Miracle-dz/UniFAR-FTUs huggingface dataset:
Wheeled mobile robot based on Adaptive Linear Quadratic Gaussian control

To deal with the existing issues of input saturations and uncertain positioning corrupted by Gaussian noises in the tracking control of Wheeled Mobile Robot (WMR), this paper presents a framework which applies the Adaptive Linear Quadratic Gaussian (ALQG) control with Genetic Algorithm based on linear discrete system. The work of ALQG includes three aspects. First, to address the problem of input saturations, we consider a linear discrete system as the Lagrangian multiplier and saturation constraint as the inequality constraint, and the linear quadratic controller with the penalty function as the objective function is solved by the interior point method. Second, in the above implementation of Linear Quadratic Regulator control, the weighting matrix under different conditions may result in different tracking performances. To address this issue, weighting matrices of different initial poses and reference trajectories are adaptively explored by Genetic Algorithm with control performance indexes as constraint functions, and the optimal weighting matrix is final determined. Third, concerning the uncertainty problem in positioning, the Kalman Filter algorithm with real-time measurement of the disturbed position of the posture filter is applied in real time to obtain more accurate poses. The ALQG simulation of the WMR is carried out in the MATLAB software platform, and the tracking quality of the ALQG is discussed systematically. The results show that the trajectory tracking controller of wheeled mobile robot based on ALQG can track the target trajectory stably and has good anti-interference abilities.
Rh Type B Glycoprotein Is a New Member of the Rh Superfamily and a Putative Ammonia Transporter in Mammals*

Ammonium transporters play a key functional role in nitrogen uptake and assimilation in microorganisms and plants; however, little is known about their structural counterpart in mammals. Here, we report the molecular cloning and biochemical characterization of Rh type B glycoproteins, human RhBG and mouse Rhbg, two new members of the Rh family with distinct tissue specificities. The RhBG orthologues possess a conserved 12-transmembrane topology and most resemble bacterial and archaeal ammonium transporters. Human RHBG resides at chromosome 1q21.3, which harbors candidate genes for medullary cystic kidney disease, whereas mouse Rhbg is syntenic on chromosome 3. Northern blot and in situ hybridization revealed thatRHBG and Rhbg are predominantly expressed in liver, kidney, and skin, the specialized organs involving ammonia genesis, excretion, or secretion. Confocal microscopy showed that RhBG is located in the plasma membrane and in some intracellular granules. Western blots of membrane proteins from stable HEK293 cells and from mouse kidney and liver confirmed this distribution.N-Glycanase digestion showed that RhBG/Rhbg has a carbohydrate moiety probably attached at the NHS motif on exoloop 1. Phylogenetic clustering, tissue-specific expression, and plasma membrane location suggest that RhBG homologous proteins are the long sought major ammonium transporters in mammalians.
Biosynthesis and Engineering of Carotenoids and Apocarotenoids in Plants: State of the Art and Future Prospects

Abstract Carotenoids and their apocarotenoid derivatives are isoprenoid molecules important for the primary and secondary metabolisms of plants and other living organisms, displaying also key health-related roles in humans and animals. Progress in the knowledge of the carotenoid pathway at the genetic, biochemical and molecular level, supported by successful genetic engineering examples for an increasing number of important plant crops have paved the way for precise molecular breeding of carotenoids. In this review, following a description of the general carotenoid pathway, select examples of plant species able to produce specialty carotenoids and apocarotenoids are illustrated.
Tolerance exists towards resident intestinal flora but is broken in active inflammatory bowel disease (IBD)

Hyporesponsiveness to a universe of bacterial and dietary antigens from the gut lumen is a hallmark of the intestinal immune system. Since hyperresponsiveness against these antigens might be associated with inflammation, we studied the immune response to the indigenous intestinal microflora in peripheral blood, inflamed and non‐inflamed human intestine. Lamina propria monocuclear cells (LPMC) isolated from inflamed intestine but not peripheral blood mononuclear cells (PBMC) of IBD patients with active inflammatory disease strongly proliferated after co‐culture with sonicates of bacteria from autologous intestine (BsA), Proliferation was inhibitable by anti‐MHC class II MoAb, suggesting that it was driven by antigen, LPMC from adjacent non‐inflamed intestinal areas of the same IBD patients and PBMC or LPMC isolated from non‐inflamed intestine of controls and patients with IBD in remission, in contrast, did not proliferate, PBMC or LPMC which had been tolerant to bacteria from autologous intestine, however, strongly proliferated after co‐culture with bacterial sonicates from heterologous intestine (BsH). This proliferation was associated with an expansion of CD8+ T cells, increased expression of activation markers on both CD4+ and CD8+ lymphocyte subsets, and production of IL‐12, interferon‐gamma (IFN‐γ), and IL‐10 protein. These results show that tolerance selectively exists to intestinal flora from autologous but not heterologous intestine, and that tolerance is broken in intestinal inflammation. This may be an important mechanism for the perpetuation of chronic IBD.
Stranger than Fiction: A Qualitative Thesis Examining Leaders, Followers and the Distribution of Power in the 2016 United States Presidential Election

5 Introduction . 6 Theoretical Framework . 9 Leadership as an Equilateral Triangle. 10 Leaders . 11 Followers. 12 Context . 13 History. 13 Decline in Respect for Authority . 14 Technology . 16 Contextual Expertise as a Leadership Competency . 16 Statement of the Problem . 17 Literature Review. 26 Overview of Research on Followers . 26 Psychological Explanations for Following . 29 2 TABLE OF CONTENTS (continued) Psychodynamic Perspective . 29 Psycho-cognitive Perspective . 29 Social Psychological Perspective . 30 Distant and Close Leadership . 31 Polarization . 33 Technology . 33 The Role of Technology in Grievance and Triggering Events . 36 Summary . 37 Method . 38 Data Source . 38 Data Collection . 39 Data Analysis . 40 Findings. 41 Dissatisfaction . 42 Political Parties and Politicians . 42 Desire for Something Different . 43 3 TABLE OF CONTENTS (continued) America’s Position in the World . 44 Internet and Social Media . 46 Polarization . 48 Origins of Polarization . 48 Party Polarization . 50 Polarization of Personal Relationships . 52 Respect for Authority and Power . 53 Authority of Government . 54 Respect for the Executive Branch . 55 Discussion . 56 No Change in the Distribution of Power . 56 Dissatisfaction . 57 Internet and Social Media . 59 Polarization . 59 Implications. 60 Conclusion . 63 4 TABLE OF CONTENTS (continued) References . 65 Appendices . 74 Appendix A Consent Form . 74 Appendix B Interview Inventory . 77
LPV systems with unstable subsystems: A single Lyapunov function solution to stabilizing switching laws

This investigation presents a synthesis solution for stabilizing switching laws for a class of parameter-varying plants represented via linear LPV systems that has all unstable subsystems. Considered class of LPV systems has state matrices as parametrically affine with parameter varying in a convex set for which all the subsystems are unstable. Stabilization design of switching laws is solved that enforce overall state trajectory that is asymptotically convergent to the equilibrium state. Via the single Lyapunov function approach and the idea of parameter-dependent Lyapunov functions, a set of linear matrix inequalities guaranteeing the existence of solution. Illustrative examples and the respective simulation results are given that demonstrate the effectiveness of this new synthesis design for this class of LPV systems.
Apoptosis in myocardial infarction

Apoptosis, one of the major forms of cell death, has been implicated in different cardiovascular diseases. In this paper we review many of the different studies that have been performed to address the occurrence of apoptotic cell death associated with myocardial infarction. A definitive differentiation between apoptosis and other forms of cell death is still needed, mainly because of differences and limitations of the methods used for detection. In myocardial infarction apoptosis has been reported at acute stages of evolution in the ischemic area as well as in remote zones. In the ischemic area it might be a determinant of the final size of the infarct and it seems to depend on the presence of post-ischemic reperfusion. However, the incidence of apoptosis reported until now varies widely. In the myocardium remote from the ischemic area it might be associated with the progression towards heart failure. At present, the role and significance of apoptosis in myocardial infarction is rather inconclusive. Further studies are needed to solve methodological uncertainties and clarify the mechanisms involved in the process of cell death, which is particularly important as a basis for therapeutic interventions.
Ore Delineation in Three Dimensions

At the spatial resolution required for successful implementation of geophysical ore delineation, most ore bodies must be considered three-dimensional, meaning they cannot be adequately approximated by two-dimensional geometries. In recognition of this, our general approach to developing geophysical ore delineation technology relies on attempting to tightly integrate geophysical modelling and inversion with three-dimensional representations of geological data. When a program of ore delineation is undertaken, there is relatively abundant three-dimensional geological information already available. We are thus expected to use geophysics to cost-effectively add to an already substantially-understood geological picture. Our chances of success in accomplishing this are enhanced by building upon a three-dimensional model adequately representative of currently understood geology at the site in question. The linkage between geophysics and geology is accomplished by constructing a three-dimensional physical property distribution, consistent with the best existing geological interpretation, and physical property data from wireline logs or core samples. The three-dimensional physical property distribution is used for both geophysical forward modelling, to compare to field data, and as a starting model in iterative inversions. We use advanced visualization techniques to simultaneously view the three-dimensional physical property model, the geological surfaces from which it is derived, and the geophysical results. A geophysical result may be either a simulated response from a forward model or the output from a numerical inversion, in the form of an updated physical property distribution. We propose the iterative refinement of the geological interpretation to ensure consistency with the geophysical data. The key to success with this approach is that the geological and geophysical data are viewed simultaneously. All relevant geological, geophysical, and rock property data reside in a common, visual model of the earth. The high resolution demands of ore delineation geophysics result in a focus on seismic and high frequency electromagnetic methods. Borehole wireline logging is employed to develop an understanding of the relationship between physical properties and geological description. Examples from massive sulphide deposits illustrate the benefits obtained by the integration of geophysical and geological data.
Trigger and readout electronics for the phase-I upgrade of the ATLAS forward muon spectrometer

The upgrades of the LHC accelerator and the experiments in 2019/20 and 2023/24 will increase the instantaneous and integrated luminosity, but also will drastically increase the data and trigger rates. To cope with the huge data flow while maintaining high muon detection efficiency and reducing fake muons found at Level-1, the present ATLAS small wheel muon detector will be replaced with a New Small Wheel (NSW) detector for high luminosity LHC runs. The NSW will feature two new detector technologies: resistive micromegas (MM) and small strip Thin Gap Chambers (sTGC) conforming a system of ∼2.4 million readout channels. Both detector technologies will provide trigger and tracking primitives. A common readout path and a separate trigger path are developed for each detector technology. The electronics design of such a system will be implemented in about 8000 front-end boards, including the design of a number of custom radiation tolerant Application Specific Integrated Circuits (ASICs), capable of driving trigger and tracking primitives to the backend trigger processor and readout system. The large number of readout channels, the short period of time available to prepare and transmit trigger data, the high-speed output data rate, the harsh radiation environment, and the low power consumption, all impose great challenges to the system design. The overall design, development and performance of various prototypes and integration efforts will be presented.
Identification of Aeromonas trota (hybridization group 13) by amplification of the aerolysin gene using polymerase chain reaction.

Aeromonas trota is recognized as an important enteropathogen, and its haemolysin (aerolysin) is purported to be one of the virulence factors. Rapid detection and identification of A. trota is important for early and specific diagnosis of the infectious diseases that it causes. Synthetic oligonucleotide primers were used in a polymerase chain reaction (PCR) technique to amplify a species-specific sequence of the aerA gene, which encodes the aerolysin of A. trota. A DNA fragment of 622 bp was amplified from both lysed cells and isolated DNA from A. trota. The identity of the amplified 622 bp fragment was confirmed by digestion with BamH I restriction endonuclease, which produced the predicted 557 and 65 bp fragments. The lower limit for detection of the aerA gene by PCR amplification was 10 pg of total DNA or 10-15 cells ml-1. Primer specificity for A. trota was determined by the PCR assay with cells of 55 strains of Aeromonas sppincluding all of the 14 currently recognized DNA hybridization groups. A strain of Aeromonas enteropelogenes that had been reclassified as A. trota was also PCR positive. The method described here can be used to detect aerolysin-producing A. trota (hybridization group 13) strains from environmental and clinical samples without the use of selective media or additional biochemical tests.
The Disease Protein Tulp1 Is Essential for Periactive Zone Endocytosis in Photoreceptor Ribbon Synapses

Mutations in the Tulp1 gene cause severe, early-onset retinitis pigmentosa (RP14) in humans. In the retina, Tulp1 is mainly expressed in photoreceptors that use ribbon synapses to communicate with the inner retina. In the present study, we demonstrate that Tulp1 is highly enriched in the periactive zone of photoreceptor presynaptic terminals where Tulp1 colocalizes with major endocytic proteins close to the synaptic ribbon. Analyses of Tulp1 knock-out mice demonstrate that Tulp1 is essential to keep endocytic proteins enriched at the periactive zone and to maintain high levels of endocytic activity close to the synaptic ribbon. Moreover, we have discovered a novel interaction between Tulp1 and the synaptic ribbon protein RIBEYE, which is important to maintain synaptic ribbon integrity. The current findings suggest a new model for Tulp1-mediated localization of the endocytic machinery at the periactive zone of ribbon synapses and offer a new rationale and mechanism for vision loss associated with genetic defects in Tulp1. SIGNIFICANCE STATEMENT Mutations in the Tulp1 gene cause severe, early-onset retinitis pigmentosa (RP14) and Leber congenital amaurosis (LCA15) in human patients. In this study, we discovered that the phosphoinositol-4,5-bisphosphate-binding protein Tulp1 is essential for the structural and functional organization of the periactive zone in photoreceptor synapses. Using Tulp1 knock-out mice, we found that Tulp1 is required to enrich major endocytic proteins at the periactive zone next to the synaptic ribbon. We demonstrate that Tulp1 is needed to promote endocytic vesicle retrieval at the periactive zone. Moreover, we discovered a novel interaction between Tulp1 and the synaptic ribbon protein RIBEYE. This newly discovered disease-sensitive interaction provides a molecular model for the control of endocytosis close to the synaptic ribbon.
The Crisis Imperative, Reform Dynamics and Rescaling in Greece and Portugal

This article compares the welfare reform dynamics and rescaling processes over the last few years in Greece and Portugal. It comprises four main sections. After an introduction, the second section briefly describes the salient features of social security, healthcare and labour market policy in the two countries in the years prior to the crisis. It also sets out the major dimensions of comparison. The third section provides a short account of the unfolding of the crisis and the common pressures for structural adjustment, while the fourth section examines the policy options and outputs in the above three policy domains under the bail-out. In the light of the major points of comparison put forward, the interplay of external and internal factors in welfare state reform and rescaling are analysed in section five. The conclusion briefly points to restrictions and challenges in the post-crisis era.
Power quality impact of wind turbine generators on the electrical grid

The present and future dependability of the smart electric grid depends greatly upon the interaction of the grid with wind turbine generators (WTGs). WTGs can introduce power quality disturbances that have time-varying frequency components which are difficult to quantify and alleviate. This work uses time-frequency analysis to study such transient disturbances measured over a 6 year period and analyze trends based upon time-frequency tools. It is concluded that in observing instantaneous power quality indices, frequency marginals, and time-frequency distributions of measured transient voltage waveforms, the proper tools are in place to design electronics to compensate for the harmful effects of the disturbances.
Management of mobile health projects in developing countries: An empirical study

This study examines the successful implementation of mobile health (mHealth) projects. Public health has become a cause for concern for many nations. Countries such as India among others have launched several initiatives in recent years with the aim to improve public health. However, these initiatives always face the problem of allocating scarce resources to a large number of patients. One method to overcome this issue is through the use of mHealth technologies that can provide a variety of health-related services anywhere, anytime in a cost-effective manner. However, mHealth too faces the same issues as other information and communication technology projects such as lack of infrastructure and usability issues. For this reason, despite its potential, most mHealth projects still remain in the pilot stage. The study analyses 54 mHealth projects conducted in developing nations between 2011 and 2016 across multiple databases. To maintain accuracy and objectivity of results a text-mining approach is followed. The results of the analysis are then used to create questions for structured interviews which are conducted with different stakeholders of an mHealth project operated in Ahmedabad, India. The daily operations of the system are also observed. The interviews and observations of the functioning of the system are then analyzed using Atlas.ti. The results of this analysis are reconciled with the results of the text-mining to create a framework that governs the implementation and operation of mHealth projects in developing nations. The framework found seven key areas that influenced a mHealth project — infrastructure, design, personnel, end-user, value, public policy and finances. Thereafter, a review of management and technology literature across these dimensions was conducted to develop recommendations for successful implementation of projects along these seven dimensions identified in the framework.
Meta-material with tunable thin film material for the conception of active radome

A microwave free space filter using frequency selective surface (FSS) is presented. The filter makes use of a tunable dielectric material to achieve agility in the conception of an active radome. The originality is the development of an inductive FSS able to support the both electrodes necessary to change the permittivity of the tunable material. The advantage of such structure is that it proposes high current compared to a double FSS structure where the electric energy is lost in the substrate. The effective permittivity and permeability of the structure are not negative on the same frequency range, depending on the resonant frequency. The simulation results give an agility of the structure between 5 and 45% in the Q microwave band, depending on the tunable hypothesis of the two thin films: B60S40T and P(VDF-TrFE-CFE).
Bulk-driven gain-enhanced fully-differential amplifier for VT + 2Vdsat operation

A bulk-driven fully differential CMOS amplifier based on an active bootstrapped gain enhancement technique is introduced. The gain enhancement technique produces gains in excess of 100dB at supply voltages below VT + 2Vdsat in a two stage amplifier. The design constraints for obtaining maximum speed with this architecture are discussed. Simulations of the fully differential amplifier designed in an AMIS 0.35mum CMOS process with a class-AB output stage are shown and compared to other low-voltage amplifier architectures.
A bridgeless Cuk PFC converter

A bridgeless Power Factor Correction (PFC) circuit based on Cuk converter is proposed in this paper. The operation during each sub-interval modes of the converter operated in Discontinuous Conduction Mode (DCM) is discussed. The small-signal and large signal models are presented using Current Injected Equivalent Circuit Approach (CIECA). PLECS/Simulink is used to verify the capability of the proposed converter to regulate the output voltage while the input current regulation is inherent. This converter is capable to operate in universal input voltage condition.
HBT Modeling

III-V heterojunction bipolar transistors (HBTs) enjoy several advantages over their conventional silicon cousins. These include: (1) a thinner base and lower base resistance which yields higher gain and fmax; (2) high breakdown voltage; (3) low parasitics; (4) high power density. The combination of a thin base (higher fT), low base resistance (higher fmax), and low parasitics in particular make HBTs a suitable choice for high- frequency applications.