Miracle-dz/UniFAR-FTUs huggingface dataset:
Limit Cycle Walking

This chapter introduces the paradigmLimit Cycle Walking'. This paradigm for the design and control of two-legged walking robots can lead to unprecedented performance in terms of speed, efficiency, disturbance rejection and versatility. This is possible because this paradigm imposes fewer artificial constraints to the robot's walking motion compared to other existing paradigms. The application of artificial constraints is a commonly adopted and successful approach to bipedal robotic gait synthesis. The approach is similar to the successful development of factory robots, which depend on their constrained, structured environment. For robotic walking, the artificial constraints are useful to alleviate the difficult problem of stabilizing the complex dynamic walking motion. Using artificial stability constraints enables the creation of robotic gait, but at the same time inherently limits the performance of the gait that can be obtained. The more restrictive the constraints are, the less freedom is left for optimizing performance. The oldest and most constrained paradigm for robot walking is that ofstatic stability', used in the first successful creation of bipedal robots in the early 70's. Static stability means that the vertical projection of the Center of Mass stays within the support polygon formed by the feet. It is straightforward to ensure walking stability this way, but it drastically limits the speed of the walking motions that can be obtained. Therefore, currently most humanoid robots use the more advancedZero Moment Point' (ZMP) paradigm (Vukobratovic et al., 1970). The stability is ensured with the ZMP-criterion which constrains the stance foot to remain in flat contact with the floor at all times. This constraint is less restrictive than static walking because the Center of Mass may travel beyond the support polygon. Nevertheless, these robots are still under-achieving in terms of efficiency, disturbance handling, and natural appearance compared to human walking (Collins et al., 2005). The solution to increase the performance is to release the constraints even more, which will require a new way of measuring and ensuring stability. This is the core ofLimit Cycle Walking'; a new stability paradigm with fewer artificial constraints and thus more freedom for finding more efficient, natural, fast and robust walking motions. Although this is the first time we propose and define the termLimit Cycle Walking', the method has been in use for a while now. The core of the method is to analyze the walking motion as a limit cycle, as first proposed by Hurmuzlu (Hurmuzlu and Moskowitz, 1986). Most of the research on `Passive Dynamic Walking' initiated by McGeer (McGeer, 1990a) follows this stability method. But also various actuated bipedal robots that have been built around the world fall in the category ofLimit Cycle Walkers'.
PELVIC INJURIES IN SIDE IMPACT COLLISIONS : A FIELD ACCIDENT ANALYSIS AND DYNAMIC TESTS ON ISOLATED PELVIC BONES

Firstly, a field accident analysis was carried out in order to document the lesions and the injury mechanisms encountered in lat impact. The accident database of the Laboratory of Accidentology Biomechanics (LAB) in France was used, and a sample of 219 injure occupants sustaining 381 injuries in lateral collision enables to evaluate the most frequent injuries and their location. These injuries were also analyzed with regard to car characteristics. Secondly, an experimental study of the pelvic bony structure subjected to dynamic loads was carried out in order to document i biomechanical behaviour and its lesion threshold. Twelve pelvises were tested under side loading conditions. Displacement, accelerations, applied force, and local strains of the pubic rami were obtained. The main conclusions drawn out from the two parall studies were: (1) There was a good agreement between the real lif observations and those coming from the dynamic tests; and (2) the fracture threshold was well bordered by the chosen energy level o impact, and consequently, a first corridor including the behaviou the pelvic bony structure up to the level of injury is proposed. ( For the covering abstract of the conference see IRRD E201172.
A Research Paper on Human Resources Planning, Process and Developing

The present work addresses in a clear and simple way, the management of human resources in service organizations where staff is relevant to the achievement of policies, goals and objectives. they provide the creative and productive spark and are essential for organizational success. The paper is related to career development and the stages of a career program. It reflects on the evolution of the individual's work over time, emphasizing the stages: exploration (attempt of new roles), establishment, maintenance and descent, demarcating activities by stages of development, their relationship with the chronological age of the individual and the relative level of participation and influence, associated with each stage.
Moment Resistant Connections of Steel Frames in Seismic Areas : Design and reliability

An unexpected brittle failure of connections and of members occurred during the last earthquakes of Northridge and Kobe. For this reason a heightened awareness developed in the international scientific community, particularly in the earthquake prone countries of the Mediterranean and Eastern Europe, of the urgent need to investigate this topic. The contents of this volume result from a European project dealing with the 'Reliability of moment resistant connections of steel frames in seismic areas' (RECOS), developed between 1997 and 1999 within the INCO-Copernicus joint research projects of the 4th Framework Program. The 30 month project focused on five key areas: *Analysis and syntheses of research results, including code provisos, in relation with the evidence of the Northridge and Kobe earthquakes; *Identification and evaluation through experimental means of the structural performance of beam-to-column connections under cyclic loading; *Setting up of sophisticated models for interpreting the connection response; *Numerical study on the connection influence on the seismic response of steel buildings; *Assessment of new criteria for selecting the behaviour factor for different structural schemes and definition of the corresponding range of validity in relation of the connection typologies.
High Sensitivity C-reactive Protein Concentrations, Lipid Status And Duration Of Type-1 Diabetes

Background: Low-grade inflammation, duration of diabetes, hyperglycemia, and dyslipidemia in the presence of other traditional risk factors have been implicated in the development of vascular, neurologic, musculoskeletal and dermatologic complications observed in type 1 diabetes irrespective of other confounding factors. The study was aimed at assessing the relationship between hs-CRP concentrations, lipid status and duration of type-1 diabetes.Methods: Thirty-four patients aged 15-26 years comprising 14 females and 20 males diagnosed with type 1 diabetes ≤10 years duration, who at first clinical assessment and thorough medical examination presented with any or a combination of the symptoms of ketoacidosis, polyuria, polydipsia, malnutrition, blurred vision, paresthesia, body swelling and frothy urine at the Accident and Emergency Unit of Rasheed Shekoni Specialist Hospital, Jigawa Nigeria were enrolled for the study in a cross-sectional pattern after granting informed consent or obtaining assent from parents or guardians. Blood samples for lipid profile, fasting plasma glucose (FPG) and High sensitivity C - reactive protein (hs-CRP) measurement were collected from all patients through venipuncture after 10 hours overnight fast for biochemical testing. Lipid profile and FPG were assayed using enzymatic methods, hs- CRP via Enzyme Linked immunosorbent Assay (ELISA) technique and Urinalysis with point of care urine test strips. Data obtained was analyzed and presented as Frequency, Percentages, Mean ± SD and Pearson’s correlation with statistical significance at p≤0.05. Results: Patients biochemical characteristics were Fasting Plasma Glucose (9.86 ± 4.44), Total Cholesterol (4.77 ± 2.07), High Density Lipoprotein- Cholesterol (1.35±0.54), Triglycerides (2.17 ± 1.06), Low Density Lipoprotein- Cholesterol (2.29 ±1.49), hs-CRP (6.99 ± 5.44). Correlation matrix showed significant relationship between Triglycerides and hs-CRP (r; 0.378**, p; 0.005), Low Density Lipoprotein-Cholesterol and hs-CRP (r; 0.457*, p; 0.007). hs- CRP concentrations in relation to duration of type-1 diabetes were 1-3 years (3.57±4.10), 3-6 years (6.66±4.39) and 6-10 years (10.06±8.69). Conclusions: Evaluation of hs-CRP concentrations irrespective of lipid status may serve as an inexpensive method of predicting the risk of development of diabetic complications in resource poor settings among patients with established type 1 diabetes as the duration progresses.
Brukerstyrt personlig assistanse

Regjeringen foreslar i kommuneproposisjonen for 2006, som legges frem i dag, endringer i ordningen med Brukerstyrt personlig assistanse (BPA). BPA innebaerer fritt brukervalg. Det er brukeren som selv rekrutterer, har arbeidslederansvar og bestemmer.
Radiowave Propagation and Antennas for Personal Communications

Introduction. Fixed-Site Antennas. The Radio Communication Channel. The Radio Frequency Spectrum. Communications Using Earth-Orbiting Satellites. Radiowave Propagation - Radio Test Sites. Radiowave Propagation - The Urban and Suburban Paths. Waves in Multipath Propagation. Receiver Sensitivity and Transmitted Fields. Simulated Human Body Devices. Loop, Dipole and Patch Antennas. A Radio Communication System. Appendices.
Thermocline storage for concentrated solar power : Techno-economic performance evaluation of a multi-layered single tank storage for Solar Tower Power Plant

Solar Tower Power Plants with thermal energy storage are a promising technology for dispatchable renewable energy in the near future. Storage integration makes possible to shift the electricity production to more profitable peak hours. Usually two tanks are used to store cold and hot fluids, but this means both higher related investment costs and difficulties during the operation of the variable volume tanks. Another solution can be a single tank thermocline storage in a multi-layered configuration. In such tank both latent and sensible fillers are employed to decrease the related cost by up to 30% and maintain high efficiencies. The Master thesis hereby presented describes the modelling and implementation of a thermocline-like multi-layered single tank storage in a STPP. The research work presents a comprehensive methodology to determine under which market structures such devices can outperform the more conventional two tank storage systems. As a first step the single tank is modelled by means of differential energy conservation equations. Secondly the tank geometrical design parameters and materials are taken accordingly with the applications taken into consideration. Both the steady state and dynamic models have been implemented in an existing techno-economic tool developed in KTH, in the CSP division (DYESOPT). The results show that under current cost estimates and technical limitations the multi-layered solid PCM storage concept is a better solution when peaking operating strategies are desired, as it is the case for the two-tier South African tariff scheme. In this case the IRR of an optimal designed power plant can be decreased by 2.1%. However, if a continuous operation is considered, the technology is not always preferred over the two tank solution, yet is a cheaper alternative with optimized power plants. As a result the obtained LCOE can be decreased by 2.4%.
Control of Trihalomethanes in Drinking Water

Mtg. , Miami Beach, Fla. (1978). 46. O'Connor, J. Personal communication (1978). 47. Trussell, R. Predesign Studies. Water Treatment Plant Design (R. Sanks, editor) Ann Arbor Sci., Ann Arbor, Mich. (1978). 48. Vermeulen. Adsorption and Ion Exchange. Handbook for Chemical Engineers. McGraw-Hill Book Co., New York (1973). 49. Rose, H.E. An Investigation into the Laws of Flow of Fluids Through Beds of Granular Materials. Proc. Inst. Mech. Engrs. , 153:141 (1945). 50. Analysis of Proposed EPA Drinking Water Regulations. Council on Wage and Price Stability, Washington, D.C. (1978). 51. Miller, G. ; Rice, R. ; & Robsin, C. LargeScale Applications of Activated Carbon with Ozone Pretreatment. Presented at 176th ACS Mtg. , Miami Beach, Fla. (1978).
Approximate Analysis of Tall Wall-Frame Structures

A relatively simple hand method is presented for the static and dynamic analyses of uniform structures consisting of interacting shear walls and frames with effectively planar loadings and deformation. The method is applicable also to the static analyses of non-uniform shear wall-frame structures in which step changes of properties occur at several elevations in the height of the structure. Examples are given to show that the method provides results which compare closely with those obtained from more exact but lengthier methods of analysis. Design curves which further simplify the hand computation are also included.
Investigating on-call work in rail infrastructure maintenance

The use of on-call work in industry has now surpassed that of shiftwork and night work. Industries as a whole make use of on-call work daily as a way to maintain 24/7 operations whilst also reducing costs. Despite this, on-call work remains underresearched and no best practice or management guidelines are available. As the first substantial piece of human factors work examining on-call work in the rail industry, this thesis has the overall aim of increasing the understanding of on-call scheduling systems of work, and also to provide recommendations to the planning and management of on-call work in the rail industry which may also be applied in other industries. A semi-structured interview study with 72 rail maintenance on-call workers of Great Britain rail infrastructure owner and operator (Network Rail) explored on-call arrangements in place and the perceived unwanted consequences of this type of work. Anxiety, fatigue, and reduced well-being were perceived as the main consequences of working on-call. The findings also indicate that when discussing on-call there are three separate on-call situations; being on-call, receiving calls, and responding to calls; which influence the study variables differently. From the key themes identified initially an on-call questionnaire for managerial staff was developed and data from across the country generating 479 individual responses. A two-week diary study (one week on-call and the week after) with 26 participants aimed to collect real-time ratings. Results indicated that working on-call was perceived as a leading cause of stress, poor quality of sleep and fatigue. This is due to the inherent unpredictability of on-call work, which is the key differentiating factor between on-call work and other types of working-hours systems. Receiving and responding to calls were perceived as detrimental to general well-being both to workers and their families, fatigue, and performance. The work performed for this thesis allowed the development of the first on-call specific framework that identifies not only the key factors at play but also the relationships between them. It presents a set of principles or theories that other researchers can use to guide future research and that industry professionals can use to deliver more human friendly on-call work management processes and procedures.
Discovering critical success factors for implementing an automated performance measurement system : a case study approach

v ABSTRACT In this age of the Information Economy, access to accurate and timely information is necessary to ensure business success. Underpinning this success is the ability of organisations to react to change and manage utilising automated performance measurement systems (APMS) which exploit the latest technology. Little is known about how organisations utilise such automated performance measurement systems, what drives their strategies, how they implement the systems and what the critical factors for success are. There has been little research published to date on performance measurement software applications and their implementations (Marr & Neely, 2003). The research outcomes in this thesis will hopefully benefit many users who have or are planning to implement performance measurement software. This research adopts the approach of critical realism, a philosophical position which has been little used in technology studies to date, in discussing the evaluation and implementation of a number of APMS. Such systems are a recent evolution within the context of enterprise IS. They collect operational data from integrated systems to generate values for key performance indicators which are available immediately to all staff, including senior management. The creation and delivery of this data is fully automated, precluding manual intervention by middle or line management. Whilst these systems appear to be a logical progression in the exploitation of the available rich, real-time data, the statistics for APMS projects are disappointing. An understanding of the reasons is elusive and little researched. Through the examination of a number of such implementations, the research seeks to understand the implementation issues involved. A focus group and case study were used as mechanisms for data collection and the results led to a proposed model of critical success factors for implementing an APMS. The research model was added to and modified during the research by: mapping de Waal’s (2003) behavioural factors to Wixom and Watson’s (2001) data warehousing implementation factors; aligning timeliness and sustainability into a single group called “operating
Design Fire for Building Content in Arson Scenarios

The cost of fires caused by arson on a global-scale is estimated between 0.1 and 0.4% of a country's GDP. If arsonist uses liquid accelerants is the potential for growth much greater and the risk for loss of live is increased. It is desirable to reduce this risk by anticipating the accelerant in the design phase. In this thesis the possibility of predicting components behaviour when accelerants are added is investigated by use of small-scale experiments. The specimens were ignited with a smaller ignition source and the heat release rate was measured using oxygen calorimetry. Data was analysed using factorial analysis and functional analysis. It was showed that both methanol and heptane affected parameters such as the time to peak, peak heat release rate and growth rate in a way that made the foam and fabrics behave worse. With superposition was it possible to predict the total heat released with a 12% error on average for standard non flame retarded foam. The increase in growth rates is found to be of such magnitude that accelerant as part of the ignition source should be accounted for in the design phase if an arson scenario is deemed likely.
Jointless and Smoother Bridges: Behavior and Design of Piles

This report is the first of a two-volume final report presenting the findings of the research work that was undertaken to evaluate the fatigue behavior of steel highway bridges on the extra heavy weight truck corridor in Northwest Indiana. The purpose of the study was to evaluate the type and magnitude of the loads that travel along the corridor and then assess the effect of those loads on the fatigue strength of the steel bridge structures on the corridor. This volume presents the results of the experimental field study conducted to evaluate the load and load effects on one steel bridge structure on the corridor. A weigh-in-motion (WIM) system was installed near the bridge structure to evaluate the loads that would cross over the bridge being monitored. Strain values were monitored on two spans of the ten-span continuous bridge being evaluated. Comparisons were then made between strain measurements in particular girders and strain values predicted using the measured truck axle weights. The WIM data indicated that 15% of the Class 9 trucks and 26% of the Class 13 trucks travel heavier than their respective legal limits. Extreme weights of more then 200,000 lbs were observed. In spite of the heavy truck loads being carried, it was found that less than 1 percent of the trucks induce a strain range that exceeds the variable amplitude fatigue limit of the fatigue critical details in the structure being monitored. Lastly, it was found that three-dimensional analytical models provide the best agreement between predicted and measured strain values in the bridge.
24 m/spl Omega/cm/sup 2/ 680 V silicon superjunction MOSFET

A silicon superjunction MOSFET with very low specific on-resistance, R/sub on/A, and very low R/sub on/Q/sub gd/, where Q/sub gd/ is the gate-to-drain switching charge, is reported. R/sub on/A and R/sub on/Q/sub gd/ achieved are 24 m/spl Omega/cm/sup 2/ and 2.0 /spl Omega/nC at the breakdown voltage of 680 V, which are the lowest among the reported values for high-voltage silicon power MOSFETs with breakdown voltage above 500 V. Numerical analysis and discussions on the design of the buried epitaxial superjunction technology are also presented.
Multivariate Logistic Regression Analysis of the Outcomes After Humeral Head Replacement: A Case Series

Background: The aim of our study was to explore the risk factors affecting the treatment of humeral head replacement. Methods: 52 patients with humeral head replacement surgery were enrolled in the study. The information of patients were recorded. The treatment outcomes of humeral head replacement were evaluated by ASES scores. The indicators that may affect humeral head arthroplasty surgery effect were analyzed by univariate analysis and multivariate logistic regression analysis. Results: Univariate analysis showed: the differences of age, time from injury to surgery, time to start exercising after surgery, whether the patient regular follow-up, visual Analogue Scale(VSA), whether with shoulder dislocation, and whether with osteoporosis, were statistically significant (P <0.05). Multivariate Logistic regression analysis showed that age, time from injury to surgery, whether with shoulder dislocation, time to start exercising after surgery, and whether the patient regular follow-up were the influencing factors, but whether with osteoporosis and VSA were not illustrated as a risk factor. Conclusion: Age, time from injury to surgery, time to start exercising after surgery, whether with shoulder dislocation, and whether the patient regular follow-up may be the chief factors affecting humeral head replacement surgery. Trial Registration: This trial was registered at the Research Registry on June 22, 2018(researchregistry3243, https://www.researchregistry.com/browse-the-registry).
A comparative study of STCP and SCDAP simulation of PBF SFD Test 1-1

This paper presents the results of a detailed comparison of the Source Term Code Package (STCP) and the SCDAP computer codes for simulation of the Power Burst Facility (PBF) Severe Fuel Damage (SFD) test 1-1. The SCDAP code is mechanistic, and has been benchmarked against a wide range of severe accident data. The SFD 1-1 test was designed to simulate the heatup and resulting fuel damage in the upper half of a 3000-Mw(t) PWR core approximately 2 to 3 hours after initiation of a small break accident, when the core is approximately 75% uncovered. 6 refs., 1 fig.