of clinical examination for diagnosing LMT and ACL was high but for MMT was low. Key Words: Arthroscopy, Clinical Examination, Internal derangement, Knee.
The Physics of Plasmas: Index

The Physics of Plasmas provides a comprehensive introduction to the subject, illustrating the basic theory with examples drawn from fusion, space and astrophysical plasmas. A particular strength of the book is its discussion of the various models used to describe plasma physics and the relationships between them. These include particle orbit theory, fluid equations, ideal and resistive magnetohydrodynamics, wave equations and kinetic theory. The reader will gain a firm grounding in the fundamentals, and develop this into an understanding of some of the more specialised topics. Throughout the text, there is an emphasis on the physical interpretation of plasma phenomena. Exercises are provided throughout. Advanced undergraduate and graduate students of physics, applied mathematics, astronomy and engineering will find a clear but rigorous explanation of the fundamental properties of plasmas with minimal mathematical formality. This book will also appeal to research physicists, nuclear and electrical engineers.
Study of lithium influx, radiation, transport and influence on plasma parameters in the T-10 tokamak

An investigation of lithium influx to plasma, radiation, transport, and its influence on plasma parameters is carried out using spectroscopy and transport modeling methods. The lithium source in the discharge of the T-10 tokamak is a moving Li-limiter based on a tungsten capillary-pore system (CPS). A strong dependence is found between the Li influx to plasma on the distance between the Li-limiter and plasma current boundary in the scrape-off layer (SOL) region. It is shown that if the Li-limiter is located on the radius of the chamber wall (r ≈ 40 cm), lithium influx to plasma is at a low level with a value ∼2·1018 s−1 and the Li nuclei concentration in the plasma does not exceed ∼0.5% of electron density ne with the effective charge value Zeff ≈ 1.2. If the Li-limiter is moved to the current radius (aL = 30 cm), lithium influx to plasma reaches ∼3 · 1020 s−1, which leads to a formation of lithium plasma with the density limit of ≈ 0.5 · n e Gw (the Greenwald density limit) with a Zeff value of ≈2.9 and ≈10% of the remaining deuteron density. In this case, the lithium radiation losses power estimated in Li-plasma is extremely low and does not exceed ≈15% of ohmic power. All obtained results are interpreted using transport models. Changing the lithization level of the chamber walls can significantly reduce the level of C, O, and W impurities and greatly affect the Zeff values. The dependencies of energy confinement times in the electron and ion components on the value of the averaged electron density are investigated in regimes with significantly varying Zeff values. The paper presents the computational analysis of the lithium radiation power at the plasma periphery and in the SOL as a function of boundary conditions, transport characteristics, and confinement times of lithium ions.
The Grey Wolf Optimizer and Its Applications in Electromagnetics

The grey wolf optimizer (GWO) is a newly developed swarm intelligence-based optimization technique that mimics the social hierarchy and group hunting behavior of grey wolves in nature. Here, a detailed introduction of the GWO algorithm is given, after which, three sets of examples are investigated: first, numerical experiments on four benchmark functions are conducted; second, the GWO is applied to the synthesis of linear arrays with the aim of reducing the peak sidelobe level under various constraints; and finally, the performance of the GWO is further verified on the optimization design of two representative antennas, namely, a dual-band E-shaped patch antenna and a wideband magneto-electric dipole antenna. The results show that the GWO is capable of outperforming or providing very competitive results compared with some well-known metaheuristics such as the genetic algorithm, particle swarm optimization, and differential evolution. Thus, it may serve as a promising candidate for handling electromagnetic problems.
The Contribution of H I-rich Galaxies to the Damped Lyα Absorber Population at z = 0

We present a study of the expected properties of the low-redshift damped Lyα absorber population determined from a sample of H I-selected galaxies in the local universe. Because of a tight correlation between the H I mass and H I cross section, which we demonstrate spans all galaxy types, we can use our H I-selected sample to predict the properties of the absorption-line systems. We use measurements of the number density and H I cross section of galaxies to show that the total H I cross section at column densities sufficient to produce damped Lyα absorption is consistent with no evolution of the absorber population. We also find that the dN/dz distribution is dominated by galaxies with H I masses near 109 M☉. However, because of the large dispersion in the correlation between H I mass and stellar luminosity, we find that the distribution of dN/dz as a function of LJ is fairly flat. In addition, we examine the line widths of the H I-selected galaxies and show that there may be evolution in the kinematics of H I-rich galaxies, but it is not necessary for the higher redshift population to contain a greater proportion of high-mass galaxies than we find locally.