Miracle-dz/UniFAR-FTUs huggingface dataset:
Consensus-based Normalizing-Flow Control: A Case Study in Learning Dual-Arm Coordination

We develop two consensus-based learning algorithms for multi-robot systems applied on complex tasks involving collision constraints and force interactions, such as the cooperative peg-in-hole placement. The proposed algorithms integrate multi-robot distributed consensus and normalizing-flow-based reinforcement learning. The algorithms guarantee the stability and the consensus of the multi-robot system's generalized variables in a transformed space. This transformed space is obtained via a diffeomorphic transformation parameterized by normalizing-flow models that the algorithms use to train the underlying task, learning hence skillful, dexterous trajectories required for the task accomplishment. We validate the proposed algorithms by parameterizing reinforcement learning policies, demonstrating efficient cooperative learning, and strong generalization of dual-arm assembly skills in a dynamics-engine simulator.
A variation of the fraction of stars that form in bound clusters within M83

Recent observations, as well as theoretical studies, have suggested that stellar cluster formation may depend on local and global environmental properties. In particular, the fraction of stars that form within long-lived bound clusters (\Gamma) may depend on environment, with indications that it may be higher in the more extreme environments of high star-formation rate density galaxies. How \Gamma varies has important implications on the use of clusters to determine the star-formation histories of galaxies as well as our understanding of the star-formation process itself. Previous studies have estimated \Gamma over full galaxies, making it difficult to discern the physical cause of the reported variations. Here, we use existing star cluster catalogues and HST-WFC3 V and I images of the grand design, face-on spiral galaxy M83 in order to see if and how \Gamma varies within a single galaxy. We find that \Gamma decreases strongly as a function of galactocentric radius, by a factor of ~5 over the inner ~6kpc, in agreement with recent theoretical predictions and decreasing trends observed in the gas surface density of the galaxy.
L p Solutions of Quadratic BSDEs

We study a general class of quadratic BSDEs with terminal value in L p for p > 1. We prove a L p -type estimate, existence, comparison theorem, uniqueness and stability result. In order to construct a solution, we use a combination of the localization procedure developed by Briand and Hu [6] and the monotone stability result. We point out that our existence result relies on rather weak assumptions on the generators. By additionally assuming monotonicity and convexity, we deduce the comparison theorem, uniqueness and stability result via θ-technique developed by Briand and Hu [7]. The Krylov estimate is used throughout to derive some auxiliary results. We point out that our results extend (sometimes partially) [19], [4], [3], [8], [6], [7], [1], etc. Finally, we derive a probabilistic representation for the viscosity solution to the associated quadratic PDEs.
RTPLTool: a software tool for path loss modeling in 5G outdoor systems

: The increase in the required bandwidth along with the global growth of existing wireless communication systems is one of the major reasons why research and industry communities are exploring 5G and millimeter-wave frequencies. The advantages of millimeter wave frequencies for 5G applications are a wide range of accessible and unlicensed spectrum, the use of small antennas in RF applications with increasing frequency, and low losses due to the interference effects compared to the currently used frequency bands. However, due to some computational challenges especially at millimeter waves (i.e. in FR2 frequency band), it is necessary to develop eﬀicient software tools or to adapt new approaches in existing models for eﬀicient propagation modeling. In this work, a web-based software tool has been developed to calculate propagation or path loss for 5G outdoor systems. Terrain profile and environmental data were obtained through web-based mapping services and digital elevation data. Two different ray-tracing techniques were applied with respect to the type of area, i.e. urban and rural areas. Quasi-3D ray-tracing techniques were used by using the data obtained from OpenStreetMap (OSM) for urban microcellular environments, whereas the shooting and bouncing ray (SBR) method was employed for rural terrain profiles gathered from the digital elevation data. The results of the developed software tool were compared with some measurement results and some results obtained from a commercial software program (i.e. WinProp) by considering real propagation scenarios. The software tool was developed as an ASP.NET web application on Microsoft Visual Studio via the MATLAB SDK Compiler.
Galaxy rotation curves in the Grumiller's modified gravity

The effective potential in the Grumiller's modified gravity includes the Newtonian potential and a Rindler term. The fitting to the rotation curve data of eight galaxies suggests a universal Rindler acceleration a approximate to 0.30 x 10(-10) ms(-2). We do a two-parameter fit first, with the mass-to-light ratio ((sic)(*)) and the Rindler acceleration (a) as free parameters. It is found that the data of six out of the eight galaxies fit well with the prediction of theory in the range 0 r less than or similar to 40 kpc, although the theoretical curves show a tendency of arising beyond this range. The Rindler accelerations of the six well-fitted galaxies have the same magnitude, with an average value (a) over bar approximate to 0.30 x 10(-10) ms(-2). Inspired by this fact, we then carry out a one-parameter ((sic)(*)) fit to the six galaxies, with a fixed at (a) over bar, and find that the theory can still reproduce the observation. The value of Rindler acceleration we get here is a quarter of that of Milgrom's modified Newtonian dynamics. For the rest two galaxies, NGC 5055 and DDO 154, the fitting results are significantly improved if the photometric scale length (h) is included as another free parameter.
Anatomico Surgical Study on the Thyrolaryngeal Region of Balady Dog

Anatomico Surgical Study on the Thyrolaryngeal Region of Balady Dog. Abstract The present study was carried out on 10 heads of adult apparently healthy of both sexes of balady dogs. The sam ples were attended for the anatomical study on the thyro larngeal region. Characteristic features of the latter were declared out, outer landmarks, superficial and deep ana tomical structures as well as their relations. The anatomi cal work in this study tried to find the guide base for the surgeons during the critical interference in regards to scanty literatures. Thyro-laryngeal surgery is indicated for malig nant and benign neoplasms or hyperplasia of the organs of this region. The ventral midline cervical approach is the most common approach. Caution should be taken to avoid the surrounding neurovascular structures and esophagus. Evaluation of thyroid gland, mandibular salivary glands, and related anatomical structures should be done before pro-ceeding surgery. Complications of thyro-laryngeal surgeries include intraoperative hemorrhage and postoperative clini cal signs associated with damage to the recurrent laryngeal nerve, parathyroid blood supply, or parathyroidectomy.
Challenges in Kinetic Parameter Determination for Wheat Straw Pyrolysis

Wheat straw is a renewable agricultural by-product that is currently underutilized in the production of bioenergy and bioproducts due to its high ash content, as well as high transport costs due to its low volumetric energy density. The thermogravimetric analysis of this material produces derivative curves with a single broad peak, making it difficult to identify the three conventional pseudo-components (cellulose, hemicellulose, and lignin), which is resolved using the second derivative to determine inflection points. Model-fitting methods and isoconversional methods were applied to determine the degradation kinetics of wheat straw at two different particle sizes, as well as that of a reference feedstock (beech wood), and the obtained values were used to divide the degradation curves to be compared to the experimental data. Seven different pyrolysis reaction networks from the literature were given a similar treatment to determine which provides the best estimation of the actual pyrolysis process for the case of the feedstocks under study. The impact of the potassium content in the feedstock was considered by comparing the original pathway with a modification dependent on the experimental potassium content and an estimated optimum value.
Beam profile sensitivity of the WMAP CMB power spectrum

Using the published Wilkinson Microwave Anisotropy Probe (WMAP) 5-yr data, we first show how sensitive the WMAP power spectra are to the form of the WMAP beam. It is well known that the beam profile derived from observations of Jupiter is non-Gaussian and indeed extends, in the W band for example, well beyond its 12.6-arcmin FWHM core out to more than 1° in radius. This means that even though the core width corresponds to wavenumber l≈ 1800, the form of the beam still significantly affects the WMAP results even at l≈ 200, which is the scale of the first acoustic peak. The difference between the beam convolved Cl and the final Cl is ≈ 70 per cent at the scale of the first peak, rising to ≈ 400 per cent at the scale of the second. New estimates of the Q-, V- and W-band beam profiles are then presented, based on a stacking analysis of the WMAP5 radio source catalogue and temperature maps. The radio sources show a significantly (3–4σ) broader beam profile on scales of 10–30 arcmin than that found by the WMAP team, whose beam analysis is based on measurements of Jupiter. Beyond these scales, the beam profiles from the radio sources are too noisy to give useful information. Furthermore, we find tentative evidence for a non-linear relation between WMAP and ATCA/IRAM 95-GHz source fluxes. We discuss whether the wide beam profiles could be caused either by radio source extension or clustering and find that neither explanation is likely. We also argue against the possibility that Eddington bias is affecting our results. The reasons for the difference between the radio source and the Jupiter beam profiles are therefore still unclear. If the radio source profiles were then used to define the WMAP beam, there could be a significant change in the amplitude and position of even the first acoustic peak. It is therefore important to identify the reasons for the differences between these two beam profile estimates.
Molecular Detection of Fancy Birds Parasites for Clinical Diagnosis and Epidemiology - A Review Molecular Detection of Fancy Birds Parasites for

Fancy birds in Pakistan and all around world play a pivotal role in the economy and social associations with communi -ty. These birds includes pigeons, peacock, ducks, love birds, chicken, doves and parrots. This study is about fancy birds and their parasites that cause different diseases to other birds as well as infection to human beings. Bird’s parasites can be isolated and detected by using different techniques i.e. direct and indirect faecel examination and microscopy, flotation techniques. Molecular techniques with phyloge netic analysis and Polymerase Chain Reaction (PCR). The most prevalent ectoparasites are Ceratophyllus columbae, Pseudolynchia canariensis, Menopon gallinae, Lipeurus ca -ponis, Knemidokoptes pilae, Dermanyssus gallinae, Argas persicus, Menacanthus stramineus and Goniocotes gallinae . However, the endoparasites include Trichomonas gallinae, Eimeria spp. , Ascaridia columbae, Cryptosporidium melea -gridis, Raillietina echinobothrida, Heterakis gallinarum, Syn gamus trachea, Davainea proglottina and Capilaria. spp. The diagnosis of parasites is utmost needed for the strategic control and treatment of infections to prevent huge eco nomic loses and mortality. It is concluded that fancy birds harbor various ecto- and endoparasites that contribute zoo notic diseases to the people who are in contact with them. Prevalence of these parasites is very high and fewer studies are available on the subject to address the impact and im-portance of their role in zoonosis. The purpose of this man uscript is to review the fundamental significances of studies on zoonotic potential between birds and their impact on veterinary professionals, and public health.
Carbon abundance and the N/C ratio in atmospheres of A-, F- and G-type supergiants and bright giants

Based on our prior accurate determination of fundamental parameters for 36 Galactic A-, F- and G-type supergiants and bright giants (luminosity classes I and II), we undertook a non-LTE analysis of the carbon abundance in their atmospheres. It is shown that the non-LTE corrections to the C abundances derived from C I lines are negative and increase with the effective temperature Teff; the corrections are especially significant for the infrared C I lines with wavelengths 9060-9660 \AA. The carbon underabundance as a general property of the stars in question is confirmed; a majority of the stars studied has the carbon deficiency [C/Fe] between -0.1 and -0.5 dex, with a minimum at -0.7 dex. When comparing the derived C deficiency with the N excess found by us for the same stars earlier, we obtain a pronounced N vs. C anti-correlation, which could be expected from predictions of the theory.We found that the ratio [N/C] spans mostly the range from 0.3 to 1.7 dex. Both these enhanced [N/C] values and the C and N anomalies themselves are an obvious evidence of the presence on a star's surface of mixed material from stellar interiors; so, a majority of programme stars passed through the deep mixing during the main sequence (MS) and/or the first dredge-up (FD) phase. Comparison with theoretical predictions including rotationally-induced mixing shows that the stars are either post-MS objects with the initial rotational velocities V0 = 200-300 km/s or post-FD objects with V0 = 0-300 km/s. The observed N vs. C anti-correlation reflects a dependence of the C and N anomalies on the V0 value: on average the higher V0 the greater the anomalies. It is shown that an absence of detectable lithium in the atmospheres of the stars, which is accompanied with the observed N excess and C deficiency, is quite explainable.
Mobile Multi-Brand Loyalty Programs: Elaborating Customer Value and Satisfaction

This study, based on value theory, aims to shed light on our understanding of changing consumer perspectives on loyalty programs (LPs) within the digitally transformed retail environment by assessing the significance of value perceptions (i.e., monetary, hedonic, symbolic, knowledge) provided by LP benefits on member satisfaction. The value theory was expanded with the addition of personalization and information disclosure comfort constructs in accordance with the literature on mobile application adoption. The results of an online survey study on two leading coalition LPs in Turkey indicate that the monetary, hedonic, and symbolic values established by LP benefits are positively related to satisfaction. Furthermore, personalization was found to be a major factor that indirectly influences satisfaction through different perceptions of value. Privacy concerns, on the other hand, were found to have a significant but weak influence on satisfaction. Finally, the well-established effect of satisfaction on attitudinal loyalty was also confirmed.
Staff Working Paper No. 973 Identification with external instruments in structural VARs

IV methods have become the leading approach to identify the effects of macroeconomic shocks. Conditions for identification generally involve all the shocks in the VAR even when only a subset of them is of interest. This paper provides more general conditions that only involve the shocks of interest and the properties of the instrument of choice. We introduce a heuristic and a formal test to guide the specification of the empirical models, and provide formulas for the bias when the conditions are violated. We apply our results to the study of the transmission of conventional and unconventional monetary policy shocks. discussions and suggestions.
ANALYSIS OF RISK MITIGATION EFFORTS FOR ISLAMIC EQUITY AND DEBT FINANCING IN ISLAMIC MICROFINANCE INSTITUTIONS

This paper investigates risk mitigation practices and alternative measures for non-performing financing in sharia rural banks (BPRS) in Indonesia. Using in-depth interviews with Islamic microfinance practitioners who are expert in the area, this study explores two categories of financing which are equity financing (mudharabah and musyarakah) and debt financing (murabahah). The mechanism will advise on the themes of equity financing, debt financing, risk identification and mitigation, risk appraisal, risk control and monitoring, and digital systems. Interviews were conducted at 6 BPRS in West Java and Banten,
Durability of Resource Saving “Green” Types of Concrete

Summary One of the impediments for the use of resource saving "green" types of concrete on a larger scale is the lack of documentation of durability properties. The Danish Centre for Resource Saving Concrete has carried out durability investigations to encourage the use of green concrete. This article presents the results of an investigation of frost resistance, carbonation and chloride ingress for five types of green concrete. The investigation shows that the tested types of green concrete can be evaluated using the same accept criteria as for ordinary types of concrete. Some of the residual products lower the effect of the chemical additives, e.g. the air entraining agent, and therefore it can be difficult to obtain an air void structure with sufficient fineness to ensure frost resistance. However, it seems possible to produce green concrete, which is just as durable as ordinary concrete.
Optimization of sugar production from cassava starch using crude enzymes from maize, rice and sorghum malt extracts

Sugar syrup was produced by the hydrolysis of cassava starch with crude enzymes from maize, rice and sorghum malts. Cassava (Manihot esculenta) tubers were processed into starch. The cereals- paddy rice (Oriza sativa) , yellow maize (Zea mays) and sorghum ( Sorghuh bicolor) were individually malted and their crude enzymes used for the production of sugar syrup. The diastatic power (DP) of the malted grains were determined. The malt extracts with highest diastatic power (best from each cereal- maize, rice and sorghum) were separately used to hydrolyze cassava starch at different temperatures, pH and time. The best three extracts (maize, rice and sorghum) were combined to hydrolyze cassava starch for sugar production. The result obtained were analyzed statistically and fitted into a polynomial regression model. The result showed that the production of reducing sugar was affected by the variation of the malt extract used for hydrolysis of cassava starch. The fit of the model was expressed by coefficient of determination (Adj.R 2 ) which was found to be (0.6804) for best maize malt extract (BMME+CASSAVA STARCH) and (0.5495) for best maize malt extract + best rice malt extract + Cassava (BMME+BRME+CASSAVA STARCH), respectively indicating that 68.04% and 54.95% of the variability in the responses can be explained by the model. Numeric optimization of (BMME+BRME+CASSAVA STARCH) yielded 250 g/l sugar at optimum temperature, pH and time values of 77.6 o C, 5.28 and 141.46 min, respectively. The interaction effect of these processing conditions hydrolyzed the cassava starch to produce the reducing sugars that could be beneficial in food systems.
Visual-Spatial and Verbal Remote Association: An fMRI Study

Although idea connections at verbal and conceptual levels have been explored by remote associates tests, the visual-spatial level is much less researched. This study investigated the visual-spatial ability via Chinese Radical Remote Associates Test (CRRAT), wherein respondents consider the positions of the stimulus and target Chinese radicals. Chinese Compound Remote Associates Test (CCRAT) questions also feature stimuli of a single Chinese character; therefore, it was adopted for comparison to distinguish the roles played by verbal and visual-spatial associations in a remote associative process. Thirty-six adults responded to CRRAT and CCRAT; their brain activities were analyzed. Upon excluding the influence of age, verbal comprehension, and working memory, it was found that the caudate, posterior cingulate cortex, postcentral gyrus, and medial frontal gyrus were activated when the respondents answered CCRAT, but only the caudate showed significant activation when they answered CRRAT. The Chinese radical remote association minus the Chinese compound remote association showed that the middle frontal gyrus, inferior parietal lobule, and precuneus demonstrated significant activation. Therefore, this study demonstrated differences in brain mechanisms between visual-spatial and verbal remote associations.
A Primer of Important Natural Numbers and Revisited Fundamental Physical Constants

Some fundamental physical constants such as the gyromagnetic factor of the electron or its charge need to be marginally revisited considering the altered relativistic correction determined by the Information Relativity theory ( IRT ) of Suleiman . As a new important natural number the fifth power of the golden mean is introduced. Also a conjecture is given connecting Sommerfeld ’s structure constant α with the galactic velocity ß g . This primer will be constantly renewed and extended as the acceptance by the physical community progresses.
Variable stars in young open star cluster NGC 7380

We present time series photometry of 57 variable stars in the cluster region NGC 7380. The association of these variable stars with the cluster NGC 7380 has been established on the basis of two colour diagrams and colour-magnitude diagrams. 17 stars are found to be main-sequence variables, which are mainly B-type stars and are classified as slowly pulsating B stars, beta Cep or delta Scuti stars. Some of them may belong to new class variables as discussed by Mowlavi et al. and Lata et al. Present sample also contains 14 pre-main-sequence stars, whose ages and masses are found to be mostly less than or similar to 5Myr and range 0.60 less than or similar to M/M-circle dot less than or similar to 2.30 and hence should be T-Tauri stars. About half of the weak-line T-Tauri stars are found to be fast rotators with a period of less than or similar to 2 d as compared to the classical T-Tauri stars. Some of the variables belong to the field star population.