Miracle-dz/UniFAR-FTUs huggingface dataset:
Real-time hybrid design of tracking control and obstacle avoidance for underactuated underwater vehicles

For underactuated underwater vehicles, a real-time hybrid design of dynamic tracking control law is proposed for trajectory tracking and obstacle avoidance. In recent works, sliding mode control (SMC) law has been presented and experimentally implemented for position tracking of an underactuated autonomous surface vessel. It is extended to the underactuated underwater vehicle case and finds it still work for trajectory tracking problem. The thruster saturation problem is considered for the real case. The major innovation is the solution of how to deal with obstacle avoidance in the predefined trajectory tracking mission. In order to deal with this problem, a hybrid control strategy is proposed for static and dynamic obstacle case respectively. Then, to show the effectiveness of the proposed method, trajectory tracking control under different conditions are conducted including static and dynamic obstacles. The experiment results show that the proposed method can deal with tracking and obstacle avoidance quite well.
Visualisation of live code

In this paper we outline the issues surrounding live coding which is projected for an audience, and in this context, approaches to code visualisation. This includes natural language parsing techniques, using geometrical properties of space in language semantics, representation of execution flow in live coding environments, code as visual data and computer games as live coding environments. We will also touch on the unifying perceptual basis behind symbols, graphics, movement and sound.
Development Charges and City Planning Objectives: The Ontario Disconnect

In many provinces in Canada, development charges are collected by municipal governments to help pay for the capital costs associated with urban growth. Hardly anywhere, however, is there an attempt to structure development charges so as to achieve planning goals. This article examines the disconnect between fiscal and planning goals by tracking the evolution of development charge regimes in a particular urban region, namely the Greater Toronto Area in Ontario, Canada. The authors pose the question: why do so many municipalities adopt average cost approaches to calculating development charges when it is widely assumed that a marginal cost approach is superior from an infrastructure and land-use efficiency (i.e., planning) perspective? The typical explanations put forward to account for this preference are examined and found wanting. A fuller explanation requires an understanding of developer-municipal conflict over the principles involved in the design of development charges. This leads us to an account of the emergence of development charges in Ontario and the evolving debate between municipalities and developers over who should pay for the infrastructure needed to support growth. This story reveals that there has been a gradual shift in municipal infrastructure financing practices from a marginal cost or “site-specific” approach, favoured by developers, to an average cost or “municipal-wide” approach, favoured by municipalities. In the conclusions, a number of factors underlying this evolution are identified.
Low-voltage fully differential difference transconductance amplifier

A new complementary metal-oxide-semiconductor (CMOS) structure for fully differential difference transconductance amplifier (FDDTA) is presented in this study. Thanks to using the non-conventional quasi-floating-gate (QFG) technique the circuit is capable to work under low-voltage supply of 0.6 V with extended input voltage range and with class AB output stages. The QFG multiple-input metal-oxide-semiconductor transistor is used to reduce the count of the differential pairs that needed to realise the FDDTA with simple CMOS structure. The static power consumption of the proposed FDDTA is 40 μW. The FDDTA was designed in Cadence platform using 0.18 μm CMOS technology from Taiwan Semiconductor Manufacturing Company (TSMC). As an example of applications a three-stage quadrature oscillator and fifth-order elliptic low-pass filter are presented to confirm the attractive features of the proposed CMOS structure of the FDDTA.
Audit Committee and Going-Concern in Nigerian Financial Institutions

audit committees that are experienced and effective should be able to resolve these clashes (Al-Matari et al., 2014; Klein, 2002; Komal & Bilal, 2016). Moreover, to make effort towards real maintainable performance (Al-Matari et al., 2014; Mohd, Takiah, & Norman, 2009) therefore, improves the going-concern of the firms. Based on the agency theorist, the effectiveness of the audit committee is grounded on its features (Garcia, Barbadillo, & Perez, 2012; Klein, 2002). Furthermore, the composition of the audit committee is an essential element in company structure whether in terms of its members’ size, independence or qualification (Al Daoud et al., 2015; Chapple, Kent, & Routledge, 2012; Fama & Jensen, 1983; Ishak, 2016). Therefore, agency Abstract: This paper studies the impact of the audit committee on the going-concern of Nigerian financial institutions. The final sample of twenty-nine (29) firms using period of 2006 to 2015. These have been utilised using Driscoll and Kraay’s standard errors estimation. The results found that audit committee financial expertise have a significant positive influence on going-concern of Nigerian financial institutions. However, audit committee size and independence have a negative influence on going-concern of Nigerian financial institutions. This implies the size or independence of audit committees alone with financial know-how do not have a direct positive effect on the health status of companies. It recommended that regulators increase the number of audit committee members with know-how from at least one (1), however, to a minimum of 60% so as to safeguard the going-concern of the financial institutions in Nigeria.
A Robust Scenario Approach for the Vehicle Routing Problem with Uncertain Travel Times

We consider a vehicle routing problem with uncertain travel times in which a penalty is incurred for each vehicle that exceeds a given time limit. A traditional stochastic programming approach would require precise knowledge of the underlying probability distributions of random data. In a novel approach presented here, we assume that only rough information on future travel times is available, leading to the multiple range forecasts of travel times and the probabilities of each range being realized. In this setting, we replace the point estimates of travel times on a scenario by range estimates. For each scenario, we then find the robust routes that protect the solution against the worst case within the given ranges, and finally we find the routes with the minimum expected cost. We propose a branch-and-cut algorithm to solve the problem and report computational results on both randomly generated and the well-known Solomon's instances. The results demonstrate that our approach is a favorable one when exact information of probability distributions is not available.
Organisation et interprétation par les treillis de Galois de données de type multivalué, intervalle ou histogramme

Nous nous interessons a la classification par les treillis de Galois de donnees plus complexes que celles utilisees habituellement et pouvant comporter des donnees manquantes. Le contexte du travail est l’analyse de donnees symboliques qui a pour but d’etendre les methodes d’analyse de donnees classique a des donnees de type multivalue, intervalle ou histogramme selon le formalisme des "objets symboliques”. Les treillis de Galois permettent naturellement une representation duale intension/extension, et font ressortir l’ordre entre les individus, entre les attributs, mais egalement entre les individus et les attributs. Dans une premiere partie, nous etendons la construction des treillis de Galois des tableaux binaires a des tableaux de donnees complexes avec des algorithmes incrementaux et non-incrementaux. Deux types de treillis de Galois peuvent etre obtenus : dans un cas, nous nous interessons a des classes dont les proprietes sont communes aux individus de la classe ; dans l’autre cas, nous nous interessons a des classes dont les proprietes sont satisfaites par au moins un individu de la classe. Les nœuds du treillis sont des objets "complets”, qui sont intuitivement l’extension des concepts binaires. Des contraintes exprimees par l’expert sur le contenu des nœuds peuvent intervenir durant la construction du treillis. Dans une seconde partie, nous nous interessons a l’elagage des treillis de donnees complexes. En effet, les treillis representent un espace de travail tres riche, mais leur taille croit tres vite en fonction des donnees, ce qui les rend illisibles et difficilement manipulables. Nous pouvons voir que des classifications et des arbres de decision sont inclus dans le treillis. Nous proposons differentes methodes d’elagage basees sur des heuristiques liees a des distances entre objets symboliques et des heuristiques liees aux proprietes du treillis. Selon le but recherche, nous pouvons obtenir des regles entre les objets, des graphes hierarchiques �����generalises”, des graphes pyramidaux “generalises”, ou des arbres de decision issus des deux treillis. L’interpretation du treillis se fait directement et automatiquement a partir des donnees initiales
Megalloc: Fast Distributed Memory Allocator for NVM-Based Cluster

As the expected emerging Non-Volatile Memory (NVM) technologies, such as 3DXPoint, are in production, there has been a recent push in the big data processing community from storage-centric towards memory-centric. Generally, in large-scale systems, distributed memory management through traditional network with TCP/IP protocol exposes performance bottleneck. Briefly, CPU- centric network involves context switching, memory copy etc. Remote Direct Memory Access (RDMA) technology reveals the tremendous performance advantage over than TCP/IP: Allowing access to remote memory directly bypassing OS kernel. In this paper, we propose Megalloc, a distributed NVM allocator exposes NVMs as a shared address space of a cluster of machines based-on RDMA. Firstly, it makes memory allocation metadata accessed directly by each machine, allocating NVM in coarse-grained way; secondly, adopting fine-grained memory chunk for applications to read or store data; finally, it guarantees high distributed memory allocation performance.
Ontologies et aide à l'utilisateur pour l'interrogation de sources multiples et hétérogènes

L'explosion du nombre de sources d'information accessibles via le Web multiplie les besoins de techniques d'integration des sources de donnees multiples et heterogenes. Ces techniques reposent sur la construction d'une vue uniforme des donnees distribuees permettant de donner l'impression a l'utilisateur qu'il interroge un systeme homogene et centralise. Les travaux menes dans cette these portent sur les ontologies en tant qu'outils d'aide a l'interrogation d'un serveur d'information. Les deux aspects des ontologies que nous avons traites sont les ontologies en tant qu'outil d'aide a l'affinement de requetes, d'une part, et en tant qu'aide a l'interrogation unifiee, d'autre part. Concernant le premier aspect, nous proposons de construire progressivement, avec l'utilisateur, des requetes plus specifiques, plus contraintes que la requete initiale, jusqu'a l'obtention de reponses moins nombreuses et plus pertinentes. Notre approche est basee sur l'utilisation conjuguee d'une ontologie du domaine et de la technique des treillis de Galois. Concernant le second aspect, nous proposons une approche generique d'alignement d'ontologies mise en œuvre au travers d'un processus semi-automatique. L'approche que nous proposons s'applique en presence d'une dissymetrie dans la structure des taxonomies comparees. Nous proposons d'assembler, dans un ordre bien determine, des techniques terminologiques, structurelles et semantiques. Ces deux aspects ont fait l'objet de travaux distincts effectues au sein de deux projets : le projet Picsel 2, mene en collaboration avec France Telecom R&D et le projet RNTL eDot, dont le domaine d'application porte sur l'analyse du risque alimentaire.
A reagent for the detection of reducing sugars. 1908.

It has already been shown that the hydroxides of the alkali metals have a greater destructive action upon dextrose and various other carbohydrates than have the carbonates,’ and in accordance with this fact, a copper-containing solution in which the alkalinity is secured by sodium carbonate makes a more delicate and specific test for the detection of dextrose than does a copper solution which contains sodium hydroxide. A reagent of this nature, containing copper sulphate, Rochelle salt, and sodium carbonate, was suggested in a previous paper.2 This reagent affords a delicate test solution for dextrose, but it has the disadvantage common to so many of the alkaline copper solutions, viz: that after mixing, it rapidly deteriorates and soon becomes useless for detecting small quantities of sugar. For this reason it seemed desirable to obtain a solution in which the alkalinity is secured by carbonate, and which shall at the same time be permanent after mixing. Rochelle salt is the constituent of the alkaline copper solutions which undergoes change upon standing, and forms products which cause a spontaneous reduction of the solution. As a substitute for the tartrate we may (theoretically) use any aliphatic compound which carries two or more OH radicals, and which is in itself incapable of reducing the copper at a boiling temperature. Substances in great number and variety have been proposed in the literature as substitutes for the Rochelle salt in Fehling’s solution. In the present case, where the alkalinity is to be secured by carbonate, it was found that none of the substances usually employed could be used with advantage. Thus glycerol and mannite almost always carry sufficient reducing substance as
A Supervised Fine-Grained Sentiment Analysis System for Online Reviews

Sentiment analysis, as a heatedly-discussed research topic in the area of information extraction, has attracted more attention from the beginning of this century. With the rapid development of the Internet, especially the rising popularity of Web2.0 technology, network user has become not only the content maker, but also the receiver of information. Meanwhile, benefiting from the development and maturity of the technology in natural language processing and machine learning, we can widely employ sentiment analysis on subjective texts. In this paper, we propose a supervised learning method on fine-grained sentiment analysis to meet the new challenges by exploring new research ideas and methods to further improve the accuracy and practicability of sentiment analysis. First, this paper presents an improved strength computation method of sentiment word. Second, this paper introduces a sentiment information joint recognition model based on Conditional Random Fields and analyzes the related knowledge of the basi.
Lipoprotein Oxidation and Lipoprotein‐lnduced Cytotoxicity

The results of this study Indicate that when human VLDL or LDL Is prepared under conditions allowing oxidation, such oxidation renders the molecular complexes highly toxic to human skin flbroblasta growing In culture. The cytotoxicity can be predicted by assaying for the presence of thlobarbiturlc acld-reactlng substances on the lipoprotein. However, malondialdehyde, which reacts with thiobarblturlc acid and Is known to be Injurious to cells, was not cytotoxic In the same experimental system when dissolved In culture medium or covalently bound to non-toxic LDL. The toxic agent(s) on oxidized LDL Is(are) located In a llpld-extractable moiety. Since lipld peroxides and oxidized sterols can occur in vivo under various pathological conditions, the cytotoxicity of these llpoprotein-assoclated substances observed In vitro may be related to certain manifestations of these conditions.
Solar Photovoltaic Grid Parity: A Review of Issues, Challenges and Status of Different PV Markets

This paper presents a review on the solar PV grid parity in the global market by analyzing all the factors having an influence on the grid parity, methodology so far adapted to investigate the grid parity and the status of PV markets of different countries. The analysis indicates that solar resources, evolution in PV module cost, progression in electricity prices, environmental cost and grid extension cost are the major factors that affect the grid parity and these factors vary time to time and market to market. Cost reduction of PV modules in global markets has followed the Swanson prediction enabling it to compete for the conventional electricity market. Germany had been leading the PV market but owing to the change in policy and decrease in incentives, its annual PV installation has been decreased since 2013. China introduced incentives based renewable policy that abruptly increased the PV installations in 2011 and now China is leading the solar PV market. Study of different PV markets revealed that PV grid parity dynamically occurs in various segments of power sectors like residential, industrial and commercial sectors at different times. This paper will be supportive for the investors to understand PV market and its constraints, for the solar policymakers to comprehend various policy incentives that would help the solar PV penetration into the current electricity market.
Defining and measuring successful emergency care networks: a research agenda.

The demands on emergency services have grown relentlessly, and the Institute of Medicine (IOM) has asserted the need for "regionalized, coordinated, and accountable emergency care systems throughout the country. " There are large gaps in the evidence base needed to fix the problem of how emergency care is organized and delivered, and science is urgently needed to define and measure success in the emerging network of emergency care. In 2010, Academic Emergency Medicine convened a consensus conference entitled "Beyond Regionalization: Integrated Networks of Emergency Care. " This article is a product of the conference breakout session on "Defining and Measuring Successful Networks"; it explores the concept of integrated emergency care delivery and prioritizes a research agenda for how to best define and measure successful networks of emergency care. The authors discuss five key areas: 1) the fundamental metrics that are needed to measure networks across time-sensitive and non-time-sensitive conditions; 2) how networks can be scalable and nimble and can be creative in terms of best practices; 3) the potential unintended consequences of networks of emergency care; 4) the development of large-scale, yet feasible, network data systems; and 5) the linkage of data systems across the disease course. These knowledge gaps must be filled to improve the quality and efficiency of emergency care and to fulfill the IOM's vision of regionalized, coordinated, and accountable emergency care systems.
Diversity, Functional Similarity, and Top-Down Control Drive Synchronization and the Reliability of Ecosystem Function

The concept that diversity promotes reliability of ecosystem function depends on the pattern that community-level biomass shows lower temporal variability than species-level biomasses. However, this pattern is not universal, as it relies on compensatory or independent species dynamics. When in contrast within–trophic level synchronization occurs, variability of community biomass will approach population-level variability. Current knowledge fails to integrate how species richness, functional distance between species, and the relative importance of predation and competition combine to drive synchronization at different trophic levels. Here we clarify these mechanisms. Intense competition promotes compensatory dynamics in prey, but predators may at the same time increasingly synchronize, under increasing species richness and functional similarity. In contrast, predators and prey both show perfect synchronization under strong top-down control, which is promoted by a combination of low functional distance and high net growth potential of predators. Under such conditions, community-level biomass variability peaks, with major negative consequences for reliability of ecosystem function.
A Green Fluorescent Protein Fusion to Actin-Binding Domain 2 of Arabidopsis Fimbrin Highlights New Features of a Dynamic Actin Cytoskeleton in Live Plant Cells 1[w]

The actin cytoskeleton coordinates numerous cellular processes required for plant development. The functions of this network are intricately linked to its dynamic arrangement, and thus progress in understanding how actin orchestrates cellular processes relies on critical evaluation of actin organization and turnover. To investigate the dynamic nature of the actin cytoskeleton, we used a fusion protein between green ﬂuorescent protein (GFP) and the second actin-binding domain (fABD2) of Arabidopsis ( Arabidopsis thaliana ) ﬁmbrin, AtFIM1. The GFP-fABD2 fusion protein labeled highly dynamic and dense actin networks in diverse species and cell types, revealing structural detail not seen with alternative labeling methods, such as the commonly used mouse talin GFP fusion (GFP-mTalin). Further, we show that expression of the GFP-fABD2 fusion protein in Arabidopsis, unlike GFP-mTalin, has no detectable adverse effects on plant morphology or development. Time-lapse confocal microscopy and ﬂuorescence recovery after photobleaching analyses of the actin cytoskeleton labeled with GFP-fABD2 revealed that lateral-ﬁlament migration and sliding of individual actin ﬁlaments or bundles are processes that contribute to the dynamic and continually reorganizing nature of the actin scaffold. These new observations of the dynamic actin cytoskeleton in plant cells using GFP-fABD2 reveal the value of this probe for future investigations of how actin ﬁlaments coordinate cellular processes required for plant development. et of 7-d-old MR, Axiovision 4.0 and cell plan-area, circularity public domain NIH
Principal Component Analysis in the Study of Structure of the Best Polish Decathlon Competitors from the Period between 1985–2015

The modern decathlon is a sport consisting of ten different events held over two days, played by men. Depending on the complexity of combined events, variety of events (runs, throws, jumps), the multi-stage, time-consuming and difficult training process the sport is considered as one of the most difficult. The analysis of careers of the best decathlon participants and applying advanced data-mining methods can help define the patterns occurring between each decathlon event and the final result. The research material encompasses career data of the 25 top competitors from Poland in years 1985–2015. Principal component analysis (PCA) was used in the research in order to designate new uncorrelated variables (components), representing input data across a new plane. Data analysis involved appointment of correlations between the events, determining the number of main components taken into account in further studies, analysis of the weight of each variable in formation of main components as well as visualisation and interpretation of results in the new plane described by the determined main components. Through the implementation of PCA method in the process of analysis it was possible to designate over 69% of compound data volatility with the use of the first three components. The first component, comprised of seven variables, displays the largest share in the total variability. The study of the relationship between variables in the new plane displayed strong correlations between sprint events (100 m, 110 m hurdles) and long jump and pole vault. No correlations between the 1,500 m run and other events were found.