Miracle-dz/UniFAR-FTUs huggingface dataset:
Dynamics and Control of Nonholonomic Systems with Internal Degrees of Freedom

Nonholonomic systems model many robots as well as animals and other systems. Although such systems have been studied extensively over the last century, much work still remains to be done on their dynamics and control. Many techniques have been developed for controlling kinematic nonholonomic systems or simplified dynamic versions, however control of high dimensional, underactuated nonholonomic systems remains to be addressed. This dissertation helps fill this gap by developing a control algorithm that can be applied to systems with three or more configuration variables and just one input. We also analyze the dynamic effects of passive degrees of freedom and elastic potentials which are commonly observed in such systems showing that the addition of a passive degree of freedom can even be used to improve the locomotion characteristics of a system. Such elastic potentials can be present due to compliant mechanisms or origami, both of which can exhibit bistability and many other properties that can be useful in the design of robots.
Probabilistic Security for Multirobot Systems

In this article, we formulate and solve the probabilistic security problem, defined as the probability that a multirobot system (MRS) with probabilistic interaction graphs has realizations that are secure from adversarial attacks. The concept of security is based on the control-theoretic notion of left invertibility, which depends on the existence of disjoint paths and subcuts in the topology describing robot interactions. To model uncertainties in interactions, we associate the existence of edges with a probability distribution. We, then, derive a probability expression based on disjoint paths and subcuts that defines the probability of security of the MRS. The exact probability is computed using the concept of binary decision diagrams (BDDs), a graphical method used to represent Boolean functions. To improve computational complexity, we formulate a combinatorial optimization problem that aims to bound the probability of security. Since MRSs are inherently dynamic, we leverage the graphical properties of BDDs to adapt to any topological changes. To demonstrate the validity of our results, we first track the probability of security of an MRS performing an environmental monitoring task, with Monte Carlo simulations as a baseline for comparison. Finally, we study the behavior of a probabilistic MRS when under attack in three different scenarios.
Impact of authentic leadership on project success through the explanatory mechanism of psychological capital and psychological empowerment in the contextual setting of Pakistan

The primary purpose of the present study is to explore the effect of the perceived authentic leadership of project manager on project success. Furthermore, the present study investigated the role of perceived psychological capital and perceived psychological empowerment as intervening mechanisms. A time-lagged design was used to obtain individual responses from employees working for project-based organisations in Pakistan. Data was collected through adopted questionnaires from 271 employees about the variable of interest. Moreover, then different tests are performed for model fitness, correlation, and drawing inferences. The current study finds out that the authenticity of leadership in project-based organisations plays a vital role in the successful completion of projects. Moreover, the result also proves that psychological capital and psychological empowerment significantly mediates the relationship between authentic leadership and project success. The present study was carried out in two-time lags, multiple time lags are desirable. Furthermore, the present study is limited to the context of Pakistan, cross-cultural studies are proposed. Scholars are encouraged to study the different style of leadership in the project-based organisation to find out critical success factors.
SEMANTIC TAGGING OF REQUIREMENT DESCRIPTIONS: A TRANSFORMER-BASED APPROACH

The idea of On-The-Fly Computing is to compose and provide software services ad hoc to end users. This is a highly automated process, which has to start with requirement descriptions in natural language. The main reason is that end users prefer natural language software requirements over formal language due to the usability and accessibility. However, there are good reasons for not using natural language, such as the susceptibility to errors. Nevertheless, to enable processing, a machine interpretation of these initial natural language text data is of fundamental importance. In this short paper, we present our ongoing work on REaCT 2 , a tool that is able to process requirement documents regarding semantic roles. This information can be reliably extracted and used to provide software services. More specifically, REaCT 2 achieves an F1 Score of 90% for the semantic tagging of requirements and outperforms existing software solutions in this task.
Current self-medication practices in the Kingdom of Saudi Arabia: an observational study

Introduction medication without prescription is a growing public health concern or phenomenon worldwide. This cross-sectional study was designed to study the trends of self-medication among Saudi population. Methods a prospective, cross-sectional study including 2004 participants was carried out from different family clinics across the Kingdom of Saudi Arabia (KSA). The clinicians used a self-designed questionnaire to collect the data, using stringent inclusion criteria and exclusion criteria. The questionnaire recorded participants' demographics and included several closed-ended and open-ended questions with options to choose from. The results were gathered, inserted into an excel spreadsheet and analyzed using SPSS version 23. The analyzed information was presented as frequencies and percentages. Results our research showed that 924 respondents (46.1%) found it difficult to reach a hospital. Another 45.2% considered the inefficiency of health centers in providing necessary care as the main reason for self-medication. Other causes of self-medication included a lack of medical insurance, insurance not covering the costs for the drugs, and symptoms of the disease being mild enough for not going to the hospital. Analgesics were the most commonly self-administered drugs (84.58%), followed by antipyretics (71.26%), cough syrups (46.86%), eye drops (35.98%), antibiotics (35.28%), flu medication (32.83%), heartburn medication (23.15%), medicines for joint pain (15.02%), and so on. Conclusion the majority of Saudi Arabians engage in self-medication and rely on advice from friends and family most of the time, instead of consulting a health professional.
Evolution law and attribution analysis of potential evapotranspiration in Liaoning Province

Based on daily meteorological data from 21 meteorological stations in Liaoning Province from 1965 to 2017, Penman⁃Monteith method, wavelet analysis method, sensitivity coefficient and factor analysis method were used to explore the spatiotemporal variation of potential evapotranspiration and the quantitative analysis of its main meteorological elements. The results show that: ( 1) from the perspective of the temporal change, the potential evapotranspiration in Liaoning Province has a significant downward trend, with a change rate of 2.89 mm / a and a multi⁃year average of 955.82 mm. The potential evapotranspiration of the 20 meteorological station has been decreasing, but that of one meteorological station has been increasing. On the spatial scale, the potential evapotranspiration of Liaoning Province decreased from west to east. (2) The potential evapotranspiration is most sensitive to relative humidity and least sensitive to minimum temperature. (3) The average wind speed is the meteorological factor that has the greatest influence on the potential evapotranspiration, and the relative humidity has a negative correlation with the potential evapotranspiration.
Recherche des marqueurs d'exposition aux contaminants et de fréquentation des habitats chez l'anguille Anguilla anguilla de l'estuaire de l'Adour : de la réponse moléculaire à la microchimie de l'otolithe

Dans un contexte de declin de l'anguille europeenne (Anguilla anguilla L.) et de recherche de marqueurs biologiques retracant la frequentation des divers habitats et renseignant sur la qualite de ceux-ci, une approche pluridisciplinaire a ete mise en place sur l'estuaire de l'Adour et ses zones humides. Deux axes ont ete privilegies. Le premier cherchait a visualiser la presence successive de l'espece dans differents ecosystemes en se basant sur la composition elementaire des otolithes. Le deuxieme avait pour but d'evaluer la pression chimique inorganique et organique subie par l'anguille dans les zones d'etudes en s'appuyant sur la bioconcentration des contaminants dans les tissus mous et la reponse moleculaire precoce au stress chimique. En vue des analyses de la composition elementaire des otolithes et pour repondre au mieux a la structure en trois dimensions, a la faible concentration des elements dans la matrice tout en conservant une resolution spatiale la plus fine possible, quatre strategies de micro-echantillonnage et d'analyses multielementaires par ablation laser femtoseconde ICP-MS ont ete testees (cratere, scan 1D, scan 2D, ablation flash). La methodologie presentant le meilleur compromis par rapport aux objectifs fixes (enregistrement continu, approche multielementaire) a ensuite ete appliquee sur les otolithes d'anguilles jaunes du Bas-Adour. L'utilisation simultanee des profils continus de Sr et de Ba, apres validation, constitue un outil facile d'utilisation, rapide et fiable pour reconstruire les historiques de frequentation des differents ecosystemes estuariens et dulcaquicoles par l'anguille tout en s'affranchissant des problemes potentiels lies aux inclusions de vaterite, un polymorphe du carbonate de calcium. Trois grands types de comportement ont pu etre mis en evidence sur l'Adour : residence en eau saumâtre, residence en eau douce et nomadisme.
E3DinSAR: 3-D Localization of RFID-Tagged Objects Based on Interference Synthetic Apertures

RFID is one of the indispensable technologies employed to implement the Internet of Things, where it facilitates the identification and awareness of objects in our daily lives by integrating backscatter tags. The interference synthetic aperture radar (InSAR)-based localization scheme provides high precision in 3-D conditions, although it still has some practical problems such as its strict sampling operation and it is also highly time consuming. In this article, we developed E3DinSAR as an optimized InSAR-based 3-D localization approach for pinpointing tags rapidly and easily with high accuracy. E3DinSAR does not use any other infrastructure or reference tags, and only one movable reader with one antenna is sufficient to implement the localization method, where it measures the phase value of the tag at different positions throughout its movement in order to create multiple holographic images. In contrast to the previously proposed InSAR-based technique, we extend the sampling trajectory of the reader to an arbitrary curve by restricting it to several approximate linear apertures, which allows more flexible operations and increase the accuracy. We also employ a rapid computing method to calculate the results for the holographic images by estimating the direction of arrival for the tag. Experiments were performed where E3DinSAR was implemented with commercial off-the-shelf (COTS) RFID products and our systematic evaluation showed that E3DinSAR achieved a mean locating accuracy of 18.4 cm in a 3-D space.
Factors Influencing Practice of Human Resource Information System in Organizations: A Hybrid Approach of AHP and DEMATEL

This paper blends the development of the Technology-Organization-Environment (TOE) framework and Human-Organization-Technology (HOT) fit model to identify the factors that influence the administration choice in embracing human resource information system (HRIS) in the organizations. Here, a hybrid Multi-Criteria Decision Making (MCDM) model combining the Decision Making Trial and Evaluation Laboratory (DEMATEL) and Analytic hierarchy Processes (AHP) is used to achieve the objective of the study. In this study, the experts agree that the staffs IT skill is most significant than other factors for the Human dimension. Similarly, IT infrastructure, top level support, and competitive pressure are the most vital factors for Technology, Organization and Environment dimensions respectively. Moreover, this paper will help the managers to take care of some factors that are vital for HRIS implementation in the organizations.
Pharmacological Evaluation of an Asterosaponin Extract from Asterias Forbesi (Desor)

An a ste rosaponin extracted £rom. the Atlantic starfish _A. ste r~~ forbesi (Desor) has teen evaluated for pharmacological activity. The investigation has revealed that while the asterosaponin does not exi1ibit all the activities that would be expected, such as hernotoxicity to blood cells, choline rgic blocking activity, initiation 0£ a.voidance . i. 'ebEJOnse reaction or production of autotomy, it does exhibit soLJ.e unique propert: ,o: s not demonstrated by other a sterosaponins. These activities include an z. lgesia, anti-inflarnrna tion, a.nd transient hypotension produced by a direct effect on the vascular
Microbiological Investigation in Teeth with Persistent/Secondary Endodontic Infection in Different Stages of Root Canal Retreatment

Objective: The present clinical study investigated the microbiota of teeth with persistent secondary endodontic infection in the different phases of root canal retreatment. Methods: Twenty filled single-rooted teeth with apical periodontitis were included. Samples were collected with sterile paper points before chemo-mechanical preparation (CMP) (S1), after CMP (S2) and after 30 days of calcium hydroxide-based intracanal medication (ICM) (S3). Cultivable bacteria were assessed by colony forming units count (CFU/mL). DNA was extracted and assessed by using nested PCR. Paired t-test and repeated measures ANOVA were applied for intragroup analysis in the stages of endodontic therapy at a significance level of 5%. Results: Cultivable bacteria were detected in all initial samples. CMP reduced bacteria by 99.4% and ICM by 99.5%. The most prevalent species found in the initial samples were E. faecalis (20/20), P. gingivalis (20/20), F. nucleatum (17/20) and A. actinomycetemcomitans (10/20), whereas D. pneumosintes, F. alocis, P. nigrescens and T. socranskii were not detected. After CMP, A. israelii, A. naeslundii, G. morbillorum, T. forsythia and T. denticola were not detected (P<0.05) either. E. faecalis and P. gingivalis had a low reduction (P>0.05) and F. nucleatum had its DNA significantly reduced after CMP (P<0.05). ICM had no additional effect on microbial reduction. Conclusion: The microbiota of teeth with persistent/secondary endodontic infection consists of a polymicrobial community with Gram-positive and Gram-negative species, bacillus and cocci, facultative and strict anaerobes. E. faecalis and P. gingivalis were frequently detected in all stages of root canal retreatment, evidencing their great resistance to endodontic procedures. The endodontic procedures were effective in reducing the levels of bacteria from teeth presenting with persistent/secondary endodontic infection.
DIFFUSION AND MOBILITY OF SOLUTES IN VISCOUS AND GLASSY SYSTEMS STUDIED BY OPTICAL TECHNIQUES

After a general introduction, Forced Rayleigh Scattering (FRS) and fluorescence dye bleaching (FRAP) techniques are explained which allow to investigate slow molecular motion, namely, translational diffusion coefficients down to 10 -21 m 2 s -1 and rotational correlation times up to the order of 10 3 s. Some representative examples of photoreactive dye probe diffusion in glass forming liquids and colloids are discussed. In particular, we present recent results on the drying process of aqueous latex films. In a concentration range between 18 and 3 weight percent of water we find that the diffusion of a dye probe studied by FRS has a wave vector dependence reflecting the heterogeneity of the film structure. In terms of a two-state model of tracer exchange between the latex spheres and interconnected hydroplasticized regions we obtain a length scale dependent effective diffusion coefficient which is small on scales smaller than the sphere size and increases by up to two orders of magnitude on the scale of the interconnected regions.
Liquid Metal-Based Wearable Tactile Sensor for Both Temperature and Contact Force Sensing

Wearable tactile sensors can be used for haptic perception and are widely utilized in soft robotics, intelligent prosthetics, and other human interfaced/interface applications. The development of tactile sensors with for multifunctional tactile sensing capacity remains a challenge. This article presents the design and fabrication of a wearable tactile sensor based on galinstan liquid metal for the simultaneous sensing of temperature and contact force independently. The decoupling of temperature and contact force sensing, which is based on the measured output voltage signals, is achieved by a designed Wheatstone bridge circuit and by the structural design of the fingerprint-patterned microfluidic channels and the top oval-shaped protrusion. Characterization tests show that the fabricated tactile sensor has a relatively high force sensing sensitivity of 0.32 N−1 and its temperature sensing sensitivities are 0.41% °C−1 at 20~50 °C and 0.21% °C−1 at 50~80 °C. Two wearable tactile sensors are worn on the index finger and thumb of the human hand and are used to detect temperature changes and contact forces during grasping applications. The results show that the developed liquid metal-based tactile sensor has a high flexibility and durability, and can accurately measure the contact forces and temperatures simultaneously. Thus, the developed wearable tactile sensor has great potential for robotic manipulation and healthcare condition sensing in humans.
Negative income shocks and the support of environmental policies - Insights from the COVID-19 pandemic

This study explores whether negative income shocks from the COVID-19 pandemic affect the demand for environmental policy. By running a survey in Germany in May 2020, we show that there is a large and negative correlation between the COVID-19 income shocks and the willingness to support green policies. Importantly, this relation is separate from the effect of long-run income. Building on the first evidence, our study provides directions for future valuation studies. Specifically, our results provide a proof of concept that welfare analyses based on willingness-to-pay estimates to assess the benefits of an environmental good or the cost of an environmental damage may be downward biased if temporary changes in income are not considered.
Soil Detachment with Organic Mulching Using Rainfall Simulator in Comparison with a Short Duration Natural Rainfall for Effective Soil Conservation

The impact of raindrop on sandy soil was studied using rainfall simulator and natural rainfall to determine average soil detached. Erosion by rainfall is one of the major hazards threatening the productivity of farmlands. This study determined the rate of soil detachment in comparison between natural rainfall and simulated rainfall for effective soil conservation measure. The height of the simulator was varied considering the diameter of the nozzles which were considered during the design stage of the rain simulator. Two plots of dimensions 2 m × 2 m each were cleared with one considered for bare and treated soils for both the natural rainfall and simulated rainfall. Splash cups were installed on each of the plots at half depth of the cup after the clearing of the area at 0.4 m × 0.4 m apart. Two sets of rain gauge were placed at the experimental site to note the volume of natural rainfall on the farm. The average soil detached was analysed using statistical analysis where t-test was also carried out to know the difference in mean. There was a significant difference in the degree of soil detachment between bare and treated soil under natural rainfall experiment; t(18) = 8.917, p η2) = 0.8154) reveals that the nature of soil accounted for 81.5% variance in the average detachment rate. For simulated experiments with a mean value of 7.3360 have higher tendency of detachment than treated soil with a mean value of 4.2240. Size of effect (Eta-square (η2) = 0.630) reveals that the soil types accounted for 63% variance in the average detachment. It was concluded that 40.33% soil was found to be conserved using the cow dungs mixed with bare soil to compact the soil. The nozzle size, simulator height, rainfall intensity and other rainfall parameters all contributed to the amount of average soil detached.
A High Area-Efficiency 14-bit SAR ADC With Hybrid Capacitor DAC for Array Sensors

This paper proposes a high area-efficiency 14-bit column-parallel successive approximation register (SAR) analog-to-digital converter (ADC) for array sensors. A novel hybrid capacitor digital-to-analog converter (CDAC) based on the charge transfer is utilized to increase the area efficiency. It consists of a 9-bit split CDAC and a 5-bit serial CDAC. A foreground digital calibration is employed to compensate for the linearity error caused by the capacitor mismatch and bridge parasitic capacitor. The prototype was designed and fabricated in a 130-nm CMOS technology. Sampling at 200KS/s, the total power consumption is <inline-formula> <tex-math notation="LaTeX">$57~\mu \text{W}$ </tex-math></inline-formula>. With the digital calibration, the proposed ADC achieves the Spurious Free Dynamic Range (SFDR) of 89.14 dB and the Differential Nonlinearity (DNL) of 0.87/-0.99 LSB. The single ADC occupies an active area of <inline-formula> <tex-math notation="LaTeX">$15\times 1450\,\,\mu \text{m}^{2}$ </tex-math></inline-formula> and the area efficiency is only <inline-formula> <tex-math notation="LaTeX">$6.77~\mu \text{m}^{2}$ </tex-math></inline-formula>/code.
Biosensing Techniques in Yeast: G-Protein Signaling and Protein-Protein Interaction Assays for Monitoring Ligand Stimulation and Oligomer Formation of Heterologous GPCRs

Guanine nucleotide-binding proteins (G-proteins) act as transducers of external stimuli for intracellular signaling, and control various cellular processes in cooperation with seven transmembrane G-protein-coupled receptors (GPCRs). Because GPCRs constitute the largest family of eukaryotic membrane proteins and enable the selective recognition of a diverse range of molecules (ligands), they are the major molecular targets in pharma- ceutical and medicinal fields. In addition, GPCRs have been known to form heteromers as well as homomers, which may result in vast physiological diversity and provide opportunities for drug discovery. G-proteins and their signal transduction machinery are universally conserved in eukaryotes; thereby, the yeast Saccharomyces cerevisiae has been used to construct artificial in vivo GPCR biosensors. In this chapter, we focus on the yeast-based GPCR biosensors that can detect ligand stimulation and oligomer forma- tion, and summarize their techniques using the G-protein signaling and protein-protein interaction