Miracle-dz/UniFAR-FTUs huggingface dataset:
An EtherCAT-based Real-time Control System Design for a Remote-Direct-Drive 2-DOF manipulator

of the Dissertation An EtherCAT-based Real-time Control System Design for a Remote-Direct-Drive 2-DOF manipulator by Zikun Yu Master of Science in Mechanical Engineering, Mechatronics Northeastern University, Aug 2019 John Whitney, Adviser The control system of a high-DOF human-interaction robot requires the high-frequency simultaneous control of multiple joints, which needs the capability to handle computation-massive tasks with low latancies. Aiming at the force control of 2-DOF fluid-actuated manipulator, I’m going to introduce a distributed infrastructure design with good flexibility and scalability, while maintaining a high-quality real-time performance. In this thesis, a motor control library, arranged on a core-isolated real-time machine, is developed to provide control implementers with functional APIs and input/output mapping of low-level data structures from SOEM (Simple Open EtherCAT Master) interfacing the direct-drive motors and peripheral sensors via EtherCAT bus communication. While on a remote machine, the ROS (Robot Operating System) is deployed to deal with high-level non-realtime applications, including algorithm processing, data visualization and status analysis. At the same time, a userfriendly Python proxy with a couple of control APIs are offered as an auxiliary medium besides the ROS native interfaces. To synchronize the user-facing data on both sides, a robust ROS interface is developed using the Shared Memory technique which is an IPC (Inter-Process Conmmunication) mechanism supported by Linux POSIX standards. The teleoperation experiment demonstrates that the robot system can operate the closedloop control consistently at 2 kHz, while limiting the loaded latency below 100 us. In addition, the collision detection test shows both dexterity and maneuverability under unknown environments.
The symmetric eigenvalue problem : stochastic perturbation theory and some network applications

This thesis is concerned with stochastic perturbation theory of the symmetric eigen-value problem. In particular, we provide results about the probability of interchanges in the ordering of the eigenvalues and changes in the eigenvectors of symmetric matrices subject to stochastic perturbations. In this analysis we use a novel combination of traditional Numerical Linear Algebra, Perturbation Theory and Probability Theory. The motivation for this study arises from reliability of spectral clustering of networks, when network data is subject to noise. As far as we are aware, there is nothing comparable in the literature. Further, we make conjectures from which we derive an asymptotic relation between the distributions of the largest eigenvalue and the 2-norm of random symmetric ma- trices, whose entries above the main diagonal are independent, identically distributed random variables with probability density functions being symmetric with respect to zero, including matrices from the Gaussian Orthogonal Ensemble (GOE). As far as we know, some of these conjectures are not new (possibly only as conjectures) but we are not aware of any proofs. Also, we consider networks of coupled oscillators. In their analysis we use both, knowledge of dynamical systems and spectral properties of non-negative matrices. As a result, we present an algorithm, which uncovers the \master-slave" structure of the network. With its help, the analysis of the dynamics and the entrainment of the entire network can be reduced to considering only few of the oscillators, those whose dynamics determine the behaviour of the rest. This can be helpful in large networks exhibiting the \master-slave" structure. Finally, we consider similarities of spectral clustering with respect to di®erent matrices which can be associated with a given network. In particular, we compare clustering of products of Path graphs with respect to two di®erent matrices: the Laplacian and the Normalised Laplacian matrices of the graph. We make the comparison by constructing a Homotopy between two eigenvalue problems and, using some Linear Algebra techniques, we show that the two matrices give similar spectral clusterings when applied to products of Path graphs.
A Discussion of Adaptive Grids and Their Applicability in Numerical Hydrodynamic Modeling.

Abstract : This investigation assessed the usefulness of adaptive grids in numerical solution of free surface hydrodynamics with particular problems expected to occur in the use of adaptive grids in hydrodynamic modeling, e.g., the need for interpolation of the bottom topography on a moving grid. Methods of grid generation, as well as implementation of adaptive grids, were considered for both finite difference and finite element solution methods. In general, it can be concluded that adaptive grids offer significant potential for more accurate solutions at less cost when modeling the behavior of surges, hydraulic jumps, and concentration fronts, i.e., perturbation problems containing only a few high gradient regions in the computational domain at any time. However, for problems such as propagation of short waves in coastal regions, where many wavelengths occur in the physical domain of interest at a particular time, adaptive grids offer little or no advantage since gradients occur over essentially the complete domain. Some of the greatest potential for adaptive grid techniques in hydrodynamic modeling lies in its use to numerically generate fixed grids in tidal circulation studies. Originator supplied keywords include: Coordinates, Curvilinear; Differential equations--Numerical solutions; Error functions; Hydrodynamics--Mathematical models; Mathematical physics; Numerical grid generation (Numerical analysis).
Solvent Systems Comprising Salt Hydrate Melts with Water

Room temperature ionic liquids (RTILs) are with us for just over a century, when 104 years ago Walden described the properties of ethylammonium nitrate, C H NH NO [1]. This salt melts at 14 oC [2] and in the molten state at 25 oC it has a very low vapor pressure, ~5.3 Pa [3]. Evans et al. [4] pointed out the similarity of this molten salt to water, in terms of the thermodynamics of solubilities of inert gases and the ability of surfactants to form micelles in them. Molten ethylammonium nitrate forms a three-dimensional hydrogen bonded network, since the number of donor hydrogen atoms and acceptor sites on the oxygen atoms are well matched. Another unconventional RTIL, trifluoromethanesulfonic acid monohydrate, H O CF SO (hydronium trifluoromethanesulfonate), was first characterized by Gramstad and Haszeldine [5] as a white stable solid with a melting point of 34 oC. Hydrogen bonding again plays a dominant role in the structure and function of its melt. This acid is analogous to a salt hydrate, where the cation is hydrated by a definite number of water molecules (one in this case) whereas the anion is not hydrated in this manner.
Bayesian Sparse Financial Networks ∗

We propose a Bayesian approach to the problem of variable selection and shrinkage in high dimensional sparse regression models where the regularisation method is an extension of a previous LASSO. The model allows us to include a large number of institutions which improves the identiﬁcation of the relationship and maintains at the same time the ﬂexibility of the univariate framework. Furthermore, we obtain a weighted directed network since the adjacency matrix is built “row by row” using for each institutions the posterior inclusion probabilities of the other institutions in the system
Magnetization dynamics in the presence of nanoscale spatial inhomogeneity

Magnetization dynamics in various ferromagnetic thin film samples is investigated using time-resolved magneto-optical Kerr effect microscopy. The results have sub-picosecond time resolution and sub-micrometer spatial resolution, and are successfully compared with micromagnetic simulations. Related theoretical models and calculations are also discussed. There are two types of spatial inhomogeneity that influence the observed magnetization dynamics. In the first project, the magnetic sample is a uniform, continuous thin film, but the excitation magnetic pulse is highly localized within several micrometers (in one dimension). Different types of spin waves can be excited depending on the relation between the bias magnetic field and the wave vector, and they can be quantitatively described by micromagnetic simulations. A semi-analytical k-space integration method is also proposed; this method is effectively as accurate as those obtained by micromagnetic simulations, but can save a great deal of time and computer resources. It is also found that a single magnetic damping constant is enough to interpret all the observed phenomena, although their apparent damping may look very different. The second type of spatial inhomogeneity means that the sample itself is patterned into very small elements with the diameters less than 200 nm, while the excitation pulse if relatively uniform. The nanomagnets (nanodisks in this case) are either in quasi-single domain state or in vortex state at equilibrium, and they can switch from one to another by changing the applied bias field. As a result, the magnetization dynamics and associated frequencies will change dramatically when the state transitions (vortex annihilation and vortex nucleation) occur. The real shape of the nanodisks
A Compressive Sampling Approach To Adaptive Multi-Resolution Approximation of Differential Equations With Random Inputs

In this paper, a novel method to adaptively approximate the solution to stochastic differential equations, which is based on compressive sampling and sparse recovery, is introduced. The proposed method consider the problem of sparse recovery with respect to multi-wavelet basis (MWB) from a small number of random samples to approximate the solution to problems. To illustrate the robustness of developed method, three benchmark problems are studied and main statistical features of solutions such as the variance and the mean of solutions obtained by proposed method are compared with the ones obtained from Monte Carlo simulations.
Model-Based 3D Visual Tracking of Rigid Bodies using Distance Transform

—The core idea of model-based 3D tracking is that of continuously estimating the pose parameters of a 3D object throughout a sequence of images, e.g., a video feed. Here, we present an edge-based method for achieving 3D object tracking, via Gauss-Newton optimization. We rely on natural features observations, like edges, for the detection of interest points and by using the 3D pose of the object in the previous frame, we correctly estimate its new 3D position and orientation, in real-time. There is also a C++ implementation of the visual tracking system, with the use of the OpenCV library, which can be found in our GitHub repository (https://github.com/marios2019/Visual Tracking).
A Review on IoT Frameworks Supporting Multi-Level Interoperability – The Semantic Social Network of Things Framework

— The Internet of Things (IoT) paradigm advocates the massive use of sensing and communication technologies embedded in the physical world, which provides the potential to collect huge volumes of data and connect them to intelligent systems. As the number of IoT devices is increasing with geometric progress, ensuring interoperability and handling of the big heterogeneous data they generate is of major importance for the development of smart applications and services. In this context, a systematic review of contemporary IoT frameworks based on a multi-level interoperability consideration is performed and findings are critically discussed. Challenges and open issues that emerge in this research area are pointed out, and research opportunities and insights are suggested. Motivated by the shortcomings of the current solutions to support open, interoperable, intelligent and collaborative IoT environments, the concept of Semantic Social Network of Things (SSNT) is introduced. SSNT specifies the integration of device-to-device collaborative services which semantically enable heterogeneous objects to (socially) interact and participate in communities of smart objects. By establishing social relationships and taking collaborative actions, such communities can support users to achieve their goals. A middleware-based framework architecture is presented to enact the SSNT abstraction, and a proof-of-concept application in the smart agriculture domain is outlined to demonstrate important features of this approach.
NEUROPROTECTIVE EFFECT OF CUCUMIS SATIVUS ON CEREBRAL ISCHEMIA INDUCED COGNITIVE IMPAIRMENT

C ognitive impairment might be due to degeneration of neurons caused by cerebral ischemia. In this present study, we have used Cucumis sativus peel extract to study its neuroprotective effect on cerebral ischemia induced cognitive impairment in male wistar rats. Toxicity tests were done on the drug according to OECD guidelines 423. The animals were pretreated with three different doses (100mg/kg, 200mg/kg, and 400mg/kg of body weight) of drug extract for a period of 10 days. Cerebral ischemia was induced by bilateral common carotid artery occlusion for 30min followed by reperfusion. Cognitive functions of animals were evaluated by rectangular maze test, morris warter maze test and locomotor activity test. Biochemical tests were also conducted such as catalase activity test and DPPH activity test to know its antioxidant activity. The protective treatment with C. sativus was associated with control of the free radicals induced by reperfusion. This study demonstrates that C.sativus had potential therapeutic effects on improving the cognitive function in rats. The effect of the drug was found to be increasing as the doses were increasing. The results of the drug were compared with the disease control and found to be significant (p˂0.001).
The number of matrices over $\mathbb{F}_q$ with irreducible characteristic polynomial

Let $\mathbb{F}_q$ be a finite field with $q$ elements. M. Gerstenhaber and Irving Reiner has given two different methods to show the number of matrices with a given characteristic polynomial. In this talk, we will give another proof for the particular case where the characteristic polynomial is irreducible. The number of such matrices is important to know the efficiency of an algorithm to factor polynomials using Drinfeld modules.
RMHP_A_310608 4141..4148

1Department of Community Medicine, Information and Decision in Health of the Faculty of Medicine of University of Porto, Porto, Portugal; 2Cintesis-Center for Health Technology and Services Research, Porto, Portugal; 3Order of Portuguese Psychologists, Lisbon, Portugal; 4Faculty of Philosophy, Science and Letters of Ribeirão Preto at University of Sao Paulo, Sao Paulo, Brazil Background: The COVID-19 pandemic is emerging in a world where science is highly developed. Nevertheless, science is not the only resource that people resort to when they have difficulties. In this pandemic context, some professions became more relevant, including front-line professionals, such as medical doctors and nurses, and those who may have an indirect role. The aim of this study is to understand whether there is a strengthening of people’s confidence, in politicians, journalists, science-based activities, and in more mystical dimensions. Methods: A cross-sectional study was carried out to understand the levels of confidence of the Portuguese population in several professional groups, measured in two pandemic moments. Participants were recruited to participate in the study through online platforms. The sample was randomly collected from the Portuguese population. The sample was composed of 1455 Portuguese people with a mean age of 44 years, and 1080 were female. Results: We found high levels of confidence in medical doctors and nurses, as well as in other health professions, science, and education. We detected the opposite trend for politicians and journalists. Measured in two pandemic moments, we found confidence levels in these professionals were lower in September than in July with statistical significance differences [(politicians (t = 3.15, p = 0.00); journalists (t = 2.49, p = 0.01)]. Conclusion: It is important to improve a joint action between politicians, journalists, health and science professionals to communicate measures to increase confidence from people. There is a need for the engagement of the population in the adoption of protective measures and contribute to easier control in pandemic situations.
Temporary Depletion of CD11c (cid:1) Dendritic Cells Delays Lymphoinvasion after Intraperitonal Scrapie Infection (cid:1)

The involvement of immune cells in prion capture and transport to lymphoid tissues still remains unclear. To investigate the role of dendritic cells (DC), we used DTR (cid:1) / (cid:1) mice, a transgenic model designed to trigger short-term ablation of DC. Transient depletion of DC around the time of intraperitoneal infection delayed prion replication in the spleen, as followed by PrPsc amount, a speciﬁc hallmark of prion diseases. Conse-quently, neuroinvasion and incubation time of prion disease were delayed. In contrast, no differences were observed after oral infection. These results suggest that DC act as vectors for prions from the peripheral entry site to the spleen.
ASSESSMENT OF LIPID PROFILE IN AUTOMOBILE MECHANICS IN EKPOMA, EDO STATE

Automobile mechanics are professionals who specialize in the repair and maintenance of cars of various sizes. By nature of their job, they are constantly exposed to gasoline fumes or premium motor spirit. Hyperlipidaemia is well known to be one of the major basic factors for atherosclerosis and cardiovascular disease which can be modified either by proper life style changes or medical management or by the combination of both. This study was carried out to assess the plasma lipid profile in automobile mechanics in Ekpoma and environs, Edo State, Nigeria. A total of 100 individuals comprising of 60 automobile mechanics and 40 apparently healthy individuals as controls were recruited for the study. Plasma levels of total cholesterol (CHL), triglycerides (TG), high density lipoprotein (HDL), low density lipoprotein (LDL) and very low density lipoprotein (VLDL) were determined using standard enzymatic methods and also, their body mass index (BMI) were determined. The mean±SD values of CHL, TG, HDL, LDL, VLDL and BMI of automobile mechanics were 7.51 ± 2.78, 2.08 ±1.01, 1.27 ±0.21, 5.39 ±2.70, 0.94 ±0.46 and 19.78 ±2.59 respectively. The result showed significant higher levels of CHL (p<0.05), TG (p<0.05), LDL (p<0.05) and VLDL (p<0.05) when compared with the control. There were no significant difference (p>0.05) in HDL and BMI level of both groups. When the lipid profile of automobile mechanics were compared according to age rang, significant different (p<0.05) were observed in TC and LDL. Therefore, there is a likelihood that automobile mechanics are at high risk of hyperlipidaemia which is associated with atherosclerosis and cardiovascular diseases. This effect is due to constant exposure to gasoline vapour through mouth sucking, washing of arms, inhalation and aging.
CIA_A_268607 43..56

Department of Rheumatology, Rehabilitation and Internal Diseases, Poznan University of Medical Sciences, Poznan, Poland Background: SARS-CoV-2 infection is currently the most significant public health challenge. Its presentation ranges from mild to severe respiratory failure and septic shock. Rapid transmission of the virus is dangerous with a high possibility of life-threatening complications. Lack of treatment standards for SARS-CoV-2 is responsible for the current dilemma in clinical medicine. Methods: An electronic literature search was done using PubMed to gather information on the pathogenesis, transmission of infection, clinical symptoms, diagnosis, and therapeutic options for COVID-19. Search items included “SARS-CoV-2”, “COVID-19” and “coronavirus infection”. Results: In light of the current global crisis caused by SARS-CoV-2, the exchange of information within the scientific community should be quick and extremely transparent. Thus, this review presents the available information necessary for a general practitioner. Such presentation of data should allow the reader quick access to basic and crucial information related to epidemiology, viral transmission, clinical symptoms, diagnostics, treatment, and complications that may occur in the course of COVID-19. Conclusion: Rapidly increasing amounts of information about the diagnosis and treatment of patients with SARS-CoV-2 allow a better understanding of the etiology and course of the infection. In the current epidemiological situation, readily accessible information helps minimize the time to acquire knowledge and focus on prevention methods, diagnostic and treatment options. Thus, this review highlights key issues related to SARS-CoV-2 infection and contains the most useful data for daily medical practice.
The Exchange Rate and Two Price Inﬂations in Poland in the Period 1999–2009. Do Globalization and Balassa–Samuelson Eﬀect Matter?

The abrupt depreciation of the zloty during the subprime crisis and fast-rising prices are serious problems, because Poland, having to fulﬁl ﬁve Maastricht criteria, makes the dependence of her domestic inﬂation on price increases in the EU countries the central point of the discussion about the optimal monetary and ﬁscal policy rules for the next few years. The primary objective of the paper is to test out some hypotheses about the main sources of the volatility of the Polish zloty / euro exchange rate and inﬂation in Poland. Because several competing theoretical models describing inﬂationary processes are widely used, special attention is paid to their empirical veriﬁcation. The working-hypotheses allowing for the country-speciﬁc features of the consumer and producer price inﬂation are formulated and veriﬁed in the paper.
Quantitative Proﬁling of Arabidopsis Polar Glycerolipids in Response to Phosphorus Starvation. Roles of Phospholipases D z 1 and D z 2 in Phosphatidylcholine Hydrolysis and Digalactosyldiacylglycerol Accumulation in Phosphorus-Starved Plants 1[W]

Phosphorus is an essential macronutrient that often limits plant growth and development. Under phosphorus-limited conditions, plants undergo substantial alterations in membrane lipid composition to cope with phosphorus deﬁciency. To characterize the changes in lipid species and to identify enzymes involved in plant response to phosphorus starvation, 140 molecular species of polar glycerolipids were quantitatively proﬁled in rosettes and roots of wild-type Arabidopsis ( Arabidopsis thaliana ) and phospholipase D knockout mutants pld z 1 , pld z 2 , and pld z 1pld z 2 . In response to phosphorus starvation, the concentration of phospholipids was decreased and that of galactolipids was increased. Phospholipid lost in phosphorus-starved Arabidopsis rosettes was replaced by an equal amount of galactolipid. The concentration of phospholipid lost in roots was much greater than in rosettes. Disruption of both PLD z 1 and PLD z 2 function resulted in a smaller decrease in phospha- tidylcholine and a smaller increase in digalactosyldiacylglycerol in phosphorus-starved roots. The results suggest that hydrolysis of phosphatidylcholine by PLD z s during phosphorus starvation contributes to the supply of inorganic phosphorus for cell metabolism and diacylglycerol moieties for galactolipid synthesis.