Miracle-dz/UniFAR-FTUs huggingface dataset:
Masters Thesis: Sensor Fusion on a Humanoid Robot

When a humanoid robot is performing a certain task and is simultaneously maintaining balance, it is important that it can accurately measure its own state. The state is described by a number of variables, such as the center of mass (CoM) and the location of the feet. This information is used by the motion controllers to properly execute the task and control the posture. The accuracy of these measurements is crucial, since incorrect state information leads to an incorrect control action, which may harm the stability on the robot. With two experiments on the humanoid robot TUlip, problems with the current state estimation were identified. Firstly, in an experiment with a motion capture system, it was shown that due to backlash and a constant bias, errors of over 80 mm occur in the perception of the feet. Secondly, using a force plate it was found that the CoM position and velocity estimation also contain errors. Here an average error of 23 mm was observed for the CoM position. The average error in the CoM velocity was 2 mm/s but had a standard deviation of 21 mm/s. On TUlip, the prediction of the step location heavily relies on the the accuracy of the CoM. Thus, the error in the CoM results in an erroneous and unsteady step location prediction. The focus for this thesis therefore lies on improving the CoM estimation, and the main goal is improving the estimation of the center of mass position and velocity by applying sensor fusion on the humanoid robot TUlip. Subsequently, a new CoM estimator is designed. First, an analysis of the current CoM position and velocity calculations is made. The calculations are then improved since these serve as an input to the CoM estimator. The new estimator is based on the Kalman filter. It uses the Linear Inverted Pendulum Model to make a forward prediction of the CoM dynamics. For the state correction the Kalman filter uses the calculations of the CoM position and velocity, and the CoM velocity measured by the inertial measurement unit. Finally, the new estimator tested using a force plate. It was found that the CoM position estimation is not significant improved. This is caused by errors in the kinematic model. For the CoM velocity estimation however, a large improvement was observed. The average error is now 4 mm/s with a standard deviation of just 3 mm/s. This is makes the prediction of the step location more steady by a factor of 7. The CoM velocity estimation is now sufficiently accurate for a proper prediction of the step location. Master of Science Thesis Bart Vissers
Green Synthesis of Metallic Nanoparticles using Aqueous Plant Extract and their Antibacterial Activity

Nanotechnology is an emerging area of science and synthesis of nanoparticles (NPs) has been the most important step in the field of nanotechnology (Albrecht et al., 2006). In the field of biology, nanoparticles have a variety of applications as vaccine/drug delivery systems, minerals, antibacterials, etc. A wide range of chemical and physical methods are being used for the synthesis of nanoparticles. Nevertheless, these methods have few constraints like the use of toxic solvents, high energy consumption, hazardous by products, etc. Biological synthesis of NPs has been found to be more advantageous than physio-chemical synthesis since biological synthesis is cost effective, environment International Journal of Current Microbiology and Applied Sciences ISSN: 2319-7706 Volume 6 Number 6 (2017) pp. 1834-1845 Journal homepage: http://www.ijcmas. com
Municipal Capitalism: from State to Mixed Ownership in Local Public Services Provision

Which are the determinants of the choice of ownership structure for a firm providing local public services? What are the consequences of this choice on the performance of these firms? To answer these questions we will use a unique database providing economic and financial data on 321 Italian firms born in the 2000-2008 period. These data are merged with economic, political, financial and territorial data on the first municipality (for the number of shares owned) participating them. To perform the analysis and control for endogeneity, a two-stage multinomial selection model is employed, in order to identify the causal effects in the case of more than two treatments. The empirical evidence indicates that the municipality political orientation and budgetary conditions matter in the choice of ownership structure. Moreover, while for operating efficiency the computed Average Treatment Effects seems to indicate mixed ownership as a good solution, the ‘canonical’ performance and employment indicators provide evidence in the opposite direction.
An Experimental Exploration of the QCD Phase Diagram: The Search for the Critical Point and the Onset of De-confinement

The QCD phase diagram lies at the heart of what the RHIC Physics Program is all about. While RHIC has been operating very successfully at or close to its maximum energy for almost a decade, it has become clear that this collider can also be operated at lower energies down to 5 GeV without extensive upgrades. An exploration of the full region of beam energies available at the RHIC facility is imperative. The STAR detector, due to its large uniform acceptance and excellent particle identification capabilities, is uniquely positioned to carry out this program in depth and detail. The first exploratory beam energy scan (BES) run at RHIC took place in 2010 (Run 10), since several STAR upgrades, most importantly a full barrel Time of Flight detector, are now completed which add new capabilities important for the interesting physics at BES energies. In this document we discuss current proposed measurements, with estimations of the accuracy of the measurements given an assumed event count at each beam energy.
Power Relations in the Project of Economy of Communion: A Brazillian Case Study

The exploratory research, summarized here, is inserted in a context of a socio and environmental "crisis". This "crisis" forwards the need for transformative change. A proposed change, added to the existing ones, is being investigated as an alternative form of management: the Economy of Communion. Within this theme, this research is limited to an attempt of analysis of power in companies that adopt this form of management. First, it was researched with entrepreneurs what would be a common vision to characterize the object. We performed a case study in one of the major Brazilian companies that fit the concept of Economy of Communion. The summary tables produced on the interviews provide evidence to demonstrate idiosyncrasies in the exercise of the power of this new proposed management.
Tasking Event-B: An Extension to Event-B for Generating Concurrent Code

The Event-B method is a formal approach for modelling systems in safety-, and business-critical, domains. Initially, system specification takes place at a high level of abstraction; detail is added in refinement steps as the development proceeds toward implementation. Our aim has been to develop a novel approach for generating code, for concurrent programs, from Event-B. We formulated the approach so that it integrates well with the existing Event-B methodology and tools. In this paper we introduce a tasking extension for Event-B, with Tasking and Shared Machines. We make use of refinement, decomposition, and the extension, to structure projects for code generation for multitasking implementations. During the modelling phase decomposition is performed; decomposition reduces modelling complexity and makes proof more tractable. The decomposed models are then extended with sufficient information to enable generation of code. A task body describes a task’s behaviour, mainly using imperative, programming-like constructs. Task priority and life-cycle (periodic, triggered, etc.) are also specified, but timing aspects are not modelled formally. We provide tool support in order to validate the practical aspects of the approach.
A New Control Method for Single-Phase Grid-Connected Inverter Using Instantaneous Power Theory

Because of installation for local consumers and since it is free of all contaminations, connecting photovoltaic cells to the grid via single-phase inverter is significantly on the rise. In this paper, a new simple current control is proposed for a single-phase grid-connected voltage source inverter. Using the PQ theory and modelling a single-phase system as an unbalanced three-phase system, a method is provided for reference current generation. In the proposed method, it is not necessary to generate a fictitious phase for the current signal. Also, the removal of adjusting filter parameters which were used to generate fictitious current signal increases the simplicity of the control system and reduces computational efforts, especially in the presence of distortion in the current. The simulation results confirm that the proposed method provides a precise and fast current control with minimum harmonic distortions.
Combinatorial Mitigation Actions: A Case Study on European Union’s Electricity Sector

Appropriate Greenhouse Gas (GHGs) mitigation action has become a promising concern because of its feasibility and sustainability. This article reviews mitigation approaches taken by European Union’s electricity sector to promote appropriate reduction in large developing country. From an applicable and integrated aspect, it examines Emission Trading Scheme (EU ETS), carbon tax, Clean Development Mechanism, Joint Implementation, green electricity market, carbon capture and sequestration, and energy efficiency. Then the successful experiences and lessons on this case are identified. The former include: allow diverse approaches coexistence, establish ancillary service system, and make carbon market serve for electricity market. The latter contain that price fluctuates inappropriately, obligation is distorted, no banking for allowances operated in the first period, and part of abatement approaches conflict mutually. Based on these results, this article proposes a framework of combinatorial mitigation actions which is characterized as integral, collaborative and appropriate reduction. It is composed of: i) construct intensity-based carbon market; ii) make diverse approaches collaborative; iii) build synergy between mitigation approaches and electricity market; iv) enhance carbon management and auditing system; and v) reform aging power plants with low carbon technologies. Although numerous challenges lie ahead, this framework has the potential to reduce GHGs from electricity industry extensively and sustainably.
Comparison of Catalytic Efficiency of Some Industrial Nanosized Titanium Dioxides in Heterogeneous Photodegradation by Chemometric Analysis

For more than thirty years the so-called Advanced Oxidation Processes (AOPs) have been continuously studied. They are based on photochemical reactions catalysed by suitable metal oxides with semiconductor properties. For more incisive processes we coined a new acronym High Performance O.P. (HPOP) [1]. A particular attention was always paid to the reaction mechanisms and to the interaction with the energy source. One of most critical parameters ruling the efficiency of the photo-catalytic process is constituted by the interface between the liquid solution and the solid catalyst, generally coming to the conclusion that the surface area of the catalyst is a determining parameter as directly related to the process efficiency. On the other side the nanosized catalysts are difficult to remove from the "cleaned" solution and a less efficient catalyst but easy to remove from waste is very useful for industries. Comparison must be done by chemometrics method, if possible using a costs evaluation.
Comparisons of finite element and Rayleigh methods for the study of conical Bloch waves in arrays of metallic cylinders

This paper investigates new technological devices to be utilised in future optical communications, by means of variational method (FEM) and multipole scattering approach (Rayleigh method). This last one provides interesting asymptotic results in the long‐wavelength limit. The so‐called photonic crystal fibres (PCF) possess radically different guiding properties due to photonic band gap guidance: removing a hole within a macro‐cell leads to a defect state within the gap. In the case of multi‐core PCF, the localised modes start talking to each other which possibly leads to a new generation of multiplexer/demultiplexers.
A Dynamic Topology Management in a Hybrid Wireless Superstore Network

with the development of large scale wireless networks, there has been short comings and limitations in traditional network topology management systems. In this paper, an adaptive algorithm is proposed to maintain topology of hybrid wireless superstore network by considering the transactions and individual network load. The adaptations include to choose the best network connection for the response, and to perform network Connection switching when network situation changes. At the same time, in terms of the design for topology management systems, aiming at intelligence, real-time, the study makes a step-by-step argument and research on the overall topology management scheme. Architecture for the adaptive topology management of hybrid wireless networking resources is available to user’s mobile device. Simulation results describes that the new scheme has outperformed the original topology management and it is simpler than the original rate borrowing scheme.
Positional Solution of a Novel Knee Rehabilitation Mechanism

In this paper, the design of knee assistive exoskeleton mechanism was discussed, which could enable human knee axis to align the exoskeleton active joint axis ideally. Based on the data of the knee joint flexion experiment, the knee joint screw motion parameters could be extracted. According to the knee joint physiological structure and the instantaneous characteristics of screw axis, the knee joint kinematic model was established. Then, according to the DOFs analysis of human-machine closed chain and the human-machine compatibility, a novel knee exoskeleton mechanism configuration was proposed. And the positional solution of human-machine closed kinematic chain was solved. It can be found that the motion between knee assistive exoskeleton mechanism’s joint and human knee joint had certainly quantificational relationship, and the knee assistive mechanism had a fine motion synchronicity with the human knee joint. In addition, while the method of screw axis and the exoskeleton design were proposed for human knee joint, they are also applied to other human limbs.
Analogies and Mental Simulations in Learning for Really New Products: The Role of Visual Attention

Really new products (RNPs) create new product categories or at least significantly expand existing ones. The development of RNPs is a strategic priority for most companies. However, 40% to 90% of new products fail, often due to consumers' lack of understanding of product features and benefits. Learning strategies, such as analogical learning and mental simulation, can help consumers understand the benefits of RNPs and thus may contribute to the successful development of marketing campaigns. Moreover, the presentation format of marketing communications is likely to influence consumers' understanding of the product. Pictorials have the potential to convey novel information without overloading the decision maker and thus may be a more efficient way to present information about RNPs than words. This paper contributes to a better understanding of consumer information processing in learning for RNPs. Study 1 examined the impact of (1) learning strategies (analogical learning vs. mental simulation) and (2) presentation formats (words vs. pictures) on product comprehension. Study 2 used an eye-tracking experiment to assess how respondents' visual attention patterns may affect product comprehension. Study 1 showed that the use of words in marketing communications for RNPs is generally more effective to enhance product comprehension than the use of pictorials. However, the video glasses were a notable exception as the combination of mental simulation and pictures yielded a high comprehension level for this product. This suggests that the use of pictorials may be appropriate to convey information for products of a more hedonic as opposed to utilitarian nature. Study 2 used a combination of eye-tracking measures and self-reports to help illuminate the cognitive processes at work when consumers learn new product information. The results suggest that an increase in attention to an element of the advert can account for one of two underlying processes: (1) an increase in comprehension; or (2) a difficulty to understand product information which may result in consumer confusion. This study adds evidence to a growing body of literature that demonstrates the power of learning strategies such as mental simulation and analogical learning in preparing consumers for new product acceptance. The use of visual stimuli contributes to the debate on the effectiveness of words versus pictures, seldom applied in a new product development (NPD) context. These findings are integrated into a discussion of the managerial implications and the potential avenues for future research in the area.
A class of sublinear operators and their commutators by with rough kernels on vanishing generalized Morrey spaces

In this paper, we consider the boundedness of a class of sublinear operators and their commutators by with rough kernels associated with Calderon-Zygmund operator, Hard-Littlewood maximal operator, fractional integral operator, fractional maximal operator by with rough kernels both on vanishing generalized Morrey spaces and vanishing Morrey spaces, respectively.
FEATURES OF TAKEOFF PHASE IN LONG JUMPS WITH VARIOUS RUN-UP LENGTHS

The aim of the present study was to compare the kinematic characteristics of jumper's movements in long jumps with short, middle and extended run-ups. For this purpose three male and four female jumpers performed two three strides, eight strides and twelve strides run-up long jumps. All trials were captured on high-speed video. The results of the 2D analysis indicated that ground contact time and takeoff angle were significantly larger when the run-up was short. Also, the distance from the center of gravity to the heel in the horizontal plane and the knee angle at touchdown, as well as the maximum knee flexion of the takeoff leg during takeoff, were significantly smaller when the run-up was short. The heights of the center of gravity at touchdown and takeoff were constant in long jumps with various run-up lengths.
Quantifying sentence acceptability measures : Reliability, bias, and variability

Understanding and measuring sentence acceptability is of fundamental importance for linguists, but although many measures for doing so have been developed, relatively little is known about some of their psychometric properties. In this paper we evaluate within- and between-participant test-retest reliability on a wide range of measures of sentence acceptability. Doing so allows us to estimate how much of the variability within each measure is due to factors including participant-level individual differences, sample size, response styles, and item effects. The measures examined include Likert scales, two versions of forced-choice judgments, magnitude estimation, and a novel measure based on Thurstonian approaches in psychophysics. We reproduce previous findings of high between-participant reliability within and across measures, and extend these results to a generally high reliability within individual items and individual people. Our results indicate that Likert scales and the Thurstonian approach produce the most stable and reliable acceptability measures and do so with smaller sample sizes than the other measures. Moreover, their agreement with each other suggests that the limitation of a discrete Likert scale does not impose a significant degree of structure on the resulting acceptability judgments.
Factors affecting the use of the self-regulated L2 learning strategies in Turkish FLE context

This study aims to investigate the overall self-regulated L2 learning strategy use of L2 learners depending upon the S trategic S elf- R egulation (S 2 R) Model proposed by Oxford (2011), and to examine the relationships between their reported self-regulated L2 strategy use and their personality traits, identity, beliefs about L2 learning, and proficiency. The mixed methods sequential explanatory design was used in this study. Data were gathered by means of quantitative and qualitative data collection instruments. Quantitative data collection instruments were administered to 205 participants attending the Department of FLE at Trakya University, Turkey. Data were analyzed using frequency distribution and stepwise multiple regression analysis. As for the qualitative phase of the study, semi-structured interviews conducted with more and less frequent strategy users (n=10), were analyzed by means of descriptive analysis. Findings demonstrated that self-regulated L2 learning strategy use is affected by L2 learners' personality traits, identity, beliefs about L2 learning, and proficiency. This study discusses sociological and psychological aspects of L2 learners apart from investigating their reported self-regulated L2 learning strategy use, and factors affecting their strategy choice. Hence, it is assumed that the study will assist foreign language educators to make better sense of what Turkish L2 learners bring to the foreign language education context.
Almost Sure Asymptotical Adaptive Synchronization for Neutral-Type Neural Networks with Stochastic Perturbation and Markovian Switching

The problem of almost sure (a.s.) asymptotic adaptive synchronization for neutral-type neural networks with stochastic perturbation and Markovian switching is researched. Firstly, we proposed a new criterion of a.s. asymptotic stability for a general neutral-type stochastic differential equation which extends the existing results. Secondly, based upon this stability criterion, by making use of Lyapunov functional method and designing an adaptive controller, we obtained a condition of a.s. asymptotic adaptive synchronization for neutral-type neural networks with stochastic perturbation and Markovian switching. The synchronization condition is expressed as linear matrix inequality which can be easily solved by Matlab. Finally, we introduced a numerical example to illustrate the effectiveness of the method and result obtained in this paper.
Societal Vulnerability and Troublesome Youth Group Involvement

Troublesome youth groups (TYGs) or “gangs” have been a research topic in the past, especially in the United States, and an increasing number of studies are currently being conducted in European countries. However, Belgium has been rather absent from the study of TYGs. This study aims to fill that gap in the literature. In the present contribution, the authors are interested in the prevalence of Belgian adolescents' involvement in TYGs and the role of societal vulnerability in this involvement. The authors are interested in the strength of the relationship between societal vulnerability and TYG and test the hypotheses that violent values and low self-control mediate the relationship between societal vulnerability and TYG. The analyses are conducted on the Belgian sample of the second edition of the International Self-Reported Delinquency study (ISRD-2). Both violent values and self-control mediate the effect of societal vulnerability and have strong independent effects on TYG. The implications of these findings are discussed.