Miracle-dz/UniFAR-FTUs huggingface dataset:
Modeling and adaptive control of indoor unmanned aerial vehicles

The operation of unmanned aerial vehicles (UAVs) in constrained indoor environments presents many unique challenges in control and planning. This thesis investigates modeling, adaptive control and trajectory optimization methods as applied to indoor autonomous flight vehicles in both a theoretical and experimental context. Three types of small-scale UAVs, including a custom-built three-wing tailsitter, are combined with a motion capture system and ground computer network to form a testbed capable of indoor autonomous flight. An L1 adaptive output feedback control design process is presented in which control parameters are systematically determined based on intuitive desired performance and robustness metrics set by the designer. Flight test results using a quadrotor helicopter demonstrate that designer specifications correspond to the expected physical responses. Multi-input multi-output (MIMO) L1 adaptive control is applied to a three-wing tailsitter. An inner-loop body rate adaptation structure is used to bypass the non-linearities of the closed-loop system, producing an adaptive architecture that is invariant to the choice of baseline controller. Simulations and flight experiments confirm that the MIMO adaptive augmentation effectively recovers nominal reference performance of the vehicle in the presence of substantial physical actuator failures. A method for developing a low-fidelity model of propeller-driven UAVs is presented and compared to data collected from flight hardware. The method is used to derive a model of a fixed-wing aerobatic aircraft which is then used by a Gauss pseudospectral optimization tool to find dynamically feasible trajectories for specified flight maneuvers. Several trajectories are generated and implemented on flight hardware to experimentally validate both the modeling and trajectory generation methods. Thesis Supervisor: Jonathan P. How Title: Professor
Proactive condition Monitoring Systems for Power Plants

Power plant condition monitoring systems are pervasive around the industrial space of mechanical systems due to the ever-increasing demand for improved reliability and fail proof operation. Much of the downtime can be obviated with proactive maintenance by measuring vital machine parameters to discover imminent failures. The condition of the turbine and the generator are monitored using the characteristic signatures present in the Acoustic Emanations generated by the vibrating components of the reciprocating parts. The feeble noise of the malfunctioning components will not be detectable at the beginning stages as they are often buried in the noise floor and this creates a major challenge in prognostic reporting of the events that could lead to a catastrophic failure. In this paper an attempt is made to lift and isolate the fault signatures that are hidden behind the noise floor by utilizing Digital Signal Processing Source separation techniques, which is then compared with a pre-collected data base of the different fault stages of the turbine and generator that helps in prognostic report making which in turn eliminates the need of trained professionals for condition monitoring. Implementation of this prototype system will effectively reduce the downtime of power generation along with the elimination of expensive human professional. The collected acoustic data are simulated in MATLAB.
Resilient Dispatch in Synchronous Generator-Based Microgrids for Emergency Situations

When an elevated risk is anticipated for a microgrid, such as adverse weather conditions, live line repairs, potential acts of sabotage, or public events with the crowds close to the overhead lines launching fireworks or objects into the air, there is a benefit to transitioning the system's operational strategy from the traditional ‘economical’ approach to a ‘resilient’ one. The resilient dispatch represents an operational mode that is employed selectively and temporarily in response to heightened risk conditions and is tailored to enhance the microgrid's ability to withstand and recover from failures, ensuring operational continuity. In conventional synchronous -generator-based microgrids, the P/Q dispatch of the generators is controllable and one can leverage this property to set up any required steady state condition. This research developed an approach to optimize the steady-state conditions of synchronous generator-based microgrids with the primary objective of enhancing fault tolerance. By strategically configuring the system's operating condition, the microgrid can respond more effectively and reliably to disturbances, including faults and other sudden load changes. The results of this study, using simulations and analysis, show the potential benefits of this approach. Microgrids adopting the resilient steady state exhibit enhanced stability, reduced vulnerability to faults, and increased reliability for continuous operation.
A study of singularity formation in a vortex sheet by the point-vortex approximation

The initial-value problem for perturbations of a flat, constant-strength vortex sheet is linearly ill posed in the sense of Hadamard, owing to Kelvin-Helmholtz instability. Previous numerical studies of this problem have experienced difficulty in converging when the mesh was refined. The present work examines Rosenhead's point-vortex approximation and seeks to understand better the source of this difficulty. Using discrete Fourier analysis, it is shown that perturbations introduced spuriously by computer roundoff error are responsible for the irregular point-vortex motion that occurs at a smaller time as the number of points is increased. This source of computational error is controlled here by using either higher precision arithmetic or a new filtering technique. Computations are presented which use a linear-theory growing eigenfunction of small amplitude/wavelength ratio as the initial perturbation. The results indicate the formation of a singularity in the vortex sheet at a finite time as previously found for other initial data by Moore and Meiron, Baker & Orszag using different techniques of analysis. Numerical evidence suggests that the point-vortex approximation converges up to but not beyond the time of singularity formation in the vortex sheet. For large enough initial amplitude, two singularities appear along the sheet at the critical time.
A NEW MICROSPORIDIAN INFECTING THE MUSCULATURE OF THE ENDANGERED TIDEWATER GOBY (GOBIIDAE)

A previously unrecognized microsporidian (Kabatana newberryi n. sp.) is described from the musculature of Eucyclogobius newberryi (Gobiidae) in Big Lagoon, Humboldt County, California. Spores are ovoid, ranging in size from 2.8 ± 0.3 μm in total length and 1.9 ± 0.4 μm in width (measurements of 30 spores made by calculation from micrograph). The polar filament has 9–10 coils in 1–2 rows. Development occurs in direct contact with host muscle cell cytoplasm, without xenoma or sporophorous vesicle. Phylogenetic analysis of the new species and of 35 other microsporidians known to infect fish using 1,115 base pairs of aligned 16S rRNA gene indicate the new species is most closely related to Kabatana takedai. However, the new species differs by 11% sequence divergence from K. takedai. Divergence in morphology and genetic data allow for diagnosis from all other fish-infecting microsporidia and supports recognition of a new species of microsporidian, Kabatana newberryi n. sp. , presently known only from a suspected specific host, the endangered tidewater goby Eucyclogobius newberryi.
Communicating between the kernel and user‐space in Linux using Netlink sockets

When developing Linux kernel features, it is a good practice to expose the necessary details to user‐space to enable extensibility. This allows the development of new features and sophisticated configurations from user‐space. Generally, software developers have to face the task of looking for a good way to communicate between the kernel and user‐space in Linux. This tutorial introduces you to Netlink sockets, a flexible and extensible messaging system that provides communication between kernel and user‐space. We provide the fundamental guidelines for practitioners who wish to develop Netlink‐based interfaces. Copyright © 2010 John Wiley & Sons, Ltd.
Demographic Characteristics of World Class Jamaican Sprinters

The dominance of Jamaican sprinters in international meets remains largely unexplained. Proposed explanations include demographics and favorable physiological characteristics. The aim of this study was to analyze the demographic characteristics of world class Jamaican sprinters. Questionnaires administered to 120 members of the Jamaican national team and 125 controls elicited information on place of birth, language, ethnicity, and distance and method of travel to school. Athletes were divided into three groups based on athletic disciplines: sprint (s: 100–400 m; n = 80), jump and throw (j/t: jump and throw; n = 25) and, middle distance (md: 800–3000 m; n = 15). Frequency differences between groups were assessed using chi-square tests. Regional or county distribution of sprint differed from that of middle distance (P < 0.001) but not from that of jump and throw athletes (P = 0.24) and that of controls (P = 0.59). Sprint athletes predominately originated from the Surrey county (s = 46%, j/t = 37%, md = 17, C = 53%), whilst middle distance athletes exhibited excess from the Middlesex county (md = 60%). The language distribution of all groups showed uniformity with a predominance of English. A higher proportion of middle distance and jump and throw athletes walked to school (md = 80%, j/t = 52%, s = 10%, and C = 12%) and travelled greater distances to school. In conclusion, Jamaica's success in sprinting may be related to environmental and social factors.
A Many Antenna High Rate Wireless System

We further describe an implementation of this system that uses an array of 32 antennas to communicate with 32 single-antenna clients simultaneously on the same frequencies between 512-608 and 614-698 MHz. At close range, all 32 links achieve the full PHY data rate, both uplink and downlink, with less than 1% Block Error Rate on each link. The total system rate is 3.8 Gb/s. The system spectral efficiency is 21.7 b/s/Hz for both uplink and downlink.
Non-signalling energy use in the brain

Energy use limits the information processing power of the brain. However, apart from the ATP used to power electrical signalling, a significant fraction of the brain's energy consumption is not directly related to information processing. The brain spends just under half of its energy on non‐signalling processes, but it remains poorly understood which tasks are so energetically costly for the brain. We review existing experimental data on subcellular processes that may contribute to this non‐signalling energy use, and provide modelling estimates, to try to assess the magnitude of their ATP consumption and consider how their changes in pathology may compromise neuronal function. As a main result, surprisingly little consensus exists on the energetic cost of actin treadmilling, with estimates ranging from < 1% of the brain's global energy budget up to one‐half of neuronal energy use. Microtubule treadmilling and protein synthesis have been estimated to account for very small fractions of the brain's energy budget, whereas there is stronger evidence that lipid synthesis and mitochondrial proton leak are energetically expensive. Substantial further research is necessary to close these gaps in knowledge about the brain's energy‐expensive non‐signalling tasks.
A new connection of mRNP biogenesis and export with transcription-coupled repair

Although DNA repair is faster in the transcribed strand of active genes, little is known about the possible contribution of mRNP biogenesis and export in transcription-coupled repair (TCR). Interestingly, mutants of THO, a transcription complex involved in maintenance of genome integrity, mRNP biogenesis and export, were recently found to be deficient in nucleotide excision repair. In this study we show by molecular DNA repair analysis, that Sub2-Yra1 and Thp1-Sac3, two main mRNA export complexes, are required for efficient TCR in yeast. Careful analysis revealed that THO mutants are also specifically affected in TCR. Ribozyme-mediated mRNA self-cleavage between two hot spots for UV damage showed that efficient TCR does not depend on the nascent mRNA, neither in wild-type nor in mutant cells. Along with severe UV damage-dependent loss in processivity, RNAPII was found binding to chromatin upon UV irradiation in THO mutants, suggesting that RNAPII remains stalled at DNA lesions. Furthermore, Def1, a factor responsible for the degradation of stalled RNAPII, appears essential for the viability of THO mutants subjected to DNA damage. Our results indicate that RNAPII is not proficient for TCR in mRNP biogenesis and export mutants, opening new perspectives on our knowledge of TCR in eukaryotic cells.
Personal narrative, dialogism, and the performance of “truth” in complaints of a dutiful daughter

This paper examines the documentary film Complaints of a Dutiful Daughter in order to trace out the representations and performances that connote “truth” and “knowledge. ” Drawing on Michel Foucault's observations concerning the social construction of knowledge, documentary film theory, and performance theory, I show how the use of personal narrative and naturalism in this documentary film can be interpreted as working at cross‐purposes with its politically progressive intent. I argue that these performance elements work rhetorically to naturalize existing power relationships, in spite of the film's goal of destabilizing identity and madness.
Micromatricial metronidazole benzoate film as a local mucoadhesive delivery system for treatment of periodontal diseases

The main objective of this study was to develop a local, oral mucoadhesive metronidazole benzoate (MET) delivery system that can be applied and removed by the patient for the treatment of periodontal diseases. Mucoadhesive micromatricial chitosan/poly(ε-caprolactone) (CH/PCL) films and chitosan films were prepared. thermal behavior, morphology, and particle size measurements were used to evaluate the prepared films. The effect of different molar masses of CH and different ratios of medium Mwt molar mass chitosan (MCH):PCL on water absorption, in vitro bioadhesion, mechanical properties, and in vitro drug release was examined. In vivo performance of the selected formulation was also evaluated. Differential scanning calorimetry examination revealed that MET existed mainly in amorphous form. Under microscopic examination, PCL microparticles were homogeneously dispersed in the films. The use of different molar masses of CH and different ratios of (MCH):PCL affected the size of the entrapped particles. Addition of PCL significantly decreased percentage water uptake and bioadhesion force compared with pure CH film. With regard to mechanical properties, the 2-layered film containing 1∶0.625 MCH:PCL had the best tensile properties. At fixed CH:PCL ratio (1∶1.25), the slowest drug release was obtained from films containing high molar mass CH. On the other hand, the 2-layered film that consisted of 1∶0.625 MCH:PCL had the slowest MET release. In vivo evaluation of the selected film revealed that metronidazole concentration in saliva over 6 hours ranged from 5 to 15 μg/mL, which was within and higher than the reported range of minimum inhibitory concentration for metronidazole. A significant in vitro/in vivo correlation under the adopted experimental conditions was obtained.
Biofilm removal and antimicrobial activity of two different air-polishing powders: an in vitro study.

BACKGROUND Biofilm removal plays a central role in the prevention of periodontal and peri-implant diseases associated with microbial infections. Plaque debridement may be accomplished by air polishing using abrasive powders. In this study, a new formulation consisting of erythritol and chlorhexidine is compared with the standard glycine powder used in air-polishing devices. Their in vitro antimicrobial and antibiofilm effects on Staphylococcus aureus, Bacteroides fragilis, and Candida albicans are investigated. METHODS Biofilm was allowed to grow on sandblasted titanium disks and air polished with glycine or erythritol-chlorhexidine powders. A semiquantitative analysis of biofilm by spectrophotometric assay was performed. A qualitative analysis was also carried out by confocal laser scanning microscopy. Minimum inhibitory concentrations and minimum microbicidal concentrations were evaluated, together with the microbial recovery from the residual biofilm after air-polishing treatment. RESULTS The combination of erythritol and chlorhexidine displayed stronger antimicrobial and antibiofilm activity than glycine against all microbial strains tested. CONCLUSION Air polishing with erythritol-chlorhexidine seems to be a viable alternative to the traditional glycine treatment for biofilm removal.
Support of WMO binary format ( BUFR and GRIB )

Meteorological phenomenon ignores political boundaries and open exchange of observation data is a main issue for meteorological community. In 1951, the newly created World Meteorological Organisation (WMO) established the Global Telecommunication System (GTS) a world−wide network dedicated to environmental data exchange [1]. This first network used 50 bps telegraphic lines and Baudot (5 bits) character codes. Associated formats were defined to code various observation parameters (ground pressure, temperature, wind speed, etc.). Most of these formats are still used, although Baudot has been replaced by ASCII and telegraph by Internet links.
High performance of short-channel MOSFETs due to an elevated central-channel doping

An elevated central-channel doping with a depth similar to the S/D junctions is proposed as the best measure for simultaneously improving MOSFET device and high speed circuit performances as well as minimizing their fluctuations. We base our arguments on hydrodynamic device simulation, measured device data of vertical MOSFETs with a central delta-doped impurity profile and include experimental results on doping-profile fluctuations along the channel, which have not been available previously.
Software Security Considerations for IoT

Internet of Things (IoT) is a swiftly growing technology and business domain that is expected to revolutionize the modern trade. Nonetheless, shortcomings in security are common in this new domain and security issues are the Achilles' heel of the new technology. In this study, we analyze different security solutions for IoT devices and propose suitable techniques for further analysis. The aim of this study is to provide guidance on implementing security solutions for both existing and coming devices of Internet of Things, by providing analysis and defining the Complexity of Implementation score for each solution.
An Innovation of Exploiting Generative Adversarial Networks to Augment Virtual Reality Experiences

Generative adversarial Networks (GANs) reinforce digital reality (VR) studies with artificial facts. They are executed via training a GAN to generate artificial virtual objects in a simulated environment from photographs of real-world scenes. This process creates a ‘GAN-augmented space’ which permits unheard-of tiers of interaction and immersive studies. The primary advantage of GANs over conventional strategies is they can generate novel content material that immediately extends a person's cutting-edge revel. It creates the potential for more excellent sensible scenes, synthetic gadgets that blend seamlessly into a digital environment, and real-time modifications to VR scenes. In addition, GANs empower VR developers to create particular digital worlds using minimum actual-world facts. This innovation can reduce the cost and time needed to create a practical VR reveal, making it less complicated for developers to create attractive VR reviews.
A Novel Traction Control for Electric Vehicle without Chassis Velocity

Due to the growing concern about global environmental problems and shrinking nonrenewable energy sources, research on electric vehicles and hybrid electric vehicles is once again attracting significant attention. Meanwhile, significant improvements in power electronics, energy storage and control technology have made electric vehicles fully feasible, preparing the state of the art for their return to the market (Chau et al., 2008; Affanni et al., 2005; Nagai, 2007). Beside the advantages for the environment, manufacture and maintenance, from the viewpoint of control technology, the most distinct advantages of electric vehicles have not been well recognized. Since electric vehicles and some specially configured hybrid electric vehicles are driven by electric motors, the advantages provided to these electric vehicles can be summarized as follows (Hori, 2004): 1. Quick torque generation 2. Easy torque measurement 3. Possibility of independently equipped motors for each wheel On the other hand, considering the different regions of the world, the increase of the mobility shows a clear correlation to the gross domestic product. With further economic growth, we can predict an even greater increase in mobility and in traffic density throughout the world. For this reason, vehicle motion control systems have been developed to provide active safety control, and have made significant technological progress over the last decade to enhance vehicle stability and handling performance in critical dynamic situations by introducing computer control technology. From the development history of vehicle motion control, it can also be found that, effective operation of any vehicle control system is based on some basic assumptions, for example, the output torque being able to accurately work on the vehicle. For this purpose, traction control, as the most primary active safety control for vehicles, is developed to ensure the effectiveness of the torque output. The key to traction control is antislip control, when the vehicle is driven or brakes on a slippery road, especially for light vehicles because they are more inclined to skid on slippery roads. Traction control must not only guarantee the effectiveness of the torque output to maintain vehicle stability, but also provide some information about tire-road conditions to other vehicle control systems. Moreover, in electric vehicles a well-managed traction control system can cover the functions of ABS, because
WAIS-IV and Clinical Validation of the Four- and Five-Factor Interpretative Approaches

The fourth edition of the Wechsler Adult Intelligence Scale (WAIS-IV) is a revised and substantially updated version of its predecessor. The purposes of this research were to determine the constructs measured by the test and the consistency of measurement across large normative and clinical samples. Competing higher order WAIS-IV four- and five-factor models were analyzed using the WAIS-IV’s sample of 1,800 normative adults and 411 clinical adults. When all 15 WAIS-IV subtests were considered, both four- and five-factor models were suitable, but the five-factor model provided a better fit. The WAIS-IV PRI differentiated into two composites as follows: POI(Gv) consisting of Block Design, Visual Puzzles and Picture Completion; and FRI(Gf) consisting Matrix Reasoning, Arithmetic and Figure Weights. The five-factor solution included Quantitative Reasoning (RQ), consisting of Arithmetic and Figure Weights, as a narrow ability subsumed under FRI(Gf). Arithmetic, Vocabulary, and Figure Weights subtests had the highest g loadings. Cancellation had the lowest g loading. The WAIS-IV generally demonstrated full factor invariance between clinical and nonclinical samples.