Miracle-dz/UniFAR-FTUs huggingface dataset:
Accurate Trajectory Tracking of Disturbed Surface Vehicles: A Finite-Time Control Approach

In this paper, accurate trajectory tracking problem of a surface vehicle disturbed by complex marine environments is solved by creating a finite-time control (FTC) scheme whereby the nonsingular fast terminal sliding mode (NFTSM) and finite-time disturbance observer (FDO) techniques are deployed. Salient features are as follows. By devising an FDO, complex disturbances arising from marine environments can be exactly identified within a short time, in conjunction with the defined NFTSM manifold, and thereby contributing to exact trajectory tracking. Finite-time disturbance observation is completely decoupled from the nominal FTC scheme, and achieves stronger disturbance rejection and faster transient response, simultaneously. Both disturbance observation and trajectory tracking errors can exactly reach to zero in a finite time. Simulation results and comparisons are comprehensively conducted on CyberShip II and demonstrate remarkable superiority of the FTC scheme.
Geodesic boundary value problems with symmetry

This paper shows how left and right actions of Lie groups on a manifold may be used to complement one another in a variational reformulation of optimal control problems equivalently as geodesic boundary value problems with symmetry. We prove an equivalence theorem to this effect and illustrate it with several examples. In finite-dimensions, we discuss geodesic flows on the Lie groups SO(3) and SE(3) under the left and right actions of their respective Lie algebras. In an infinite-dimensional example, we discuss optimal large-deformation matching of one closed curve to another embedded in the same plane. In the curve-matching example, the manifold $\Emb(S^1, \mathbb{R}^2)$ comprises the space of closed curves $S^1$ embedded in the plane $\mathbb{R}^2$. The diffeomorphic left action $\Diff(\mathbb{R}^2)$ deforms the curve by a smooth invertible time-dependent transformation of the coordinate system in which it is embedded, while leaving the parameterisation of the curve invariant. The diffeomorphic right action $\Diff(S^1)$ corresponds to a smooth invertible reparameterisation of the $S^1$ domain coordinates of the curve. As we show, this right action unlocks an important degree of freedom for geodesically matching the curve shapes using an equivalent fixed boundary value problem, without being constrained to match corresponding points along the template and target curves at the endpoint in time.
Practical error estimates for sparse recovery in linear inverse problems

The effectiveness of using model sparsity as a priori information when solving linear inverse problems is studied. We investigate the reconstruction quality of such a method in the non-idealized case and compute some typical recovery errors (depending on the sparsity of the desired solution, the number of data, the noise level on the data, and various properties of the measurement matrix); they are compared to known theoretical bounds and illustrated on a magnetic tomography example.
Analysing corporate social responsibility reports using document clustering and topic modeling techniques

Corporate social responsibility (CSR) has become an imperative tool to address challenges and achieve sustainable growth. Realizing its impact to the society, companies are demanded to participate in sustainable development of which poverty eradication is one of it. The CSR practice, to date, is not strategically planned and executed especially when it comes into philanthropic corporate social responsibility (PCSR). This could be due to failure to identify categories of PCSR activities, limiting its effectiveness to achieve the intended outcomes. Thus, document clustering is proposed to be used to automate the pattern identification process. This study has extended document clustering by integrating the traditional document clustering application with topic modeling approach. This integrated approach enables the identification of the PCSR pattern. The analysis involved a three-year data from the annual report of the 25 CSR-award winning companies in Malaysia which involved several steps. Findings from this study revealed seven clusters that represented seven types of PCSR activities performed by the CSR-award winning companies in Malaysia. The findings offer an insight to be considered by companies in strategizing the CSR activities, particularly philanthropic responsibility in ensuring optimum impact to innovatively support the society and contribute towards poverty mitigation.
Central limit theorem for fluctuations of linear eigenvalue statistics of large random graphs

We consider the adjacency matrix A of a large random graph and study fluctuations of the function fn(z,u)=(1/n)∑k=1nexp{−uGkk(z)} with G(z)=(z−iA)−1. We prove that the moments of fluctuations normalized by n−1/2 in the limit n→∞ satisfy the Wick relations for the Gaussian random variables. This allows us to prove central limit theorem for Tr G(z) and then extend the result on the linear eigenvalue statistics Tr φ(A) of any function φ:R→R which increases, together with its first two derivatives, at infinity not faster than an exponential.
Sulci 3D mapping from human cranial endocasts: A powerful tool to study hominin brain evolution

Key questions in paleoneurology concern the timing and emergence of derived cerebral features within the human lineage. Endocasts are replicas of the internal table of the bony braincase that are widely used in paleoneurology as a proxy for reconstructing a timeline for hominin brain evolution in the fossil record. The accurate identification of cerebral sulci imprints in endocasts is critical for assessing the topographic extension and structural organisation of cortical regions in fossil hominins. High‐resolution imaging techniques combined with established methods based on population‐specific brain atlases offer new opportunities for tracking detailed endocranial characteristics. This study provides the first documentation of sulcal pattern imprints from the superolateral surface of the cerebrum using a population‐based atlas technique on extant human endocasts. Human crania from the Pretoria Bone Collection (South Africa) were scanned using micro‐CT. Endocasts were virtually extracted, and sulci were automatically detected and manually labelled. A density map method was applied to project all the labels onto an averaged endocast to visualise the mean distribution of each identified sulcal imprint. This method allowed for the visualisation of inter‐individual variation of sulcal imprints, for example, frontal lobe sulci, correlating with previous brain‐MRI studies and for the first time the extensive overlapping of imprints in historically debated areas of the endocast (e.g. occipital lobe). In providing an innovative, non‐invasive, observer‐independent method to investigate human endocranial structural organisation, our analytical protocol introduces a promising perspective for future research in paleoneurology and for discussing critical hypotheses on the evolution of cognitive abilities among hominins.
Measurement of Ground Vibration for Unpaved Bridge Approach Field Model on Soft Soil

The information and the data of the bridge approach condition is important because it allows designers to know the response of the soil once loaded with vehicles and respectable suggestion for correct engineering solutions to beat the matter. There are a few clarifications the reason of problem occurred at bridge approach was recently inspected by other researchers previously and one of the issues is a dissimilarity between the height of the bridge and road on the connection. The objective of this research is characterize and create techniques for field investigation to inspect the effect of vibration from vehicle loading at bridge approaches and this case might be referred to as a repetitive cyclic loading. The aim of this research is to investigate critical location of vibration at bridge approach model by the influence and effect from measurement tools. This research concentrated on constructed field model of the unpaved bridge approach model in Research Centre for Soft Soil Malaysia (RECESS), Universiti Tun Hussein Onn Malaysia (UTHM), Johor, Malaysia. A portable measurement equipment system with high sensitivity triaxial ICP accelerometer used to investigate and measure the effect of vibration loading at unpaved bridge approach field model. Piezoelectric (ICP) accelerometer is now preferable for researchers for the field surveillance or laboratory testing. From the analysis, it can be stated here that the vibration value increases as the speed and vibration level produced changes from L1 to L2. In the transverse direction, it is found that P1 values are larger than P2 to P6 values at both sites BAA and BAB. On the longitudinal direction, the farther away the plate compactor is from the bridge model connection, its value decreases and it is found that the D1 area has a higher vibration value compared to D2 to D5. It may be then, concluded that in this research it is similar to the previous research at the actual study site where the vibration value is high in the area 1m to 2m from the bridge connection.
Duality and semi-group property for backward parabolic Itô equations

Abstract We study existence, uniqueness, semi-group property and a-priori estimates for solutions of backward parabolic Itô equations in domains with boundary. We study also duality between forward and backward equations. The semi-group for backward equations is established in the form of some anti-causality. The novelty is that the semi-group property involves the diffusion term that is a part of the solution.
Aguilar-Balslev-Combes theorem for the Laplacian on a manifold with an axial analytic asymptotically cylindrical end

We develop the complex scaling for a manifold with an asymptotically cylindrical end under an assumption on the analyticity of the metric with respect to the axial coordinate of the end. We allow for arbitrarily slow convergence of the metric to its limit at infinity, and prove a variant of the Aguilar-Balslev-Combes theorem for the Laplacian $\Delta$ on functions. In the case of a manifold with (noncompact) boundary it is either the Dirichlet or the Neumann Laplacian. We introduce resonances as the discrete non-real eigenvalues of non-selfadjoint operators, obtained as deformations of the Laplacian by means of the complex scaling. The resonances are identified with the poles of the resolvent matrix elements $((\Delta-\mu)^{-1}F, G)$ meromorphic continuation in $\mu$ across the essential spectrum of $\Delta$, where $F$ and $G$ are elements of an explicitly given set of analytic vectors. The Laplacian has no singular continuous spectrum, the eigenvalues can accumulate only at thresholds.
Combinatorial cubic surfaces and reconstruction theorems

This note contains a solution to the following problem: reconstruct the definition field and the equation of a projective cubic surface, using only combinatorial information about the set of its rational points. This information is encoded in two relations: collinearity and coplanarity of certain subsets of points. We solve this problem, assuming mild ``general position'' properties. This study is motivated by an attempt to address the Mordell--Weil problem for cubic surfaces using essentially model theoretic methods. However, the language of model theory is not used explicitly.
Communications in Mathematical Physics Conformal Operators on Forms and Detour Complexes on Einstein Manifolds

For even dimensional conformal manifolds several new conformally invariant objects were found recently: invariant differential complexes related to, but distinct from, the de Rham complex (these are elliptic in the case of Riemannian signature); the cohomology spaces of these; conformally stable form spaces that we may view as spaces of conformal harmonics; operators that generalise Branson’s Q-curvature; global pairings between differential form bundles that descend to cohomology pairings. Here we show that these operators, spaces, and the theory underlying them, simplify significantly on conformally Einstein manifolds. We give explicit formulae for all the operators concerned. The null spaces for these, the conformal harmonics, and the cohomology spaces are expressed explicitly in terms of direct sums of subspaces of eigenspaces of the form Laplacian. For the case of non-Ricci flat spaces this applies in all signatures and without topological restrictions. In the case of Riemannian signature and compact manifolds, this leads to new results on the global invariant pairings, including for the integral of Q-curvature against the null space of the dimensional order conformal Laplacian of Graham et al.
The evolution of pre‐mRNA splicing and its machinery revealed by reduced extremophilic red algae

The Cyanidiales are a group of mostly thermophilic and acidophilic red algae that thrive near volcanic vents. Despite their phylogenetic relationship, the reduced genomes of Cyanidioschyzon merolae and Galdieria sulphuraria are strikingly different with respect to pre‐mRNA splicing, a ubiquitous eukaryotic feature. Introns are rare and spliceosomal machinery is extremely reduced in C. merolae, in contrast to G. sulphuraria. Previous studies also revealed divergent spliceosomes in the mesophilic red alga Porphyridium purpureum and the red algal derived plastid of Guillardia theta (Cryptophyta), along with unusually high levels of unspliced transcripts. To further examine the evolution of splicing in red algae, we compared C. merolae and G. sulphuraria, investigating splicing levels, intron position, intron sequence features, and the composition of the spliceosome. In addition to identifying 11 additional introns in C. merolae, our transcriptomic analysis also revealed typical eukaryotic splicing in G. sulphuraria, whereas most transcripts in C. merolae remain unspliced. The distribution of intron positions within their host genes was examined to provide insight into patterns of intron loss in red algae. We observed increasing variability of 5′ splice sites and branch donor regions with increasing intron richness. We also found these relationships to be connected to reductions in and losses of corresponding parts of the spliceosome. Our findings highlight patterns of intron and spliceosome evolution in related red algae under the pressures of genome reduction.
ENTROPY AND HAUSDORFF DIMENSION IN RANDOM GROWING TREES

We investigate the limiting behavior of random tree growth in preferential attachment models. The tree stems from a root, and we add vertices to the system one-by-one at random, according to a rule which depends on the degree distribution of the already existing tree. The so-called weight function, in terms of which the rule of attachment is formulated, is such that each vertex in the tree can have at most K children. We define the concept of a certain random measure μ on the leaves of the limiting tree, which captures a global property of the tree growth in a natural way. We prove that the Hausdorff and the packing dimension of this limiting measure is equal and constant with probability one. Moreover, the local dimension of μ equals the Hausdorff dimension at μ-almost every point. We give an explicit formula for the dimension, given the rule of attachment.
Orbits in real $\Z_m$-graded semisimple Lie algebras

In this note we propose a method to classify homogeneous nilpotent elements in a real $Z_m$-graded semisimple Lie algebra $g$. Using this we describe the set of orbits of homogeneous elements in a real $Z_2$-graded semisimple Lie algebra. A classification of 4-vectors (resp. 4-forms) on $R^8$ can be given using this method.
Symmetric polynomials and $l^p$ inequalities for certain intervals of $p$

We prove some sufficient conditions implying $l^p$ inequalities of the form $||x||_p \leq ||y||_p$ for vectors $ x, y \in [0,\infty)^n$ and for $p$ in certain positive real intervals. Our sufficient conditions are strictly weaker than the usual majorization relation. The conditions are expressed in terms of certain homogeneous symmetric polynomials in the entries of the vectors. These polynomials include the elementary symmetric polynomials as a special case. We also give a characterization of the majorization relation by means of symmetric polynomials.
Composites and hybrid materials used for implants and bone reconstruction: a state of the art

This work presents a review, covering the years 2007 to 2020, on the main composite and hybrid materials on which it is investigated with the aim of developing medical applications, such as preoperative personalized bone implants. Attention is directed to the general qualities that these composite materials must have, from the physical-mechanical and clinical point of view, although occasionally other properties are also discussed. Most of the results that are presented have been obtained in experiments carried out with animal models, the main limitations that are faced when evaluating one or another type of implant material are also considered. The fundamental result of the present work is that it is not feasible to establish a predominance of some materials over others. Nevertheless; the synthesis of nano-hydroxyapatite, due to its similarity to natural bone apatite, should be present in any variant of composite material for bone implants.
Periodic lozenge tilings of the plane

This article addresses the problem of enumerating the tilings of a plane by lozenges, under the restriction that these tilings be doubly periodic. Kasteleyn's Pfaffian method is applied to compute the generating function of those permutations. The monomials of this function represent the different types of tilings, grouping them according to the number of lozenges in each orientation. We present an alternative approach to compute these types. Finally, two additional classes of tilings are proposed as open enumeration problems.
A Note About the {Ki(z)} Functions

In the article [Petojevic 2006], A. Petojevi\' c verified useful properties of the $K_{i}(z)$ functions which generalize Kurepa's [Kurepa 1971] left factorial function. In this note, we present simplified proofs of two of these results and we answer the open question stated in [Petojevic 2006]. Finally, we discuss the differential transcendency of the $K_{i}(z)$ functions.
Proposal of an Alpine Skiing Kinematic Analysis with the Aid of Miniaturized Monitoring Sensors, a Pilot Study

The recent growth and spread of smart sensor technologies make these connected devices suitable for diagnostic and monitoring in different fields. In particular, these sensors are useful in diagnostics for control of diseases or during rehabilitation. They are also extensively used in the monitoring field, both by non-expert and expert users, to monitor health status and progress during a sports activity. For athletes, these devices could be used to control and enhance their performance. This development has led to the realization of miniaturized sensors that are wearable during different sporting activities without interfering with the movements of the athlete. The use of these sensors, during training or racing, opens new frontiers for the understanding of motions and causes of injuries. This pilot study introduced a motion analysis system to monitor Alpine ski activities during training sessions. Through five inertial measurement units (IMUs), placed on five points of the athletes, it is possible to compute the angle of each joint and evaluate the ski run. Comparing the IMU data, firstly, with a video and then proposing them to an expert coach, it is possible to observe from the data the same mistakes visible in the camera. The aim of this work is to find a tool to support ski coaches during training sessions. Since the evaluation of athletes is now mainly developed with the support of video, we evaluate the use of IMUs to support the evaluation of the coach with more precise data.
Potential millennial‐scale avian declines by humans in southern China

Mounting observational records demonstrate human‐caused faunal decline in recent decades, while accumulating archaeological evidence suggests an early biodiversity impact of human activities during the Holocene. A fundamental question arises concerning whether modern wildlife population declines began during early human disturbance. Here, we performed a population genomic analysis of six common forest birds in East Asia to address this question. For five of them, demographic history inference based on 25–33 genomes of each species revealed dramatic population declines by 4‐ to 48‐fold over millennia (e.g. 2000–5000 thousand years ago). Nevertheless, summary statistics detected nonsignificant correlations between these population size trajectories and Holocene temperature variations, and ecological niche models explicitly predicted extensive range persistence during the Holocene, implying limited demographic consequence of Holocene climate change. Further analyses suggest high negative correlations between the reconstructed population declines and human disturbance intensities and indicate a potential driver of human activities. These findings provide a deep‐time and large‐scale insight into the recently recognized avifaunal decline and support an early origin hypothesis of human effects on biodiversity. Overall, our study sheds light on the current biodiversity crisis in the context of long‐term human–environment interactions and offers a multi‐evidential framework for quantitatively assessing the ecological consequences of human disturbance.
Strong path convergence from Loewner driving function convergence

We show that, under mild assumptions on the limiting curve, a sequence of simple chordal planar curves converges uniformly whenever certain Loewner driving functions converge. We extend this result to random curves. The random version applies in particular to random lattice paths that have chordal SLEκ as a scaling limit, with κ < 8 (nonspace-filling). Existing SLEκ convergence proofs often begin by showing that the Loewner driving functions of these paths (viewed from ∞) converge to Brownian motion. Unfortunately, this is not sufficient, and additional arguments are required to complete the proofs. We show that driving function convergence is sufficient if it can be established for both parametrization directions and a generic observation point.
RBP‐J deficiency promoted the proliferation and differentiation of CD133‐positive cells in both in vitro and in vivo studies

Although Notch signalling pathway could control the proliferation and differentiation of neural stem cells (NSCs), it is largely unknown about the effect of Notch signalling pathway on the neurogenesis of CD133‐positive cells. By using the primary cultured ependymal cells and the transgenic mouse, we found that CD133 immunoreactivity was exclusively localized in the ependymal layer of ventricles; moreover, most CD133‐positive cells were co‐labelled with Nestin. In addition, recombination signal binding protein J (RBP‐J), a key nuclear effector of Notch signalling pathway, was highly active in CD133‐positive cells. CD133‐positive cells can differentiate into the immature and mature neurons; in particular, the number of CD133‐positive cells differentiating into the immature and mature neurons was significantly increased following the deficiency or interference of RBP‐J in vivo or in vitro. By using real‐time qPCR and Western blot, we found that RBP‐J and Hes1 were downregulated, whereas Notch1 was upregulated in the expression levels of mRNAs and proteins following the deficiency or interference of RBP‐J. These results demonstrated RBP‐J deficiency promoted the proliferation and differentiation of CD133‐positive cells. Therefore, we speculated that RBP‐J could maintain CD133‐positive cells in the characteristics of NSCs possibly by regulating Notch1/RBP‐J/Hes1 pathway. It will provide a novel molecular insight into the function of RBP‐J as well as facilitate a future investigation of CD133‐positive cells with respect to their potential application in neurodegenerative disorder.