Miracle-dz/UniFAR-FTUs huggingface dataset:
Whole-body momentum control with linear quadratic state incremental walking pattern generation and a centroidal moment pivot balancing strategy for humanoid robots

ABSTRACT In this paper, a proposed momentum control framework adopts the quadratic programming method to handle the multi-task prioritized problem by assigning suitable constraints and the objective function, including desired end-effectors motions, the limitations of joints and the rate of change of linear and angular momentum of a robot. First, the centroidal momentum matrix is used to derive the relationship between the linear and angular momentum of the center of mass and the whole-body motion of the robot. Second, the linear quadratic state incremental walking pattern generator is used to regulate the rate of change of linear momentum of the robot for balanced walking. Then, according to the difference between the centroidal moment pivot and the zero moment point (ZMP), the compensatory rate of change of horizontal angular momentum can be calculated to keep the balance from unexpected larger disturbances. Finally, the performance of this control framework is verified effectively through the simulations and the experiments. In addition, the ZMP tracking performance is improved up to 50% in the simulations and 14% in the experiments. GRAPHICAL ABSTRACT
On weighted Bochner-Martinelli residue currents

We study the weighted Bochner-Martinelli residue current $R^p(f)$ associated with a sequence $f=(f_1,\dots,f_m)$ of holomorphic germs at $0\in\mathbf{C}^n$, whose common zero set equals the origin, and $p=(p_1,\ldots, p_m)\in\mathbb N^n$. Our main results are a description of $R^p(f)$ in terms of the Rees valuations of the ideal generated by $(f_1^{p_1},\ldots, f_m^{p_m})$ and an explicit description of $R^p(f)$ when $f$ is monomial. For a monomial sequence $f$ we show that $R^p(f)$ is independent of $p$ if and only if $f$ is a regular sequence.
Knowledge Management in Higher Education Institutions: A Framework to Improve Collaboration

The reason for this paper is to introduce a system that increments information sharing and cooperation in Higher Education Institutions. The paper talks about the idea of information the board in advanced education establishments, introducing a systematization of information practices and apparatuses to connecting individuals (understudies, instructors, analysts, secretariat staff, outer elements) and advancing the information sharing across a few critical cycles and administrations in an advanced education organization, for example, the examination processes, growing experiences, understudy and graduated class administrations, managerial administrations and cycles, and key preparation and the executives. The structure purposed in this paper intends to further develop information practices and cycles which work with a climate and a culture of information cooperation, sharing and disclosure that ought to describe an establishment of advanced education.
Erratum on "Classifying Camina groups: A theorem of Dark and Scoppola"

Recall that a group G is a Camina group if every nonlinear irreducible character of G vanishes on GnG 0 . Dark and Scoppola classified the Camina groups that can occur. We present a different proof of this classification using Theorem 2, which strengthens a result of Isaacs on Camina pairs. Theorem 2 is of independent interest.
Gastrointestinal symbiont diversity in wild gorilla: A comparison of bacterial and strongylid communities across multiple localities

Western lowland gorillas (Gorilla gorilla gorilla) are Critically Endangered and show continued population decline. Consequently, pressure is mounting to better understand their conservation threats and ecology. Gastrointestinal symbionts, such as bacterial and eukaryotic communities, are believed to play vital roles in the physiological landscape of the host. Gorillas host a broad spectrum of eucaryotes, so called parasites, with strongylid nematodes being particularly prevalent. While these communities are partially consistent, they are also shaped by various ecological factors, such as diet or habitat type. To investigate gastrointestinal symbionts of wild western lowland gorillas, we analysed 215 faecal samples from individuals in five distinct localities across the Congo Basin, using high‐throughput sequencing techniques. We describe the gut bacterial microbiome and genetic diversity of strongylid communities, including strain‐level identification of amplicon sequence variants (ASVs). We identified strongylid ASVs from eight genera and bacterial ASVs from 20 phyla. We compared these communities across localities, with reference to varying environmental factors among populations, finding differences in alpha diversity and community compositions of both gastrointestinal components. Moreover, we also investigated covariation between strongylid nematodes and the bacterial microbiome, finding correlations between strongylid taxa and Prevotellaceae and Rikenellaceae ASVs that were consistent across multiple localities. Our research highlights the complexity of the bacterial microbiome and strongylid communities in several gorilla populations and emphasizes potential interactions between these two symbiont communities. This study provides a framework for ongoing research into strongylid nematode diversity, and their interactions with the bacterial microbiome, among great apes.
Chiral trigintaduonion emanation leads to the standard model of particle physics and to quantum matter

The chiral trigintaduonions T, with right product operation ((T x T) x T). , used previously for maximum information transmission, are here shown to be HO when arranged for achiral emanation. When considering a sum over chiral emanations to obtain an achiral emanator, with T as phase factor, we have the exponentiation operation exp(iT), which leads to a theory that is C  H  O. As such, we have the foundation for the associative operator algebra of the Standard Model: U(1)  SU(2)L  SU(3). A complication with T products is you can have zero divisors. A framework is adopted to remove the zero divisors by requirement of maximum domain of analyticity on the log trigintaduonion multiplication, resulting in a description for the meromorphic precipitation of matter. In this process a fundamental quantum is indicated from the zero-divisor residue terms. Analyticity in the form of a Wick rotation also provides a mechanism whereby we can transition to a dimensionful action and quantum and arrive at an explanation for the critical ‘smallness’ of Planck’s constant. A review of emanation theory will be given first, including the origin of , the fine-structure constant, followed by showing that the form of the emanator is Tem  HO, followed by a description of the possible meromorphic origin of point-like matter. 84 Stephen Winters-Hilt
Constrained BSDE and Viscosity Solutions of Variation Inequalities

In this paper, we study the relation between the smallest $g$-supersolution of constraint backward stochastic differential equation and viscosity solution of constraint semilineare parabolic PDE, i.e. variation inequalities. And we get an existence result of variation inequalities via constraint BSDE, and prove a uniqueness result under certain condition.
The Risk Mapping of Coastal Flooding Areas Due to Tsunami Wave Run-Up Using DAS Model and its Impact on Nekor Bay (Morocco)

The Al-Hoceima region is threatened by tsunami hazard because of its location in the coastal area of the Mediterranean Sea, besides the shallow seismically active region south of the Alboran Sea. Therefore, the current study presents a novel model to map coastal flooding potential zones due to tsunami wave run-up in Nekor bay using three natural parameters (distance from coastline, altitude and slope) in a geographic information system (GIS) environment. Furthermore, the coastal flooding simulation using 4 scénarios (1, 2, 3, 4m) based on the run-up elevation according to tsunami wave elevation (TWE) literature of the study area is used to confirm the DAS model result, and to estimate the potential impacts. The result of the DAS model revealed that 1 km from the coast to the Nekor plain is the most exposed to the impact of tsunamis generated south of the Alboran Sea. The coastal flooding simulation confirmed the DAS result, and the damage estimation of the urban area and the agriculture was respectively 2 and 98% for run-up 1 m, 3% and 97% for run-up 2m, 4% and 96% for run-up 3m, and for the worst case scenario of 4 m was 3% and 97%. Therefore, the results obtained show that the major potential impact of coastal flooding in Nekor plain is the salinization of agricultural land. Finally, we propose a sustainable solution utilizing a controlled forest along the coast to reduce future tsunami impacts on Nekor bay.
On the Number of Collisions in $\Lambda$-Coalescents

We examine the total number of collisions $C_n$ in the $\Lambda$-coalescent process which starts with $n$ particles. A linear growth and a stable limit law for $C_n$ are shown under the assumption of a power-like behaviour of the measure $\Lambda$ near $0$ with exponent $0<\alpha<1$.
Mindfulness Intervention Decreases Frequency and Severity of Flares in Inactive Ulcerative Colitis Patients: Results of a Phase II, Randomized, Placebo-Controlled Trial.

BACKGROUND Ulcerative Colitis (UC) is a chronic, inflammatory disease, characterized by symptomatic periods (flare) interspersed with asymptomatic periods (remission). Evidence suggests that psychological stress can trigger flare. Studies have shown that mindfulness interventions (MI) reduce stress, foster more adaptive coping, and improve quality of life, but have been minimally used for UC patients. The objective of this study was to determine whether participation in an MI results in improvements in UC disease course and inflammatory cascades, mindfulness, perceived stress, and other psychological outcomes in inactive UC patients with limited or no exposure to past MI. METHODS Participants were randomized to an 8-week MI or control group. Biological and psychological assessments were performed at baseline, post 8-week course, and at 6- and 12-months. RESULTS Forty-three participants enrolled. The MI increased the state of mindfulness and mindfulness skills, decreased perceived stress and stress response in patients with inactive UC. The MI intervention significantly decreased the incidence of flare over 12 months (P < .05). None of the UC patients in the MI flared during 12 months, while 5 of 23 (22%) control group participants flared during the same period. CONCLUSIONS MIs could be considered as adjuvant treatment for a subset of UC patients with high perceived stress and low state of mindfulness.The trial was registered at clinicaltrials.gov as NCT01491997.
CMC Surfaces in Riemannian Manifolds Condensing to a Compact Network of Curves

A sequence of constant mean curvature surfaces $\Sigma_j$ with mean curvature $H_j \to \infty$ in a three-dimensional manifold $M$ condenses to a compact and connected graph $\Gamma$ consisting of a finite union of curves if $\Sigma_j$ is contained in a tubular neighbourhood of $\Gamma$ of size $\mathcal O(1/H_j)$ for every $j \in \N$. This paper gives sufficient conditions on $\Gamma$ for the existence of a sequence of compact, embedded constant mean curvature surfaces condensing to $\Gamma$. The conditions are: each curve in $\gamma$ is a critical point of a functional involving the scalar curvature of $M$ along $\gamma$; and each curve must satisfy certain regularity, non-degeneracy and boundary conditions. When these conditions are satisfied, the surfaces $\Sigma_j$ can be constructed by gluing together small spheres of radius $2/H_j$ positioned end-to-end along the edges of $\Gamma$.
Densities for Ornstein–Uhlenbeck processes with jumps

We consider an Ornstein–Uhlenbeck process with values in ℝn driven by a Lévy process (Zt) taking values in ℝd with d possibly smaller than n. The Lévy noise can have a degenerate or even vanishing Gaussian component. Under a controllability rank condition and a mild assumption on the Lévy measure of (Zt), we prove that the law of the Ornstein–Uhlenbeck process at any time t > 0 has a density on ℝn. Moreover, when the Lévy process is of α‐stable type, α ∈ (0, 2), we show that such density is a C∞‐function.
Let’s Profitably Fight Poverty, Shall We? How Managers Use Emotional Framing to Develop Base of the Pyramid Ventures Inside a Large Fast-moving Consumer Goods Company

Entering the Economic Base of the Pyramid (BoP) is often portrayed as an effective way for multinational corporations (MNCs) to grow and alleviate poverty, yet only few MNCs succeed. Although scholars have suggested that emotional arguments may be critical in motivating MNCs to engage at the BoP, it has remained unexplored how managers who develop BoP ventures inside MNCs use emotional framing to persuade organizational members to support their initiatives. Building on a multiple-case study of a Fast-Moving Consumer Goods Company, we find that captivating, solidifying, and perpetuating emotional frames allowed managers to earn and maintain commitment from volunteers and senior managers and sustain venturing efforts up until a stage where ventures were considered for launch despite an obvious sense of profitability. These findings contribute to a theoretical understanding of processes that enable BoP venture development inside MNCs, and contribute to the literatures on emotional framing and corporate entrepreneurship.
Solutions for certain classes of the Riccati differential equation

We derive some analytic closed-form solutions for a class of Riccati equations y′(x) − λ0(x)y(x) ± y2(x) = ±s0(x) where λ0(x), s0(x) are C∞-functions. We show that if δn = λnsn−1 − λn−1sn = 0, where λn = λ′n−1 + sn−1 + λ0λn−1and sn = s′n−1 + s0λk−1, n = 1, 2, …, then the Riccati equation has a solution given by y(x) = ∓sn−1(x)/λn−1(x). Extension to the generalized Riccati equation y′(x) + P(x)y(x) + Q(x)y2(x) = R(x) is also investigated.
The Evaluation of Time-Dependent Initialization Vector Advanced Encryption Standard Algorithm for Image Encryption

 Sensitive data has to be protected from the public.  A strong encryption algorithm is required for protecting images.  Computing speed is growing, making algorithms vulnerable to attacks.  An enhanced AES-CBC algorithm is evaluated for the encryption proposed.  The algorithm satisfied the required standards and passed all tests. The Advanced Encryption Standard (AES) has become an attractive encryption method for high security and fast implementation. The encryption algorithm is approved as a standard for widely-used communication and data processing units. However, the advance in technology and the introduction of quantum computers made the encryption scheme vulnerable to attack. Different attack procedures are continuously developed to attack end decrypted important and sensitive data. This paper evaluated an enhanced Advanced Encryption System operating in Cipher Block Chaining mode, suggesting a promising solution for resisting future attacks. The approach depends on a time-dependent initialization vector that produces the initialization vector block depending on the epoch time without sharing any encryption key. The evaluation process includes correlation analysis, global and local Shannon entropy analysis, chi-square analysis, histogram analysis, and differential analysis. The results showed that the enhanced encryption scheme is reliable and can resist most cyber-attacks without exposing any encrypted data to the public. The results were compared with previously published and tested algorithms and found to satisfy and exceed the minimum requirement. So, the encryption method can be implemented safely in future communication channels or used in the file encryption process. A R T I C L E I N F O Handling editor: Jawad K. Ali
Adapting the Short Grit Scale with Exploratory Structural Equation Modeling for Portuguese College Students

The Short Grit Scale (Grit–S) is a self- and informant-report version of the longer Grit Scale, and it retains the 2-factor structure of the original scale. Our purpose in this research was to measure trait-level perseverance and passion for long-term goals by translating and validating the Grit-S for Portuguese respondents. Our participants were 572 college students (135 female, 437 male; age range 18–30 years, M age = 21.47, SD = 2.29 years) from twelve Portuguese universities. Our data confirmed the scale’s two-factor structure (“consistency of interests” and “perseverance of effort”) and demonstrated appropriate adjustment values (CFI = 0.999, TLI = 0.981, SRMR = 0.017, RMSEA = 0.001, CI90%= 0.000–0.041). We found the adapted scale to be invariant for sex. Use of the scale confirmed an association between grit and well-being. These results imply that other investigators and practitioners interested in this scale may now apply it with Portuguese young adults.
Conceptual Metaphors for Life in Pashto

This paper, using Conceptual Metaphor Theory (CMT) as theoretical framework attempts to identify, analyze and interpret Metaphors for life in Pashto language. It argues that since life is a very rich conceptual domain, therefore it has more than one conceptual mapping. It identifies eight conceptual metaphors for Life in Pashto speech community, and demonstrates through mapping and entailment that how the target domain life is understood through several source domains in the Pashto language and culture. The identified metaphors for life are: Life is a Food, Life is a Journey, Life is a Person, Life is a Container, Life is Music, Life is a Burdon, Life is a Gamble and Life is a Trial.
Recommendations for the Development of Family-Based Interventions Aiming to Prevent Unhealthy Changes in Energy Balance-Related Behavior during the Transition to Parenthood: A Focus Group Study

Feasible interventions addressing unhealthy changes in energy balance-related behavior (EBRB) during pregnancy and early postpartum are needed. This study identified the needs and wishes of expecting and first-time parents concerning EBRB interventions during the transition to parenthood. Thirteen focus group discussions (n = 74) were conducted. Couples provided information about whether an intervention targeting unhealthy EBRB changes during pregnancy and postpartum would be acceptable, how such an intervention should look like, and in which way and during which period they needed support. Guided by the TiDIER checklist, all quotes were divided into five main categories (i.e., ‘what’, ‘how’, ‘when and how much’, ‘where’, ‘for and from whom’). Interventions should aim for changes at the individual, social, environmental and policy levels. The accessibility and approach (indirect or face-to-face) together with communicational aspects should be taken into account. A focus should go to delivering reliable and personalized information and improving self-regulation skills. Interventions should be couple- or family-based. Authorities, healthcare professionals, the partner and peers are important sources for intervention delivery and support. In the prevention of unhealthy EBRB changes around childbirth, the involvement of both parents is needed, while health care professionals play an important role in providing personalized advice.
Beamline 10: A multipole wiggler beamline at SSRL (invited)

A beamline has been constructed at Stanford Synchrotron Radiation Laboratory (SSRL) whose radiation source is a multipole permanent magnet wiggler installed in a straight section of the SPEAR 3–3.5 GeV electron storage ring. The wiggler is a hybrid design that utilizes Nd–Fe alloy magnet material combined with Vanadium Permendur poles. It is approximately 2 m long and has 15 full wiggler periods. Its field is regulated by varying its gap height. It has a peak operating field, limited by the electron beam vacuum chamber vertical aperture, of 1.4 T. The beamline consists of vacuum, safety, and optical components capable of transporting photons to one hard x‐ray (3–30 keV) end station, with provisions for implementing up to two additional branch lines. The existing hard x‐ray branch can be focused by a Pt‐coated toroidal mirror with a cutoff energy of approximately 22 keV. The experimental end station is serviced by a Hower–Brown type double crystal monochromator. The wiggler and beamline construction was co.
Approximating the Value Functions of Stochastic Knapsack Problems: A Homogeneous Monge-Amp\'ere Equation and Its Stochastic Counterparts

Stochastic knapsack problem originally was a versatile model for controls in telecommunication networks. Recently, it draws attentions of revenue management community by serving as a basic model for allocating resources over time. We develop approximation schemes for knapsack problems in this paper, a system of nonlinear but solvable partial differential equations and stochastic partial differential equation are shown to be the limit of the process that following the optimal solution of the stochastic knapsack problem.
Extended TQFT's and Quantum Gravity

This paper gives a definition of an extended topological quantum field theory (TQFT) as a weak 2-functor Z: nCob_2 -> 2Vect, by analogy with the description of a TQFT as a functor Z: nCob -> Vect. We also show how to obtain such a theory from any finite group G. This theory is related to a topological gauge theory, the Dijkgraaf-Witten model. To give this definition rigorously, we first define a bicategory of cobordisms between cobordisms. We also give some explicit description of a higher-categorical version of Vect, denoted 2Vect, a bicategory of "2-vector spaces". Along the way, we prove several results showing how to construct 2-vector spaces of "Vect-valued presheaves" on certain kinds of groupoids. In particular, we use the case when these are groupoids whose objects are connections, and whose morphisms are gauge transformations, on the manifolds on which the extended TQFT is to be defined. On cobordisms between these manifolds, we show how a construction of ``pullback and pushforward'' of presheaves gives both the morphisms and 2-morphisms in 2Vect for the extended TQFT, and that these satisfy the axioms for a weak 2-functor. Finally, we discuss the motivation for this research in terms of Quantum Gravity. If the results can be extended from a finite group G to a Lie group, then for some choices of G this theory will recover an existing theory of Euclidean quantum gravity in 3 dimensions. We suggest extensions of these ideas which may be useful to further this connection and apply it in higher dimensions.
Exploring Parameter Spaces in Dynamical Systems

The parameter space of dynamical systems arising in applications is often found to be high-dimensional and difficult to explore. We construct a fast algorithm to numerically analyze "quantitative features" of dynamical systems depending on parameters. Using a classical problem from mathematical ecology as an example, we demonstrate how to apply the algorithm to investigate the amplitude of a limit cycle depending on seven parameters. We stress the practical value of the algorithm but we also provide a rigorous error analysis to justify the overall strategy. Our approach turns out to be particularly useful in the case of comparing experimental data to a model defined by differential equations and to investigate whether the equations can approximate the modeled system.
Stable Evaluation of Differential Operators and Linear and Nonlinear Multi-scale Filtering

Diusion processes create multi{scale analyses, which enable the generation of simplied pictures, where for increasing scale the image gets sketchier. In many practical applications the \scaled image" can be characterized via a variational formulation as the solution of a minimization problem involving unbounded operators. These unbounded operators can be evaluated by regularization techniques. We show that the theory of stable evaluation of unbounded operators can be applied to eciently solve these minimization problems.