Miracle-dz/UniFAR-FTUs huggingface dataset:
A Feed Forward Neural Network for Solving the Inverse Kinetics of Non-Constant Curvature Soft Manipulators Driven by Cables

The solution of the inverse kinetics problem of soft manipulators is essential to generate paths in the task space to perform grasping operations. To address this issue, researchers have proposed different iterative methods based on Jacobian matrix. However, although these methods guarantee a good degree of accuracy, they suffer from singularities, long-term convergence, parametric uncertainties and high computational cost. To overcome intrinsic problems of iterative algorithms, we propose here a neural network learning of the inverse kinetics of a soft manipulator. To our best knowledge, this represents the first attempt in this direction. A preliminary work on the feasibility of the neural network solution has been proposed for a conical shape manipulator driven by cables. After the training, a feed-forward neural network (FNN) is able to represent the relation between the manipulator tip position and the forces applied to the cables. The results show that a desired tip position can be achieved quickly with a degree of accuracy of 0.73% relative average error with respect to total length of arm.Copyright © 2013 by ASME
Mirex.

Jedná se o bílou krystalickou látku, bez zápachu. F yzikální a chemické vlastnosti: bod tání je 485 °C. Rozpustnost ve vod ě je minimální: 0,6 mg/l, ale dob ře se rozpouští v organických rozpoušt ědlech. Je extrémn ě stabilní, nereaguje ani se silnými oxida čními činidly jako je chlor nebo ozon. Hodnota log K OW je 6,89. Z hlediska karcinogenních ú činků je zařazen do skupiny 2B (IARC). Pat ří mezi nejstabiln ější chemické látky. Používal se v minulosti jako in sekticid pro hubení mravenc ů a termitů a jako přísada zpomalující ho ření plast ů, pryže, elektrických materiál ů, nátěrů, textilu a papíru. Jako insekticid byl používán po uze v USA, kde bylo jeho použití zakázáno od roku 1978.
Grounded Voltage Controlled Positive Resistor with Ultra Low Power Consumption

In this work, a new CMOS based grounded voltage controlled positive resistor (GVCPR) with one control voltage is proposed. The proposed GVCPR employs only five CMOS transistors, one operated in triode region and others operated in saturation region or OFF. One of the main properties of the proposed GVCPR is its ultra low power consumption; however, a single active component matching condition is needed. A number of SPICE simulation results using IBM 0.13 μm SIGE013 level-7 CMOS process parameters such as its performance analysis and verification in tunable voltage-mode first-order all-pass filter and high-Q & high-gain voltage-mode multiple-feedback second-order band-pass filter are included to confirm the theory. The superior performance of the proposed GVCPR is also proven by numeric Figure of Merit calculation. DOI: http://dx.doi. org/10.5755/j01.eee. 20.7. 8023
Base reinforcement with biaxial geogrid : Long-term performance

In 1986 and 1990, the Georgia Department of Transportation constructed two pavement test sites to evaluate the performance of pavements with base reinforced with biaxial geogrid. The evaluations were conducted by a comparison of results from two control sections with no base reinforcement with the results of three test sections with base reinforced by geogrid placed at different depths of the base layers. The test sections also incorporated reduction of pavement section thickness with the use of geogrid. To determine the effectiveness of the geogrid application in regard to pavement cracks, rutting, and deflections, field evaluations were performed on the test and control sections shortly after construction. Construction on SR-155, Henry County, the first test site, ended in 1986; in 1987, the first evaluation was conducted. Annual evaluations were continued up to 1991. At the second test site, East Rome Bypass in Floyd County, construction ended in 1990. Baseline evaluation data were taken soon after con.
Electron Counting Capacitance Standard with an improved five-junction R-pump

The Electron Counting Capacitance Standard currently pursued at PTB aims to close the Quantum Metrological Triangle with a final precision of a few parts in 107. This paper reports the considerable progress recently achieved with a new generation of single-electron tunnelling devices. A five-junction R-pump was operated with a relative charge transfer error of five electrons in 107, and was used to successfully perform single-electron charging of a cryogenic capacitor. The preliminary result for the single-electron charge quantum has an uncertainty of less than two parts in 106 and is consistent with the value of the elementary charge.
Measurement and numerical modeling of short-channel MOSFET gate capacitances

The gate-to-source and gate-to-drain capacitance of long-and short-channel n-MOSFET's have been measured and simulated using a two-dimensional numerical simulator that allows different inversion layer carrier mobility models to be used. Comparison of the experimental and simulated data indicates velocity saturation effect is seen in the capacitance data of the short-channel devices. Transverse-field dependence of the mobility is also found to be necessary to account for the experimental data.
Complementary nucleosynthetic isotope anomalies of Mo and W in chondrules and matrix in the Allende carbonaceous chondrite: The case for hydrothermal metamorphism and its implications

The remarkable complementary isotopic relationship in the Allende chondrite between chondrules (depleted in s‐process molybdenum and tungsten) and matrix (enriched in these nuclides) has been interpreted as evidence that the anomalies were established during chondrule formation, and that chondrules were, therefore, not made by planetesimal collisions. We question this interpretation, and to better understand the complementary relationship, we review nucleosynthetic isotopic variations of Mo and W in bulk carbonaceous chondrites, their components, and acid leachates extracted from them. Mo isotopic data almost always track a mixing line between pure s‐process Mo and s‐process‐depleted Mo (i.e., with excess p‐process and r‐process Mo in a fixed ratio). Tungsten data track an equivalent mixing line. Guided by our review, we develop a model suggesting how the isotopic variations in Allende’s chondrules and matrix could be attributable to hydrothermal alteration in the parent body. In our model, anomalous Mo and W, both depleted in s‐process isotopes, are easily leached from their carriers in the matrix, then transported in solution and precipitated preferentially in water‐deficient components, such as chondrules, where the aqueous solvent is consumed. The model operates after accretion so does not inform chondrule‐forming mechanisms. It also goes some way to explaining variations of Mo and W isotopes in Ca‐Al‐rich inclusions in Allende, and variations of s‐process Mo in bulk carbonaceous chondrites.
Nonlinear Aerodynamics of a Two-Dimensional Membrane Airfoil with Separation

A chain model is proposed for solving the nonlinear problem of a single-membrane sail wing, eventually in the presence of elasticity and porosity. The presented results are compared with existing data. The model deals with extended ranges of slack and angle of attack effectively and evaluates the corresponding lift and tension coefficients. The model is also extended to partially separated flows. Nomenclature b = length of the element in the chain over chord b0 = initial length of the element over chord c = chord length CL = lift coefficient ACp = pressure difference coefficient, = (pv -pL)/q CT = tension coefficient, = T/qc k = stretch coefficient, = (<M/dT)cq/e t = length of membrane between leading and trailing edges over chord M = moment of the forces acting on the element of the chain nondimensional with respect to qc2 q = freestream dynamic pressure, = pV002/2 R = reaction force in the hinge nondimensional with respect to qc s = curvilinear coordinate of the separation point, dimensionless with respect to c T = tension per unit span v = local speed, dimensionless with respect to V^ V^ = freestream velocity (x,y) = Cartesian coordinates, dimensionless with respect to c
Review of the flowability measuring techniques for powder metallurgy industry

Abstract The flowability of bulk solids can be treated as one of the fundamental properties that determine their behaviour through industrial processes. Developing a standard meaningful test for measuring flowability has always been a challenge and numerous methods exist, based on the correlation of a number of physical properties such as gravity flowrate, internal strength, bulk density change, etc., which are thought to represent the ability of a powder to flow in some sort of a conceptual situation. Different industries have employed and standardized different techniques for flowability measurement, and the results these obtain may not correlate. The article details an investigation into the ability of various flowability measuring methods to detect small changes in the powder flow properties. Four flowability measuring methods, Hall flow, Hausner ratio, compressibility, and shear cell (manual and automated), were used to measure the flowability of four physically and chemically similar iron blends. Industry standard methods and the shear cell were not able to rank the blends with confidence. Influence of container wall friction is also investigated in the presented work.
Relationship between peak and mean amplitudes of the stimulating output voltage for functional control of the knee by spinal cord patients and healthy volunteers

INTRODUCTION: Functional electrical stimulation (FES) may evoke movements in people with movement impairments due to neurological lesion. The mean value of electrical current or voltage during FES depends on the stimulatory profile parameters. To investigate the relationship between peak and mean amplitudes of the stimulator output voltage while causing a knee extension angle change from 90o to 40o to choose the best and safest profile to be applied in people who have suffered a spinal cord injury. METHODS: Healthy (N = 10) volunteers and those with spinal cord injuries (N = 10) participated in this study. Each FES profile (P1, P2, P3 and P4) had 1-kHz pulses (100 µs or 200 µs on and 900 µs or 800 µs off) with burst frequencies of 50 Hz (3 ms on and 17 ms off) or 70 Hz (3 ms on and 11 ms off) and peak amplitudes set between 53-125V for healthy volunteers and 68-198 V for volunteers with spinal cord injury. RESULTS: The highest mean amplitude were obtained using a FES profile with active/total pulse period of 200 us/1000 us and burst frequency of 3ms/14ms. The best results of mean amplitude were observed using a FES profile duty cycle of 10% for pulses (100 µs/1000 µs) and 15% for bursts (3 ms/20 ms). CONCLUSION: The FES profile (100 µs - 50 Hz) seems to be the most suitable for both groups, inasmuch as it presents smaller mean amplitudes and peak amplitudes similar to other FES profiles.
Enhanced stereo visualisation of low-contrast microtissues by means of image processing and HMD technology

Recently medical visualization systems require extensive support from stereo imaging technologies in order to increase effectiveness of recognitions of low contrast micro biological structures. Low image contrast prevents identifications of tissues and in many cases is a reason of forbear from operation. In this paper authors present a system consisting of stereoscopic microscope with two image acquisition channels, data processing unit and Helmet Mounted Display (HMD) for stereoscopic visualization of operational field. Special attention is paid to the development of automatic image segmentation and low contrast areas enhancement algorithms. Algorithms proposed automatically find regions characterized by low contrast, modify intensity distribution and display enhanced stereo images in real time. The conditions of images processing and manipulation in order to assure synchronization of images transfer in both visual channels are presented. The algorithms are optimized for stereo visualization of biological micro-structures of inner ear. Some of those structures have quasi-phase nature and are almost invisible by human eye. The tests performed at the images captured during operation have been positively evaluated by surgeons. The performance of the system presented ascertained that quality of inner ear processed images guaranties safety carrying of operations not undertaken so far.
Potential production of electricity from biogas generated in a sanitary landfill

Energy forms the cornerstone of almost every economic, social and cultural sector in modern societies. Energy is regarded as an irreplaceable ingredient in such societies' industrial development. The aim of this research was to estimate the generation of biogas in the city of Ensenada's sanitary landfill to ascertain the amount of energy which could be generated from the solid waste being disposed of. Biogas estimates were conducted in two stages: a waste characterisation study followed by implementing the regulations proposed by SCS Engineers (SCS Engineers, 2009) regarding the Mexican biogas model (version 2.0). The results showed that a large quantity of organic matter (around 70%) is a key element in anaerobic degradation of waste. As to energy generation, it is believed that a full 1.90 MW capacity will be reached in 2019. Such energy could increase Ensenada's current electricity generation capacity by 3.46% and provide 60% of the energy needed for street lighting, thereby leading to USD $1.423 million in savings.
Evaluation of Frost Resistance Tests for Carbonate Aggregates

D-cracking is a progressive distress associated primarily with the use of coarse aggregates that deteriorate when they are critically saturated and subjected to repeated cycles of freezing and thawing. The present study was undertaken to consider better acceptance criteria for concrete aggregates and to allow for the use of more local Minnesota aggregates through selected aggregate beneficiation techniques. Condition surveys of concrete highway pavements were performed to document the field freeze-thaw performance of selected aggregate sources representing a range of frost resistance. Cores were obtained from these sections for laboratory testing and evaluation, and coarse aggregates were obtained from the original sources for use in performing environmental simulation tests [i.e., variations of ASTM C666 and the Virginia Polytechnic Institute (VPI) single-cycle slow-freeze test] and correlative tests (i.e., absorption and bulk specific gravity, Portland Cement Association absorption and adsorption tests, Iowa pore index test, acid insoluble residue test, X-ray diffraction analysis, X-ray fluorescence analysis, thermogravimetric analysis, and the Washington hydraulic fracture test). The tests that provided the best correlation with field performance included a modification of ASTM C666 Procedure B (specimens prepared with salt-treated aggregates), the VPI single-cycle slow-freeze test, and the Washington hydraulic fracture test. Other test procedures were correlated with field performance to lesser extents. It was noted that petrographic examination of pavement cores can help to distinguish between D-cracking and other conditions that can produce distresses with similar appearances (e.g., distresses caused by secondary mineralization, embedded shale, poor mix design, and alkali-aggregate reaction).
Institutional Delivery Service Utilization and Associated Factors in Rural Communities of Central Gondar zone, Northwest Ethiopia

Introduction: Institutional delivery has been considered as one of the important strategies to improve maternal and child health, and significantly reduces birth related complications however it is still low in developing countries though there are some improvements. Hence, the aim of this study was to assess the prevalence of institutional delivery service utilization and associated factors among women who gave birth in Central Gondar zone, North West Ethiopia. Methods: A community-based cross-sectional study was conducted from September to December 2019. A multistage systematic sampling technique was used to select a total of 1,394 study participants. Data were collected from women who gave birth during the past one year by using structured and pretested questionnaire. Binary logistic regression was performed to identify factors at 95% confidence level. Results: The prevalence of institutional delivery service utilization was 58.17 % (95%CI: 55.57%, 60.77%). Multivariable logistic regression showed that women age ( ≥35years) (AOR= 1.43; 95% CI 1.04,1.96), having a family size of less than five (AOR= 4.61; 95% CI 3.34,6.34), husbands educational status of primary school (AOR= 1.64; 95% CI 1.19,2.24), middle level household wealth index (AOR= 1.78; 95% CI 1.25,2.54), rich level household wealth index (AOR= 2.01; 95% CI 1.42,2.86), having family discussion (AOR= 4.05; 95% CI 2.74,5.97), antenatal care visit during their recent pregnancy (AOR= 1.86;95% CI 1.16,2.97),distance from the nearby clinic(≤30min) (AOR= 2.92; 95% CI 1.53,5.58), decision power about place of delivery (AOR= 2.50; 95% CI 1.56,4.01) and bad behavior of health workers (AOR= 0.27; 95% CI 0.19,0.39) were significantly associated with utilization of institutional delivery service. Conclusion: Institutional delivery service utilization was low in the study area. Women age (≥35years), having a family size of less than five, educational status of husband (primary), household wealth index (middle and rich), family discussion, antenatal care visit, distance from the nearby clinic (≤30min), decision power about place of delivery and bad behavior of health workers were predictors of institutional delivery. This study implies that strengthening family discussion and up taking antenatal Care services in regular ways are few of the suggested recommendations.
Political Analysis

As the result of recent legislation, five states—Kansas, South Carolina, Tennessee, Texas, and Wisconsin— will now require voters to display government-issued photo identification before voting in the 2012 election. North Carolina’s governor vetoed legislation to do the same, but because the Republicancontrolled state legislature is still considering ways to circumvent her objection it is possible that North Carolina will also implement it for the 2012 election. This essay considers the possible effects of these changes on black turnout in the 2012 election.
The Effect of Gross Profit Margin (GPM) on Profit Growth at the Indonesian Employee Cooperative (KPRI) Torch of Teachers Bima

Objective research to analyze the influence of GPM to profit growth in (KPRI) The Torch of Bima Teachers. The research cooperative instrument used was a list of tables containing data on gross profit, net sales and net income (KPRI) Torch Guru-Guru Bima. The population in the study used was the financial report data of the Torch Teachers of Bima balance and PHU for the last 49 years, namely the years 1970-2019. The sample used is the financial data of the Bima Teachers Torch Cooperative for 10 years for the period 2010-2019. The research sampling method was purposive sampling method. Data collected through observation, interview and literature. Data analysis techniques used are GPM, Profit Growth, Simple Linear Regression Analysis, Simple Correlation Coefficient Analysis, Simple Coefficient of determination and partially theresults t testshow that there is no significant effect of GPM on profit growth at (KPRI) Torch of Bima.
Investigation on fluid added mass effect in the modal response of a pump-turbine runner

With the improvement of technology and manufacturing level of hydraulic turbine, there is a trend to increase the power concentration of the units. As a consequence, heads, fluid velocities and rotational speeds are higher which lead to larger hydraulic excitation forces on the structures. Accordingly, vibration and high stress levels will arise, which may cause fatigue damage. Therefore, how to predict the natural frequencies and mode shapes of the runner during the design stage is of paramount importance. In this paper, numerical simulation to analyze the influence of the surrounding water in a pump-turbine runner modal has been carried out by using finite element method. The modal behavior of the runner in air and in water has been calculated. In addition, the added mass effect by comparing the natural frequencies and mode shapes in both cases has been determined. The results show that, due to the added mass effect of the surrounding water, natural frequencies are considerably reduced. The frequency reduction ratio (FRR) varies in a range of 0.06~0.43, depending on the mode shapes. Vibration amplitude and complexity of modes are the two main factors that affect the reduction ratio of runner natural frequencies. For the FRR of in-phase (IP) mode shapes, the vibration amplitude of each mode is considered to be the dominant reason. It is clear that the FRR decreases as the nodal diameter (ND) increases (except for 0ND). While for counter-phase (CP) mode shapes, with the frequency increases, the runner modes will become more and more complex, as a result of which, the FRR increases.
Teaching set-based concurrent engineering to practitioners through gaming.

This paper presents the learning outcomes of playing the 'Set-Based Concurrent Engineering (SBCE)' game. The game is designed to bring hands-on experience to practitioners. The game is structured in two stages, simulating the traditional approach to concept development, called 'Point-Based Concurrent Engineering (PBCE)', and the lean approach, called SBCE. Although SBCE is becoming popular in academia, in practice, understanding and adoption of it are low. Therefore, this research uses the game for two purposes: the first is to assess the game's effectiveness in educating practitioners about SBCE. The second is to summarise lessons learned by running the game in a Small and Medium Enterprise (SME) that designs and manufactures products for HVAC/R (heating, ventilation, air conditioning and refrigeration) markets.
Gate stack insulator breakdown when the interface layer thickness is scaled toward zero

To fully profit from the advantages of high-K materials in metal-oxide-semiconductor gate insulator stacks, the reduction in the silicon oxide interfacial layer thickness is being pursued. In the framework of the percolation model, we explore the effects of reducing the interfacial layer thickness on the dielectric breakdown of the gate stack. If the reduction in interface layer thickness is performed at constant equivalent oxide thickness, a significant improvement of oxide lifetime is predicted. Our results also suggest that it is possible to scale the equivalent oxide thickness without degrading the breakdown-related reliability.
A New MR Fluid-Elastomer Vibration Isolator

In this study, the performance of a new design concept utilizing a magnetorheological (MR) fluid composite material is examined through encapsulating a MR fluid into an elastomer. A prototype MR Fluid-Elastomer (MRF-E) Vibration Isolator is built and its dynamic behavior is studied in oscillatory compressions for a wide range of frequencies under various applied magnetic fields. The experimental results show that both the stiffness and the damping capability of the MRF-E Vibration Isolator is a function of the displacement amplitude and magnetic field strength, and only weakly dependent upon the frequency of excitation. This demonstrates that the new vibration isolator, whose mechanical properties can be controlled by an applied magnetic field, has potential in applications where tuning vibration characteristics are desired.