Miracle-dz/UniFAR-FTUs huggingface dataset:
Decoupled Sampling-Based Motion Planning for Multiple Autonomous Marine Vehicles

There is increasing interest in the deployment and operation of multiple autonomous marine vehicles (AMVs) for a number of challenging scientific and commercial operational mission scenarios. Some of the missions, such as geotechnical surveying and 3D marine habitat mapping, require that a number of heterogeneous vehicles operate simultaneously in small areas, often in close proximity of each other. In these circumstances safety, reliability, and efficient multiple vehicle operation are key ingredients for mission success. Additionally, the deployment and operation of multiple AMVs at sea are extremely costly in terms of the logistics and human resources required for mission supervision, often during extended periods of time. These costs can be greatly minimized by automating the deployment and initial steering of a vehicle fleet to a predetermined configuration, in preparation for the ensuing mission, taking into account operational constraints. This is one of the core issues addressed in the scope of the Widely Scalable Mobile Underwater Sonar Technology project (WiMUST), an EU Horizon 2020 initiative for underwater robotics research.WiMUST uses a team of cooperative autonomous marine robots, some of which towing streamers equipped with hydrophones, acting as intelligent sensing and communicating nodes of a reconfigurable moving acoustic network. In WiMUST, the AMVs maintain a fixed geometric formation through cooperative navigation and motion control. Formation initialization requires that all the AMVs start from scattered positions in the water and maneuver so as to arrive at required target configuration points at the same time in a completely automatic manner. This paper describes the decoupled prioritized vehicle motion planner developed in the scope of WiMUST that, together with an existing system for trajectory tracking, affords a fleet of vehicles the above capabilities, while ensuring inter-vehicle collision and streamer entanglement avoidance. Tests with a fleet of seven marine vehicles show the efficacy of the system planner developed.
The Band Theory of Graphite

The structure of the electronic energy bands and Brillouin zones for graphite is developed using the "tight binding" approximation. Graphite is found to be a semi-conductor with zero activation energy, i.e., there are no free electrons at zero temperature, but they are created at higher temperatures by excitation to a band contiguous to the highest one which is normally filled. The electrical conductivity is treated with assumptions about the mean free path. It is found to be about 100 times as great parallel to as across crystal planes. A large and anisotropic diamagnetic susceptibility is predicted for the conduction electrons; this is greatest for fields across the layers. The volume optical absorption is accounted for.
When Helping the Small Hurts the Middle: Beer Excise Duties and Market Concentration

The beer market has undergone a dramatic change over the last decades and there are growing concerns of too much market concentration. Among other reasons we identify the role of beer excise taxes in the determination of the market structure. In particular the introduction of a minimum excise tax for beer in the European Union with the provision for a asymmetric reduction for small breweries can create incentives for small breweries. While we find evidence that high beer excise taxes increase the likelihood to be target of an international takeover, the overall role of beer taxes on the market structure is ambiguous. While the reduced beer excise for small breweries fosters new entries, they potentially squeeze out mid-sized breweries resulting in an even more concentration market.
THE EARNED INCOME TAX CREDIT : Boosting Employment , Aiding the Working Poor

An innovative tax credit that was established in 1975 for low-income working families and has long enjoyed bipartisan support, the Earned Income Tax Credit has been found to produce substantial increases in employment and reductions in welfare receipt among single parents, as well as large decreases in poverty. Research indicates that families use the EITC to pay for necessities, repair homes and vehicles that are needed to commute to work, and in some cases, to help boost their employability and earning power by obtaining additional education or training.
DETECTION OF N2D+ IN A PROTOPLANETARY DISK

Observations of deuterium fractionation in the solar system, and in interstellar and circumstellar material, are commonly used to constrain the formation environment of volatiles. Toward protoplanetary disks, this approach has been limited by the small number of detected deuterated molecules, i.e., DCO+ and DCN. Based on ALMA Cycle 2 observations toward the disk around the T Tauri star AS 209, we report the first detection of N2D+ (J = 3–2) in a protoplanetary disk. These data are used together with previous Submillimeter Array observations of N2H+ (J = 3–2) to estimate a disk-averaged D/H ratio of 0.3–0.5, an order of magnitude higher than disk-averaged ratios previously derived for DCN/HCN and DCO+/HCO+ around other young stars. The high fractionation in N2H+ is consistent with model predictions. The presence of abundant N2D+ toward AS 209 also suggests that N2D+ and the N2D+/N2H+ ratio can be developed into effective probes of deuterium chemistry, kinematics, and ionization processes outside the CO snow line of disks.
The Tourist Bubble and the Europeanisation of Holiday Travel

This account explores certain aspects of the developments in international, interEuropean holiday travel as a part of the phenomena characterised as modernity and Europeanisation. The focus is on the idea of 'travelling parochialism', i.e. whether large proportions of contemporary international holidaymakers and other travellers on their tours within Europe adopt some kind of furtherance of a home-like culture. The main point of departure is the idea of the 'tourist bubble' understood here as a territorial and functional differentiation and as an expectation of holidaymakers going abroad. The concept of 'travel ecumene' is introduced to examine implications for travellers of the development of a western European travel system. Moreover, the study analyses the extent to which the notion of the tourist bubble is still beneficial in comprehending significant aspects of inter-European holiday travel in relation to current discourses of internationalisation, Europeanisation and cosmopolitanism. The paper also discusses advances of cosmopolitan predilections and aspirations and their possible influences on contemporary international European tourism.
A high reliability survey of discrete Epoch of Reionization foreground sources in the MWA EoR0 field

Detection of the Epoch of Reionization HI signal requires a precise understanding of the intervening galaxies and AGN, both for instrumental calibration and foreground removal. We present a catalogue of 7394 extragalactic sources at 182 MHz detected in the RA=0 field of the Murchison Widefield Array Epoch of Reionization observation programme. Motivated by unprecedented requirements for precision and reliability we develop new methods for source finding and selection. We apply machine learning methods to self-consistently classify the relative reliability of 9490 source candidates. A subset of 7466 are selected based on reliability class and signal-to-noise ratio criteria. These are statistically cross-matched to four other radio surveys using both position and flux density information. We find 7369 sources to have confident matches, including 90 partially resolved sources that split into a total of 192 sub-components. An additional 25 unmatched sources are included as new radio detections. The catalogue sources have a median spectral index of -0.85. Spectral flattening is seen toward lower frequencies with a median of -0.71 predicted at 182 MHz. The astrometric error is 7 arcsec. compared to a 2.3 arcmin. beam FWHM. The resulting catalogue covers approximately 1400 sq. deg. and is complete to approximately 80 mJy within half beam power. This provides the most reliable discrete source sky model available to date in the MWA EoR0 field for precision foreground subtraction.
The effect of ENSO-induced rainfall and circulation changes on the direct and indirect radiative forcing from Indonesian biomass-burning aerosols

Abstract. Emissions of biomass-burning aerosols from the Indonesian region are known to vary in response to rainfall anomalies associated with the El Nino Southern Oscillation (ENSO). For the severe El Nino-related drought in 1997, there have been several attempts to estimate the direct radiative forcing from increased aerosol emissions over Indonesia, as well as the associated feedbacks on climate. However, these estimates have not considered indirect aerosol effects. Another question that has not been addressed is whether the effect of ENSO-related circulation and rainfall anomalies on radiative forcing is significant relative to the effect of changes in emissions. In this study, we analyse the direct and first indirect radiative forcing from El Nino-related increased emissions of Indonesian biomass-burning aerosols, with and without the influence of ENSO-related rainfall and circulation anomalies. We compare two experiments that are performed with the CSIRO-Mk3.6 atmospheric global climate model (GCM). The first experiment (AMIP) consists of a pair of runs that respectively represent El Nino and La Nina conditions. In these runs, the distribution of aerosols is simulated under the influence of realistic Indonesian biomass-burning aerosol emissions and sea surface temperatures (SSTs) for 1997 (El Nino) and 2000 (La Nina). The second experiment (CLIM) is identical to AMIP, but is forced by climatological SSTs, so that in CLIM meteorological differences between 1997 and 2000 are suppressed. The comparison of AMIP and CLIM shows that the aerosol radiative forcing anomalies associated with ENSO (El Nino minus La Nina) are substantially stronger when ENSO-related SST anomalies are taken into account. For the first indirect effect, the influence of SST-induced changes in rainfall and circulation exceeds that of changes in emissions. For the direct aerosol forcing, the influence of changes in SSTs and emissions are of comparable magnitude. Averaged over the Indonesian region (5.6° N–11.2° S, 96.6° E–150.9° E), the first indirect forcing is −0.7 Wm−2 in CLIM and −2.2 Wm−2 in AMIP during the months July to November. The direct aerosol forcing at the top of the atmosphere (surface) is −1.0 (−5.3) Wm−2 in CLIM and −1.8 (−9.1) Wm−2 in AMIP during the same period. Our results suggest that (a) the indirect aerosol effect from biomass-burning aerosols is strong enough to play an important role for impact assessments, and (b) that impacts of biomass-burning aerosols would be considerably underestimated if feedbacks of ENSO-related SST variations on radiative forcing are not taken into account.
What's the Damage? Abnormality in Solid Physical Objects

The representation of damage to solid physical objects is complex in nature. Beginning with real world usecases of partially damaged used goods, we derive the description of damage through the approach of representing partial abnormality. We propose four predicates for partial abnormality corresponding to the fundamental characteristics and parthood relationships within solid physical objects: ab portion,ab piece,ab component, and ab containment. Such parthood relations and mereological pluralism concepts are drawn from the Ontology of Solid Physical Objects (SoPhOs), a general suite of upper ontology modules we proposed and axiomatized in First Order Logic. This paper reviews the SoPhOs ontologies that axiomatize parthood, spatial parthood and parthood connection theories and the foundational matter and shape characteristic ontologies that support them. We map the foundational solid physical object ontology to solving the problem of representing damaged goods in various domains including manufacture and e-commerce.
Effect of soil physico-chemical properties and plant type on bacterial diversity in semi- arid parts in central Sudan. Part ii. Sharq El-neel region, Khartoum state

Total viable counts of bacteria and bacterial diversity of the different soil samples from three different localities in Sharq EL-Neel region: Soba, AL-Aelafoon and Um Dawan Ban sub-regions were carried out. Soil physical and chemical characteristics (pH, EC,SP,solublecations: Na, K, Ca, Mg and anion P, organic carbon, total nitrogen and soil texture)in each studied sub-regions were measured. Qualitative analysis of microorganisms isolated from the studied soil samples reveal a total of thirteendifferent species of bacteria, of which two are unidentified. The ten species are classified under Bacillus genus. In Sharq EL-Neel regionsoil samples, total bacterial counts ranged from 9.5 × 10 4 cfu g -1 to 1×10 3 with a mean of 4×10 3 cfu g -1 . The quantitative data on microbial population recorded in the present study was analysed using two diversity indices. High Shannon-Weiner diversity Index value for bacteria was obtained in AL-Aelfoon sub-region (1.79361), whereas high Simpson's index value was obtained in Um Dawan Ban sub-region (2.80). ActinomycesActinomyces spp. and Streptomyces spp. Where the most abundant microorganisms identified in the three sub-regions. Total bacterial count in Soba soil was positively correlated with pH (r= 0.0194) and sand (r= 0.3205); the total bacterial count in AL-Aelafoon soilwas positively correlated with EC (r= 0.1062), clay (r= 0.3816), silt (r= 0.1936), SP (r= 0.9302), K (r= 0.6252), Ca (r= 0.0015) and Mg (r= 0.1556), whereas the total bacterial count in Um Dawan Ban soil was positively correlated with clay (r= 0.2614), silt (r= 0.0216), SP (r= 0.565), K (r= 0.9645), P (r= 0.0197), Ca (r= 0.7377), Mg (r= 0.0267), N (r= 0.5215) and O.C (r= 0.3214). There were obvious differences in correlation coefficients among the selected criteria (46 % from the total number of correlation coefficients were positively correlated between bacterial counts and soil physico-chemical properties whereas 54% from the total number were positively correlated between plant type and bacterial counts).
Determination of resonance locations in barred spiral galaxies using multiband photometry

In this paper, we apply a method identified by Puerari & Dottori to find the corotation radii (CR) in spiral galaxies. We apply our method to 57 galaxies, 17 of which have already have their CR locations determined using other methods. The method we adopted entails taking Fourier transforms along radial cuts in the u, g, r, i, and z wavebands and comparing the phase angles as a function of radius between them. The radius at which the phase angles cross indicates the location of the corotation radius. We then calculated the relative bar pattern speed, R, and classified the bar as “fast”, where R 1.4, or intermediate, where the errors on R are consistent with the bar being “slow” or “fast”. For the 17 galaxies that had their CR locations previously measured, we found that our results were consistent with the values of R obtained by the computer simulations of Rautiainen, Salo & Laurikainen. For the larger sample, our results indicate that 34 out of 57 galaxies (≃60%) have fast bars. We discuss these results in the context of its implications for dark matter concentrations in disk galaxies. We also discuss these results in the context of different models for spiral structure in disk galaxies.
Development of polymorphic microsatellite and single nucleotide polymorphism markers for Cercospora beticola (Mycosphaerellaceae)

The plant pathogenic fungus, Cercospora beticola , causes the most important foliage disease of sugar beet. A previous study has shown that isolates of opposite mating types are present in equal proportions in natural populations; therefore, the aim of this study was to develop highly reproducible polymorphic markers for analysing populations of C. beticola . Five microsatellite and four single nucleotide polymorphism (SNP) markers were developed that allow rapid screening of genetic diversity in C. beticola. Six populations were screened with these markers and all were found to be in gametic equilibrium, indicating random mating in C. beticola .
The effects of new treatments on PVY infected potato plants under drought conditions.

The effects of treatments with Satureja hortensis essential oils and exogenous H2O2 were evaluated in plants, testing positive after Potato virus Y (PVY) infection, under drought conditions. In vitro PVY infected and uninfected plants were transferred to a green-house, injected with a Satureja hortensis essential oils suspension and sprayed twice a week with H2O2 (1 mM, pH 5.6). Under drought conditions, minitubers produced by infected and treated plants had significantly more starch than the controls. The treatments had positive effects on infected minitubers, such as weight, reduction of number, starch content and sprouting. A signal role for Satureja hortensis essential oils and hydrogen peroxide in lessening symptoms is suggested.
Clustered Sovereign Defaults ∗

Clustered sovereign defaults, where multiple countries default in a relatively short period of time, are a recurring phenomenon, yet there is a lack of quantitative models designed to study them. This paper builds a quantitative framework to study clustered defaults, and investigates the nature of shocks and the mechanism through which these shocks lead countries to clustered defaults. The paper begins with a joint estimation of structural parameters that drive the output process of 24 countries and a process for the world interest rate. The postulated output process includes transitory and permanent global components, as well as transitory and permanent country-specific components. The paper then builds a sovereign default model augmented with financial frictions at the firm level. The model and the estimation process of driving forces are validated jointly when the shocks, estimated independently of the model or of default data, are fed into the model and the model reproduces the clustered default of 1982. The two main findings of the paper are: (1) the primary driver of clustered defaults is global shock to the transitory component of output; and (2) contrary to what is commonly believed, the Volcker interest rate hike was not a decisive factor for the 1982 developing country debt crisis. JEL classification : F34, F44, H63.
Deepstereobrush: Interactive Depth Map Creation

In this paper, we introduce a novel interactive depth map creation approach for image sequences which uses depth-scribbles as input at user-defined keyframes. These scribbled depth values are then propagated within these keyframes and across the entire sequence using a 3-dimensional geodesic distance transform (3D-GDT). In order to further improve the depth estimation of the intermediate frames, we make use of a convolutional neural network (CNN) in an unconventional manner. Our process is based on online learning which allows us to specifically train a disposable network for each sequence individually using the user generated depth at keyframes along with corresponding RGB images as training pairs. Thus, we actually take advantage of one of the most common issues in deep learning: over-fitting. Furthermore, we integrated this approach into a professional interactive depth map creation application and compared our results against the state of the art in interactive depth map creation.
A software platform for continuum modeling of ion channels based on unstructured mesh

Most traditional continuum molecular modeling adopted finite difference or finite volume methods which were based on a structured mesh (grid). Unstructured meshes were only occasionally used, but an increased number of applications emerge in molecular simulations. To facilitate the continuum modeling of biomolecular systems based on unstructured meshes, we are developing a software platform with tools which are particularly beneficial to those approaches. This work describes the software system specifically for the simulation of a typical, complex molecular procedure: ion transport through a three-dimensional channel system that consists of a protein and a membrane. The platform contains three parts: a meshing tool chain for ion channel systems, a parallel finite element solver for the Poisson–Nernst–Planck equations describing the electrodiffusion process of ion transport, and a visualization program for continuum molecular modeling. The meshing tool chain in the platform, which consists of a set of mesh generation tools, is able to generate high-quality surface and volume meshes for ion channel systems. The parallel finite element solver in our platform is based on the parallel adaptive finite element package PHG which wass developed by one of the authors [1]. As a featured component of the platform, a new visualization program, VCMM, has specifically been developed for continuum molecular modeling with an emphasis on providing useful facilities for unstructured mesh-based methods and for their output analysis and visualization. VCMM provides a graphic user interface and consists of three modules: a molecular module, a meshing module
Power Amplifiers for Electronic Bio-Implants

Healthcare systems face continual challenges in meeting their aims to provide quality care to their citizens within tight budgets. Ageing populations in the developed world are perhaps one of the greatest concerns in providing quality healthcare in the future. Figure 1 shows projections from the United Nations, indicating that the median age of citizens in economically developed regions is set to approach 40 years by the year 2050, and reach as high as 55 years in Japan. This trend is likely to lead to strained economies caused by less revenue raised by smaller workforces. Another effect of ageing populations is the need of further care in order to remain healthy. This care varies from frequent check-ups to condition monitoring, compensation for organ malfunction and serious surgical operations. As a result of these trends, healthcare systems will face the task of servicing more people with more serious and expensive health services, all using less available funds. Effort is being focused on running cheaper and more effective healthcare systems and the development of technology to assist in this process is a natural research priority.
Magnitude of extreme heat waves in present climate and their projection in a warming world

An extreme heat wave occurred in Russia in the summer of 2010. It had serious impacts on humans and natural ecosystems, it was the strongest recorded globally in recent decades and exceeded in amplitude and spatial extent the previous hottest European summer in 2003. Earlier studies have not succeeded in comparing the magnitude of heat waves across continents and in time. This study introduces a new Heat Wave Magnitude Index that can be compared over space and time. The index is based on the analysis of daily maximum temperature in order to classify the strongest heat waves that occurred worldwide during the three study periods 1980–1990, 1991–2001, and 2002–2012. In addition, multimodel ensemble outputs from the Coupled Model Intercomparison Project Phase 5 are used to project future occurrence and severity of heat waves, under different Representative Concentration Pathways, adopted by the Intergovernmental Panel on Climate Change for its Fifth Assessment Report (AR5). Results show that the percentage of global area affected by heat waves has increased in recent decades. Moreover, model predictions reveal an increase in the probability of occurrence of extreme and very extreme heat waves in the coming years, in particular, by the end of this century, under the most severe IPCC AR5 scenario, events of the same severity as that in Russia in the summer of 2010 will become the norm and are projected to occur as often as every 2 years for regions such as southern Europe, North America, South America, Africa, and Indonesia.