Miracle-dz/UniFAR-FTUs huggingface dataset:
Acoustic Collision Detection and Localization for Robot Manipulators

Collision detection is critical for safe robot operation in the presence of humans. Acoustic information originating from collisions between robots and objects provides opportunities for fast collision detection and localization; however, audio information from microphones on robot manipulators needs to be robustly differentiated from motors and external noise sources. In this paper, we present Panotti, the first system to efficiently detect and localize on-robot collisions using low-cost microphones. We present a novel algorithm that can localize the source of a collision with centimeter level accuracy and is also able to reject false detections using a robust spectral filtering scheme. Our method is scalable, easy to deploy, and enables safe and efficient control for robot manipulator applications. We implement and demonstrate a prototype that consists of 8 miniature microphones on a 7 degree of freedom (DOF) manipulator to validate our design. Extensive experiments show that Panotti realizes near perfect on-robot true positive collision detection rate with almost zero false detections even in high noise environments. In terms of accuracy, it achieves an average localization error of less than 3.8 cm under various experimental settings.
A Study Of Combustion Temperature Distribution In The Cylinder Of Compression Ignition Engine

This paper investigates the combustion temperature distribution and consequent heat transfer to the wall of the combustion chamber of a compression ignition engine. The gas temperature and pressure were obtained using a model, and the model was analyzed using Matlab 8.5a programming language, by varying engine speed at various crank angles. The Arrhenius equation for chemical kinetic model was utilized and combustion analyzed for constant air/fuel and compression ratio. In addition, the Annand and Ma heat transfer model was used to determine the heat loss to the cylinder wall during combustion. At engine of 2000rpm and crank angle of -15 to 15, the temperature and heat obtained were 2300K and 2300kJ receptively. At engine speed of 3000rpm and crank angle of -15 to 15 degrees, the temperature and heat obtained were 3150K and 3150kJ respectively. At engine speed of 4000rpm and crank angle of -15 to 15, the temperature and heat obtained were 3970K and 3970kJ respectively. The results obtained from the research revealed the dependency of combustion temperature distribution on engine speed. The combustion temperature distribution and heat transfer to the wall of the combustion chamber were observed increasing with engine speed, reaching a maximum immediately after the TDC and then decreased sharply due to expansion stroke as a result of the opening and closing of the inlet and exhaust valves. This research will help in assessing the performance level of a reciprocating internal combustion engine and will help designers to design for thermal stress reduction in engine, and provide sufficient path of heat flow to the various parts of the engine to ensure that temperature at such parts do not exceed safe values if implemented.
Human Wearable Attribute Recognition using Decomposition of Thermal Infrared Images

—This paper addresses an attribute recognition problem in thermal images, speciﬁcally on worn objects such as hat and glasses. Although attribute recognition is a growing research ﬁeld, there are not much work done in thermal infrared spectrum. In this spectrum, since illumination is not a problem, it could be a better option to be used in nighttime or poorly lit areas. The proposed method uses only the attribute information and excludes the unnecessary information for the recognition. To achieve this, we propose attribute recognition based on feature decomposition using Robust Principal Component Analysis (RPCA). An experiment to evaluate the capability of the proposed method was conducted on the dataset created for this research. The results show that the proposed method outperformed the method without decomposition by 14% in average with a maximum of 27% increase in a speciﬁc attribute.
Magnetic and dielectric properties of Methanol Added Fe3O4 –ZrO2 Nanocomposites

Ceramics such as zirconia find increasing applications in electronic industry and biomedical fields. Fully dense, high-purity zirconia shows good strength, exceptional hardness and wear-resistance. Presently, research has been done to enhance the properties and stability of ZrO2, specifically the hardness by governing the structure and composition of different additives. For stabilization of zirconia, iron oxide (Fe3O4) has already been proven, but it has relatively lower hardness value that can be improved by addition of polymers. In this research work acidic (pH 4) and basic (pH 10) Fe3O4 is doped into pre-synthesized ZrO2 with 2, 4, 6, 8 and 10wt%, whereas methanol was used as additive. Methanol addition leads to relatively higher value of hardness (~1200HV) than previously reported value. XRD confirms the formation of pure tetragonal ZrO2 with better crystallinity. A sharp decrease in crystallite size has been observed when phase shift takes place at 10wt% of Fe3O4. M-H plots show very low value of coercivity and remanence for all dopant content. Dielectric constant is found to increase with Fe3O4 content. Dielectric constant of Fe3O4 doped zirconia NPs strongly depends on phase and crystallite size.
Ideas for the rapid development of the structural models in mechanical engineering

Conceiving computer based instruments is a long run concern of the authors. Some of the original solutions are: optimal processing of the large matrices, interfaces between the programming languages, approximation theory using spline functions, numerical programming increased accuracy based on the extended arbitrary precision libraries. For the rapid development of the models we identified the following directions: atomization, ‘librarization’, parameterization, automatization and integration. Each of these directions has some particular aspects if we approach mechanical design problems or software development. Atomization means a thorough top-down decomposition analysis which offers an insight regarding the basic features of the phenomenon. Creation of libraries of reusable mechanical parts and libraries of programs (data types, functions) save time, cost and effort when a new model must be conceived. Parameterization leads to flexible definition of the mechanical parts, the values of the parameters being changed either using a dimensioning program or in accord to other parts belonging to the same assembly. The resulting templates may be also included in libraries. Original software applications are useful for the model’s input data generation, to input the data into CAD/FEA commercial applications and for the data integration of the various types of studies included in the same project.
Detailed Full-Bridge Modular Multilevel STATCOM Modeling for Real-Time Commissioning Studies

Modular multilevel converters (MMCs) have several highly desirable features for SVC applicati ons but they present a major challenge for electromagnetic simul ation tools due to their extensive use of power electronic devi ces and complex topology. This paper presents the latest work condu cted at Hydro-Québec’s Research Institute to adapt its simu lation tools to cope with MMC-SVCs. Following a discussion on th e importance of real-time commissioning studies for major equipment such as SVCs and HVDCs, a real-time capab le modeling of the full-bridge MMC suited for SVC application is presented. Furthermore, Hypersim’s iterative engine is briefly discussed and the generic control scheme used for t he sample application is shown. A fully-detailed typical full-bridge MMCSVC is used to demonstrate the proposed modeling.
On Reachability and Acyclicity

This paper presents a type system that enforces constraints on reachability via pointers or references, and restricts reference cycles to be within deﬁnable regions. Every data object lives in a ﬁxed region, determined from its type. The motivation for our work is the desire to enforce static constraints on reference structures. Such constraints can be useful for program reasoning, for deadlock avoidance in concurrent contexts, and for runtime optimizations and memory management. For example, data invariants are easily broken by re-entrant code. By restricting cycles to statically enforceable regions, program proof rules can make stronger assumptions about reference structures. The contributions of this paper are a novel class-based region-parametric type system, with subtyping, that enforces one-way reachability between regions, and a dynamic semantics that allows us to formalize the key structural invariant: object references respect region reachability, so that object cycles occur only within regions.
NUMERICAL STUDY OF SPRAY/PRECESSING VORTEX CORE INTERACTION IN REALISTIC SWIRLING FLOWS

Swirling jet flows are widely used in combustion devices for the stabilization of premixed or partially premixed flames. This stabilization is made possible by the vortex breakdown that occurs when the geometric swirl number, which measures the ratio of tangential over axial momentum flux, is sufficient. In these conditions, the vortex breakdown may lead to the formation of coherent structures such as the precessing vortex core (PVC) (Syred (2006)), single or multiple helicoidal vortices. The PVC plays an important role in the dynamics of the flame as it may wrinkle the premixed flame front creating isolated flame pockets (Moureau et al. (2011a)). This leads to periodic fluctuations of the heat release rate, which is directly related to the total flame surface. In the case of spray flames, the PVC also influences the distribution of fuel mass fraction as it leads to preferential segregation of fuel droplets (Sanjose et al. (2011)). The analysis of this large-scale feature is mandatory to improve the understanding of the dynamics of swirling flows. Large-Eddy Simulation is a powerful tool for the analysis of coherent structures in turbulent flows. The steady increase in computational power leads to finer and finer mesh resolutions, which enables an accurate prediction of these important features. The extraction of large-scale features in these well refined simulations is particularly difficult because it requires to process either wide regions of the computational domain or to perform some averaging of the flow. A solution is to use filters to remove the sub-filter scale motions. To this aim, high-order filters, characterized by their good selectivity were implemented in the LargeEddy Simulation (LES) solver YALES2 (Moureau et al. (2011b)), and applied in an aeronautical swirl burner.
Vol. XI-N 2.pmd

Organizational commitment a central goal for human resources management has received considerable attention from managers and comportamental researchers. Obtaining elevated levels of employee commitment towards his/her organization requires management strategies that recognize its multidimensional nature and related variables. This research is particularly justified by the need to render the concept of organizational commitment operational through the identification of behaviours and attitudes that have a significant impact upon performance and organizational efficiency. To this end, we have set out the components that make up organizational commitment, its nature and its antecedents, and we have examined potential implications for human resources management. Given the generally accepted connection between organizational commitment and the results/behaviours of a business, it was possible to reach relevant conclusions and illustrate several actions and specific strategies that can extend the scope for human resources management action in regard to organizational commitment. School of Economics and Management TECHNICAL UNIVERSITY OF LISBON
COMPARATIVE ANALYSIS OF MOD-ECDH ALGORITHM WITH VARIOUS ALGORITHMS

Cryptography has remained a well-known and well-researched topic for ages. It is the first line of defense for any networked system. A lot of algorithms have been developed using symmetric and asymmetric cryptographies. From the security point of view, Asymmetric Cryptography is more popular due to its enhanced security. RSA, DSA, ECS, DES, ECC, and other algorithms have been developed for realizing Asymmetric Cryptosystem. These algorithms are primarily used to ensure a secure and reliable communication. These algorithms play a vital role in establishing a secure line of communication. Elliptic Curve Cryptography (ECC) provides the same level of security with a smaller key size. In the present paper, a developed MOD-ECDH was proposed and, then, it was compared with other various popular algorithms like ECDH, RSA, and ECS. Empirical and simulation results of applying the algorithms of ECDH and MOD-ECDH were described in detail. According to the result analysis, it is evident that the proposed algorithm outperforms other algorithms in terms of processing time and key size.
Scape anatomy of Allium (Alliaceae) in Iran and its systematic application.

Cross section of scapes in 20 Allium species representing 6 subgenera and 12 sections were investigated. The following characters were determined to be informative: the cross section shape and diameter, number of vascular bundles and vascular bundles diameter. The cross section shape in the members of subgenera Allium , Cepa , Reticulatobulbosa and Polyprason is circular whereas in the members of subgen. Melanocrommyum and A. paradoxum (subgen. Amerallium ) the cross sections are ellipse and triangular, respectively. Our results show that scape anatomical studies on Allium are useful in circumscribing the species and in the subgeneric classification of the genus.
Sensorless Control of Permanent Magnet Synchronous Motor Based on the fifth-order Cubature Kalman Filter

ABSTRACT The rotor position signal is the key parameter to control the permanent magnet synchronous motor (PMSM). In order to solve the problems caused by using the position sensor of the PMSM traditional control, such as the high cost, large volume, low reliability and susceptibility to environment disturbance and so on, a estimation method of motor speed and rotor position based on fifth-order Cubature Kalman filter (fifth-order CKF) is proposed for sensorless control of PMSM. Firstly, the discrete mathematical model of permanent magnet synchronous motor in α-β coordinate system is established, the fifth order cubature criterion is introduced, and the fifth-order CKF algorithm is derived. Then the model of sensorless vector control system with double closed loop of speed and current is built by using the fifth-order CKF algorithm. The Matlab/simulink simulation is carried out. The simulation results show that the fifth-order CKF algorithm has high estimation accuracy, steady running and good robustness, which can meet the needs of actual motor control performance.
The Study of Electrophysical Characteristics of SOI MOSFETs in the Temperature Range from -60 to 250 °С

The results of research, which aimed at developing hightemperature SOI MOSFETs, are presented. The possibility of stable MOSFETs work at the temperatures above 125°C was investigated. The TCAD simulation of the states of fully and partially depletion in the pockets of MOS transistors is carried out. According to research results and simulation, the parameters of the MOSFETs were changed for increasing its reliability at the high temperatures.
Using Agile Practices in Global Software Development: A Systematic Review

There is a growing interest in applying agile approaches in Global Software Development (GSD) projects. Recently, some studies have reported the use of Scrum practices in distributed development projects. However, little is known about how these practices are carried out in reality and what the outcomes are. We have conducted a systematic literature review to identify, synthesize and present the ﬁndings from the primary studies that report using Scrum practices in GSD projects. Our search strategy identiﬁed 583 papers, of which 20 were identiﬁed as primary papers relevant to our research. We extracted data from these papers to identify various challenges of using Scrum in GSD. Current strategies to deal with the identiﬁed challenges have also been extracted. This paper presents the review’s ﬁndings that are expected to help researchers and practitioners to understand the current state of use of Scrum practices in GSD.
PROSES HIDROLISIS SAMPAH ORGANIK MENJADI GULA DENGAN KATALIS ASAM KLORIDA

Hydrolysis is one of the most important stages of bioethanol production made ​​from organic waste. Hydrolysis with dilute hydrochloric acid concentration was varied from 0.25-1% with a temperature of 120-180 o C and time of 15-120 minutes. Reactant ratio 1:6 between organic waste and dilute hydrochloric acid for every stage hydrolysis was reacted in a batch reactor system. The sugars concentrations in the hydrolyzate were then analyzed by Nelson-Somogyi method. The results showed that the best conditions for hydrolysis was found at temperature of 120 o C, catalyst concentration of 0.75%, time of 30 minutes and the pressure of 4 bar with the sugar concentration of 29.34 mg/mL and the yield of 13.09%. Key word : hydrochloride acid , hydrolysis, sugar concentration, yield
Vine phenological stage during larval feeding affects male and female reproductive output of Lobesia botrana (Lepidoptera: Tortricidae)

The effect of vine phenological stage during larval feeding on the reproductive output of Lobesia botrana (Denis & Schiffermuller) adults was assessed. Larvae were reared under field conditions on vine inflorescences, unripe or ripe berries simulating the first, second and third insect generations respectively. The resulting adults showed significant differences in body weight, longevity and reproductive output as measured by oviposition period, total fecundity and reproductive efficiency (viable eggs/body weight) for females, and spermatophore number and volume of the first spermatophore for males. Viable egg number was positively correlated with female body weight for all treatments but male reproductive efficiency (spermatophores/body weight) was not. The reproductive output of females from larvae reared on a standard semisynthetic diet was comparable to that of females reared on ripe berries whereas males showed a higher reproductive output when reared on semisynthetic diet. These results clearly show that data obtained from insects reared on artificial diet cannot be extrapolated to 'field-derived' adults. The results suggest that the variation in L. botrana reproductive output due to the larval food source should be taken into account as a potential factor affecting insect population dynamics. It is suggested that different intervention thresholds, such as those based on pheromone catches, may be needed for each of the three moth generations, to compensate for the increased fecundity and potential to cause larger amounts of crop damage of later generations.
Isoenzyme analysis of five endemic and one widespread Kniphofia species (Asphodelaceae) of Ethiopia

There are seven species of genus Kniphofia in Ethiopian flora. K. foliosa, K. hildebrandtii, K. insignis, K. isoetifolia , and K. schimperi are endemic. Kniphofia pumila and K. thomsonii are widespread from West Africa to Eastern and Central Africa. In this study the genetic diversity and the relationships between five endemic and one widespread Kniphofia species in Ethiopia was conducted based on isoenzymes systems. The electrophoretic analyses of four enzymes systems in the species from ten experimental sites in ten locations revealed seven putative loci, of which PGM-1, PGM-2, AAT-2 and GPI-2 were polymorphic. The species have displayed higher genetic diversity parameters than other endemic plants. The over all mean inbreeding coefficient (F) was positive indicating slight deficiency in the number of heterozygotes. The total genetic diversity varies from 0.5 in K. schimperi to 1.11 in K. isoetifolia indicating very low diversification between the populations with in a species. At the generic level HT ranges from 0.034 to 0.470 with a mean of 0.247. The genetic variation among the species (G ST ) is 6.6%. Over all mean of genetic distance (0.011) and genetic similarity (0.938) indicated high similarity among the populations. Despite morphological variation particularly in floral morphology and inflorescence architecture, the over all mean of unbiased genetic identity of the species (0.989) is much higher than described for congeneric species (I = 0.64). The results, therefore, indicate that the Ethiopian Kniphofia species share a fairly recent common ancestor, but have differentiated in floral and inflorescence character through rapid evolution. This hypothesis needs, however, further testing. Key words/phrases : Endemism, genetic diversity, isoenzyme, kniphofia, inbreeding coefficient SINET: Ethiopian Journal of Science Vol. 27 (2) 2004:143–152
Race and Genealogy. Buffon and the Formation of the Concept of « Race »

This article analyses the conditions of formation of the concept of " race " in natural history in the middle of the eighteenth century. Relying on the method of historical epistemology to avoid some of the aporias raised by the traditional historiography of " racism " , it focuses on the peculiarities of the concept of " race " in contrast to other similar concepts such as " variety " , " species " and tries to answer the following questions: to what extent the concept of " race " was integrated in natural history's discourses before the middle of the eighteenth century? To which kind of concepts and problems was it linked and to which style of reasoning did it pertain? To which conditions could it enter natural history and develop in it? The article argues that " race " pertained to a genealogical style of reasoning which was largely extraneous to natural history before the middle of the eighteenth century. Natural history was rather dominated by a different style of reasoning, a logical and classificatory style, whose principles and concepts were strong obstacles to the development of a concept of " race ". To understand how the concept of " race " developed in natural history, one should understand how the genealogical style of reasoning entered natural history and modified the very principles of classification that organized it. I try to establish that it is through Buffon and some of the main authors of the " monogenist " tradition that the most fundamental conditions for the integration of a genealogical style of reasoning and the development of a concept of " race " are met. To put it clearly, in contrast to many scholars' analysis – and following some intuitions of P.R Sloan – I argue that Buffon in particular, and monogenism in general, were decisive in the integration and development of the concept of "race" in natural history
Global impacts of aflatoxin in maize: trade and human health

Maize is one of the most important agricultural commodities worldwide in terms of amounts produced, consumed, and traded. Hence, naturally occurring aflatoxin contamination in maize has important ramifications for both global trade and health. Aflatoxin is produced by certain species of the genus Aspergillus in a variety of food crops, including maize, peanuts, and tree nuts. Over 100 nations have aflatoxin regulations, which are intended to protect human and animal health, but also incur economic losses to nations that attempt to export maize and other aflatoxin-contaminated commodities. These economic effects must be balanced against the health protection afforded by the regulations. It is important to acknowledge that, even in nations that have aflatoxin regulations, many individuals consume maize that has undergone no regulatory inspection, especially in nations where subsistence farming is widespread. Hence, aflatoxin contamination, exposure, and lack of regulation can also contribute to adverse effe.