Miracle-dz/UniFAR-FTUs huggingface dataset:
Multitask and Transfer Learning of Geometric Robot Motion

When a learning solution is needed for different robots, a model is often trained for each robot geometry, even if the robotic task is the same and the robots are structurally similar. In this paper, we address the problem of transfer learning of swept volume predictors for the motion of articulated robots with similar geometric structure. The swept volume is a scalar value corresponding to the space occupied by an entire motion of the robot. Swept volume has many applications, including being an ideal distance measure for sampling based motion planners, but it is expensive to compute. We address this learning problem through a multitask network where a common input is used to learn multiple related tasks. In this work a single network learns the kinematic-geometric information common among robots. In order to identify the properties of our multitask network favorable for transfer, we evaluate transfer properties of several shared layers, number of robots in multitask training, and feature layers. We demonstrate positive transfer results with a training set that is a fraction of the data size used in the multitask and baseline training. All the robots considered are 7-DOF manipulators with links with a variety of lengths and shapes. We also present a study of the weights and activations of the trained networks that show high correlation with the transferability patterns we observed.
77 GHz soliton modelocked Nd:YVO4 laser

An Nd:YVO/sub 4/ laser which was passively modelocked at the very high repetition rate of /spl sim/77 GHz, using a semiconductor saturable absorber mirror (SESAM), is demonstrated. The soliton-like pulses are well separated in time and their duration is 2.7 ps. The required negative dispersion is introduced by a GTI-like structure, which is formed by the gain medium and the SESAM.
Start-ups in entrepreneurial ecosystems: the role of relational capacity

Purpose – Entrepreneurial ecosystems provide the context for start-ups to access resources. The authors investigate the reliance of start-ups on their entrepreneurial ecosystem and the driving factors behind the proportion of local actors (belonging to their entrepreneurial ecosystem) within their overall set of relationships (their business ecosystem). Recognizing the limited relational capacity of firms, the authors focus on three differentiating firm characteristics: size, age and innovation of firms. Design/methodology/approach – The authors developed a sample of 163 start-ups located in the entrepreneurial ecosystem of Toulouse, France. The authors investigated the characteristics of their relationship sets using regression analysis. Findings – The results confirm that age is inversely related to the proportion of a start-up’s relationships located in its entrepreneurial ecosystem. More surprisingly, for older start-ups, the authors also highlight the presence of a moderating effect of the start-up’s size on the relationship between its degree of innovation and the proportion of its relationships in its entrepreneurial ecosystem: Larger and more innovative start-ups appear to rely more on their local entrepreneurial ecosystem. Originality/value –This research increases the understanding of the characteristics driving the interactions of start-ups with their entrepreneurial ecosystems by adopting a relational capacity approach. The authors introduce digital methods as an innovative approach for uncovering firms’ ecosystems. Finally, from a practical point of view, the research should provide public authorities seeking to promote the link between local resources and the development of innovative start-ups in their regions with interesting insights.
Exclusive Breastfeeding Behavior Analysis at Hospital in Lampung Indonesia

The present study reports the comprehensive study on the exclusive breastfeeding around support factors for successful activityof breastfeeding. In the three years lately UNICEF and WHO data on exclusive breastfeeding can reduce infant morbidity and mortality by more than 80%. The coverage of infants who are exclusively breastfed is 65.35%, the highest percentage is in West Nusa Tenggara 80.35% and the lowest percentage is in Papua 18.32%. In Indonesia, there are 35.25% of 38% of children who are sick because they cannot receive exclusive breastfeeding. Exclusive breastfeeding is given when the baby is born until the age of 6 months. This study aims to determine knowledge, work and family support related to exclusive breastfeeding behavior in the work area of near with the RSIA PBH hospital in Lampung, Indonesia area in 2021. Using a cross sectional, a large sample of 120 respondents. Sampling in this study used a simple random sampling technique, and the chi-square test was carried out from January to August 2021. The results of the study were 95 respondents (79,16%) mothers who did not give exclusive breastfeeding and 25 respondents (20.84%) mothers who have exclusively breastfed their babies. There is a significant relationship between knowledge (P = 0.000 and PR = 1.588), occupation (P = 0.000 and PR = 1.995) and family support (P = 0.001 and PR = 1.514) with exclusive breastfeeding behavior in the patients inside hospital work area in 2021. The paper presents the characterization support from the company, hospital and the closest family for exclusive breastfeeding is also very important. Based on the results of the study, it is recommended that health workers make innovations and new programs to increase exclusive breastfeeding.
Left out: An fMRI study exploring handedness-based exclusion in memory research

About 11% of the world population is left-handed, a significant minority of the potential research participant pool for functional MRI (fMRI) studies. However, convention in fMRI research dictates these potential participants be excluded due to evidence that left-handed people (LH) may have different lateralization of neural functioning than right-handed people (RH). This difference in lateralization may cause different areas of the brain to be activated by the same task. The current study investigates the lateralization differences between N=26 LH and N=27 RH during encoding and recognition memory tasks for words and faces. Additionally, we measured participants' laterality index by administering a semantic fluency task. We found localized evidence of differential activation between LH and RH groups at both encoding and retrieval. To measure if including LH in fMRI studies would alter results significantly, we calculated memory effects in a priori regions of interest (ROI) for the RH only, and then examined the effect of substituting in progressively more LH for RH. We found that subsequent memory effects at encoding were not reduced by adding in LH. However, at retrieval, significant memory effects diminished in the bilateral precuneus for faces and in the left hippocampus for words when substituting in six and five LH, respectively. These findings suggest that while the blanket exclusion of LH in memory research is not warranted, exclusion for research in specific ROI may be justified.
Factors affecting artificial insemination in smallholder cattle in Chile

This study analyzes different factors that affect the success of artificial insemination of cows by small farmers involved in a productive and genetic improvement program in the O ́Higgins region of central Chile. The success of artificial insemination was modeled as a function of different biological, environmental, and social factors recorded by the program using logistic regression. The model output was the gestational status of the inseminated cows as diagnosed by ultrasound. All predictors were evaluated for unconditional associations with the outcome. The results showed that the pregnancy probabilities in cows from Cardenal Caro Province were higher than those from Cachapoal Province; inseminators with 10 or more years of experience had greater pregnancy success than those with 1-4 years of experience; the pregnancy odds decreased on farms with 30 or more cows compared with farms with 1 to 5 cows; and the pregnancy odds also decreased when AI was performed at a fixed time compared with heat detection. Thus, the province, the number of cows in the herd, the experience of the inseminators, and the type of insemination were associated with the success of the pregnancy.
Analysis of the Flow in the Boundary Layer of a Marine Propeller Blade Calculated with a RANSE Method

RANSE models have been and are used in Marine and Aeronautical Engineering in CFD investigations for their large potential to predict propeller performances, flow behaviours, and propeller scale effect behaviours. Such is their potential that it is still an on-going area of investigation in many places around the world. In this Thesis, the main objective is to obtain results from RANSE calculations of relevant parameters of the boundary layer in a marine propeller. Two turbulence models are used to predict the performance of the marine propeller P4119, and to compare the results to the experimental data made available by Jessup in 1984. A numerical verification of the results is also made, where the uncertainty and discretization errors are estimated. The results obtained show a very acceptable value for the uncertainty and errors made, and generally a rather good agreement of the simulated results with the experimental data available. Even though the two models yield similar but different results and after the analysis, the γ − R̃eθt model is considered a more suitable model for this work, since it includes both a laminar and a turbulent region, with the transition region present. The k − ω SST model is considered not as good in lower Reynolds numbers, but much better for higher Reynolds numbers.
MAPPING AND CHANGE DETECTION OF MANGROVES AROUND MUMBAI USING REMOTE SENSING AND GEOGRAPHIC INFORMATION SYSTEMS (GIS)

The study focuses on the mangroves in two districts namely, Mumbai and Mumbai Suburban. Mumbai, a coastal megacity, is a financial capital of the country with high population density. Mumbai is facing depletion of coastal resources due to land scarcity and large developmental projects. Thus, it is important to monitor these resources accurately and protect the stakeholders’ interest. Cloud-free satellite images of IRS P6 LISS III of 2004 and 2013 were procured from National Remote Sensing Centre (NRSC), Hyderabad. Two bands of visible and one band of NIR were utilized for landcover classification. Supervised Classification with Maximum Likelihood Estimator was used for the classification. The images were classified into various landcovers classes namely, Dense Mangroves, Sparse Mangroves and Others. Two software’s namely, ERDAS Imagine and GRAM++ were used for landcover classification and change detection analysis. It was observed that the total mangrove area in Mumbai in 2004 and 2013 was 50.52 square kilometers and 48.7 square kilometers respectively. In the year 2004 and 2013, contribution of sparse mangroves in the study area was 72.31 % and 87.06% respectively. Copyright © 2021 UNIMAS Publisher. This is an open access article distributed under the Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Usage of Interactive Event Timelines in Collaborative Digital Tabletops with Automation

Tabletop computers are increasingly being used for complex scenarios, such as emergency response. In such scenarios, maintaining situation awareness of dynamic changes automated by the system is crucial for users to make optimal decisions. If the system does not provide collaborators with appropriate feedback, they can become confused and “out-of-the-loop” about the current system state, leading to non-optimal decisions or actions. To enhance situation awareness of dynamic changes occurring in the collaborative tabletop environment, we designed an interactive event timeline to enable exploration of historical system events. We conducted a user study to understand how various design alternatives of interactive event timelines impacted situation awareness in the context of a co-operative tabletop game. Our initial results showed that, on average, all groups scored high on their combined level of situation awareness, regardless of the given timeline designs. To better understand what role the timelines played for the groups, we conducted an in-depth video analysis. Participants used the timelines mostly for perceiving new changes by interacting with the detailed information. The high-level information was beneficial for projecting future system states. The information presented in the timeline was considered as the correct historical account and was used for negotiating participants’ knowledge of the changes. We al-This is the author’s version of this book chapter. It is posted here for your personal use. Not for redistribution. The definitive version of record should be cited as: Chang YL.B. , Scott S.D. , Hancock M. (2016) Usage of Interactive Event Timelines in Collaborative Digital Tabletops Involving Automation. In: Anslow C. , Campos P., Jorge J. (eds) Collab-oration Meets Interactive Spaces. Springer, Cham. https://doi.org/10.1007/978-3-319-45853-3_10
Uncertainty Analysis of Reservoir Sedimentation

Estimation of reservoir sedimentation volume is nec essary for design and hydraulic structure management purposes where different empirical and mathematical methods are employed in this regard. Due to different factors effecting sedimentation process and their stochastic process, uncertainties arise which cause failure and may force designers to consider s afety factors in their designs. Therefore, uncertainty an alysis may introduce a better understanding of the effect of d ifferent input parameters and their separate contributions t o the whole output error. In this research, the sediment discha rge rate was estimated by employing different methods such as USBR, average of classes, and the FAO modification coeffi cient. In these methods data collected from Yalfan hydrometry and Shakhe Dovom SAD stations were used. To calculate the trap efficiency the Brown method, and for specific weigh t Lane & Koelzer and Miller methods were used. The results of the FAO modification coefficient on average of classes and specific weight of Miller method compared to other corresponding methods show better agreement with the measured ones. In this research, Mont Carlo Simulat ion and Har's methods were investigated. Calculation of The Mont Carlo method and the uncertainty contribution of ea ch parameter were conducted by a FORTRAN computer program introduced by the author. The results show that the sediment discharge rate and the flow rate introduce the highest contribution to the whole uncertainty of sedimentation volume, respectively. Also, Har's met hod show less uncertainty value compared to the Mont Carlo method. �
TBO (Total Byzantine Order): Scalable epidemic probabilistic total order resilient to Byzantine faults

—As blockchain technologies have taken the stage, they are being introduced into a multitude of industries in mission-critical applications. This surge in interest has led to the development of Hyperledger Fabric, an extensible blockchain system for distributed applications, which features modular consensus protocols and components. While consensus components have been developed for Fabric, none of the existing components is able to scale with the number of nodes participating in the consensus protocol. This document analyzes existing work in the area of blockchain technologies and consensus mechanisms, along with where they fall short, and proposes a new algorithm, TBO. This algorithm can be used as the consensus mechanism for Hyperledger Fabric, with the goal of being able to scale in both the number of transactions and the number of nodes by leveraging weaker correctness guarantees.
K-Ortalamalar Yöntemi ile Yıllık Yağışların Sınıflandırılması ve Homojen Bölgelerin Belirlenmesi

Hidrolojik veri ve bilginin sinirli oldugu bolgelerde hidrolojik ve meteorolojik sureclerin guvenilir ve dogru tahmininin gerceklestirilmesi onemli ugraslardan biridir. Hidrolojik degiskenlerin siniflandirilmasi ve homojen bolgelerin belirlenmesi bolgesel tahmin calismalarinin ilk ve en onemli adimlaridir. Bu calismada, K-Ortalamalar yontemi ile yillik toplam yagislarin siniflandirilmasi ve homojen bolgelerin belirlenmesi amaclanmistir. En basit ve en cok uygulanan kumeleme yontemi olan K-Ortalamalar yontemi her bir ozellik vektoru ile ona en yakin merkez arasindaki Oklit mesafesinin toplamini en kucukleyerek veri setini kumelere ayirmaktadir. Kumeleme analizi icin Turkiye genelinde Devlet Meteoroloji Isleri (DMI) tarafindan isletilen 188 yagis gozlem istasyonuna ait yillik yagislar ve enlem, boylam ve yukselti verileri dikkate alinmistir. Kumeleme analizi sonunda kume sayisi 7 olarak belirlenmistir. Ayrica, kumeleme ile belirlenen bolgelerin homojenligini test etmek icin bolgesel homojenlik testi uygulanmistir
Transformative Teaching and Heutagogy

The future is unpredictable, and we need to prepare our students to be ready for it. To navigate such uncertainty, higher education institutions need to provide students with the knowledge, skills, attitudes, and values needed for success in life. These new challenges require higher education institutions to evaluate their teaching and learning practices and develop new ways to inspire, empower, and transform students' learning experiences – which requires enabling students to exercise agency over their learning choices. Teachers can support agency by recognizing students’ individuality, abilities, and interests. Together, teachers and students can co-create personalized learning plans that will motivate and empower students to develop the skills they need to nurture their passions and pursue their goals.
EFFECT OF INTERCROPPING AND FOLIAR FERTILIZERS ON
GROWTH, PRODUCTIVITY AND QUALITY OF JERUSALEM
ARTICHOKE PLANTS UNDER SANDY SOIL CONDITIONS

The present study investigated the impact of Helianthus tuberosus + Helianthus annuus and Helianthus tuberosus + Zea mays L. everta intercropping patterrns in comparison of Helianthus tuberosus (Jerusalem artichoke) sole crops on Jerusalem artichoke growth, yield components and tuber chemical constituents under different NPK fertilization rates. The NPK fertilization treatments were four N-P-K rates (0-0-0, 20-20-20, 12-28-0 and 5-5-40 ratio) as foliar spray three times/season. This experiment was conducted as a 5×4 split - plot arrangement in a randomized complete blocks design with three replications. It was conducted at the Experimental Farm of Horticulture at El-Kassasein station Research. Ismailia Governorate, Egypt, during two consecutive summer seasons of 2017 and 2018. Results revealed that intercropping Jerusalem artichoke with sunflower or popcorn crops mostly gave the lowest values of growth parameters; yield per plant and per feddan as well as chemical constituents of Jerusalem artichoke compared to sole crop in the two seasons. Also, 20-20-20 of NPK rate recorded significant increase in these parameters compared to the other rates under study and control. In most cases, sole Jerusalem artichoke recorded the highest values in tuber yield per plant and per feddan compared to intercropping systems under all NPK fertilization rates. From competitive indices determination, i.e., land equivalent ratio (LER), area time equivalent ratio (ATER) and land utilization efficiency (LUE%) revealed that, applied Jerusalem artichoke + popcorn intercropping pattern was more efficient than sole cropping system and the other one under study when combined with NPK fertilization at 5-5-40 and 20-20-20 without significant differences between both rates. Aggressivity (A) estimation indicated that Jerusalem artichoke was dominant while sunflower or popcorn components were dominated. The interaction treatment between Jerusalem artichoke+m sunflower intercropping pattern and foliar application with N P K at 20- 20 -20 gave the highest values for net economic return as compared to other treatments in both seasons under Ismailia Governorate conditions.
Controller Chip Design of Multiphase Switched-Capacitor Coupled-Inductor Converter

This paper presents the controller chip design/ implementation applied to the multiphase switched-capacitor coupled-inductor (MSCCI) converter for the high-gain DC-DC conversion. In this MSCCI, the plant is composed of a threestage SC booster and an added coupled inductor, aiming at the boost power conversion from DC 5V to DC 220V. Here, using the multiphase operation is much helpful to reduce the number of devices used. In achieving the goal, the controller is designed to include pulse-width-modulation (PWM) compensator, nonoverlapping circuit, and phase generator, and its integrated circuit is planned for layout with the tool of Cadence through pre/post-layout design. Then, with technical assistance from Chip Design & Implementation Center (CIC), this controller is implemented on a chip (no.: D35-105C-E0020, TSMC 0.35μm 2P4M, 1500×1500μm2, 5V, 0.528mW, max frequency 200kHz, 18S/B). At the end, several simulation/experiment examples of MSCCI are considered, and the results are illustrated/verified on the prototype circuit to present the efficacy. Terms—high-gain DC-DC conversion, multiphase operation, switched-capacitor (SC), coupled-inductor (CI), chip design and implementation.
Asset Pricing with Misspecified Models∗

This paper analyzes how limits to the complexity of statistical models used by market participants can shape asset prices. We consider an economy in which agents can only entertain models with at most k factors, where k may be distinct from the true number of factors that drive the economy’s fundamentals. We first characterize the implications of the resulting departure from rational expectations for return predictability at various horizons. We then apply our framework to two applications in asset pricing: (i) violation of uncovered interest rate parity at different horizons and (ii) momentum and reversal in equity returns.
Summary: A new approach to trajectory planning for underactuated mechanical systems is presented and discussed based on analysis of feasible behaviors of a standard 2-DOF benchmark example – the cart-

A new approach to trajectory planning for underactuated mechanical systems is presented and discussed based on analysis of feasible behaviors of a standard 2-DOF benchmark example – the cartpendulum system. Following the Controlled Lagrangians approach of A. Bloch et al. [IEEE Trans. Autom. Control 45, No. 12, 2253–2270 (2000; Zbl 1056.93604)], we present and reestablish known conditions and forms of feedback control laws for this example, which are leading to an equivalent completely integrable closed-loop Euler-Lagrange system; and then extend them. As shown, full integrability and, in particular, the presence of a linear in velocities first integral of dynamics plays the key role in an elegant new procedure for trajectory planning.
DEVELOPMENT OF VILLAGE AS A SMART VILLAGE

Over recent decades, people’s (rural and urban) communities are facing numerous socialand economic changes and challenges. Some of those challenges have been increasingly addressedthrough the lenses of technological developments and digitalization. In this paper, we have made a review of already existing practices while focusing on the existing implementations of the Smart Village concept and the importance of digital transformation for rural areas. We give special attention to EU policies that we are using as an already existing framework for understanding our own forthcoming examples. We have shown the parallels between the findings and insights from different regions and made an evaluation of presented practices. Our main argument stems from our ownprevious experiences and experiences of other research approaches, and is grounded on the argument that rural areas are not uniform, and that smart rural development has to be applied in combination with place-based approach. We present the cases of