Miracle-dz/UniFAR-FTUs huggingface dataset:
General techniques for constrained motion planning

This report presents automatic motion planning algorithms for robotic manipulators performing a variety of tasks. Given a task and a robot manipulator equipped with a tool in its hand, the motion planners compute robot motions to complete the task while respecting manipulator kinematic constraints and avoiding collisions with objects in the robot`s work space. To handle the high complexity of the motion planning problem, a sophisticated search strategy called SANDROS is developed and used to solve many variations of the motion planning problem. To facilitate systematic development of motion planning algorithms, robotic tasks are classified into three categories according to the dimension of the manifold the robot tool has to travel: visit-point (0 dimensional), trace-curve (1 dimensional) and cover-surface (2 dimensional) tasks. The motion planner for a particular dimension is used as a sub-module by the motion planner for the next-higher dimension. This hierarchy of motion planners has led to a set of compact and systematic algorithms that can plan robot motions for many types of robotic operations. In addition, an algorithm is developed that determines the optimal robot-base configuration for minimum cycle time. The SANDROS search paradigm is complete in that it finds a solution path if one exists, up to a user specified resolution. Although its worst-case time complexity is exponential in the degrees of freedom of the manipulator, its average performance is commensurate with the complexity of the solution path. Since solution paths for most of motion planning problems consist of a few monotone segments, the motion planners based on SANDROS search strategy show approximately two-orders of magnitude improvements over existing complete algorithms.
REMAINING FATIGUE LIFE ANALYSIS: COMPARISON BETWEEN DENSE-GRADED CONVENTIONAL ASPHALT CONCRETE AND GAP-GRADED ASPHALT-RUBBER HOT MIX

A procedure for estimating the remaining fatigue life of existing bituminous pavements has been developed. This procedure incorporates laboratory fatigue data for tensile strain or surface curvature in terms of repetitions to failure. It also utilizes laboratory data on reduction of flexural stiffness with load repetitions. The proposed method was applied to investigate the remaining fatigue life of a dense-graded conventional asphalt concrete mix (CAC-DG) and a gap-graded asphalt-rubber hot mix (ARHM-GG) using laboratory flexure fatigue data and multilayer elastic analysis of typical pavement sections. Results show that for a given initial state of fatigue damage, the remaining fatigue life of ARHM-GG could be significantly longer than that of CAC-DG. It is also illustrated that thinner sections of ARHM-GG, compared with CAC-DG, will exhibit the same remaining fatigue life. This reduction in thickness becomes more significant with increasing foundation support under the pavement surface layer.
Five disruptive technology directions for 5G

General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. Users may download and print one copy of any publication from the public portal for the purpose of private study or research. You may not further distribute the material or use it for any profit-making activity or commercial gain ? You may freely distribute the URL identifying the publication in the public portal ? Take down policy If you believe that this document breaches copyright please contact us at vbn@aub.aau. dk providing details, and we will remove access to the work immediately and investigate your claim. 1 Most work in massive MIMO has assumed operation at frequencies of 5 GHz or less. While the same principles may prove useful at millimeter wavelengths , a successful marriage of massive MIMO and millimeter waves may take on a considerably different form.
A State-of-the-Art Review of the Real-Time Computer-Aided Study of the Writing Process

Writing researchers have developed various methods for investigating the writing process since the 1970s. The early 1980s saw the occurrence of the real-time computer-aided study of the writing process that relies on the protocols generated by recording the computer screen activities as writers compose using the word processor. This article reviews literature on that approach to studying the writing process. The article begins with defining the realtime computer-aided study of the writing process, tracing its historical development, and explaining the advantages it offers, then it gives a brief description of the software that has been used in the computer-aided writing process research and discusses the ways of analyzing the logged data, and it ends with overviewing the computer-aided writing process research. 1.
Interactive comment on “ Differences in instantaneous water use efficiency derived from post-carboxylation fractionation respond to the interaction of CO 2 concentrations and water stress in semi-arid areas ” by Na

and water availability on instantaneous water-use efficiency (iWUE) and the carbon isotope composition (d13C) of leaf water-soluble organic matter (LWSOM). Although the study of the interaction between CO2 and drought and its effects on d13C and iWUE is not new (Picon, Ferhi, & Guehl 1997), there is no clear consensus on the interpretation of d13C changes in response to increasing CO2 (Schubert & Jahren 2012). In this context, the comprehensive dataset here presented may contribute to understand the limitations of d13C as a surrogate for iWUE, and to better predict the response of tree species to increasing CO2, particularly in drought-prone environments. This is particularly relevant for the proper interpretation of long-term trends in d13C in relation to changes in water use efficiency, particularly in drought-prone environments, e.g. based on tree-ring records (Duquesnay et al. 1998; Saurer, Siegwolf, & Schweingruber 2004; Voltas et al. 2013), or from herbarium and sub-fossil material (Peñuelas & Azcón-Bieto 1992;Beerling 1996;Köhler et al. 2010). The experiment is well-designed and the data is generally well presented, although some details on the methodology are missing (see technical corrections). However, the manuscript requires some improvements, particularly on the interpretation of results.
AN APPLICATION OF THE WIENER HERMITE EXPANSION TO THE NONLINEAR EVOLUTION OF DARK MATTER

We apply the Wiener Hermite (WH) expansion to the nonlinear evolution of the large-scale structure and obtain an approximate expression for the matter power spectrum in the full order of the expansion. This method allows us to expand any random function in terms of an orthonormal basis in the space of random functions in such a way that the first order of the expansion expresses the Gaussian distribution, and others are the deviations from Gaussianity. It is proved that the WH expansion is mathematically equivalent to the Γ-expansion approach in the renormalized perturbation theory (RPT). While exponential behavior in the high-k limit has been proved for the mass density and velocity fluctuations of dark matter in the RPT, we prove the behavior again in the context of the WH expansion using the result of the standard perturbation theory (SPT). We propose a new approximate expression for the matter power spectrum which interpolates the low-k expression corresponding to the 1-loop level in SPT and the high-k expression obtained by taking a high-k limit of the WH expansion. The validity of our prescription is specifically verified by comparing with the 2-loop solutions of the SPT. The proposed power spectrum agrees with the result of the N-body simulation with accuracy better than 1% or 2% in a range of baryon acoustic oscillation scales, where the wave number is about k = 0.2–0.4 h Mpc−1 at z = 0.5–3.0. This accuracy is comparable to or slightly less than the ones in the closure theory, the fractional difference of which from the N-body result is within 1%. One merit of our method is that the computational time is very short because only single and double integrals are involved in our solution.
Case Study of Feature-Oriented Requirements Modelling, Applied to an Online Trading System

The Feature-Oriented Requirements Modelling (FORM) combines the requirement engineering style structuring of requirements documents with the feature-orientation of the Feature Oriented Software Development, resulting in a feature-oriented model of the functional requirements of a system-under-development (SUD). A feature is a distinguishable unit of added value to the SUD. The objectives of FORM are to model features as independent modules, to allow the addition of new features with minimal changes to the existing features, and to enable automatic generation and checking of properties like correctness, consistency, and non-determinism. FORM structures requirements into three models: a domain model, a collection of behavioural models, and a collection of functional models. A feature is modelled by a distinct behavioural model. This dissertation evaluates FORM by applying it to a new application that can be thought of in terms of features, namely an online trading system (OTS) that receives requests from customers about buying or selling securities on a stock market. The OTS offers variability in terms of the types of orders that customers can request, (e.g. market order, limit order and stop order). The case study revealed six deficiencies of the FORM notation, three of which were easily overcome. The dissertation presents the results of the case study, resolutions to three of the six deficiencies, and an outline of an approach to resolve the other three deficiencies.
High altitude New Zealand record for a long-tailed skua (Stercorarius longicaudus) SHORT NOTE

At 1146 h (NZST) on 5 Nov 2010, an in-bound passenger aircraft to Auckland Airport collided with a bird at an altitude of 4084 m. The aircraft’s position at the time of impact was recorded as 40 NM northeast of Auckland Airport, placing the location above the northern Coromandel Peninsula (Fig. 1; pilot incident report received, but commercial sensitivity prevents publication of precise flight details). Sufficient tissue of the bird was retrieved after the aircraft landed to allow for identification. Although fragmentary, the remains allowed specific identification that was subsequently confirmed by DNA analysis (Fig. 2). The remains, consisting of some tissue, feathers and one foot, are from a bird about the size of a red-billed gull (Larus novaehollandiae scopulinus). The short, bi-coloured, webbed foot, combined with the grey-brown dorsal plumage, and white ventral plumage with some buff and grey barring, indicate that it came from a small skua (Stercorariidae). The length of the tarsometatarsus was a few mm longer than 38.5 mm (based on the damaged remains); the middle toe and claw length was 38.5 mm. The tarsometatarsus was mainly mottled grey but black where it joined the tibiotarsus; the foot and toes were black. The remains were not from a pomarine skua (Coprotheres pomarinus) because that species has a longer tarsometatarsus (>48.0 mm) and middle toe and claw (>42.0 mm; Higgins & Davies 1996). The feet of the arctic skua (Stercorarius parasiticus) and long-tailed skua (S. longicaudus) are of similar size to the remains, but arctic skua usually have longer feet (Higgins & Davies 1996). In these 3 species of skua, leg and foot colour gets darker Notornis, 2013, Vol. 60: 245-248 0029-4470 © The Ornithological Society of New Zealand, Inc.
Paleo-sea surface temperature calculations in the equatorial east Atlantic from Mg/Ca ratios in planktic foraminifera- A comparison to sea surface temperature estimates from U37 ', oxygen isotopes, and foraminiferal transfer function

Abstract. We present two -270 kyr paleo-sea surface temperature (SST) records from the Equatorial Divergence and the South Equatorial Current derived from Mg/Ca ratios in the planktic foraminifer Globigerinoides sacculifer. The present study suggests that the magnesium signature of G. sacculifer provides a seasonal SST estimate from the upper -50 m of the water column generated during upwelling in austral low-latitude fall/winter. Common to both down-core records is a glacial-interglacial amplitude of-3o-3.5oC for the last climatic changes and lower Holocene and glacial oxygen isotope stage 2 temperatures compared with interglacial stage 5.5 and glacial stage 6 temperatures, respectively. The comparison to published SST estimates from alkenones, oxygen isotopes, and foraminiferal transfer function from the same core material pinpoints discrepancies and conformities between methods. 1. Introduction 1.2. Foraminiferal as Paleotemperature 1.1. Paleo-Sea Surface Temperature Estimations
Analyzing the stability of the FDTD technique by combining the von Neumann method with the Routh-Hurwitz criterion

This paper addresses the problem of stability analysis of finite-difference time-domain (FDTD) approximations for Maxwell's equations. The combination of the von Neumann method with the Routh-Hurwitz criterion is proposed as an algebraic procedure for obtaining analytical closed-form stability expressions. This technique is applied to the problem of determining the stability conditions of an extension of the FDTD method to incorporate dispersive media previously reported in the literature. Both Debye and Lorentz dispersive media are considered. It is shown that, for the former case, the stability limit of the conventional FDTD method is preserved. However, for the latter case, a more restrictive stability limit is obtained. To overcome this drawback, a new scheme is presented, which allows the stability limit of the conventional FDTD method to be maintained.
Political socialization of the youth: an examination of the family as an agency for youth citizenship in South Africa

This study examined the role of the family in the political socialization of the youth. Two hundred and seventy-five (275) youth completed the selfadministered questionnaire that was adapted from the Afrobarometer Round 4. The results show that significant positive relationships between parent-adolescent communication and family active citizenship, youth active citizenship and political attitudes of the youth exist. Family active citizenship was also significantly positively related to active citizenship. Two separate hierarchical regression analyses were conducted. Model 1 predicted active citizenship of youth with the final model accounting for 11% of the variance for youth active citizenship. In Model 2, using political attitudes as the predictor, the final model accounted for 26% of the variance of political attitudes of youth.
Relationship between plasma apolipoprotein B concentrations and lDl particle number

: Many subjects with relatively normal, or even optimal, levels of low-density lipoprotein cholesterol (LDL-C) have increased atherogenic lipoprotein particle concentrations (apolipoprotein B [apoB] and LDL particle number [LDL-P] determined by nuclear magnetic resonance spectroscopy [NMR]). Numerous analyses have demonstrated that apoB and LDL-P predict the risk of future cardiovascular events more robustly than LDL-C, as estimated using the Friedewald equation. Little is known about the relationship between an individual’s apoB and LDL-P level, and whether the relationship is comparable at different levels of LDL-C. The aim of this study was to examine the correlation between plasma apoB and LDL-P levels and specifically to evaluate the heterogeneity of LDL-P at low levels of apoB ( , the 20th population percentile [78 mg/dL]). Data were derived from a group of consecutive patients added to a large, single laboratory database (LipoScience, Inc.) during a 1-week period in which a standard lipid profile, apoB, and LDL-P levels were available. When risk categories were assigned to the subjects using the Framingham Offspring Study’s population percentiles for apoB and LDL-P, there was good agreement between the two measures when LDL-C levels were high ( $ 160 mg/dL). However, among individuals with low LDL-C and apoB, NMR analysis could identify a subgroup of individuals with potentially greater cardiovascular risk, as suggested by unexpected elevations in LDL-P.
Precise Measurement of the G+C Content of Deoxyribonucleic Acid by High-Performance Liquid Chromatography

High-performance liquid chromatography is a promising alternative for determining the G+C content of bacterial deoxyribonucleic acid (DNA). The method which we evaluated involves enzymatic degradation of the DNA to nucleosides by P1 nuclease and bovine intestinal mucosa alkaline phosphatase, separation of the nucleosides by high-performance liquid chromatography, and calculation of the G+C content from the apparent ratios of deoxyguanosine and thymidine. Because the nucleosides are released from the DNA at different rates, incomplete degradation produces large errors in the apparent G+C content. For partially purified DNA, salts are a major source of interference in degradation. However, when the salts are carefully removed, the preparation and degradation of DNA contribute little error to the determination of G+C content. This method also requires careful selection of the chromatographic conditions to ensure separation of the major nucleosides from the nucleosides of modified bases and precise control of the flow rates. Both of these conditions are achievable with standard equipment and C18 reversed-phase columns. Then the method is precise, and the relative standard deviations of replicate measurements are close to 0.1%. It is also rapid, and a single measurement requires about 15 min. It requires small amounts of sample, and the G+C content can be determined from DNA isolated from a single bacterial colony. It is not affected by contamination with ribonucleic acid. Because this method yields a direct measurement, it may also be more accurate than indirect methods, such as the buoyant density and thermal denaturation methods. In addition, for highly purified DNA, the extent of modification can be determined.
2-way coupling the hydrological land surface model PROMET with the regional climate model MM5

Most land surface hydrological models (LSHMs) consider land surface processes (e.g. soil-plant-atmosphere interactions, lateral water flows, snow and ice) in a spa- tially detailed manner. The atmosphere is considered as ex- ogenous driver, neglecting feedbacks between the land sur- face and the atmosphere. On the other hand, regional cli- mate models (RCMs) generally simulate land surface pro- cesses through coarse descriptions and spatial scales but in- clude land-atmosphere interactions. What is the impact of the differently applied model physics and spatial resolution of LSHMs on the performance of RCMs? What feedback effects are induced by different land surface models? This study analyses the impact of replacing the land surface mod- ule (LSM) within an RCM with a high resolution LSHM. A 2-way coupling approach was applied using the LSHM PROMET (1◊ 1 km 2 ) and the atmospheric part of the RCM MM5 (45◊ 45 km 2 ). The scaling interface SCALMET is used for down- and upscaling the linear and non-linear fluxes between the model scales. The change in the atmospheric response by MM5 using the LSHM is analysed, and its quality is compared to ob- servations of temperature and precipitation for a 4 yr period from 1996 to 1999 for the Upper Danube catchment. By sub- stituting the Noah-LSM with PROMET, simulated non-bias- corrected near-surface air temperature improves for annual, monthly and daily courses when compared to measurements from 277 meteorological weather stations within the Up- per Danube catchment. The mean annual bias was improved from 0.85 to 0.13 K. In particular, the improved afternoon heating from May to September is caused by increased sensi- ble heat flux and decreased latent heat flux as well as more in- coming solar radiation in the fully coupled PROMET/MM5 in comparison to the NOAH/MM5 simulation. Triggered by the LSM replacement, precipitation overall is reduced; how- ever simulated precipitation amounts are still of high un- certainty, both spatially and temporally. The distribution of precipitation follows the coarse topography representation in MM5, resulting in a spatial shift of maximum precipitation northwards of the Alps. Consequently, simulation of river runoff inherits precipitation biases from MM5. However, by comparing the water balance, the bias of annual average runoff was improved from 21.2 % (NOAH/MM5) to 4.4 % (PROMET/MM5) when compared to measurements at the outlet gauge of the Upper Danube watershed in Achleiten.
The English Football Association’s Respect Campaign: the referees’ view

Through semi-structured interviews with 11 practising referees registered to one English County Football Association (FA), this article examines their experiences of officiating since the English FA implemented a Respect Campaign in 2008. Despite this high-profile public information campaign focusing on the role of the referee, the results outline that little has changed for those officiating at the youth and adult grassroots level. Referees highlight continuing verbal and physical abuse and argue that County FAs need to demonstrate greater levels of support towards them when dealing with cases of misconduct. Overall, the article illustrates that whilst the Respect Campaign remains a relatively new initiative, it requires further proactive development and improvements due to the unwelcome experiences that remain for referees when officiating matches.
Being there and being with families: Family understandings of public health nurse-family relationships.

As a phenomenon in nursing, the experience of presence is thought to unfold through relationships between nurses and their clients. Although literature on nurse-client relationships emphasizes the importance of presence few studies explore the phenomenon from the perspective of families. In this thesis I explore families' experience of nursing presence in their relationships with public health nurses. The intent is to understand how families experience presence and how nursing presence contributes to the development of relationships. Eight family interview transcripts were analyzed using a hermeneutic phenomenological approach. Analysis and interpretation of the transcripts revealed that families experience nursing presence when they work with nurses whose perceptual abilities and relationship skills enable them to intuit how to respond to and work with families in ways that are meaningful to the family. The study demonstrates the need for nurses to be responsive to families' needs as they shift and change over time. --Leaf ii.
Fe (II) ADSORPTION ON Ucides cordatus CRAB SHELLS

In this study Ucides cordatus crab shells were utilized as Fe (II) sorbent as material of low cost and simple preparation. Values of pH of standard solution, biosorbent mass, particles size, contact time (tc) and initial concentration of the standard solution were optimized. The best conditions were pH = 2.00, tc = 840 min and Mc = 0.25 g. The kinetic pseudo first-order model displayed the best description of the adsorption process and the equilibrium study showed that the Langmuir model better describes the adsorption of the Fe (II). There is great affinity between the Fe (II) and the biosorbent.